From d4886b2c2995db88d9bc9f7d7cf3f7cb9def5b12 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Thu, 16 Jun 2022 19:41:51 +0200
Subject: [PATCH 001/435] Cast gpstimeofweek to int

---
 selfdrive/locationd/laikad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 8ec570e2b..6fd70875a 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -201,7 +201,7 @@ def create_measurement_msg(meas: GNSSMeasurement):
 
   c.ephemerisSource.type = source_type.value
   c.ephemerisSource.gpsWeek = week
-  c.ephemerisSource.gpsTimeOfWeek = time_of_week
+  c.ephemerisSource.gpsTimeOfWeek = int(time_of_week)
   return c
 
 

From b941b39c56db2d9d7f756cb0949ef6a7cf61774a Mon Sep 17 00:00:00 2001
From: grekiki <96022003+GregorKikelj@users.noreply.github.com>
Date: Thu, 16 Jun 2022 19:47:53 +0200
Subject: [PATCH 002/435] More accurate jerk limits (#24755)

* More accurate jerk limits

* Min is not - max

For example max_curvature_rate can be negative.

* reduce diff
---
 selfdrive/controls/lib/drive_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1fecdd7c6..d79f94bbf 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -122,7 +122,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
 
   # This is the "desired rate of the setpoint" not an actual desired rate
   desired_curvature_rate = curvature_rates[0]
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature_rate = clip(desired_curvature_rate,
                                           -max_curvature_rate,
                                           max_curvature_rate)

From 88a80983a45e043e2d0fca2bc70c53beca256afe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 16 Jun 2022 17:50:51 -0700
Subject: [PATCH 003/435] Chrysler: interface cleanup (#24884)

* Chrysler: interface cleanup

* little more
---
 selfdrive/car/chrysler/interface.py | 50 ++++++++++++++++++-----------
 selfdrive/car/chrysler/values.py    |  3 ++
 2 files changed, 34 insertions(+), 19 deletions(-)

diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 817a5b387..8ebcb6b12 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -12,28 +12,38 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "chrysler"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
-    # Speed conversion:              20, 45 mph
-    ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-    ret.mass = 2242. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
-    ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-    ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
-    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.wheelbase = 2.91  # in meters
-      ret.steerRatio = 12.7
-      ret.steerActuatorDelay = 0.2  # in seconds
-
-    ret.centerToFront = ret.wheelbase * 0.44
-
     ret.minSteerSpeed = 3.8  # m/s
     if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
+      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
+    # Chrysler
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+      ret.mass = 2242. + STD_CARGO_KG
+      ret.wheelbase = 3.089
+      ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    # Jeep
+    elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+      ret.mass = 1778 + STD_CARGO_KG
+      ret.wheelbase = 2.71
+      ret.steerRatio = 16.7
+      ret.steerActuatorDelay = 0.2
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    ret.centerToFront = ret.wheelbase * 0.44
+
     # starting with reasonable value for civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
@@ -45,7 +55,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
@@ -54,14 +63,17 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
-    if ret.vEgo < self.CP.minSteerSpeed:
+    # Low speed steer alert hysteresis logic
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
     return ret
 
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index b2757aafc..a0d4225d9 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -16,11 +16,14 @@ class CarControllerParams:
 
 
 class CAR:
+  # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+
+  # Jeep
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
 

From b85547ccf068d40f57dda467757301b069db0c80 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jun 2022 18:14:25 -0700
Subject: [PATCH 004/435] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 42772b49e..6c1738814 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 42772b49e313688f8f96114806a72784f978e990
+Subproject commit 6c1738814b451d23797ab7d8fddd43c3b5296b45

From 6c02e554e7174745c7605f4e8f0e3c1aea637091 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jun 2022 20:23:25 -0700
Subject: [PATCH 005/435] VW FPv2: reduce number of ECU queries (#24706)

* only send valid/needed queries

* just do volkswagen

* clean up

* add parameter name

clean up

* add test for whitelist

* rename

* Update selfdrive/car/fw_versions.py

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>

* fix test

* log response addresses

* bump cereal

* handle response pending with IsoTpParallelQuery

* remove response pending stuff

* temporarily disregard cache for easier testing

* revert this

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
---
 selfdrive/car/fw_versions.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c7253d794..81883ceca 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -146,12 +146,14 @@ REQUESTS: List[Request] = [
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(

From 1b0167ce24afb037b36464c40f9c5e0d657e77d9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jun 2022 22:34:07 -0700
Subject: [PATCH 006/435] Chrysler: use universal gas and brake signals
 (#24886)

* Chrysler_Update

* Update signal names

* bump panda

* bump submodules

* bump panda to master

Co-authored-by: Jonathan <jraycec@gmail.com>
---
 opendbc                            |  2 +-
 panda                              |  2 +-
 selfdrive/car/chrysler/carstate.py | 15 +++++++++------
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/opendbc b/opendbc
index a7b391cce..5e2a82026 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96
+Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
diff --git a/panda b/panda
index 6c1738814..515df2bb7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6c1738814b451d23797ab7d8fddd43c3b5296b45
+Subproject commit 515df2bb727fe616869e5d460817e8898792e44f
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 8ddf1c868..e3ee4753c 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -24,9 +24,12 @@ class CarState(CarStateBase):
                         cp.vl["DOORS"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
-    ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5  # human-only
+    # brake pedal
     ret.brake = 0
-    ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
+    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
+
+    # gas pedal
+    ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
     ret.gasPressed = ret.gas > 1e-5
 
     ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
@@ -83,8 +86,8 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_FR", "DOORS"),
       ("DOOR_OPEN_RL", "DOORS"),
       ("DOOR_OPEN_RR", "DOORS"),
-      ("BRAKE_PRESSED_2", "BRAKE_2"),
-      ("ACCEL_134", "ACCEL_GAS_134"),
+      ("Brake_Pedal_State", "ESP_1"),
+      ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
       ("SPEED_RIGHT", "SPEED_1"),
       ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
@@ -110,14 +113,14 @@ class CarState(CarStateBase):
 
     checks = [
       # sig_address, frequency
-      ("BRAKE_2", 50),
+      ("ESP_1", 50),
       ("EPS_STATUS", 100),
       ("SPEED_1", 100),
       ("WHEEL_SPEEDS", 50),
       ("STEERING", 100),
       ("ACC_2", 50),
       ("GEAR", 50),
-      ("ACCEL_GAS_134", 50),
+      ("ECM_5", 50),
       ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),

From 5dce006a82879f133ab69355b6c9b8c74d2b4d33 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Jun 2022 22:41:13 -0700
Subject: [PATCH 007/435] regen: send wideRoadCameraState (#24863)

* fix camera malfunction

* revert

* send in one process to fix frames out of sync

* not used

* revert

* fix and add --no-upload for CI testing

* fingerprint if source is fw

* no FW versions
---
 .../test/process_replay/process_replay.py     |  3 +--
 selfdrive/test/process_replay/regen.py        | 22 ++++++++++---------
 selfdrive/test/process_replay/regen_all.py    |  9 ++++----
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index b016eb1c9..c368e6b57 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -15,7 +15,6 @@ from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
 from panda.python import ALTERNATIVE_EXPERIENCE
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.manager.process import PythonProcess
@@ -372,7 +371,7 @@ def setup_env(simulation=False, CP=None):
     if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
       params.put_bool("DisengageOnAccelerator", False)
 
-    if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS:
+    if CP.fingerprintSource == "fw":
       params.put("CarParamsCache", CP.as_builder().to_bytes())
     else:
       os.environ['SKIP_FW_QUERY'] = "1"
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index dfc62a455..d2f239c24 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -127,7 +127,10 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   ]
 
   def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
-    pm = messaging.PubMaster([s, ])
+    services = [(s, stream)]
+    if use_extra_client:
+      services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD))
+    pm = messaging.PubMaster([s for s, _ in services])
     rk = Ratekeeper(1 / dt, print_delay_threshold=None)
 
     img = b"\x00" * int(size[0] * size[1] * 3 / 2)
@@ -137,16 +140,15 @@ def replay_cameras(lr, frs, disable_tqdm=False):
 
       rk.keep_time()
 
-      m = messaging.new_message(s)
-      msg = getattr(m, s)
-      msg.frameId = rk.frame
-      msg.timestampSof = m.logMonoTime
-      msg.timestampEof = m.logMonoTime
-      pm.send(s, m)
+      for s, stream in services:
+        m = messaging.new_message(s)
+        msg = getattr(m, s)
+        msg.frameId = rk.frame
+        msg.timestampSof = m.logMonoTime
+        msg.timestampEof = m.logMonoTime
+        pm.send(s, m)
 
-      vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
-      if use_extra_client:
-        vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, img, msg.frameId, msg.timestampSof, msg.timestampEof)
+        vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
 
   init_data = [m for m in lr if m.which() == 'initData'][0]
   cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index c3ea1d41e..f10d7ea03 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -11,12 +11,12 @@ from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segm
 from tools.lib.route import SegmentName
 
 
-def regen_job(segment, disable_tqdm):
+def regen_job(segment, upload, disable_tqdm):
   with OpenpilotPrefix():
     sn = SegmentName(segment[1])
     fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
@@ -26,12 +26,13 @@ def regen_job(segment, disable_tqdm):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
+  parser.add_argument("--no-upload", action="store_true")
   args = parser.parse_args()
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs))
+    p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
     msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments"):
+    for seg in tqdm(p, desc="Generating segments", total=len(segments)):
       msg += "\n" + str(seg)
     print()
     print()

From cd87772e036acde3b7b74857f8c03e87f3af63c1 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 17 Jun 2022 11:43:40 +0200
Subject: [PATCH 008/435] live_cpu_and_temp: handle duplicate proc names

---
 selfdrive/debug/live_cpu_and_temp.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py
index baeebb1c4..c35afc474 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/selfdrive/debug/live_cpu_and_temp.py
@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 import argparse
 import capnp
+from collections import defaultdict
 
 from cereal.messaging import SubMaster
 from common.numpy_fast import mean
-from typing import Optional
+from typing import Optional, Dict
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -75,7 +76,7 @@ if __name__ == "__main__":
       print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
-        procs = {}
+        procs: Dict[str, float] = defaultdict(float)
         dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
         for proc in m.procs:
           try:
@@ -83,12 +84,12 @@ if __name__ == "__main__":
             prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0]
             cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc)
             cpu_usage = cpu_time / dt * 100.
-            procs[name] = cpu_usage
+            procs[name] += cpu_usage
           except IndexError:
             pass
 
         print("Top CPU usage:")
-        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:  # type: ignore
+        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:
           print(f"{k.rjust(70)}   {v:.2f} %")
         print()
 

From 7c826b4fa1ff5d4a22da4a9643ecef803c0b7536 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 17 Jun 2022 02:56:04 -0700
Subject: [PATCH 009/435] add param to override carParams.dashcamOnly (#24857)

* add param to override carParams.dashcamOnly

* little cleaner
---
 common/params.cc                   | 1 +
 selfdrive/car/hyundai/interface.py | 5 +----
 selfdrive/controls/controlsd.py    | 3 +++
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 8cf1baa6c..b8526bc23 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DashcamOverride", PERSISTENT},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 497d6b3f3..2739ebd8c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import os
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
@@ -38,9 +37,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
-    if candidate in HDA2_CAR:
-      ret.dashcamOnly = not os.path.exists('/data/enable-ev6')
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 033072aa7..67eaf1588 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -104,6 +104,9 @@ class Controls:
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    if self.CP.dashcamOnly and params.get_bool("DashcamOverride"):
+      self.CP.dashcamOnly = False
+
     # read params
     self.is_metric = params.get_bool("IsMetric")
     self.is_ldw_enabled = params.get_bool("IsLdwEnabled")

From b701ea33ce0f36b78c703429afeb5d3d94d38105 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 17 Jun 2022 16:27:05 +0200
Subject: [PATCH 010/435] replay: no HW decoder, fix UV stride

---
 selfdrive/ui/replay/framereader.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
index 8453407ce..38d98bddc 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/selfdrive/ui/replay/framereader.cc
@@ -242,7 +242,7 @@ bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) {
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
                        y, width,
-                       uv, width / 2,
+                       uv, width,
                        width, height);
   }
   return true;

From 2c877ce4907657d59111d5e850afb587b3be8d6e Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 17 Jun 2022 10:35:24 -0700
Subject: [PATCH 011/435] Long e2e planner: better xva weights (#24893)

better long xva weights
---
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index bc0fc9fea..94efd7a87 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -251,7 +251,7 @@ class LongitudinalMpc:
       self.solver.cost_set(i, 'Zl', Zl)
 
   def set_weights_for_xva_policy(self):
-    W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
+    W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
     for i in range(N):
       self.solver.cost_set(i, 'W', W)
     # Setting the slice without the copy make the array not contiguous,

From 33eaebfab2387ed92ef3fc69e3c610f27ee3db67 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 17 Jun 2022 19:47:37 +0200
Subject: [PATCH 012/435] ui: show empty box when speed limit is unavailable
 during nav (#24891)

* ui: show empty box when speed limit is unavailable during nav

* variant 2, long -
---
 selfdrive/ui/qt/onroad.cc | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 38541ef2d..84b538411 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -186,8 +186,8 @@ void NvgWindow::updateState(const UIState &s) {
   speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
 
   setProperty("speedLimit", speed_limit);
-  setProperty("has_us_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  setProperty("has_eu_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
+  setProperty("has_us_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
+  setProperty("has_eu_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
 
   setProperty("is_cruise_set", cruise_set);
   setProperty("speed", cur_speed);
@@ -212,7 +212,7 @@ void NvgWindow::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), header_h, bg);
 
-  QString speedLimitStr = QString::number(std::nearbyint(speedLimit));
+  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
@@ -334,6 +334,8 @@ void NvgWindow::drawHud(QPainter &p) {
     p.drawEllipse(center, inner_radius_2, inner_radius_2);
 
     // Speed limit value
+    if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available
+
     int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
     configFont(p, "Open Sans", font_size, "Bold");
     QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);

From 208d4a4fc73cf3f41111de67a168b4ef83156e6d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 17 Jun 2022 13:39:15 -0700
Subject: [PATCH 013/435] Add Hyundai P harness (#24872)

* Update docs_definitions.py

* Update values.py
---
 selfdrive/car/docs_definitions.py | 1 +
 selfdrive/car/hyundai/values.py   | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index f09dad786..e1344174a 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -144,6 +144,7 @@ class Harness(Enum):
   hyundai_m = "Hyundai M"
   hyundai_n = "Hyundai N"
   hyundai_o = "Hyundai O"
+  hyundai_p = "Hyundai P"
   custom = "Developer"
   obd_ii = "OBD-II"
   nissan_a = "Nissan A"
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index df7ce1e6f..cf4750158 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),

From 0f0b4cac893b41dd81288947158d3aa9cbbfc2fd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 18 Jun 2022 17:15:45 -0700
Subject: [PATCH 014/435] Chrysler: use unified signal definitions (#24895)

* Update some signals to unified names and definitions

Co-authored-by: Jonathan <jraycec@gmail.com>

* steering looks good

* Fix cp signals

* Do steering signal changes separately

* bump opendbc to master

Co-authored-by: Jonathan <jraycec@gmail.com>
---
 opendbc                            |  2 +-
 selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++---------------
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/opendbc b/opendbc
index 5e2a82026..57c8340a1 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
+Subproject commit 57c8340a180dd8c75139b18050eb17c72c9cb6e4
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index e3ee4753c..7571286c5 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -18,10 +18,10 @@ class CarState(CarStateBase):
 
     self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
 
-    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+    ret.doorOpen = any([cp.vl["BCM_1"]["Driver_Door_Ajar"],
+                        cp.vl["BCM_1"]["Passenger_Door_Ajar"],
+                        cp.vl["BCM_1"]["Left_Rear_Door_Ajar"],
+                        cp.vl["BCM_1"]["Right_Rear_Door_Ajar"]])
     ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
-    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
-    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
+    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_Engaged"] == 1  # ACC is white
+    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_Enabled"] == 1  # ACC is green
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
     ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+    ret.accFaulted = cp.vl["DAS_3"]["ACC_Faulted"] != 0
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("PRNDL", "GEAR"),
-      ("DOOR_OPEN_FL", "DOORS"),
-      ("DOOR_OPEN_FR", "DOORS"),
-      ("DOOR_OPEN_RL", "DOORS"),
-      ("DOOR_OPEN_RR", "DOORS"),
+      ("Driver_Door_Ajar", "BCM_1"),
+      ("Passenger_Door_Ajar", "BCM_1"),
+      ("Left_Rear_Door_Ajar", "BCM_1"),
+      ("Right_Rear_Door_Ajar", "BCM_1"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
@@ -97,8 +97,9 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_STATUS_2", "ACC_2"),
-      ("ACC_FAULTED", "ACC_2"),
+      ("ACC_Enabled", "DAS_3"),
+      ("ACC_Engaged", "DAS_3"),
+      ("ACC_Faulted", "DAS_3"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
       ("CRUISE_STATE", "DASHBOARD"),
@@ -118,14 +119,14 @@ class CarState(CarStateBase):
       ("SPEED_1", 100),
       ("WHEEL_SPEEDS", 50),
       ("STEERING", 100),
-      ("ACC_2", 50),
+      ("DAS_3", 50),
       ("GEAR", 50),
       ("ECM_5", 50),
       ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),
       ("SEATBELT_STATUS", 2),
-      ("DOORS", 1),
+      ("BCM_1", 1),
       ("TRACTION_BUTTON", 1),
     ]
 

From add335d9e67f24a3090e09d39d4267b8f5620ff1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jun 2022 19:01:42 -0700
Subject: [PATCH 015/435] jenkins: move simulator build into lock

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index ebc26a592..279716d7c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -88,8 +88,8 @@ pipeline {
           steps {
             sh "git config --global --add safe.directory ${WORKSPACE}"
             sh "git lfs pull"
-            sh "${WORKSPACE}/tools/sim/build_container.sh"
             lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
               sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
               sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }

From a27d242e3d35cb76761b0cd14eb0d58e668cfbb9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 18 Jun 2022 19:02:09 -0700
Subject: [PATCH 016/435] zookeeper: add avg power to power_monitor.py

---
 tools/zookeeper/power_monitor.py | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index d3bdd6679..f88741813 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import sys
 import time
+import datetime
 
 from common.realtime import Ratekeeper
 from common.filter_simple import FirstOrderFilter
@@ -19,12 +20,19 @@ if __name__ == "__main__":
   rk = Ratekeeper(rate, print_delay_threshold=None)
   fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
 
+  measurements = []
+  start_time = time.monotonic()
+
   try:
-    start_time = time.monotonic()
     while duration is None or time.monotonic() - start_time < duration:
       fltr.update(z.read_power())
       if rk.frame % rate == 0:
         print(f"{fltr.x:.2f} W")
+        measurements.append(fltr.x)
       rk.keep_time()
   except KeyboardInterrupt:
     pass
+
+  t = datetime.timedelta(seconds=time.monotonic() - start_time)
+  avg = sum(measurements) / len(measurements)
+  print(f"\nAverage power: {avg:.2f}W over {t}")

From abcc7338d41359e7e4f4d2d37d33449c292224ed Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 19 Jun 2022 00:06:23 -0700
Subject: [PATCH 017/435] Car Port: 2022 Honda Civic (#24535)

* master 2022 Civic

* bump panda

* bump

* bump cereal

* fix

* needed

* try for now

* maybe

* revert for now

* move to Cam parser

* fix

* move to cam

* need AEB_STATUS too

* bump for debug prints

* bump opendbc and add cruise_params

* bump opendbc and update cruise_params

* bump

* test route

* update ref

* Revert "update ref"

This reverts commit 28345dab63d1919865ccb510265222a4cd4252f4.

* cleanup

* just to test

* bump

* revert

* need to send val 12 too?

* change bus

* not needed

* update bus

* syntax

* move this to other bus too

* Revert "move this to other bus too"

This reverts commit 770bf4745ee244c8426ac108f44b67777198d0a7.

* test new lane line signal

* needed too

* maybe need both?

* Test new LKAS hud message

* bump

* missing comma

* missing

* maybe

* add frame and idx

* add in hud_lanes

* switch this too

* bump panda

* add this

* I guess need this too

* to match

* also

* wasnt correct

* bump opendbc

* bump panda

* move to cam parser

* missing

* add here too

* bump

* remove from cam parser

* bump

* back to cam parser

* its 5hz

* bump for new checksum function

* bump for correct frequency

* update frame and idx

* bump

* bump and update

* send set me bit

* bump

* pass these values through

* silly atom

* ret

* fix this

* use copy instead

* add these too

* to check keyerror

* switch

* bump submodules

* send too

* proper

* Replace HUD with BOH

* add dashed lanes

* small fix

* clean up

* not needed anymore

* remove and change

* this too

* dont always set

* remove additional LKAS message

* bump

* add

* to test

* add frame

* bump

* rebase

* remove default values

* rename

* clean up some carstate logic

* regenerate docs

* spacing

* simplify more logic

* bump opendbc

* bump opendbc

* only if radarless

* panda at least builds now

* add comment

* bump

* fixes

* bump opendbc

* bump opendbc

fix for new DBC

* bump opendbc

* bump opendbc

* carstate: fix bus, parser signals

* Set safety param

* pt bus is 0, not 1

* Fix SCM_BUTTONS and bump panda and opendbc

* fixes for ACC_CONTROL

* bump opendbc

* bump opendbc

* convert from MPH on HONDA_BOSCH_RADARLESS

move is_metric

* make sure we don't disable if radarless

* don't show incorrect harness on website

don't show incorrect harness on website

* bump panda

* remove/update comments

* bump panda

* Fix harnesses

* one line check

* bump opendbc

* remove this

* Some carstate cleanup

We removed STANDSTILL->WHEELS_MOVING

we don't use CRUISE_PARAMS

add back

add back

* more cleanup

* update docs

* marketing says it has TJA and ACC with low speed follow

* send buttons on bus 0

bump panda

* comment

* camera needs to see buttons on bus 2

comment

* bump panda

* add to releases

* remove comments

* comment

* we don't use stock hud yet

Co-authored-by: vanillagorillaa <ntmccoy@yahoo.com>
Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Co-authored-by: kevinharbin <76784413+kevinharbin@users.noreply.github.com>
---
 RELEASES.md                          |  1 +
 docs/CARS.md                         |  3 +-
 panda                                |  2 +-
 release/files_common                 |  1 +
 selfdrive/car/docs_definitions.py    |  3 +-
 selfdrive/car/honda/carcontroller.py |  6 +--
 selfdrive/car/honda/carstate.py      | 56 ++++++++++++++------------
 selfdrive/car/honda/hondacan.py      | 18 +++++++--
 selfdrive/car/honda/interface.py     | 16 +++++---
 selfdrive/car/honda/values.py        | 60 +++++++++++++++++++++++-----
 selfdrive/car/tests/routes.py        |  1 +
 11 files changed, 115 insertions(+), 52 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 7f365e5ce..5d81b4308 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -13,6 +13,7 @@ Version 0.8.15 (2022-XX-XX)
 * Display speed limit while navigating
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+* Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 
diff --git a/docs/CARS.md b/docs/CARS.md
index c0bd62eb3..50db34dbb 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -149,7 +149,7 @@ How We Rate The Cars
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 69 cars
+# Bronze - 70 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -168,6 +168,7 @@ How We Rate The Cars
 |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/panda b/panda
index 515df2bb7..e1b2f1253 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 515df2bb727fe616869e5d460817e8898792e44f
+Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2
diff --git a/release/files_common b/release/files_common
index b6cd4fa79..e84c66873 100644
--- a/release/files_common
+++ b/release/files_common
@@ -495,6 +495,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc
 opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
 opendbc/honda_insight_ex_2019_can_generated.dbc
 opendbc/acura_ilx_2016_nidec.dbc
+opendbc/honda_civic_ex_2022_can_generated.dbc
 
 opendbc/kia_ev6.dbc
 opendbc/hyundai_kia_generic.dbc
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index e1344174a..618c986d1 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -123,7 +123,8 @@ class CarInfo:
 
 class Harness(Enum):
   nidec = "Honda Nidec"
-  bosch = "Honda Bosch A"
+  bosch_a = "Honda Bosch A"
+  bosch_b = "Honda Bosch B"
   toyota = "Toyota"
   subaru = "Subaru"
   fca = "FCA"
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index a6aa84adf..4d04927b2 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -7,7 +7,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import create_gas_interceptor_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -189,7 +189,7 @@ class CarController:
       pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
 
     if not self.CP.openpilotLongitudinalControl:
-      if self.frame % 2 == 0:
+      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         idx = self.frame // 2
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
@@ -241,7 +241,7 @@ class CarController:
       idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index f5cdc838c..5358ce249 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,8 +5,9 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from selfdrive.car.honda.hondacan import get_pt_bus
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -80,7 +81,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     checks.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
-    if not CP.openpilotLongitudinalControl:
+    # these messages are on camera bus on radarless cars
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
       signals += [
         ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
         ("CRUISE_SPEED", "ACC_HUD"),
@@ -100,23 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
-  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
+  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
-  elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
-    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
                 ("DOOR_OPEN_FR", "DOORS_STATUS"),
                 ("DOOR_OPEN_RL", "DOORS_STATUS"),
-                ("DOOR_OPEN_RR", "DOORS_STATUS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
-    checks += [
-      ("DOORS_STATUS", 3),
-      ("STANDSTILL", 50),
-    ]
+                ("DOOR_OPEN_RR", "DOORS_STATUS")]
+    checks.append(("DOORS_STATUS", 3))
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
@@ -175,7 +170,8 @@ class CarState(CarStateBase):
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    # TODO: find a common signal across all cars
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -235,11 +231,15 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       if not self.CP.openpilotLongitudinalControl:
-        ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
-        ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
+        # ACC_HUD is on camera bus on radarless cars
+        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+        ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
+        ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
+        # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+        conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-        ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
+        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@@ -269,14 +269,14 @@ class CarState(CarStateBase):
         ret.brakePressed = True
 
     if self.CP.carFingerprint in HONDA_BOSCH:
-      ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
+      # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
+      if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
+        ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      self.stock_hud = False
-      ret.stockFcw = False
-    else:
+    self.stock_hud = False
+    if self.CP.carFingerprint not in HONDA_BOSCH:
       ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
       self.stock_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
@@ -291,8 +291,7 @@ class CarState(CarStateBase):
 
   def get_can_parser(self, CP):
     signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
-    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -301,7 +300,14 @@ class CarState(CarStateBase):
       ("STEERING_CONTROL", 100),
     ]
 
-    if CP.carFingerprint not in HONDA_BOSCH:
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl:
+      signals += [
+        ("CRUISE_SPEED", "ACC_HUD"),
+        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+      ]
+      checks.append(("ACC_HUD", 10))
+
+    elif CP.carFingerprint not in HONDA_BOSCH:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 3d8c79c80..6a1fb2e45 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
 from common.conversions import Conversions as CV
-from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
+from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port
 
+
 def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in HONDA_BOSCH else 0
+  return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
 
 
 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
@@ -18,6 +19,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
+
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
@@ -78,6 +80,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
 
   return commands
 
+
 def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
@@ -98,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -135,6 +138,12 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     'BEEP': 0,
   }
 
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    lkas_hud_values['LANE_LINES'] = 3
+    lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+    # TODO: understand this better, does car need to see it fall after start up?
+    lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1
+
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48
 
@@ -162,5 +171,6 @@ def spam_buttons_command(packer, button_val, idx, car_fingerprint):
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint)
+  # send buttons to camera on radarless cars
+  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
   return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 994152608..a78189b69 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -37,9 +37,10 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarOffCan = True
 
-      # Disable the radar and let openpilot control longitudinal
-      # WARNING: THIS DISABLES AEB!
-      ret.openpilotLongitudinalControl = disable_radar
+      if candidate not in HONDA_BOSCH_RADARLESS:
+        # Disable the radar and let openpilot control longitudinal
+        # WARNING: THIS DISABLES AEB!
+        ret.openpilotLongitudinalControl = disable_radar
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
@@ -104,7 +105,7 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
 
-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
+    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
       stop_and_go = True
       ret.mass = CivicParams.MASS
       ret.wheelbase = CivicParams.WHEELBASE
@@ -304,6 +305,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if candidate in HONDA_BOSCH_RADARLESS:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
@@ -325,7 +329,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 152f71e98..0bdb8ccd9 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -75,6 +75,7 @@ class CAR:
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
+  CIVIC_2022 = "HONDA CIVIC 2022"
   ACURA_ILX = "ACURA ILX 2016"
   CRV = "HONDA CR-V 2016"
   CRV_5G = "HONDA CR-V 2017"
@@ -108,33 +109,34 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch),
+    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
+  CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
   CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
 
 
@@ -1392,6 +1394,40 @@ FW_VERSIONS = {
       b'57114-TYF-E030\x00\x00'
     ],
   },
+  CAR.CIVIC_2022: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-T39-A130\x00\x00',
+      b'39990-T43-J020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-T20-A020\x00\x00',
+      b'38897-T20-A510\x00\x00',
+      b'38897-T21-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-T20-A970\x00\x00',
+      b'77959-T47-A940\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-T21-A220\x00\x00',
+      b'78108-T21-A620\x00\x00',
+      b'78108-T23-A110\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-T20-AB40\x00\x00',
+      b'57114-T43-JB30\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-65D-A020\x00\x00',
+      b'28101-65D-A120\x00\x00',
+      b'28101-65H-A020\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-64L-A540\x00\x00',
+      b'37805-64S-A540\x00\x00',
+      b'37805-64S-A720\x00\x00',
+    ],
+  },
 }
 
 DBC = {
@@ -1417,6 +1453,7 @@ DBC = {
   CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
+  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
 }
 
 STEER_THRESHOLD = {
@@ -1429,5 +1466,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index a9d36f9ea..19b1a05c2 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -71,6 +71,7 @@ routes = [
   TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
   TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
   TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
+  TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
   TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),

From 28431f7dddb72da31a79005ef37fb6642f822a4c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jun 2022 14:07:19 -0700
Subject: [PATCH 018/435] Revert "Chrysler: use unified signal definitions
 (#24895)"

This reverts commit 0f0b4cac893b41dd81288947158d3aa9cbbfc2fd.
---
 opendbc                            |  2 +-
 selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++---------------
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/opendbc b/opendbc
index 57c8340a1..5e2a82026 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 57c8340a180dd8c75139b18050eb17c72c9cb6e4
+Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 7571286c5..e3ee4753c 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -18,10 +18,10 @@ class CarState(CarStateBase):
 
     self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
 
-    ret.doorOpen = any([cp.vl["BCM_1"]["Driver_Door_Ajar"],
-                        cp.vl["BCM_1"]["Passenger_Door_Ajar"],
-                        cp.vl["BCM_1"]["Left_Rear_Door_Ajar"],
-                        cp.vl["BCM_1"]["Right_Rear_Door_Ajar"]])
+    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
+                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
-    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_Engaged"] == 1  # ACC is white
-    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_Enabled"] == 1  # ACC is green
+    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
+    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
     ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["DAS_3"]["ACC_Faulted"] != 0
+    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("PRNDL", "GEAR"),
-      ("Driver_Door_Ajar", "BCM_1"),
-      ("Passenger_Door_Ajar", "BCM_1"),
-      ("Left_Rear_Door_Ajar", "BCM_1"),
-      ("Right_Rear_Door_Ajar", "BCM_1"),
+      ("DOOR_OPEN_FL", "DOORS"),
+      ("DOOR_OPEN_FR", "DOORS"),
+      ("DOOR_OPEN_RL", "DOORS"),
+      ("DOOR_OPEN_RR", "DOORS"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
@@ -97,9 +97,8 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_Enabled", "DAS_3"),
-      ("ACC_Engaged", "DAS_3"),
-      ("ACC_Faulted", "DAS_3"),
+      ("ACC_STATUS_2", "ACC_2"),
+      ("ACC_FAULTED", "ACC_2"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
       ("CRUISE_STATE", "DASHBOARD"),
@@ -119,14 +118,14 @@ class CarState(CarStateBase):
       ("SPEED_1", 100),
       ("WHEEL_SPEEDS", 50),
       ("STEERING", 100),
-      ("DAS_3", 50),
+      ("ACC_2", 50),
       ("GEAR", 50),
       ("ECM_5", 50),
       ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),
       ("SEATBELT_STATUS", 2),
-      ("BCM_1", 1),
+      ("DOORS", 1),
       ("TRACTION_BUTTON", 1),
     ]
 

From d3185a0af0d5a0382cf4688fa35ab79a48a0914c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jun 2022 14:08:14 -0700
Subject: [PATCH 019/435] Chrysler: 2022 pacific hybrid is supported

---
 docs/CARS.md                     | 2 +-
 selfdrive/car/chrysler/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 50db34dbb..77b1c5e78 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -161,7 +161,7 @@ How We Rate The Cars
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index a0d4225d9..bdd80757f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -37,7 +37,7 @@ class ChryslerCarInfo(CarInfo):
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),

From 6123ab3d1c901ed3763e1a7cb8e1aac3f6b8fda3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jun 2022 14:43:49 -0700
Subject: [PATCH 020/435] Move camerad to system/ (#24836)

* mv camerad

* add hardware symlink

* fix unit tests
---
 .github/workflows/selfdrive_tests.yaml        |  2 +-
 Jenkinsfile                                   |  4 +--
 SConstruct                                    |  4 +--
 docs/c_docs.rst                               |  6 ++--
 release/files_common                          | 31 ++++++++++---------
 release/files_tici                            |  6 ++--
 selfdrive/athena/athenad.py                   |  2 +-
 selfdrive/loggerd/encoder/encoder.h           |  2 +-
 selfdrive/loggerd/loggerd.h                   |  2 +-
 selfdrive/manager/process_config.py           |  4 +--
 selfdrive/test/process_replay/test_debayer.py |  4 +--
 selfdrive/ui/qt/widgets/cameraview.h          |  2 +-
 selfdrive/ui/replay/logreader.h               |  2 +-
 {selfdrive => system}/camerad/SConscript      |  0
 {selfdrive => system}/camerad/__init__.py     |  0
 .../camerad/cameras/camera_common.cc          |  8 ++---
 .../camerad/cameras/camera_common.h           |  2 +-
 .../camerad/cameras/camera_qcom2.cc           |  4 +--
 .../camerad/cameras/camera_qcom2.h            |  2 +-
 .../camerad/cameras/real_debayer.cl           |  0
 .../camerad/cameras/sensor2_i2c.h             |  0
 {selfdrive => system}/camerad/imgproc/conv.cl |  0
 {selfdrive => system}/camerad/imgproc/pool.cl |  0
 .../camerad/imgproc/utils.cc                  |  2 +-
 {selfdrive => system}/camerad/imgproc/utils.h |  0
 .../camerad/include/media/cam_cpas.h          |  0
 .../camerad/include/media/cam_defs.h          |  0
 .../camerad/include/media/cam_fd.h            |  0
 .../camerad/include/media/cam_icp.h           |  0
 .../camerad/include/media/cam_isp.h           |  0
 .../camerad/include/media/cam_isp_ife.h       |  0
 .../camerad/include/media/cam_isp_vfe.h       |  0
 .../camerad/include/media/cam_jpeg.h          |  0
 .../camerad/include/media/cam_lrme.h          |  0
 .../camerad/include/media/cam_req_mgr.h       |  0
 .../camerad/include/media/cam_sensor.h        |  0
 .../include/media/cam_sensor_cmn_header.h     |  0
 .../camerad/include/media/cam_sync.h          |  0
 .../camerad/include/msm_cam_sensor.h          |  0
 .../camerad/include/msm_camsensor_sdk.h       |  0
 .../camerad/include/msmb_camera.h             |  0
 .../camerad/include/msmb_isp.h                |  0
 .../camerad/include/msmb_ispif.h              |  0
 {selfdrive => system}/camerad/main.cc         |  2 +-
 .../camerad/snapshot/__init__.py              |  0
 .../camerad/snapshot/snapshot.py              |  2 +-
 {selfdrive => system}/camerad/test/.gitignore |  0
 .../camerad/test/ae_gray_test.cc              |  2 +-
 .../camerad/test/ae_gray_test.h               |  0
 .../camerad/test/camera_test.h                |  0
 .../camerad/test/check_skips.py               |  0
 .../camerad/test/frame_test.py                |  0
 .../test/get_thumbnails_for_segment.py        |  0
 .../camerad/test/stress_restart.sh            |  0
 .../camerad/test/test_camerad.py              |  0
 .../camerad/test/test_exposure.py             |  2 +-
 .../camerad/transforms/rgb_to_yuv.cc          |  2 +-
 .../camerad/transforms/rgb_to_yuv.cl          |  0
 .../camerad/transforms/rgb_to_yuv.h           |  0
 .../camerad/transforms/rgb_to_yuv_test.cc     |  2 +-
 tools/webcam/README.md                        |  4 +--
 61 files changed, 53 insertions(+), 52 deletions(-)
 rename {selfdrive => system}/camerad/SConscript (100%)
 rename {selfdrive => system}/camerad/__init__.py (100%)
 rename {selfdrive => system}/camerad/cameras/camera_common.cc (98%)
 rename {selfdrive => system}/camerad/cameras/camera_common.h (98%)
 rename {selfdrive => system}/camerad/cameras/camera_qcom2.cc (99%)
 rename {selfdrive => system}/camerad/cameras/camera_qcom2.h (98%)
 rename {selfdrive => system}/camerad/cameras/real_debayer.cl (100%)
 rename {selfdrive => system}/camerad/cameras/sensor2_i2c.h (100%)
 rename {selfdrive => system}/camerad/imgproc/conv.cl (100%)
 rename {selfdrive => system}/camerad/imgproc/pool.cl (100%)
 rename {selfdrive => system}/camerad/imgproc/utils.cc (98%)
 rename {selfdrive => system}/camerad/imgproc/utils.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_cpas.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_defs.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_fd.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_icp.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_isp.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_isp_ife.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_isp_vfe.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_jpeg.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_lrme.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_req_mgr.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_sensor.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_sensor_cmn_header.h (100%)
 rename {selfdrive => system}/camerad/include/media/cam_sync.h (100%)
 rename {selfdrive => system}/camerad/include/msm_cam_sensor.h (100%)
 rename {selfdrive => system}/camerad/include/msm_camsensor_sdk.h (100%)
 rename {selfdrive => system}/camerad/include/msmb_camera.h (100%)
 rename {selfdrive => system}/camerad/include/msmb_isp.h (100%)
 rename {selfdrive => system}/camerad/include/msmb_ispif.h (100%)
 rename {selfdrive => system}/camerad/main.cc (89%)
 rename {selfdrive => system}/camerad/snapshot/__init__.py (100%)
 rename {selfdrive => system}/camerad/snapshot/snapshot.py (98%)
 rename {selfdrive => system}/camerad/test/.gitignore (100%)
 rename {selfdrive => system}/camerad/test/ae_gray_test.cc (97%)
 rename {selfdrive => system}/camerad/test/ae_gray_test.h (100%)
 rename {selfdrive => system}/camerad/test/camera_test.h (100%)
 rename {selfdrive => system}/camerad/test/check_skips.py (100%)
 rename {selfdrive => system}/camerad/test/frame_test.py (100%)
 rename {selfdrive => system}/camerad/test/get_thumbnails_for_segment.py (100%)
 rename {selfdrive => system}/camerad/test/stress_restart.sh (100%)
 rename {selfdrive => system}/camerad/test/test_camerad.py (100%)
 rename {selfdrive => system}/camerad/test/test_exposure.py (96%)
 rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.cc (96%)
 rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.cl (100%)
 rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.h (100%)
 rename {selfdrive => system}/camerad/transforms/rgb_to_yuv_test.cc (99%)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 5bd9acc20..fedeaa734 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -310,7 +310,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
diff --git a/Jenkinsfile b/Jenkinsfile
index 279716d7c..dba1f257d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -139,8 +139,8 @@ pipeline {
           steps {
             phone_steps("tici-party", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
           }
         }
diff --git a/SConstruct b/SConstruct
index b5c4edc99..b243a4dc4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -379,6 +379,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -396,7 +397,6 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 218cd5a7d..4e1e8a247 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -28,11 +28,11 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
+   :project: system_camerad_transforms
 .. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
diff --git a/release/files_common b/release/files_common
index e84c66873..ecb71b4e6 100644
--- a/release/files_common
+++ b/release/files_common
@@ -182,6 +182,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
+selfdrive/hardware
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -298,24 +299,24 @@ selfdrive/ui/replay/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
-selfdrive/camerad/main.cc
+system/camerad/SConscript
+system/camerad/main.cc
 
-selfdrive/camerad/snapshot/*
-selfdrive/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/sensor2_i2c.h
+system/camerad/snapshot/*
+system/camerad/include/*
+system/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.cc
+system/camerad/cameras/sensor2_i2c.h
 
-selfdrive/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+system/camerad/transforms/rgb_to_yuv.cc
+system/camerad/transforms/rgb_to_yuv.h
+system/camerad/transforms/rgb_to_yuv.cl
+system/camerad/transforms/rgb_to_yuv_test.cc
 
-selfdrive/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/imgproc/conv.cl
+system/camerad/imgproc/pool.cl
+system/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
diff --git a/release/files_tici b/release/files_tici
index 485a89879..f8c0a2795 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -7,9 +7,9 @@ system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/real_debayer.cl
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 26220dfa9..b0e138c49 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -493,7 +493,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot():
-  from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h
index 312b68ba1..21ef65cf1 100644
--- a/selfdrive/loggerd/encoder/encoder.h
+++ b/selfdrive/loggerd/encoder/encoder.h
@@ -8,7 +8,7 @@
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "selfdrive/loggerd/video_writer.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
 
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 7e13e90e6..2c4990086 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -15,7 +15,7 @@
 #include "cereal/services.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index a9a5c78a7..7e4029664 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -18,6 +18,8 @@ def logging(started, params, CP: car.CarParams) -> bool:
   return started and run
 
 procs = [
+  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
+  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
@@ -25,8 +27,6 @@ procs = [
   PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
 
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
-  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index eff77fc47..1b3e0f112 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -10,7 +10,7 @@ from system.hardware import PC, TICI
 from common.basedir import BASEDIR
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from system.version import get_commit
-from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb
+from system.camerad.snapshot.snapshot import yuv_to_rgb
 from tools.lib.logreader import LogReader
 from tools.lib.filereader import FileReader
 
@@ -62,7 +62,7 @@ def unbzip_frames(url):
 def init_kernels(frame_offset=0):
   ctx = cl.create_some_context(interactive=False)
 
-  with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f:
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
     build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
       f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
     if PC:
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index ddc3fc253..42e904360 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -17,7 +17,7 @@
 #endif
 
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;
diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h
index 7ada20605..b4a38a572 100644
--- a/selfdrive/ui/replay/logreader.h
+++ b/selfdrive/ui/replay/logreader.h
@@ -6,7 +6,7 @@
 #endif
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
diff --git a/selfdrive/camerad/SConscript b/system/camerad/SConscript
similarity index 100%
rename from selfdrive/camerad/SConscript
rename to system/camerad/SConscript
diff --git a/selfdrive/camerad/__init__.py b/system/camerad/__init__.py
similarity index 100%
rename from selfdrive/camerad/__init__.py
rename to system/camerad/__init__.py
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
similarity index 98%
rename from selfdrive/camerad/cameras/camera_common.cc
rename to system/camerad/cameras/camera_common.cc
index a94cfedf1..34dde9389 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <unistd.h>
 
@@ -10,7 +10,7 @@
 #include "libyuv.h"
 #include <jpeglib.h>
 
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
 #include "common/modeldata.h"
 #include "common/swaglog.h"
@@ -20,9 +20,9 @@
 
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 #else
-#include "selfdrive/camerad/test/camera_test.h"
+#include "system/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;
diff --git a/selfdrive/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
similarity index 98%
rename from selfdrive/camerad/cameras/camera_common.h
rename to system/camerad/cameras/camera_common.h
index e9c7ccd75..6b483372b 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -9,7 +9,7 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
similarity index 99%
rename from selfdrive/camerad/cameras/camera_qcom2.cc
rename to system/camerad/cameras/camera_qcom2.cc
index c1ffc1275..f001009b9 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 
 #include <fcntl.h>
 #include <poll.h>
@@ -20,7 +20,7 @@
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 #include "common/swaglog.h"
-#include "selfdrive/camerad/cameras/sensor2_i2c.h"
+#include "system/camerad/cameras/sensor2_i2c.h"
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
similarity index 98%
rename from selfdrive/camerad/cameras/camera_qcom2.h
rename to system/camerad/cameras/camera_qcom2.h
index 88766a68e..57fef8d49 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -6,7 +6,7 @@
 
 #include <media/cam_req_mgr.h>
 
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
similarity index 100%
rename from selfdrive/camerad/cameras/real_debayer.cl
rename to system/camerad/cameras/real_debayer.cl
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
similarity index 100%
rename from selfdrive/camerad/cameras/sensor2_i2c.h
rename to system/camerad/cameras/sensor2_i2c.h
diff --git a/selfdrive/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/conv.cl
rename to system/camerad/imgproc/conv.cl
diff --git a/selfdrive/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/pool.cl
rename to system/camerad/imgproc/pool.cl
diff --git a/selfdrive/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc
similarity index 98%
rename from selfdrive/camerad/imgproc/utils.cc
rename to system/camerad/imgproc/utils.cc
index a88b8f4bb..a7bbeb9e8 100644
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/system/camerad/imgproc/utils.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 
 #include <algorithm>
 #include <cassert>
diff --git a/selfdrive/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h
similarity index 100%
rename from selfdrive/camerad/imgproc/utils.h
rename to system/camerad/imgproc/utils.h
diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/system/camerad/include/media/cam_cpas.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_cpas.h
rename to system/camerad/include/media/cam_cpas.h
diff --git a/selfdrive/camerad/include/media/cam_defs.h b/system/camerad/include/media/cam_defs.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_defs.h
rename to system/camerad/include/media/cam_defs.h
diff --git a/selfdrive/camerad/include/media/cam_fd.h b/system/camerad/include/media/cam_fd.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_fd.h
rename to system/camerad/include/media/cam_fd.h
diff --git a/selfdrive/camerad/include/media/cam_icp.h b/system/camerad/include/media/cam_icp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_icp.h
rename to system/camerad/include/media/cam_icp.h
diff --git a/selfdrive/camerad/include/media/cam_isp.h b/system/camerad/include/media/cam_isp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp.h
rename to system/camerad/include/media/cam_isp.h
diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/system/camerad/include/media/cam_isp_ife.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_ife.h
rename to system/camerad/include/media/cam_isp_ife.h
diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/system/camerad/include/media/cam_isp_vfe.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_vfe.h
rename to system/camerad/include/media/cam_isp_vfe.h
diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/system/camerad/include/media/cam_jpeg.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_jpeg.h
rename to system/camerad/include/media/cam_jpeg.h
diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/system/camerad/include/media/cam_lrme.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_lrme.h
rename to system/camerad/include/media/cam_lrme.h
diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/system/camerad/include/media/cam_req_mgr.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_req_mgr.h
rename to system/camerad/include/media/cam_req_mgr.h
diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/system/camerad/include/media/cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor.h
rename to system/camerad/include/media/cam_sensor.h
diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/system/camerad/include/media/cam_sensor_cmn_header.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor_cmn_header.h
rename to system/camerad/include/media/cam_sensor_cmn_header.h
diff --git a/selfdrive/camerad/include/media/cam_sync.h b/system/camerad/include/media/cam_sync.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sync.h
rename to system/camerad/include/media/cam_sync.h
diff --git a/selfdrive/camerad/include/msm_cam_sensor.h b/system/camerad/include/msm_cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/msm_cam_sensor.h
rename to system/camerad/include/msm_cam_sensor.h
diff --git a/selfdrive/camerad/include/msm_camsensor_sdk.h b/system/camerad/include/msm_camsensor_sdk.h
similarity index 100%
rename from selfdrive/camerad/include/msm_camsensor_sdk.h
rename to system/camerad/include/msm_camsensor_sdk.h
diff --git a/selfdrive/camerad/include/msmb_camera.h b/system/camerad/include/msmb_camera.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_camera.h
rename to system/camerad/include/msmb_camera.h
diff --git a/selfdrive/camerad/include/msmb_isp.h b/system/camerad/include/msmb_isp.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_isp.h
rename to system/camerad/include/msmb_isp.h
diff --git a/selfdrive/camerad/include/msmb_ispif.h b/system/camerad/include/msmb_ispif.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_ispif.h
rename to system/camerad/include/msmb_ispif.h
diff --git a/selfdrive/camerad/main.cc b/system/camerad/main.cc
similarity index 89%
rename from selfdrive/camerad/main.cc
rename to system/camerad/main.cc
index 32899a854..c1f38f222 100644
--- a/selfdrive/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <cassert>
 
diff --git a/selfdrive/camerad/snapshot/__init__.py b/system/camerad/snapshot/__init__.py
similarity index 100%
rename from selfdrive/camerad/snapshot/__init__.py
rename to system/camerad/snapshot/__init__.py
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
similarity index 98%
rename from selfdrive/camerad/snapshot/snapshot.py
rename to system/camerad/snapshot/snapshot.py
index fa88849b6..9a81937ee 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -13,7 +13,7 @@ from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
-LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
+LM_THRESH = 120  # defined in system/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
   "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
diff --git a/selfdrive/camerad/test/.gitignore b/system/camerad/test/.gitignore
similarity index 100%
rename from selfdrive/camerad/test/.gitignore
rename to system/camerad/test/.gitignore
diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc
similarity index 97%
rename from selfdrive/camerad/test/ae_gray_test.cc
rename to system/camerad/test/ae_gray_test.cc
index 69ef2ac6d..aabd7534e 100644
--- a/selfdrive/camerad/test/ae_gray_test.cc
+++ b/system/camerad/test/ae_gray_test.cc
@@ -8,7 +8,7 @@
 #include <cstring>
 
 #include "common/util.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 int main() {
   // set up fake camerabuf
diff --git a/selfdrive/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h
similarity index 100%
rename from selfdrive/camerad/test/ae_gray_test.h
rename to system/camerad/test/ae_gray_test.h
diff --git a/selfdrive/camerad/test/camera_test.h b/system/camerad/test/camera_test.h
similarity index 100%
rename from selfdrive/camerad/test/camera_test.h
rename to system/camerad/test/camera_test.h
diff --git a/selfdrive/camerad/test/check_skips.py b/system/camerad/test/check_skips.py
similarity index 100%
rename from selfdrive/camerad/test/check_skips.py
rename to system/camerad/test/check_skips.py
diff --git a/selfdrive/camerad/test/frame_test.py b/system/camerad/test/frame_test.py
similarity index 100%
rename from selfdrive/camerad/test/frame_test.py
rename to system/camerad/test/frame_test.py
diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
similarity index 100%
rename from selfdrive/camerad/test/get_thumbnails_for_segment.py
rename to system/camerad/test/get_thumbnails_for_segment.py
diff --git a/selfdrive/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh
similarity index 100%
rename from selfdrive/camerad/test/stress_restart.sh
rename to system/camerad/test/stress_restart.sh
diff --git a/selfdrive/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
similarity index 100%
rename from selfdrive/camerad/test/test_camerad.py
rename to system/camerad/test/test_camerad.py
diff --git a/selfdrive/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
similarity index 96%
rename from selfdrive/camerad/test/test_exposure.py
rename to system/camerad/test/test_exposure.py
index f42d0bfbe..8cce7e7ff 100755
--- a/selfdrive/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -4,7 +4,7 @@ import unittest
 import numpy as np
 
 from selfdrive.test.helpers import with_processes
-from selfdrive.camerad.snapshot.snapshot import get_snapshots
+from system.camerad.snapshot.snapshot import get_snapshots
 
 from system.hardware import TICI
 
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc
similarity index 96%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cc
rename to system/camerad/transforms/rgb_to_yuv.cc
index 63e032e2d..5e51579cf 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/system/camerad/transforms/rgb_to_yuv.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 
 #include <cassert>
 #include <cstdio>
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cl b/system/camerad/transforms/rgb_to_yuv.cl
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cl
rename to system/camerad/transforms/rgb_to_yuv.cl
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.h
rename to system/camerad/transforms/rgb_to_yuv.h
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc
similarity index 99%
rename from selfdrive/camerad/transforms/rgb_to_yuv_test.cc
rename to system/camerad/transforms/rgb_to_yuv_test.cc
index c960d168d..2f909e3b7 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/system/camerad/transforms/rgb_to_yuv_test.cc
@@ -30,7 +30,7 @@
 #include <CL/cl.h>
 
 #include "libyuv.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/clutil.h"
 
 static inline double millis_since_boot() {
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 48e5accb2..1e07bdbbe 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git
 ```
 cd ~/openpilot
 ```
-- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
+- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
 ```
 USE_WEBCAM=1 scons -j$(nproc)
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO

From 1baf0e3f4a40084a43c6a6d4d1a43b99e4e90532 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 19 Jun 2022 15:49:38 -0700
Subject: [PATCH 021/435] sim: update cl kernel path

---
 tools/sim/bridge.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index ae65e8deb..faf67c3ef 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -81,7 +81,7 @@ class Camerad:
     cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
 
     # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed
-    kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl")
+    kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl")
     with open(kernel_fn) as f:
       prg = cl.Program(self.ctx, f.read()).build(cl_arg)
       self.krnl = prg.rgb_to_yuv

From 7a815418d600bed1e2500b4fdbe4f1958f432555 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 20 Jun 2022 12:12:18 +0200
Subject: [PATCH 022/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 6faf34064..f445245a8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 6faf34064b70ab98c241d4a1cd9006b09ecaadfc
+Subproject commit f445245a8fbe01c33a372d82897575e7acc08ffc

From e2757208622e29a00d5191d7d2f971cafcf61602 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Mon, 20 Jun 2022 12:15:39 +0200
Subject: [PATCH 023/435] Add new message to Tesla AP2 fingerprint (#24912)

* add new message

* fix spacing

* add space
---
 selfdrive/car/tesla/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 2ed4c963e..296169587 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 FINGERPRINTS = {
   CAR.AP2_MODELS: [
     {
-      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
     },
   ],
   CAR.AP1_MODELS: [

From 1c4b145aa4d85b7107254be6618592781ff7323e Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Mon, 20 Jun 2022 14:24:11 +0200
Subject: [PATCH 024/435] Improve laikad cpu usage. Less pos fix. Less local
 imports (#24887)

* Improve laikad cpu usage. Less pos fix. Not local imports

* Add laika to files_common

* Add laika to dockerfile sim

* Fix

* Fix

* undo
---
 release/files_common                       |  1 +
 selfdrive/locationd/laikad.py              | 35 ++++++++++++----------
 selfdrive/locationd/models/gnss_helpers.py |  4 +--
 tools/sim/Dockerfile.sim                   |  1 +
 4 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/release/files_common b/release/files_common
index ecb71b4e6..7274ee9bf 100644
--- a/release/files_common
+++ b/release/files_common
@@ -414,6 +414,7 @@ pyextra/.gitignore
 pyextra/acados_template/**
 
 rednose/**
+laika/**
 
 cereal/.gitignore
 cereal/__init__.py
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 6fd70875a..f1997bceb 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -39,7 +39,9 @@ class Laikad:
     self.save_ephemeris = save_ephemeris
     self.load_cache()
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-    self.last_pos_fix = last_known_position
+    self.last_pos_fix = last_known_position if last_known_position is not None else []
+    self.last_pos_residual = []
+    self.last_pos_fix_t = None
 
   def load_cache(self):
     cache = Params().get(EPHEMERIS_CACHE)
@@ -62,23 +64,26 @@ class Laikad:
 
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
+      t = ublox_mono_time * 1e-9
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
         self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+
       new_meas = read_raw_ublox(report)
       processed_measurements = process_measurements(new_meas, self.astro_dog)
 
-      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
-      pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
-      if len(pos_fix) > 0:
-        self.last_pos_fix = pos_fix[:3]
-      est_pos = self.last_pos_fix
+      if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
+        min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+        pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
+        if len(pos_fix) > 0:
+          self.last_pos_fix = pos_fix[:3]
+          self.last_pos_residual = pos_fix_residual
+          self.last_pos_fix_t = t
 
-      corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if est_pos is not None else []
+      corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else []
 
-      t = ublox_mono_time * 1e-9
-      self.update_localizer(est_pos, t, corrected_measurements)
+      self.update_localizer(self.last_pos_fix, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
       ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
@@ -94,7 +99,7 @@ class Laikad:
         "gpsTimeOfWeek": report.rcvTow,
         "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
         "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
-        "positionFixECEF": measurement_msg(value=pos_fix, std=pos_fix_residual, valid=len(pos_fix) > 0),
+        "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
       }
@@ -116,7 +121,7 @@ class Laikad:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
-      if est_pos is not None:
+      if len(est_pos) > 0:
         cloudlog.info(f"Reset kalman filter with {est_pos}")
         self.init_gnss_localizer(est_pos)
       else:
@@ -211,13 +216,13 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
     m_arr = m.as_array()
     if m.constellation_id == ConstellationId.GPS:
       ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr)
-      ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS].append(m_arr)
     elif m.constellation_id == ConstellationId.GLONASS:
       ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr)
-      ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS].append(m_arr)
-
+  ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
+  ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
   for kind, data in ekf_data.items():
-    gnss_kf.predict_and_observe(t, kind, data)
+    if len(data) >0:
+      gnss_kf.predict_and_observe(t, kind, data)
 
 
 class CacheSerializer(json.JSONEncoder):
diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py
index a3bcbc000..b6c1771ec 100644
--- a/selfdrive/locationd/models/gnss_helpers.py
+++ b/selfdrive/locationd/models/gnss_helpers.py
@@ -1,16 +1,14 @@
 import numpy as np
+from laika.raw_gnss import GNSSMeasurement
 
 def parse_prr(m):
-  from laika.raw_gnss import GNSSMeasurement
   sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
                                   m[GNSSMeasurement.SAT_VEL]))
   R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
   z_i = m[GNSSMeasurement.PRR]
   return z_i, R_i, sat_pos_vel_i
 
-
 def parse_pr(m):
-  from laika.raw_gnss import GNSSMeasurement
   pseudorange = m[GNSSMeasurement.PR]
   pseudorange_stdev = m[GNSSMeasurement.PR_STD]
   sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 0d6e8e584..3692d48e0 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -18,6 +18,7 @@ COPY ./third_party $HOME/openpilot/third_party
 COPY ./pyextra $HOME/openpilot/pyextra
 COPY ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose
+COPY ./laika $HOME/openpilot/laika
 COPY ./common $HOME/openpilot/common
 COPY ./opendbc $HOME/openpilot/opendbc
 COPY ./cereal $HOME/openpilot/cereal

From 8270c1c1a3584c1244f12143fc1314cdbbb05541 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 20 Jun 2022 19:14:43 +0200
Subject: [PATCH 025/435] ui: onroad widget check if sockets alive (#24913)

* ui: onroad widget check if socket alive

* cleanup
---
 selfdrive/ui/qt/onroad.cc | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 84b538411..45bf41ba2 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -172,22 +172,28 @@ NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FRE
 void NvgWindow::updateState(const UIState &s) {
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
+
+  const bool cs_alive = sm.alive("controlsState");
+  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
+
   const auto cs = sm["controlsState"].getControlsState();
 
-  float set_speed = cs.getVCruise();
+  float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
   bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
     set_speed *= KM_TO_MILE;
   }
-  float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
+
+  float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
+  cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
-  float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
+  float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
   speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
 
   setProperty("speedLimit", speed_limit);
-  setProperty("has_us_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  setProperty("has_eu_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
+  setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
+  setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
 
   setProperty("is_cruise_set", cruise_set);
   setProperty("speed", cur_speed);

From 1f2f9ea9c9dc37bdea9c6e32e4cb8f88ea0a34bf Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 20 Jun 2022 16:24:51 -0700
Subject: [PATCH 026/435] fullframe DM model (#24860)

* Revert "put cereal on master"

This reverts commit a8ccd8f838aff958a60546de04bf42220567b288.

* Revert "Revert fullframe DM model (#24812)"

This reverts commit c646eeee0ac54925db5afc51b95c5d869d6dba68.

* revert revert cereal

* clip6

* 0.8 is fair

* Fiction compensation should be based on error

* Update refs

* Add deadzone

* not that

* good mg

* ref

* ref

* ee8f

* minor tweak

* ref

* recompile

* ref

* cereal

* match driverstatus

* new ref

* new ref

* pass token through jenkins credentials

* quote

* fix snpe dead weights

* final ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 Jenkinsfile                                   |   2 +
 cereal                                        |   2 +-
 common/modeldata.h                            |   6 -
 selfdrive/modeld/dmonitoringmodeld.cc         |   6 +-
 selfdrive/modeld/models/dmonitoring.cc        | 234 ++++++------------
 selfdrive/modeld/models/dmonitoring.h         |  33 ++-
 .../modeld/models/dmonitoring_model.current   |   4 +-
 .../modeld/models/dmonitoring_model.onnx      |   4 +-
 .../modeld/models/dmonitoring_model_q.dlc     |   4 +-
 selfdrive/modeld/runners/onnx_runner.py       |  21 +-
 selfdrive/modeld/runners/onnxmodel.cc         |   6 +-
 selfdrive/modeld/runners/onnxmodel.h          |   3 +-
 selfdrive/modeld/runners/snpemodel.cc         |  12 +-
 selfdrive/modeld/runners/snpemodel.h          |   3 +-
 selfdrive/monitoring/dmonitoringd.py          |   7 +-
 selfdrive/monitoring/driver_monitor.py        |  94 +++----
 selfdrive/monitoring/test_monitoring.py       |  24 +-
 selfdrive/test/process_replay/model_replay.py |   8 +-
 .../process_replay/model_replay_ref_commit    |   2 +-
 .../test/process_replay/process_replay.py     |   2 +-
 selfdrive/test/test_onroad.py                 |   6 +-
 selfdrive/ui/qt/offroad/driverview.cc         |  43 ++--
 selfdrive/ui/qt/widgets/cameraview.cc         |   9 +-
 system/hardware/tici/test_power_draw.py       |   2 +-
 24 files changed, 229 insertions(+), 308 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index dba1f257d..0fa623fbc 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -45,6 +46,7 @@ pipeline {
     CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
   }
   options {
     timeout(time: 4, unit: 'HOURS')
diff --git a/cereal b/cereal
index f445245a8..05bbdafb6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit f445245a8fbe01c33a372d82897575e7acc08ffc
+Subproject commit 05bbdafb67060ffb62e6e0af812935494ad91933
diff --git a/common/modeldata.h b/common/modeldata.h
index aee9fdfd8..b19384141 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -24,12 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
 const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 68c49572e..cde13a9be 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -12,7 +12,7 @@
 ExitHandler do_exit;
 
 void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
-  PubMaster pm({"driverState"});
+  PubMaster pm({"driverStateV2"});
   SubMaster sm({"liveCalibration"});
   float calib[CALIB_LEN] = {0};
   double last = 0;
@@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
     }
 
     double t1 = millis_since_boot();
-    DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
+    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
     double t2 = millis_since_boot();
 
     // send dm packet
-    dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);
+    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
 
     //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
     last = t1;
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 71da8dad5..8c7e14edb 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -10,8 +10,8 @@
 
 #include "selfdrive/modeld/models/dmonitoring.h"
 
-constexpr int MODEL_WIDTH = 320;
-constexpr int MODEL_HEIGHT = 640;
+constexpr int MODEL_WIDTH = 1440;
+constexpr int MODEL_HEIGHT = 960;
 
 template <class T>
 static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
@@ -19,199 +19,115 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
   return buf.data();
 }
 
-static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
-  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
-  uint8_t *u = y + width * height;
-  uint8_t *v = u + (width / 2) * (height / 2);
-
-  // needed on comma two to make the padded border black
-  // equivalent to RGB(0,0,0) in YUV space
-  memset(y, 16, width * height);
-  memset(u, 128, (width / 2) * (height / 2));
-  memset(v, 128, (width / 2) * (height / 2));
-}
-
 void dmonitoring_init(DMonitoringModelState* s) {
   s->is_rhd = Params().getBool("IsRHD");
-  for (int x = 0; x < std::size(s->tensor); ++x) {
-    s->tensor[x] = (x - 128.f) * 0.0078125f;
-  }
-  init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);
 
 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
 #else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
 #endif
 
   s->m->addCalib(s->calib, CALIB_LEN);
 }
 
-static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
-  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
-  uint8_t *u = y + width * height;
-  uint8_t *v = u + (width /2) * (height / 2);
-  return std::make_tuple(y, u, v);
+void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
+  for (int i = 0; i < 3; ++i) {
+    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
+    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
+    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
+  }
+  for (int i = 0; i < 4; ++i) {
+    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
+  }
+  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
+  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
+  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
+  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
+  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
+  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
+  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
 }
 
-struct Rect {int x, y, w, h;};
-void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
-  uint8_t *raw_y = raw;
-  uint8_t *raw_uv = raw_y + uv_offset;
-  for (int r = 0; r < rect.h / 2; r++) {
-    memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w);
-    memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w);
-    for (int h = 0; h < rect.w / 2; h++) {
-      u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2];
-      v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1];
-    }
-  }
+void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
+  ddata.setFaceOrientation(ds_res.face_orientation);
+  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
+  ddata.setFacePosition(ds_res.face_position);
+  ddata.setFacePositionStd(ds_res.face_position_std);
+  ddata.setFaceProb(ds_res.face_prob);
+  ddata.setLeftEyeProb(ds_res.left_eye_prob);
+  ddata.setRightEyeProb(ds_res.right_eye_prob);
+  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
+  ddata.setRightBlinkProb(ds_res.right_blink_prob);
+  ddata.setSunglassesProb(ds_res.sunglasses_prob);
+  ddata.setOccludedProb(ds_res.occluded_prob);
+  ddata.setReadyProb(ds_res.ready_prob);
+  ddata.setNotReadyProb(ds_res.not_ready_prob);
 }
 
-DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  const int cropped_height = tici_dm_crop::width / 1.33;
-  Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
-                height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
-                cropped_height / 2,
-                cropped_height};
-  if (!s->is_rhd) {
-    crop_rect.x += tici_dm_crop::width - crop_rect.w;
-  }
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
+  int v_off = height - MODEL_HEIGHT;
+  int h_off = (width - MODEL_WIDTH) / 2;
+  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
 
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
-  if (!s->is_rhd) {
-    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect);
-  } else {
-    auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
-    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect);
-    libyuv::I420Mirror(mirror_y, crop_rect.w,
-                       mirror_u, crop_rect.w / 2,
-                       mirror_v, crop_rect.w / 2,
-                       cropped_y, crop_rect.w,
-                       cropped_u, crop_rect.w / 2,
-                       cropped_v, crop_rect.w / 2,
-                       crop_rect.w, crop_rect.h);
-  }
+  uint8_t *raw_buf = (uint8_t *) stream_buf;
+  // vertical crop free
+  uint8_t *raw_y_start = raw_buf + stride * v_off;
 
-  auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
-  uint8_t *resized_y = resized_buf;
-  libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
-  libyuv::I420Scale(cropped_y, crop_rect.w,
-                  cropped_u, crop_rect.w / 2,
-                  cropped_v, crop_rect.w / 2,
-                  crop_rect.w, crop_rect.h,
-                  resized_y, resized_width,
-                  resized_u, resized_width / 2,
-                  resized_v, resized_width / 2,
-                  resized_width, resized_height,
-                  mode);
-
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-  float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
-      // Y_dl
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
-      // Y_ur
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
-      // Y_dr
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
-      // U
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
-      // V
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
-    }
-  }
-
-  //printf("preprocess completed. %d \n", yuv_buf_len);
-  //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
-  //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
-  //fclose(dump_yuv_file);
+  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
 
-  // *** testing ***
-  // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
-  // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
+  // here makes a uint8 copy
+  for (int r = 0; r < MODEL_HEIGHT; ++r) {
+    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
+  }
 
-  //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
-  //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
-  //fclose(dump_yuv_file2);
+  // printf("preprocess completed. %d \n", yuv_buf_len);
+  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
+  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
+  // fclose(dump_yuv_file);
 
   double t1 = millis_since_boot();
-  s->m->addImage(net_input_buf, yuv_buf_len);
+  s->m->addImage((float*)net_input_buf, yuv_buf_len / 4);
   for (int i = 0; i < CALIB_LEN; i++) {
     s->calib[i] = calib[i];
   }
   s->m->execute();
   double t2 = millis_since_boot();
 
-  DMonitoringResult ret = {0};
-  for (int i = 0; i < 3; ++i) {
-    ret.face_orientation[i] = s->output[i] * REG_SCALE;
-    ret.face_orientation_meta[i] = exp(s->output[6 + i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ret.face_position[i] = s->output[3 + i] * REG_SCALE;
-    ret.face_position_meta[i] = exp(s->output[9 + i]);
-  }
-  for (int i = 0; i < 4; ++i) {
-    ret.ready_prob[i] = sigmoid(s->output[39 + i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ret.not_ready_prob[i] = sigmoid(s->output[43 + i]);
-  }
-  ret.face_prob = sigmoid(s->output[12]);
-  ret.left_eye_prob = sigmoid(s->output[21]);
-  ret.right_eye_prob = sigmoid(s->output[30]);
-  ret.left_blink_prob = sigmoid(s->output[31]);
-  ret.right_blink_prob = sigmoid(s->output[32]);
-  ret.sg_prob = sigmoid(s->output[33]);
-  ret.poor_vision = sigmoid(s->output[34]);
-  ret.partial_face = sigmoid(s->output[35]);
-  ret.distracted_pose = sigmoid(s->output[36]);
-  ret.distracted_eyes = sigmoid(s->output[37]);
-  ret.occluded_prob = sigmoid(s->output[38]);
-  ret.dsp_execution_time = (t2 - t1) / 1000.;
-  return ret;
+  DMonitoringModelResult model_res = {0};
+  parse_driver_data(model_res.driver_state_lhd, s, 0);
+  parse_driver_data(model_res.driver_state_rhd, s, 41);
+  model_res.poor_vision_prob = sigmoid(s->output[82]);
+  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
+  model_res.dsp_execution_time = (t2 - t1) / 1000.;
+
+  return model_res;
 }
 
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverState();
+  auto framed = msg.initEvent().initDriverStateV2();
   framed.setFrameId(frame_id);
   framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(res.dsp_execution_time);
-
-  framed.setFaceOrientation(res.face_orientation);
-  framed.setFaceOrientationStd(res.face_orientation_meta);
-  framed.setFacePosition(res.face_position);
-  framed.setFacePositionStd(res.face_position_meta);
-  framed.setFaceProb(res.face_prob);
-  framed.setLeftEyeProb(res.left_eye_prob);
-  framed.setRightEyeProb(res.right_eye_prob);
-  framed.setLeftBlinkProb(res.left_blink_prob);
-  framed.setRightBlinkProb(res.right_blink_prob);
-  framed.setSunglassesProb(res.sg_prob);
-  framed.setPoorVision(res.poor_vision);
-  framed.setPartialFace(res.partial_face);
-  framed.setDistractedPose(res.distracted_pose);
-  framed.setDistractedEyes(res.distracted_eyes);
-  framed.setOccludedProb(res.occluded_prob);
-  framed.setReadyProb(res.ready_prob);
-  framed.setNotReadyProb(res.not_ready_prob);
+  framed.setDspExecutionTime(model_res.dsp_execution_time);
+
+  framed.setPoorVisionProb(model_res.poor_vision_prob);
+  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
+  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
+  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
+
   if (send_raw_pred) {
     framed.setRawPredictions(raw_pred.asBytes());
   }
 
-  pm.send("driverState", msg);
+  pm.send("driverStateV2", msg);
 }
 
 void dmonitoring_free(DMonitoringModelState* s) {
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index a1be91e3b..874722cd9 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -9,44 +9,43 @@
 
 #define CALIB_LEN 3
 
-#define OUTPUT_SIZE 45
+#define OUTPUT_SIZE 84
 #define REG_SCALE 0.25f
 
-typedef struct DMonitoringResult {
+typedef struct DriverStateResult {
   float face_orientation[3];
-  float face_orientation_meta[3];
+  float face_orientation_std[3];
   float face_position[2];
-  float face_position_meta[2];
+  float face_position_std[2];
   float face_prob;
   float left_eye_prob;
   float right_eye_prob;
   float left_blink_prob;
   float right_blink_prob;
-  float sg_prob;
-  float poor_vision;
-  float partial_face;
-  float distracted_pose;
-  float distracted_eyes;
+  float sunglasses_prob;
   float occluded_prob;
   float ready_prob[4];
   float not_ready_prob[2];
+} DriverStateResult;
+
+typedef struct DMonitoringModelResult {
+  DriverStateResult driver_state_lhd;
+  DriverStateResult driver_state_rhd;
+  float poor_vision_prob;
+  float wheel_on_right_prob;
   float dsp_execution_time;
-} DMonitoringResult;
+} DMonitoringModelResult;
 
 typedef struct DMonitoringModelState {
   RunModel *m;
   bool is_rhd;
   float output[OUTPUT_SIZE];
-  std::vector<uint8_t> resized_buf;
-  std::vector<uint8_t> cropped_buf;
-  std::vector<uint8_t> premirror_cropped_buf;
-  std::vector<float> net_input_buf;
+  std::vector<uint8_t> net_input_buf;
   float calib[CALIB_LEN];
-  float tensor[UINT8_MAX + 1];
 } DMonitoringModelState;
 
 void dmonitoring_init(DMonitoringModelState* s);
-DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
 void dmonitoring_free(DMonitoringModelState* s);
 
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index 74bcfe17a..d1e7d1136 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-a8236e30-5bee-4689-8ea0-fc102e2770e5
-d508c79bae1c1c451f3af3e2bc231ce33678cb43
\ No newline at end of file
+ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
+cac8f7b69d420506707ff7a19d573d5011ef2533
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 51b0d1ed7..4cbd6bb7d 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308
-size 3679940
+oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
+size 9157561
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index 2e54f7ee4..94632030e 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6
-size 1145921
+oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
+size 2636965
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
index e282a66b6..ac7cc6881 100755
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@@ -9,20 +9,24 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
 import onnxruntime as ort # pylint: disable=import-error
 
-def read(sz):
+def read(sz, tf8=False):
   dd = []
   gt = 0
-  while gt < sz * 4:
-    st = os.read(0, sz * 4 - gt)
+  szof = 1 if tf8 else 4
+  while gt < sz * szof:
+    st = os.read(0, sz * szof - gt)
     assert(len(st) > 0)
     dd.append(st)
     gt += len(st)
-  return np.frombuffer(b''.join(dd), dtype=np.float32)
+  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32)
+  if tf8:
+    r = r / 255.
+  return r
 
 def write(d):
   os.write(1, d.tobytes())
 
-def run_loop(m):
+def run_loop(m, tf8_input=False):
   ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
   keys = [x.name for x in m.get_inputs()]
 
@@ -33,10 +37,10 @@ def run_loop(m):
   print("ready to run onnx model", keys, ishapes, file=sys.stderr)
   while 1:
     inputs = []
-    for shp in ishapes:
+    for k, shp in zip(keys, ishapes):
       ts = np.product(shp)
       #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts).reshape(shp))
+      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp))
     ret = m.run(None, dict(zip(keys, inputs)))
     #print(ret, file=sys.stderr)
     for r in ret:
@@ -44,6 +48,7 @@ def run_loop(m):
 
 
 if __name__ == "__main__":
+  print(sys.argv, file=sys.stderr)
   print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
   options = ort.SessionOptions()
   options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
@@ -63,6 +68,6 @@ if __name__ == "__main__":
     print("Onnx selected provider: ", [provider], file=sys.stderr)
     ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
     print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session)
+    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
   except KeyboardInterrupt:
     pass
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index 9b4d6fd01..1f9f551ab 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -14,12 +14,13 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 
-ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) {
+ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) {
   LOGD("loading model %s", path);
 
   output = _output;
   output_size = _output_size;
   use_extra = _use_extra;
+  use_tf8 = _use_tf8;
 
   int err = pipe(pipein);
   assert(err == 0);
@@ -28,11 +29,12 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
 
   std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe"));
   std::string onnx_runner = exe_dir + "/runners/onnx_runner.py";
+  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
 
   proc_pid = fork();
   if (proc_pid == 0) {
     LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr};
     dup2(pipein[0], 0);
     dup2(pipeout[1], 1);
     close(pipein[0]);
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index 567d81d29..4ac599e2a 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -6,7 +6,7 @@
 
 class ONNXModel : public RunModel {
 public:
-  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false);
+  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false);
 	~ONNXModel();
   void addRecurrent(float *state, int state_size);
   void addDesire(float *state, int state_size);
@@ -31,6 +31,7 @@ private:
   int calib_size;
   float *image_input_buf = NULL;
   int image_buf_size;
+  bool use_tf8;
   float *extra_input_buf = NULL;
   int extra_buf_size;
   bool use_extra;
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index 1861494d5..4d6917e89 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -14,10 +14,11 @@ void PrintErrorStringAndExit() {
   std::exit(EXIT_FAILURE);
 }
 
-SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
+SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) {
   output = loutput;
   output_size = loutput_size;
   use_extra = luse_extra;
+  use_tf8 = luse_tf8;
 #ifdef QCOM2
   if (runtime==USE_GPU_RUNTIME) {
     Runtime = zdl::DlSystem::Runtime_t::GPU;
@@ -70,14 +71,16 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
   printf("model: %s -> %s\n", input_tensor_name, output_tensor_name);
 
   zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
+  zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1
   zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float);
 
   // create input buffer
   {
     const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name);
     const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt;
     std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = sizeof(float);
+    strides[strides.size() - 1] = size_of_input;
     size_t product = 1;
     for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
     size_t stride = strides[strides.size() - 1];
@@ -86,7 +89,10 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
       strides[i-1] = stride;
     }
     printf("input product is %lu\n", product);
-    inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
+    inputBuffer = ubFactory.createUserBuffer(NULL,
+                                             product*size_of_input,
+                                             strides,
+                                             use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat);
 
     inputMap.add(input_tensor_name, inputBuffer.get());
   }
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index ba51fdced..ed9d58d1e 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -23,7 +23,7 @@
 
 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false);
+  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false);
   void addRecurrent(float *state, int state_size);
   void addTrafficConvention(float *state, int state_size);
   void addCalib(float *state, int state_size);
@@ -52,6 +52,7 @@ private:
   std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
   float *input;
   size_t input_size;
+  bool use_tf8;
 
   // snpe output stuff
   zdl::DlSystem::UserBufferMap outputMap;
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 9a3196030..c31e9da43 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
     pm = messaging.PubMaster(['driverMonitoringState'])
 
   if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
+    sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
   driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
 
@@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None):
   while True:
     sm.update()
 
-    if not sm.updated['driverState']:
+    if not sm.updated['driverStateV2']:
       continue
 
     # Get interaction
@@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None):
 
     # Get data from dmonitoringmodeld
     events = Events()
-    driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+    driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
     if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@@ -79,6 +79,7 @@ def dmonitoringd_thread(sm=None, pm=None):
       "isLowStd": driver_status.pose.low_std,
       "hiStdCount": driver_status.hi_stds,
       "isActiveMode": driver_status.active_monitoring_mode,
+      "isRHD": driver_status.wheel_on_right,
     }
     pm.send('driverMonitoringState', dat)
 
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 662e0d76c..f2d052442 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -5,6 +5,7 @@ from common.numpy_fast import interp
 from common.realtime import DT_DMON
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
+from common.transformations.camera import tici_d_frame_size
 
 EventName = car.CarEvent.EventName
 
@@ -25,33 +26,30 @@ class DRIVER_MONITOR_SETTINGS():
     self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
-    self._FACE_THRESHOLD = 0.5
-    self._PARTIAL_FACE_THRESHOLD = 0.8
+    self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.925
-    self._BLINK_THRESHOLD = 0.8
-    self._BLINK_THRESHOLD_SLACK = 0.9
-    self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.87
 
     self._EE_THRESH11 = 0.75
     self._EE_THRESH12 = 3.25
     self._EE_THRESH21 = 0.01
     self._EE_THRESH22 = 0.35
 
-    self._POSE_PITCH_THRESHOLD = 0.3237
-    self._POSE_PITCH_THRESHOLD_SLACK = 0.3657
+    self._POSE_PITCH_THRESHOLD = 0.3133
+    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
-    self._POSE_YAW_THRESHOLD = 0.3109
-    self._POSE_YAW_THRESHOLD_SLACK = 0.4294
+    self._POSE_YAW_THRESHOLD = 0.4020
+    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned
-    self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
     self._YAW_MIN_OFFSET = -0.0246
 
-    self._POSESTD_THRESHOLD = 0.315
+    self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
@@ -59,6 +57,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
     self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
 
+    self._WHEELPOS_THRESHOLD = 0.5
+    self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
+
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
 
@@ -66,9 +67,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 
-# model output refers to center of cropped image, so need to apply the x displacement offset
-RESIZED_FOCAL = 320.0
-H, W, FULL_W = 320, 160, 426
+# model output refers to center of undistorted+leveled image
+EFL = 598.0 # focal length in K
+W, H = tici_d_frame_size # corrected image has same size as raw
 
 class DistractedType:
   NOT_DISTRACTED = 0
@@ -76,22 +77,22 @@ class DistractedType:
   DISTRACTED_BLINK = 2
   DISTRACTED_E2E = 4
 
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
+def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   # the output of these angles are in device frame
   # so from driver's perspective, pitch is up and yaw is right
 
   pitch_net, yaw_net, roll_net = angles_desc
 
-  face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
+  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
 
   pitch = pitch_net + pitch_focal_angle
   yaw = -yaw_net + yaw_focal_angle
 
   # no calib for roll
   pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd))  # lhd -> -=, rhd -> +=
+  yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
 class DriverPose():
@@ -112,7 +113,6 @@ class DriverBlink():
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
-    self.cfactor = 1.
 
 class DriverStatus():
   def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
@@ -120,7 +120,7 @@ class DriverStatus():
     self.settings = settings
 
     # init driver status
-    self.is_rhd_region = rhd
+    # self.wheelpos_learner = RunningStatFilter()
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.pose_calibrated = False
     self.blink = DriverBlink()
@@ -137,8 +137,8 @@ class DriverStatus():
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.wheel_on_right = rhd
     self.face_detected = False
-    self.face_partial = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
     self.step_change = 0.
@@ -197,7 +197,7 @@ class DriverStatus():
        yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor:
+    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
@@ -214,13 +214,7 @@ class DriverStatus():
     return distracted_types
 
   def set_policy(self, model_data, car_speed):
-    ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
     bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
-    # TODO: retune adaptive blink
-    self.blink.cfactor = interp(ep, [0, 0.5, 1],
-                                           [self.settings._BLINK_THRESHOLD_STRICT,
-                                            self.settings._BLINK_THRESHOLD,
-                                            self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
     self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
@@ -231,28 +225,36 @@ class DriverStatus():
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
-    if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
-                                    driver_state.faceOrientationStd, driver_state.facePositionStd,
-                                    driver_state.readyProb, driver_state.notReadyProb)):
+    # rhd_pred = driver_state.wheelOnRightProb
+    # if car_speed > 0.01:
+    #   self.wheelpos_learner.push_and_update(rhd_pred)
+    # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+    #   self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    # else:
+    #   self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
+                                    driver_data.faceOrientationStd, driver_data.facePositionStd,
+                                    driver_data.readyProb, driver_data.notReadyProb)):
       return
 
-    self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
-    self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
-    self.pose.pitch_std = driver_state.faceOrientationStd[0]
-    self.pose.yaw_std = driver_state.faceOrientationStd[1]
-    # self.pose.roll_std = driver_state.faceOrientationStd[2]
+    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
+    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    if self.wheel_on_right:
+      self.pose.yaw *= -1
+    self.pose.pitch_std = driver_data.faceOrientationStd[0]
+    self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_state.notReadyProb[1]
-    self.eev2 = driver_state.readyProb[0]
+    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
+    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.eev1 = driver_data.notReadyProb[1]
+    self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
     self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
                                             DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index a84ed242b..43b5e7747 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE
 INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
-  ds = log.DriverState.new_message()
-  ds.faceOrientation = [0., 0., 0.]
-  ds.facePosition = [0., 0.]
-  ds.faceProb = 1. * face_detected
-  ds.leftEyeProb = 1.
-  ds.rightEyeProb = 1.
-  ds.leftBlinkProb = 1. * distracted
-  ds.rightBlinkProb = 1. * distracted
-  ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
-  ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
+  ds = log.DriverStateV2.new_message()
+  ds.leftDriverData.faceOrientation = [0., 0., 0.]
+  ds.leftDriverData.facePosition = [0., 0.]
+  ds.leftDriverData.faceProb = 1. * face_detected
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
+  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
-  ds.readyProb = [0., 0., 0., 0.]
-  ds.notReadyProb = [0., 0.]
+  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
+  ds.leftDriverData.notReadyProb = [0., 0.]
   return ds
 
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index f3bb28663..bccad5d92 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -52,7 +52,7 @@ def model_replay(lr, frs):
   vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
   vipc_server.start_listener()
 
-  sm = messaging.SubMaster(['modelV2', 'driverState'])
+  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
   pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
 
   try:
@@ -112,7 +112,7 @@ def model_replay(lr, frs):
             if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
               recv = "modelV2"
           elif msg.which() == 'driverCameraState':
-            recv = "driverState"
+            recv = "driverStateV2"
 
           # wait for a response
           with Timeout(15, f"timed out waiting for {recv}"):
@@ -170,8 +170,8 @@ if __name__ == "__main__":
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
-        'driverState.modelExecutionTime',
-        'driverState.dspExecutionTime'
+        'driverStateV2.modelExecutionTime',
+        'driverStateV2.dspExecutionTime'
       ]
       # TODO this tolerence is absurdly large
       tolerance = 5e-1 if PC else None
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 54c2ed54a..0c4c2305e 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-629eaa7b26d1721a71547f9de880f99732cb27f3
+5434b3c1696554e9a889e77f794d80cd1cb0a7ec
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c368e6b57..62c5eb482 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -293,7 +293,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="dmonitoringd",
     pub_sub={
-      "driverState": ["driverMonitoringState"],
+      "driverStateV2": ["driverMonitoringState"],
       "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 3586f86f1..f10c79313 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -33,7 +33,7 @@ PROCS = {
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./boardd": 3.63,
-  "./_dmonitoringmodeld": 10.0,
+  "./_dmonitoringmodeld": 5.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "./_soundd": 1.0,
@@ -60,7 +60,7 @@ TIMINGS = {
   "roadCameraState": [2.5, 0.35],
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
-  "driverState": [2.5, 0.40],
+  "driverStateV2": [2.5, 0.40],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase):
     # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
       ("modelV2", 0.050, 0.036),
-      ("driverState", 0.050, 0.026),
+      ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 06578b455..dc9f292df 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
   emit done();
 }
 
-DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
+DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
   face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }
 
@@ -57,43 +57,36 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     return;
   }
 
-  const int width = 4 * height() / 3;
-  const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
-  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
+  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
+  cereal::DriverStateV2::DriverData::Reader driver_data;
 
-  // blackout
-  const QColor bg(0, 0, 0, 140);
-  const QRect& blackout_rect = rect();
-  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
-  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
-  p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
+  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
 
-  // face bounding box
-  cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
-  bool face_detected = driver_state.getFaceProb() > 0.5;
+  bool face_detected = driver_data.getFaceProb() > 0.7;
   if (face_detected) {
-    auto fxy_list = driver_state.getFacePosition();
-    auto std_list = driver_state.getFaceOrientationStd();
+    auto fxy_list = driver_data.getFacePosition();
+    auto std_list = driver_data.getFaceOrientationStd();
     float face_x = fxy_list[0];
     float face_y = fxy_list[1];
     float face_std = std::max(std_list[0], std_list[1]);
 
     float alpha = 0.7;
-    if (face_std > 0.08) {
-      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
+    if (face_std > 0.15) {
+      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
     }
-    const int box_size = 0.6 * rect2.height() / 2;
-    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
-    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
-    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
+    const int box_size = 220;
+    // use approx instead of distort_points
+    int fbox_x = 1080.0 - 1714.0 * face_x;
+    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
     p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
   // icon
-  const int img_offset = 30;
-  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
-  const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.3);
+  const int img_offset = 60;
+  const int img_x = rect().left() + img_offset;
+  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 000ac4847..8666eb1d4 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -67,16 +67,15 @@ const mat4 device_transform = {{
 }};
 
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 1.333;
-  const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
+  const float driver_view_ratio = 2.0;
+  const float yscale = stream_height * driver_view_ratio / stream_width;
   const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
   mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
-    0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
     0.0,  0.0, 1.0, 0.0,
     0.0,  0.0, 0.0, 1.0,
   }};
-
   return transform;
 }
 
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
index b6b5c735f..4277bb927 100755
--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -21,7 +21,7 @@ class Proc:
 PROCS = [
   Proc('camerad', 2.15),
   Proc('modeld', 1.0, atol=0.15),
-  Proc('dmonitoringmodeld', 0.25),
+  Proc('dmonitoringmodeld', 0.35),
   Proc('encoderd', 0.23),
 ]
 

From 2e2118dac33f51b5f03d7e2a5512fc9154c12122 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Jun 2022 16:32:59 -0700
Subject: [PATCH 027/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 05bbdafb6..c6acc0698 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 05bbdafb67060ffb62e6e0af812935494ad91933
+Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3

From 5e0713122115604ccdbbb3844a6ab8d49657bc6a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Jun 2022 19:16:49 -0700
Subject: [PATCH 028/435] Toyota: international corolla cross is supported

---
 docs/CARS.md                   | 3 ++-
 selfdrive/car/toyota/values.py | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 77b1c5e78..7c73bd340 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-# Gold - 28 cars
+# Gold - 29 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -58,6 +58,7 @@ How We Rate The Cars
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2c151266c..b1c6da922 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -119,6 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
+    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
   ],
   CAR.COROLLAH_TSS2: [

From 04b8e1b6a03aa0ad39b424f6c899365d0bc98604 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 20 Jun 2022 19:37:02 -0700
Subject: [PATCH 029/435] FPv2: log correct response address (#24918)

log correct response address (29 bit addresses have a different standard)
---
 selfdrive/car/fw_versions.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 81883ceca..a03b6b881 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -350,7 +350,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
     f.ecu = ecu_types[addr]
     f.fwVersion = version
     f.address = addr[0]
-    f.responseAddress = addr[0] + rx_offset
+    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
     f.request = request
 
     if addr[1] is not None:

From 59055724d6069471618a7090270797e50d59f798 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Jun 2022 20:20:24 -0700
Subject: [PATCH 030/435] 22 civic hatcback is supported

---
 docs/CARS.md                  | 3 ++-
 selfdrive/car/honda/values.py | 5 ++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 7c73bd340..73ffcc0e0 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -150,7 +150,7 @@ How We Rate The Cars
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 70 cars
+# Bronze - 71 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -171,6 +171,7 @@ How We Rate The Cars
 |Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 0bdb8ccd9..c6e20f2d8 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -119,7 +119,10 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
-  CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+  CAR.CIVIC_2022: [
+    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+  ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
   CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),

From cccab50b166272d13ab51eab1eb10e21beca604e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 20 Jun 2022 22:14:13 -0700
Subject: [PATCH 031/435] FPv2: log all present ECU addresses (#24916)

* eliminate brands based on ECUs that respond to tester present

* make it work

* Add type hint for can message

Use make_can_msg

* Only query for addresses in fingerprints, and account for different busses

* These need to be addresses, not response addresses

* We need to listen to response addresses, not query addresses

* add to files_common

* Unused Optional
Drain sock raw

* add logging

* only query essential ecus

comments

* simplify get_brand_candidates(), keep track of multiple request variants per make and request each subaddress

* fixes

make dat bytes

bus is src

Fix check

* (addr, subaddr, bus) can be common across brands, add a match to each brand

* fix length

* query subaddrs in sequence

* fix

* candidate if a platform is a subset of responding ecu addresses

comment

comment

* do logging for shadow mode

* log responses so we can calculate candidates offline

* get has_subaddress from response set

* one liner

* fix mypy

* set to default at top

* always log for now

* log to make sure it's taking exactly timeout time

* import time

* fix logging

* 0.1 timeout

* clean up

Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
---
 release/files_common         |  1 +
 selfdrive/car/car_helpers.py |  8 ++--
 selfdrive/car/ecu_addrs.py   | 90 ++++++++++++++++++++++++++++++++++++
 selfdrive/car/fw_versions.py | 42 +++++++++++++++--
 4 files changed, 135 insertions(+), 6 deletions(-)
 create mode 100755 selfdrive/car/ecu_addrs.py

diff --git a/release/files_common b/release/files_common
index 7274ee9bf..96649b9f1 100644
--- a/release/files_common
+++ b/release/files_common
@@ -101,6 +101,7 @@ selfdrive/car/interfaces.py
 selfdrive/car/vin.py
 selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
+selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 3bfd99f88..8c0fd7c90 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
+from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  ecu_responses = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -97,6 +98,7 @@ def fingerprint(logcan, sendcan):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
+      ecu_responses = get_present_ecus(logcan, sendcan)
       car_fw = get_fw_versions(logcan, sendcan)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -163,8 +165,8 @@ def fingerprint(logcan, sendcan):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint,
-                 source=source, fuzzy=not exact_match, fw_count=len(car_fw))
+  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
+                 fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
new file mode 100755
index 000000000..267701509
--- /dev/null
+++ b/selfdrive/car/ecu_addrs.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import capnp
+import time
+import traceback
+from typing import Optional, Set, Tuple
+
+import cereal.messaging as messaging
+from panda.python.uds import SERVICE_TYPE
+from selfdrive.car import make_can_msg
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from system.swaglog import cloudlog
+
+
+def make_tester_present_msg(addr, bus, subaddr=None):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool:
+  # ISO-TP messages are always padded to 8 bytes
+  # tester present response is always a single frame
+  dat_offset = 1 if subaddr is not None else 0
+  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
+    # success response
+    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
+      return True
+    # error response
+    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
+      return True
+  return False
+
+
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
+  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  responses = queries
+  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
+
+
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
+                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+  try:
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+
+    messaging.drain_sock_raw(logcan)
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < timeout:
+      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
+      for packet in can_packets:
+        for msg in packet.can:
+          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
+          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+            if debug:
+              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
+              if (msg.address, subaddr, msg.src) in ecu_responses:
+                print(f"Duplicate ECU address: {hex(msg.address)}")
+            ecu_responses.add((msg.address, subaddr, msg.src))
+  except Exception:
+    cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}")
+  return ecu_responses
+
+
+if __name__ == "__main__":
+  import argparse
+
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  args = parser.parse_args()
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+
+  time.sleep(1.0)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug)
+
+  print()
+  print("Found ECUs on addresses:")
+  for addr, subaddr, bus in ecu_addrs:
+    msg = f"  0x{hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: 0x{hex(subaddr)})"
+    print(msg)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index a03b6b881..66f0564fc 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -3,11 +3,12 @@ import struct
 import traceback
 from collections import defaultdict
 from dataclasses import dataclass, field
-from typing import Any, List
+from typing import Any, List, Optional, Set, Tuple
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
+from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -15,6 +16,7 @@ from selfdrive.car.toyota.values import CAR as TOYOTA
 from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 
 
 def p16(val):
@@ -261,7 +263,6 @@ def match_fw_to_car_exact(fw_versions_dict):
       ecu_type = ecu[0]
       addr = ecu[1:]
       found_version = fw_versions_dict.get(addr, None)
-      ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
       if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
@@ -299,11 +300,46 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True):
   return exact_match, matches
 
 
+def get_present_ecus(logcan, sendcan):
+  queries = list()
+  parallel_queries = list()
+  responses = set()
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+
+  for r in REQUESTS:
+    if r.brand not in versions:
+      continue
+
+    for brand_versions in versions[r.brand].values():
+      for ecu_type, addr, sub_addr in brand_versions:
+        # Only query ecus in whitelist if whitelist is not empty
+        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+          a = (addr, sub_addr, r.bus)
+          # Build set of queries
+          if sub_addr is None:
+            if a not in parallel_queries:
+              parallel_queries.append(a)
+          else:  # subaddresses must be queried one by one
+            if [a] not in queries:
+              queries.append([a])
+
+          # Build set of expected responses to filter
+          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+          responses.add((response_addr, sub_addr, r.bus))
+
+  queries.insert(0, parallel_queries)
+
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
+  for query in queries:
+    ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+  return ecu_responses
+
+
 def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
   ecu_types = {}
 
   # Extract ECU addresses to query from fingerprints
-  # ECUs using a subadress need be queried one by one, the rest can be done in parallel
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
   addrs = []
   parallel_addrs = []
 

From bd782c982f17221a33b660d82dab7aa297e10c60 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 20 Jun 2022 23:23:14 -0700
Subject: [PATCH 032/435] Mazda: log standstill bit (#24923)

* set standstill bit for mazda

* use bit in carcontroller

* Revert "use bit in carcontroller"

This reverts commit f38210a191bcd6e34ff81626e857f778207a55e7.
---
 selfdrive/car/mazda/carstate.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 6e1ad3e48..944d79809 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -79,6 +79,7 @@ class CarState(CarStateBase):
     #       it should be used for carState.cruiseState.nonAdaptive instead
     ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
     ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
+    ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1
     ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
     if ret.cruiseState.enabled:

From 5ce9b5d38cbba4d59935ef8504ec2a8cfb0eb149 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 21 Jun 2022 00:11:13 -0700
Subject: [PATCH 033/435] Bump laika (#24920)

---
 laika_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/laika_repo b/laika_repo
index 44f048bc1..824b49327 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 44f048bc1f58ae9e28dfdeb98e40aea3e0f2b699
+Subproject commit 824b49327aa2f41eb0dafbe3806e6c4841b19f11

From e45eb1bd28623571079122030392fa0fe03e7a42 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 21 Jun 2022 00:11:55 -0700
Subject: [PATCH 034/435] test_models: check cruiseState.available (#24924)

* check available is true if enabled is true

* remove extra line
---
 selfdrive/car/tests/test_models.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 27dc4ba77..cb4b86858 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -221,6 +221,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
+      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed

From d261ff6d0395f3344e41fbf47b6d9aa149ac642f Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 21 Jun 2022 11:01:44 +0200
Subject: [PATCH 035/435] bump laika

---
 laika_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/laika_repo b/laika_repo
index 824b49327..27a0d8a77 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 824b49327aa2f41eb0dafbe3806e6c4841b19f11
+Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0

From f7205f3b07d15ff4e9d840a689792d7f5b5be0d8 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 21 Jun 2022 11:14:25 +0200
Subject: [PATCH 036/435] ui: metric wider set speed box (#24890)

---
 selfdrive/ui/qt/onroad.cc | 3 ++-
 selfdrive/ui/qt/onroad.h  | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 45bf41ba2..482f04c03 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -196,6 +196,7 @@ void NvgWindow::updateState(const UIState &s) {
   setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
 
   setProperty("is_cruise_set", cruise_set);
+  setProperty("is_metric", s.scene.is_metric);
   setProperty("speed", cur_speed);
   setProperty("setSpeed", set_speed);
   setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
@@ -225,8 +226,8 @@ void NvgWindow::drawHud(QPainter &p) {
   // Draw outer box + border to contain set speed and speed limit
   int default_rect_width = 172;
   int rect_width = default_rect_width;
+  if (is_metric || has_eu_speed_limit) rect_width = 200;
   if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
-  else if (has_eu_speed_limit) rect_width = 200;
 
   int rect_height = 204;
   if (has_us_speed_limit) rect_height = 402;
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index e58d7a797..4cd88fc9e 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -34,6 +34,7 @@ class NvgWindow : public CameraViewWidget {
   Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
   Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
   Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
+  Q_PROPERTY(bool is_metric MEMBER is_metric);
 
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
@@ -57,6 +58,7 @@ private:
   float setSpeed;
   float speedLimit;
   bool is_cruise_set = false;
+  bool is_metric = false;
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;

From 21dd464fd3b0e23e2277479532c56230fe1e66bd Mon Sep 17 00:00:00 2001
From: sshane <shane@smiskol.com>
Date: Tue, 21 Jun 2022 03:22:38 -0700
Subject: [PATCH 037/435] Revert "VW FPv2: reduce number of ECU queries
 (#24706)"

This reverts commit 6c02e554e7174745c7605f4e8f0e3c1aea637091.
---
 selfdrive/car/fw_versions.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 66f0564fc..758485c39 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -148,14 +148,12 @@ REQUESTS: List[Request] = [
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(

From 278f7b9e8a54839989d6a5bd8d37d6aeca789d2a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 21 Jun 2022 13:15:26 +0200
Subject: [PATCH 038/435] ui: draw MAX above set speed (#24930)

---
 selfdrive/ui/qt/onroad.cc | 44 ++++++++++++++++++++-------------------
 1 file changed, 23 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 482f04c03..d92cf36b8 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -241,26 +241,6 @@ void NvgWindow::drawHud(QPainter &p) {
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
-  // Draw set speed
-  if (is_cruise_set) {
-    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
-      p.setPen(interpColor(
-        setSpeed,
-        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
-        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
-      ));
-    } else {
-      p.setPen(whiteColor());
-    }
-  } else {
-    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
-  }
-  configFont(p, "Open Sans", 90, "Bold");
-  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
-  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
-  speed_rect.moveTop(set_speed_rect.top() + 8);
-  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
-
   // Draw MAX
   if (is_cruise_set) {
     if (status == STATUS_DISENGAGED) {
@@ -282,9 +262,31 @@ void NvgWindow::drawHud(QPainter &p) {
   configFont(p, "Open Sans", 40, "SemiBold");
   QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
   max_rect.moveCenter({set_speed_rect.center().x(), 0});
-  max_rect.moveTop(set_speed_rect.top() + 123);
+  max_rect.moveTop(set_speed_rect.top() + 23);
   p.drawText(max_rect, Qt::AlignCenter, "MAX");
 
+  // Draw set speed
+  if (is_cruise_set) {
+    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
+      ));
+    } else {
+      p.setPen(whiteColor());
+    }
+  } else {
+    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
+  }
+  configFont(p, "Open Sans", 90, "Bold");
+  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
+  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
+  speed_rect.moveTop(set_speed_rect.top() + 67);
+  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
+
+
+
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
     const int border_width = 6;

From 67b601e0efb5f33697cadadb50d32debb4325d60 Mon Sep 17 00:00:00 2001
From: Anton Rudomanenko <rudomanenkoanton@gmail.com>
Date: Tue, 21 Jun 2022 16:23:43 +0300
Subject: [PATCH 039/435] replay: handle missing socket while replaying route
 log with --allow flag (#24933)

* fix: fix the problem with replay routes locally

* fix: Exception with --allow flag in replay.cc

Co-authored-by: Anton Rudomaneko <anton.rudomanenko@nami.ru>
---
 selfdrive/ui/replay/replay.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
index 5eb7469c9..cf7520b36 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/selfdrive/ui/replay/replay.cc
@@ -360,7 +360,8 @@ void Replay::stream() {
       setCurrentSegment(toSeconds(cur_mono_time_) / 60);
 
       // migration for pandaState -> pandaStates to keep UI working for old segments
-      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) {
+      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && 
+          sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
         MessageBuilder msg;
         auto ps = msg.initEvent().initPandaStates(1);
         ps[0].setIgnitionLine(true);

From 95d8517a81d23e0c385b5f931e7e89a3d3e52b17 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 21 Jun 2022 16:26:40 +0200
Subject: [PATCH 040/435] car_bug_report.yml: fix labels

---
 .github/ISSUE_TEMPLATE/car_bug_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/ISSUE_TEMPLATE/car_bug_report.yml b/.github/ISSUE_TEMPLATE/car_bug_report.yml
index 23527c3a4..7f368f11b 100644
--- a/.github/ISSUE_TEMPLATE/car_bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/car_bug_report.yml
@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown

From 0e0b5c4e24a8da64362c8dbf851dbe0f806916c0 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 21 Jun 2022 12:07:00 -0700
Subject: [PATCH 041/435] Revert "Rocket league model (#24869)" (#24936)

* Revert rocket league

* revert ref commit

* New model ref commit
---
 selfdrive/modeld/models/driving.h                     | 2 +-
 selfdrive/modeld/models/supercombo.dlc                | 4 ++--
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/modeld/thneed/compile.cc                    | 2 +-
 selfdrive/modeld/thneed/optimizer.cc                  | 8 ++++----
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 6 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index a69105163..97e65fbc0 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -245,7 +245,7 @@ struct ModelOutput {
 
 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
 #ifdef TEMPORAL
-  constexpr int TEMPORAL_SIZE = 512+256;
+  constexpr int TEMPORAL_SIZE = 512;
 #else
   constexpr int TEMPORAL_SIZE = 0;
 #endif
diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 90f7a2e65..23f6d904f 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44
-size 101662751
+oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
+size 76725611
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 049339856..9023c18dd 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49
-size 102570834
+oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
+size 77472267
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index a2f55ffd9..f76c63b2b 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -5,7 +5,7 @@
 #include "selfdrive/modeld/thneed/thneed.h"
 #include "system/hardware/hw.h"
 
-#define TEMPORAL_SIZE 512+256
+#define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8
 #define TRAFFIC_CONVENTION_LEN 2
 
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 39737d3d7..03d20ff38 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-/*static int is_same_size_image(cl_mem a, cl_mem b) {
+static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ extern map<cl_program, string> g_program_source;
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}*/
+}
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }*/
+      }
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 0c4c2305e..9f9b82269 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5434b3c1696554e9a889e77f794d80cd1cb0a7ec
+df0ce74929dd6b5fa7a55224baefeff4bac6d785

From 1d447441239b3086e1f37185e2e5d210c80c8164 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Jun 2022 19:26:20 -0700
Subject: [PATCH 042/435] jenkins: set successful boot flag

---
 selfdrive/test/setup_device_ci.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 99acc050e..2e5ffeacc 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -36,6 +36,8 @@ fi
 tee $CONTINUE_PATH << EOF
 #!/usr/bin/bash
 
+sudo abctl --set_success
+
 while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh

From 4efb28766e386de3117819b8a128aa782aaadf2a Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Wed, 22 Jun 2022 01:17:13 -0400
Subject: [PATCH 043/435] Honda Longitudinal: fix HUD max distance setting
 (#24915)

Fix max distance setting on display
---
 selfdrive/car/honda/hondacan.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 6a1fb2e45..5de29b4f3 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -111,7 +111,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     acc_hud_values = {
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': 1,
-      'HUD_DISTANCE': 3,  # max distance setting on display
+      'HUD_DISTANCE': 0,  # max distance setting on display
       'IMPERIAL_UNIT': int(not is_metric),
       'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
       'SET_ME_X01_2': 1,

From dd67853526cc2cda20edc51c45bd9c65a1fa931b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 21 Jun 2022 22:40:16 -0700
Subject: [PATCH 044/435] update refs

---
 selfdrive/test/process_replay/ref_commit | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8ed68d5bd..b2623dc8d 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b
+4efb28766e386de3117819b8a128aa782aaadf2a
\ No newline at end of file

From f99a091eaaaa65c4a7ec3e2e22e045e6263f6bcd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 21 Jun 2022 23:39:26 -0700
Subject: [PATCH 045/435] update camerad gitignores

---
 .gitignore | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.gitignore b/.gitignore
index 334b1b4fe..0092c4dc9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
 selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

From 789f2d195cee7b7dd8dd07d36a4e2e9b6b442e38 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Jun 2022 01:03:29 -0700
Subject: [PATCH 046/435] compatibility docs: fixup steering torque star
 (#24940)

* Ascent has good torque, hard code Toyota, print all unexpected torque star cars

* update docs

* Use subtests

* hardcode CHR for now

generate

* Hard code Impreza

* update refs
---
 docs/CARS.md                             | 32 ++++++++++----------
 selfdrive/car/subaru/values.py           |  2 +-
 selfdrive/car/tests/test_docs.py         | 37 ++++++++++++++----------
 selfdrive/car/torque_data.json           |  2 +-
 selfdrive/car/toyota/values.py           |  1 +
 selfdrive/test/process_replay/ref_commit |  2 +-
 6 files changed, 41 insertions(+), 35 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 73ffcc0e0..de7dbacf2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-# Gold - 29 cars
+# Gold - 33 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -52,9 +52,13 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -104,13 +108,15 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -121,10 +127,8 @@ How We Rate The Cars
 |Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -150,7 +154,7 @@ How We Rate The Cars
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 71 cars
+# Bronze - 67 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -197,10 +201,8 @@ How We Rate The Cars
 |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -208,13 +210,11 @@ How We Rate The Cars
 |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 45358eb3a..9badc3ca5 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index b4bc14ef0..98c909a9b 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -16,32 +16,37 @@ class TestCarDocs(unittest.TestCase):
       current_cars_md = f.read()
 
     self.assertEqual(generated_cars_md, current_cars_md,
-                     "Run selfdrive/car/docs.py to generate new supported cars documentation")
+                     "Run selfdrive/car/docs.py to update the compatibility documentation")
 
   def test_missing_car_info(self):
     all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
     for platform in sorted(interfaces.keys()):
-      if platform not in all_car_info_platforms:
-        self.fail("Platform: {} doesn't exist in CarInfo".format(platform))
+      with self.subTest(platform=platform):
+        self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
 
   def test_naming_conventions(self):
-    # Asserts market-standard car naming conventions by make
+    # Asserts market-standard car naming conventions by brand
     for car in self.all_cars:
-      tokens = car.model.lower().split(" ")
-      if car.car_name == "hyundai":
-        self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
-        self.assertNotIn("hev", tokens, "Use `Hybrid`")
-        self.assertNotIn("ev", tokens, "Use `Electric`")
-        if "plug-in hybrid" in car.model.lower():
-          self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
-      elif car.car_name == "toyota":
-        if "rav4" in tokens:
-          self.assertIn("RAV4", car.model, "Use correct capitalization")
+      with self.subTest(car=car):
+        tokens = car.model.lower().split(" ")
+        if car.car_name == "hyundai":
+          self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
+          self.assertNotIn("hev", tokens, "Use `Hybrid`")
+          self.assertNotIn("ev", tokens, "Use `Electric`")
+          if "plug-in hybrid" in car.model.lower():
+            self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
+        elif car.car_name == "toyota":
+          if "rav4" in tokens:
+            self.assertIn("RAV4", car.model, "Use correct capitalization")
 
   def test_torque_star(self):
+    # Asserts brand-specific assumptions around steering torque star
     for car in self.all_cars:
-      if car.car_name == "honda":
-        self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+      with self.subTest(car=car):
+        if car.car_name == "honda":
+          self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+        elif car.car_name in ("toyota", "hyundai"):
+          self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
index 63ee0e9bc..4917cba9b 100644
--- a/selfdrive/car/torque_data.json
+++ b/selfdrive/car/torque_data.json
@@ -1 +1 @@
-{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.8127509604734238, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 0.8910235787356033}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
+{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 1.271271459066948}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b1c6da922..32f66b6fa 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -99,6 +99,7 @@ class Footnote(Enum):
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
   harness: Enum = Harness.toyota
+  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b2623dc8d..05d016911 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4efb28766e386de3117819b8a128aa782aaadf2a
\ No newline at end of file
+2d736ca51acc1ac06216631b0529b50d9a6d2170
\ No newline at end of file

From 88f246b909e3e111ac84e964bb811efefd923163 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 22 Jun 2022 11:45:38 +0200
Subject: [PATCH 047/435] ui: change alerts to Inter (#24937)

* ui: change alerts to Inter

* fix up test
---
 selfdrive/controls/tests/test_alerts.py | 17 +++++++----------
 selfdrive/ui/qt/onroad.cc               | 10 +++++-----
 2 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 2bd904b57..79c56d6bc 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -48,20 +48,17 @@ class TestAlerts(unittest.TestCase):
   # ensure alert text doesn't exceed allowed width
   def test_alert_text_length(self):
     font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
-    regular_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-    bold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-    semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-
-    max_text_width = 1920 - 300  # full screen width is useable, minus sidebar
-    # TODO: get exact scale factor. found this empirically, works well enough
-    font_scale_factor = 1.55  # factor to scale from nanovg units to PIL
+    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
 
+    max_text_width = 2160 - 300  # full screen width is useable, minus sidebar
     draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
 
     fonts = {
-      AlertSize.small: [ImageFont.truetype(semibold_font_path, int(40 * font_scale_factor))],
-      AlertSize.mid: [ImageFont.truetype(bold_font_path, int(48 * font_scale_factor)),
-                      ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))],
+      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+                      ImageFont.truetype(regular_font_path, 66)],
     }
 
     for alert in ALERTS:
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d92cf36b8..98b70c6b6 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -146,18 +146,18 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   p.setPen(QColor(0xff, 0xff, 0xff));
   p.setRenderHint(QPainter::TextAntialiasing);
   if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    configFont(p, "Open Sans", 74, "SemiBold");
+    configFont(p, "Inter", 74, "SemiBold");
     p.drawText(r, Qt::AlignCenter, alert.text1);
   } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    configFont(p, "Open Sans", 88, "Bold");
+    configFont(p, "Inter", 88, "Bold");
     p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    configFont(p, "Open Sans", 66, "Regular");
+    configFont(p, "Inter", 66, "Regular");
     p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
   } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     bool l = alert.text1.length() > 15;
-    configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+    configFont(p, "Inter", l ? 132 : 177, "Bold");
     p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    configFont(p, "Open Sans", 88, "Regular");
+    configFont(p, "Inter", 88, "Regular");
     p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
   }
 }

From 963de402115a4eb8eb7944c5f5233e47dea31543 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 22 Jun 2022 11:46:00 +0200
Subject: [PATCH 048/435] ui: change sidebar font to Inter (#24931)

* change sidebar to inter

* clean up metric color rect radius

* fix text placement

* simplify rect placement
---
 selfdrive/ui/qt/sidebar.cc | 39 ++++++++++++++++++++++----------------
 selfdrive/ui/qt/sidebar.h  |  4 ++--
 2 files changed, 25 insertions(+), 18 deletions(-)

diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 312d8d8a5..00e72b352 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -4,13 +4,13 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
-  const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100};
+void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y) {
+  const QRect rect = {30, y, 240, 126};
 
   p.setPen(Qt::NoPen);
   p.setBrush(QBrush(c));
-  p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
-  p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10);
+  p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
+  p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
   p.setClipping(false);
 
   QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
@@ -20,9 +20,16 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
   p.drawRoundedRect(rect, 20, 20);
 
   p.setPen(QColor(0xff, 0xff, 0xff));
-  configFont(p, "Open Sans", 35, "Bold");
-  const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height());
-  p.drawText(r, Qt::AlignCenter, label);
+  configFont(p, "Inter", 35, "SemiBold");
+
+  QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first);
+  label_rect.setWidth(218);
+  label_rect.moveLeft(rect.left() + 22);
+  label_rect.moveTop(rect.top() + 19);
+  p.drawText(label_rect, Qt::AlignCenter, label.first);
+
+  label_rect.moveTop(rect.top() + 65);
+  p.drawText(label_rect, Qt::AlignCenter, label.second);
 }
 
 Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
@@ -57,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
-    connectStatus = ItemStatus{"CONNECT\nOFFLINE", warning_color};
+    connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color};
   } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color};
+    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
 
-  ItemStatus tempStatus = {"TEMP\nHIGH", danger_color};
+  ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {"TEMP\nGOOD", good_color};
+    tempStatus = {{"TEMP", "GOOD"}, good_color};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
-    tempStatus = {"TEMP\nOK", warning_color};
+    tempStatus = {{"TEMP", "OK"}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color};
+  ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    pandaStatus = {"NO\nPANDA", danger_color};
+    pandaStatus = {{"NO", "PANDA"}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {"GPS\nSEARCH", warning_color};
+    pandaStatus = {{"GPS", "SEARCH"}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
@@ -103,7 +110,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
     x += 37;
   }
 
-  configFont(p, "Open Sans", 35, "Regular");
+  configFont(p, "Inter", 35, "Regular");
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(50, 247, 100, 50);
   p.drawText(r, Qt::AlignCenter, net_type);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index ab3e990e6..98ae6564d 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,7 +6,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/ui.h"
 
-typedef QPair<QString, QColor> ItemStatus;
+typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
 
 class Sidebar : public QFrame {
@@ -30,7 +30,7 @@ public slots:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
-  void drawMetric(QPainter &p, const QString &label, QColor c, int y);
+  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
 
   QPixmap home_img, settings_img;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {

From 05e7ce731f4259a569f5d28392a0d576e90dec1b Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 22 Jun 2022 11:46:16 +0200
Subject: [PATCH 049/435] ui: change set speed, speed limit and current speed
 to Inter (#24932)

* ui: change set speed/speed limit to Inter

* switch current speed to Inter
---
 selfdrive/ui/qt/onroad.cc | 28 +++++++++++++---------------
 1 file changed, 13 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 98b70c6b6..275941623 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -259,10 +259,10 @@ void NvgWindow::drawHud(QPainter &p) {
   } else {
     p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
   }
-  configFont(p, "Open Sans", 40, "SemiBold");
+  configFont(p, "Inter", 40, "SemiBold");
   QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
   max_rect.moveCenter({set_speed_rect.center().x(), 0});
-  max_rect.moveTop(set_speed_rect.top() + 23);
+  max_rect.moveTop(set_speed_rect.top() + 27);
   p.drawText(max_rect, Qt::AlignCenter, "MAX");
 
   // Draw set speed
@@ -279,10 +279,10 @@ void NvgWindow::drawHud(QPainter &p) {
   } else {
     p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
   }
-  configFont(p, "Open Sans", 90, "Bold");
+  configFont(p, "Inter", 90, "Bold");
   QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
   speed_rect.moveCenter({set_speed_rect.center().x(), 0});
-  speed_rect.moveTop(set_speed_rect.top() + 67);
+  speed_rect.moveTop(set_speed_rect.top() + 77);
   p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
 
 
@@ -306,23 +306,23 @@ void NvgWindow::drawHud(QPainter &p) {
     p.drawRoundedRect(sign_rect, 16, 16);
 
     // "SPEED"
-    configFont(p, "Open Sans", 28, "SemiBold");
+    configFont(p, "Inter", 28, "SemiBold");
     QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
     text_speed_rect.moveCenter({sign_rect.center().x(), 0});
-    text_speed_rect.moveTop(sign_rect_outer.top() + 20);
+    text_speed_rect.moveTop(sign_rect_outer.top() + 22);
     p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
 
     // "LIMIT"
     QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
     text_limit_rect.moveCenter({sign_rect.center().x(), 0});
-    text_limit_rect.moveTop(sign_rect_outer.top() + 48);
+    text_limit_rect.moveTop(sign_rect_outer.top() + 51);
     p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
 
     // Speed limit value
-    configFont(p, "Open Sans", 70, "Bold");
+    configFont(p, "Inter", 70, "Bold");
     QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
     speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
-    speed_limit_rect.moveTop(sign_rect.top() + 70);
+    speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
     p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
   }
 
@@ -343,10 +343,8 @@ void NvgWindow::drawHud(QPainter &p) {
     p.drawEllipse(center, inner_radius_2, inner_radius_2);
 
     // Speed limit value
-    if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available
-
-    int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
-    configFont(p, "Open Sans", font_size, "Bold");
+    int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
+    configFont(p, "Inter", font_size, "Bold");
     QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
     speed_limit_rect.moveCenter(center);
     p.setPen(blackColor());
@@ -354,9 +352,9 @@ void NvgWindow::drawHud(QPainter &p) {
   }
 
   // current speed
-  configFont(p, "Open Sans", 176, "Bold");
+  configFont(p, "Inter", 176, "Bold");
   drawText(p, rect().center().x(), 210, speedStr);
-  configFont(p, "Open Sans", 66, "Regular");
+  configFont(p, "Inter", 66, "Regular");
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
   // engage-ability icon

From 1908b89e29a968a3f1b8dd8cdd8213570e02c186 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 22 Jun 2022 20:41:24 +0200
Subject: [PATCH 050/435] remove Open Sans fonts from assets (#24946)

---
 selfdrive/assets/fonts/opensans_bold.ttf     | Bin 224452 -> 0 bytes
 selfdrive/assets/fonts/opensans_regular.ttf  | Bin 217276 -> 0 bytes
 selfdrive/assets/fonts/opensans_semibold.ttf | Bin 221164 -> 0 bytes
 selfdrive/ui/qt/window.cc                    |   3 ---
 4 files changed, 3 deletions(-)
 delete mode 100644 selfdrive/assets/fonts/opensans_bold.ttf
 delete mode 100644 selfdrive/assets/fonts/opensans_regular.ttf
 delete mode 100644 selfdrive/assets/fonts/opensans_semibold.ttf

diff --git a/selfdrive/assets/fonts/opensans_bold.ttf b/selfdrive/assets/fonts/opensans_bold.ttf
deleted file mode 100644
index 7b529456032abf9132194ddaac62d2d163247c38..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 224452
zcmbTe2VhiH_6L0LYtu75lb)GO3L%7$gd~QRA%qZ;5Ym7Qgcu-HrHO!mktQ7sh$3C2
ziO6bT5s}3L2#AQR@^@J`vVdJda1jw9dHH_#%}fAy_y7OCZ<06nmHXa3_w;k_c|#~6
z#ELJ0bjqvf+vnMk$GZ@IP$?ny$NS{<&L{Ew>x8f9gkDj7O8ZynvW!_c#&z;gpNavw
zK}p@;#PMQ6_!IprQqs1Le<_3zdJxxZM~ojf>9xQ7dY2H>eq3KXV%p<QYjW6gghbkK
zefOwIqsRYc%J!***t!v-x-@#&lu1NQ!tuOVT-T3&bjGO2*&p5{Brb%|qW8y)99GB2
z^_`FBqd&<UgA+lC+HxE}j^o%d;~#$__EQPF9AF4q|H#P4CR8SAo+5P87la<je01W7
zVf&hDlQ8~!7;oVCVNXmFGq`BnzZN$+Ckz`ua$@2`hX|hl_{1+KO`P&L*X#PDgzs>h
zkocrYkByx4fu{KpLLws2|2AQ`qoGavmvydq*x2n?qEX`nA*XU3TUh&9(np`&)wk@@
zu28Q)Uk%~dS$uGxdPU1FLbNOH>g5?)cJ+Y|zm1*Ycax<gm{buFcbZ5Fsb;rQ9pTaN
zqLDj{D@0r`rsI6HujM}>qiD05<8*3?7X^+JE)nj!hd75|fOc$<)SeZ+h?6*5Tcl{&
zMxIu$;HsR2zR0c#HR1s@PQnXk$PwiXFu}2{kWA%Ik_BQCNfuU-Dpdx_0jA427g@j^
zKzo367ph4PyT+B19Bwt~&K2OE5)y=Sh1h0bEAek`v~}1Dux0t%T-Kl6i{q-mhWSXU
zWHL%zfSJ~kgJLL|E?y-Eg<06@aD19fm!io*K9b~eJ6p$yr8vKU98@hM2c@~#YS3Tu
zw*|O1hSUgKNus1DuQ9x-4&%84F>@K)R+7r?Bn^OBk2YP%C2GE~wOMGQ#lmM~plBjn
zgh*12wputus`*foh_NIwmu%rClhxeh)_UQVvcE;uM7FT=!cC?B7IqK6m2Bbfpq)Wd
zaBaP?f)MF*ViUFyE!*e6BUyX`i5AAtlW5Bs4g$ExegigkZZbAW>GKsC2iP3aE>g#X
zKZL9Pdw_d(P9Uv!`0;=h&*9Z11zT4(7qI}abtjV<zUlVXCY-P4!$~%~U!^A<{o7#R
zzPo~VhWkHks?9hDS}1g2w3tO+XZxT-dqxXBvh@qJ*`QTQfDVin_iun}u5t`oFnR<w
zMhiwWu@U$K-v8648i@0t1*60L8)&crv{;39A-1m+{QK#^_8-_7pE3G?7WZ$A77DFd
zi+L-w|6|MM&UoR!wct@kb2fi572`4-F<Ae5`#QVM_*vnp|I#vEXMBa0pcR1Uf3Z0O
z*Ewi^K&wLgI->#bkmPT-h{s4Sp1+#O2(H&Faspmu{L177eFN=?`;Wmt>^#S92d_e&
zl(GNVb|q5VHPD#hl+pG6R&|O@SDnNBAcIT}{Ot&TTOmL$nQZ*m7Bb7^hRN>zts=*u
z-~Zc|$-5$ROx{7?fZQ|LWAcB03z^yi9z7o50mk!;?*emcgSCkq5|oXGqy38M0%0?)
zq&p$kP2{YwpKQeOd0{g-Bra(EfXSVxZQUfj*1AauMcdeVLW*o%EETq%;B#9~DY6D#
zC)5Mqd5}xSGk}fJo{i0D%IK%)FTb7xoaOAAcnjwtJHk8AwZIjdpL7{`hmKQmWV}=e
z9Rs;kWGor@o=i#@O?hl$B54qD4m8;!EF+vEE4a=#;~cIFH=rk2%XsE0Q7iq95s6(_
z<md+yias-x{@FNJLK4|CrGeN#+<I2phyCx!csxVT&MWt@>o~{eC`|^uY|i7rJB%L`
zJwmb>&#Gi%QVYI5iXF%X|FgL=y%dhtk1r__ILEV~|B0AFYNR!|2b*%wEn-saf*+3o
zTq!aPT#0yQ09R5D?m0)stGAGY>L0NG3Gm0xv9U@>fw}>0dFw4jH-T@(NZ{}sa9Bzr
znH)>a;4OyRV>pKmb7lA?(h;=9%5k-rg?+zG5ypeJ!H?2>;0pFYoQrEYWR?p3RhO~<
z8m^teeLr9eC50*h?K>EQ=?ta^Ftz|a!(@o@A7uO+Cg-Yfz#WeJ(TBmn#sDt12s^<e
zp?J1m9{$)Wa>3*SHXdG$vN2mo50g-~ag`*89wMQ9gKrb!V7FalmXJYa@f;a0ohMVZ
zInYV)518M;-GGmPO=y74(aO{L;batemiYnYDmP$RMRFzPKO~Ywbv9Wfg5Hc*0rM!>
zqb}IGVjGOD7hvzo<U+hgc8YrN4AbLvBu?B#CiBIBnH~GKfl9lZREbMKUu=*;MgIwe
z*7&y)*uO+<dTf>0lCgF5w@H{kVP0LJ<#xjt!ZBq&!wl>fV1GSMoWbV*pnoOX82%Zq
z#3qcb2OVUR&iGI94gB^*YLp+tGpq2-8R{*VJ2q)O<ai>fR@q<^Z3Itm4#xIZLhfEd
z`#IYbc>!N5^ap>b_d~zh;EN0geSrhjdhq=y(EU7)VJp;Hj0=8~CISb|#HPl*DlM)D
z;dnBMRx#bc<kPRWMev2d?)A6uQKxGX!PkvG*p%_2Np;(}OlFy#yGX_eQ^|hd`6hJU
z8EmIjKafP#PHdHcX&iX(8hHH&A}BVV@jvuBe+|bMF`rK`m#%<+3C4!}G8uwyhpYis
z=G&b{8wXy#h5i@NrvY+t2-k05ZhP>2JWoR~H^`%u1z2++AATFH=)+MMo9TXd{DBtt
zG8}1D&_7Zo{FRAhym*$(V)D;q5bZ&+60))e{SE>)f6Md}(=$xgL8pUaA;#QKOiWiO
zb{cXnUBG!J`~GLC3jy00=nAI8|KL-o{PqR3ou=rJC1ksB7C85}fw2O3L7!~MLbjsc
zzyodVA8c<MO`*4#?qGUO(F1>M{V*~e%=8J<cZ$vl(5DIWPlRq_yw7x0IB*Le2lJ^`
z4aZhOLZw@f%Z=dqLQ<m6gT9>w-mAi#Hv_&=phpSjV}d+fgkO{bIh_LfE(6X^<Jo_}
z$AibM=N>$UKmNb=|M%-mW*A=od)s<OIMjOaKU{y6-N$GK-8$9Zt_tAwKew$H|MPjw
z-!I?)XUk%g`+S>#KKQ>{g|C_JW_*5M%luI2klD~5$!MXGSlgWX$Bp?d+(2St8~-`t
zy^CZN|1;t{=xA&#hI3&1xA;v;1zj&g$NPOW#s6hK@O>NNs)MlSC(yo(b_=!^Y;WM0
zM|&FW1Z;a?Ghv@vH(~!^Ym09q2gx$BM^Unfe+k8&9+vM(v?s_MB9VMjK>CuW$Z2wx
zCeSoGjE<nQ>9h1D+DLz<tz0;l#U18Oa;LZp+%G)kd0xXCc{jg=U&=4%*YfN5m-tus
z-TcS=r~KapgV0|n6{>}Yg@poQFX3I`J>g^FtZ0p*Q8`fyqE1GA81=8HU!s1G?&s7w
z?anA?j5FTZ$(io#;_T+kb53&3aL#sacfRc0;}Ts~SFp?JigCreI=X6NxELwM7-NYE
zi;0R!iYbVxjTssD;ax#)ZEb07#eAHY2eb+Ki2Rkdqv>=wt;0OF(AP1KJ6wn|j}w^3
z-!Tu;Hjk&3c|3!8tmn639<TDBU>-yW!aT}^p+c>&SXe1Mi+LOo&I*5xB2hh}=0t6Y
z`XK6b)QzZ{m<MrMoerl{nMay4+dq%TF^_GS$E$ys#}NNK%=gWs4)Y+GM{{dy>sNfg
z)~{NRa;IC55`s3l^=NA&d6(=X!&>_?I<~Hn7syY`(^|*0j%Xd;I+ToV&1?B9akQLm
z`Iu;0K5jYF`g_Y6d7ccOZCNjewX7pV*2}t<F|tPf7Te!t&DT|5hkP~j>v}@IuKz0N
z>senJzRbOR{qnWTKVAOu^5x5yE;n8N$K`XEPhbAv^192@E+bQPIpnhLvgXSPm*h)#
zFWtQK!KJuMF_*$Fg<i5;GG5{@es}S&7tee#7V&t0u0r852CDCKD6rGk!Uy~R@L_o-
z_VIDCZ~wvXK#vE{{`=9ie?Rpf&mcR-KKur9h2Kbi;y01&{AThm{zdW&zlHXtg*2AN
zabxI4x`}S4FVZdic76xlMz_-)bSHh88_PXHZ_(fQU3@-dV=5QHui!d!8Qf5=#?xoW
zU~koc%8K%`(*7m=ii-;S7WB#Qo!2Y3rzfXJ_ikOgWIvRZnUUHlrDJl3b_wxuvF;dG
zbcoGtG6orRT8&yIi2~12(!tqCYkN2HaZYpoFn4eFu!7_c&fXzo@{&9BcIVeNI)^zM
z(FpPG0$jl<_pnB1t+O#6&9M7U*EV|4bJQPtdVD=SZ9S>U*^P8#L%5xdXY$<6gLH6N
z74}!;xxLQDpOpQ6%Dxb<92juma^VgIDh92ycVqsvF-v>b0!F%5r|sqLHBy`0f$Y`l
zu&cvfV>|bxy|i5qs_by>dUx5&5w(F0i<$NwR@YcsR@FN%+~x8ncj(&~<i?Y5iS$w)
z*(mjDR4I>ij>W7R$uj5O4(}~pe$YgQ*Cy%f+;zjMs~Y)XxOXYvd+E|ejpn4rM0Z|e
z;>@o@fTNL(9o%`n8<W^mi^|)^DY`c#Z4~27Zs*cp38v%z=_=-N-<e_lGg6%CSHdnf
za=jX9d6kQO!t+6urAzbO&itjdONSk7oip6+G`W}V)$5l|>J4<0(yB&^^M{s&H|8(*
zHkxY3&@KQ~nR<SCQKPkNNL3>jm+u@i49LKLj@$K6xXawu2M_qqmkH1U<N(7i7em9c
zgB~&*2aR*es(i;zGCX`A@uVbq8@XC`<-Nca`v7)jPT)%0?X_;uwy2_NX`>L=x6a)g
z7+*H5an5jX*EmKPx2ZAcR=CT()M9pKrvOIubpq(Vbz_~4Vtk{-?z;a5@FcrsDZW6G
zpj*D?r*I4qZ?-tI-FOUpPH%VbTL1sFF(DYy2}Bnp`52+Hs?n1NjCqFnnWXpLPARx!
zSS<)PmeIAWsxieqsnO=n^>GnSFtB=$t*BCN@ty76XzSI8Y`p)j#+2T;7p&iVDdV*N
zx1^i{QqEoO9n%Hly34BGBI&J{_I7rL|2ds>Cf+<esWG@0I5NKX(yF>qjnTE?b&%0f
z&Z=-%qsI$w@Vcu;dKrrXn~9eI8a_Y)_^Pt1sKQ-THn<8L;PNV0*ah}DA+Gly9^<YG
z_dN#8+Nh3GJFB>G-iwYVoN(r2$DP{^-;Js`H8vB7qnu?-p4-h?MZ-y;H^692boL&Z
z=kLdkA9yGZ__$sLfu~9A5YOpV5blCHP(H~WI9zu62gdDcMt}l#ja`CD!(}yixfeU<
z!+Qu55NDNpq}%Hr<81VlRxuPY^e7bZBSWE&kAg*&Rrep=hb*9pxNup)oFAEu`AKa!
zWXNsoqZ|it4gPxYa^JvZ=Tf!1sA4Ijgxmi>0?7L|62|VHhs>BZv;^ZAH}tgA1o2md
zf9YP2hY3Do4(C#L-@2vlimGl(Z|I)-@R@9E3n`*SmAT0spaygIy6NJwy&k%_VsO=4
zCipvxE35W#l<QTS>)jiRYgKPK3GparId+zvWL=!>fIX=k2Wq8%_*))A<|tPM<%DuP
z;vgl;IbSE7qh!QE&UenF^xGS+4CFyTKjNU^yW$BvLBKh+@7x^aoR@v}5{6NaR`jSn
z8jqecaN&CaH6X*8L-0s7l>Avw4K#c&?gETBeUQ%CtMP>Uddxu&kJktB05txg2Mn(I
zv!38K<r@R#vJcoLWDFz&wyC$XjxoxU-Z4vSy-e6hFi3-cxVG*dAd|ZX0Fm^KTKCA@
zMx8sCozG$CbA0C|c3$PqZKS~zx6gsxl{Qj*R}QIiK_s1Fr^1(-eqxmJLIEu`eUt22
zrg0TG2RJD|Ai97b5XHAfmlg*{_wQF1T~b^Z9pBkBATB+2K&Z7fS|zkbOSs;zI4ZiX
zm=@<7qOIwc0U~Y{(s4UajeHLOI?qc*`KR-n@_Bc9%z%jW@BzW;_5o&U9AHW}4tU*o
z*2r}-QkqT%OeC|(>*P8SOoYw}rXoE^SMIH>NJ=U?sA`1)(UcBpq>CHlD%iKDY;dEr
zxRDGPJfvzbrO$X5tXM&EBa0f-DykZtk=~-lI_#Jt_Xd+(@02M?_-CIfHB%mEt@6co
zlut+vVtEIm(F6FNDjpEekOw|O4bIPk?|PM;zV|KL*go#EH$T^UMQ&)lBp=2Zi;QUb
z|IdeIo$&dF+`^h)5;;fqQ4agq$WP=Vd}u-|l^(Ig_cxHtB-iOo`aL&^Tg<(|eaSod
zB7O{C&u``r^Rkd6%n&Y%?ZpM+B}psQOP{OEsshzy)eEYl>L~SV>KmGJ&2yU5T1lIs
zU8;Ro`?D@wH&{1A_pa`azMFoQ{u4v2;c3He!^I$T(D<O&gT69`7`qs&j5Ccpjc*$-
znYx&sF@0!`G*2<VVJWjTSpH(UZOyR`wC=P1Wb0&GU~94)>?7?j+rJ972Tu+@;1C^M
z919#99aln<@K+u3YN!xe8~RS@S7EhbFNB-IM};2>KOcTEVtmBY5r-mfMs|#xAGtH~
zdXzgVFY2kNSEDXRXG9l8*G5l^{#*2S(YKu%XPC2tv%7PnbC>fi=ZDTF=TA=AWkl4K
z=9=eP?b_~o!*#-S-t|LFXw0;jMKNn*UWxfj%t!7Z_d@p?_fGc#_X+oT_xG`LV^_p(
ziv3gU+p!<VUX1-Yj>cKzR>i#(w>R!++^2D0#{ClCIsV!Bt?_@3KNkN#@n0wONa&wX
zn=mP1Zo;aBO$o0g97^~wp()`?LUTJqyQp>@+vT(?YFE+jy>_3pyWH+ZB9~}Qj7{v6
z*e$VN;?TqiiBBaqB)*u~n0O@dOyY&aYwc<K^7b#cKiK|M`+u~*(!M##0OYunIwut+
z4N4jTR$Y*^DrsZV<)j-O#15to5gn2{WOwM@p{&Eo4u9=%xx<YPa<V2lEV+GhX7ZBc
zza@W{{98wL$B>TgJ9h23J0&fpS4u_7!zquXJejgQWmC$ZQr=1VIOQKH-=_T5N!7{H
zDY8??PC1>P>hyW1A3NPi)uo1~c1Z1(T9W#3>g3e<sST+cQun03o%(U=KU05BqiN=}
zn6&h?ytK-+r_#=(SEV<1Hgt~aoYFa`b7AKJofmdK*!gVd<_t$hzl^CF2Qq%jG-eLY
zoRB#^b9v@VnFlgI%)FTSOO})slogznnbjjJKdU5bVAktdZ)Uxlbt_ALNO~ymq2h-o
zKQ!Z^V-KBv=v;Qs?7rFSvRk?sySTcfcInxrtjq8&k9YY;*WO*1cN4lz>~^-hu6u3w
zrQM(H-rPgzk=0{QkNrKGa|&{v&H1M%)HBHQPS4n$(|Uf^^Shq6bJe*axrw=5bDz)M
znfqIAYcEx=&|a=y3wvG4i_go-E6AIfH!tsG-r2nKz1#Kf)cfh)U+0JCcgP=>|6=~j
z`LE}{ng4G7$^5hV=li(&B=$+|Q`cuxpHB;H1w#v7E%?4~*S?$j{@nL=;o!nI3;$LW
zQ`EkwzUZID*5cUWA;m8gf7vg%UsS)me#QMN`_1Y%zu%AjZj{883@uqz@@aoZ|Ka^N
z_5Y!?SLv$Kt!2it=(6!;Q_Jeh8p>WM`=z{Z`HSU^<?of>tO%{>QPIDmwqkO{yo%>4
zc2>Mu@j=CfiW`-x%B0HT%10`fR=!$!X@Ge^&jAYu+!$yXSTpeVL3EI2P}ZPPgB}~y
zFzEd%W7X4Dt={?G=D~voe>9}skWNDu4%swh|B%x|zO3$1J-vEk^*^hB85%ou`OqUn
z&)2l8sjXR4bFSuM&6S7k59d5Q?BV$j?|k@++UVLzwQtvcJ*;@xy8r$+{OXA65#vWp
zt)q2Cb??-jt-DlrweI#vVPuz)vqv_Jd~u{as&-W4Xw_)b=+MzIqf18Djh;Gs;pjD^
zcaBLM^Yoa%k8L;hnX%W#WsaLa?)oFukNoY?{*Qh?e$IqW6Ru6TH9?+OG4Yj&Hz#$Q
zR5Gb{(hrj-PyYI`0Z{L^9^W>#)6~bOzA^R6w2*0q(`HTEGkwz&-Jf`MM%au;XS_SJ
z{mfTqeml!G>#12yPv$+j=gEUlzF!|y@2%hW6n)D3)WO-}?84bAXP=)FGRHgT?YU8N
z_ssLmE1p+1Z^gW0^G?rK%^y5}*VFXrp-*pp`l|&g3uZ1jy)bNH`NG8u<wX-0-C8_t
z@l%T%7H?U?Eg81tjiu_P6-!@S`opr$%VsWncX`C}*~=F#U%PzQ@<Yo{FF&`uY5CRV
z%_~Y*ytLxaE8bu6w-w*7xbuwenPJbo`OF8;{Qa39pSjy$XozZ<(r~Jwso`paywbSR
zxw6yB+?5q8N3NW<a`DP_D?eCyYn6Ic*sA1Jo>c=@jazm6S?9AupB?$^>D66VZ+T99
zuI{;$&%2(V_Wap332SDq`QQb^3uQ07xz@h6-P*2e`>d^4Teo)V+C^*Et$lUv+iTCR
zy}b69b>h14b)DAbuB%)(YTXm-maf~l?zMIAt>@MUua8;ZaedDE()GjEPhLNN{qyTz
zUjNqm)9Wv+zrKNP2;R_sL)Q((8>%+cZJ4y-$qg$uY~Ikg;pm3{+3@X#+Z(kTBQ|#2
z*lXjUjbk=Gv2n@9bsKkY{L99VHh!`3`;9j@kxlwdk()Yh%Gp%9Y1pR8o91m=y=nWV
z{hQv~^wFljZ~A)EubZXKj?D?1(>K>{es=ST7Y#2CeR1WBN4FTZRBu_i<&7=>cuD<I
z!AsL$I<~dl*2lJfxb@Sm&D(@+BeqT4PPXf}hirdh`{M0ux4*Le(Dt+2FKz$V4sM5S
zN8FCg9es9`?-;RT;*PmHmh9NDW8025cD%jg_>RBr_!4%NWA!hB7WSMcDiY<<3%tnj
zoLVFBDng)2)6Eu|oo!Axr>AzZy3DRDY)AOM&2Nt3X0$9458NpnBYexAGqv>_dQN$c
zk;Ho}yjIHzg2_x(234ikVC8s{lapj7%Ja<W%JZn3chSz7>1n}so8*p(r(15O)4}rA
z!2>IXRF_v)({K1s?tET3u&TWO5HA~J0l$;a^}`zO(FrOf1=SL#;_>kGGihdu$9|NS
z+KD3D>B2@gCLT}Z-o}@Bpyg-I#5VRE<bwrS+)u(uG^zLGsUxE8f=#2*3KUDbA)+W*
zj6pg<Yqi>fqasy;<Zy(9*d(psbg2cME`kO{6QeQIZVAGl)?wu(tpxz&q+7BP@M3ZR
zgZ(Rwg*q7eEdS{nkg8mEKx%cfEyI<C&6>`qv&}B1XSw<BQYa^%@ApN?(c<%k*Qh<E
znY#Kl^*d2=zU1eY$oEs;=ZnApSRO~$u<hgTKcO$kW7+n}_umuHw5oN9kSAG?X^kfx
z$U;x=SO*^&X){Re+q)8@5=esD=r+4tp~Os*JGPHZAjA-Bc9|2B!V+AXI7uJji0JRN
zIV63lSCn|kfxl!sAvyk;n$9qiCYde7H@)m^%oOb6;~8Z?EloKC9QY6dKB6{BWp`)9
zCzykS9p;4i_>9h(SsCf}V229lqBya0e1bib+JYS!l92c9*(Em*4*IpW*NGiponG?I
zTQwWEAKTGSK9`rbSf0>5Z!SIc;t}haQ(_raC*?{sGpyvzMXUZ|Tlc)S{6|la{CUxY
zr$@K%68*b_d#6Ko)D<fcNlxoE=@!;vG{i<iNDTO)&=VW%aEPMTL`)%eduV8)JIZZx
zcT906MZ|}ONRANRpt7hy<@eKaa@e<jj;8n0EQ)yeci8NL)6+6KyJI9#;pz;ND=j#V
zx+%En-!IUv$!WE<Y0302`}XYEPra|a!8JC2_A{Tf;E(48GP}O{&aC=xzx(MDJ@wPy
z?-Ys$nmOOOZ@&BKBF-_2m$zP(2<8?Eil>svp6q0UTT3H@i8k0^wI+myg(Vnx6=Jyb
zD3vPB;R*}Z#>S?kn8LyYlc{|_uSpPG#a_Wm!O}TNBm_chA=x1*Y?caXvlTI88o|fY
zeu{(W=#kpV<w}4o$1;*Cg!M_cie_fHAgOT-2U%2-Xy<rf$Zm6FW=cd}H09lY-ITwa
zvAQVlhhv8>E?rL}`gEo}VxKB)esAu`r$);AyY!-?3$lCldw5{=<OP@BU2>#y;HIH#
z5B+J?^y6On%G864<kk`M2af7a3p><u3p2WVx>k+rG!)S=bOzn1=nM;#94~N8S)5Vk
z;8PTelJMyV1RJDWKFrNPe*<xPf^=FfF9<}XGU{U4eL2c~KJkV=G+DCJCC+ZMINb4E
z`G#ljtXR2v@$J>?xm2p5AHQ})PP_T5ob}djdV)Q<JDyw@crqS~hvUgX7$NqLPo^eL
z<<7KZbmkJ$gDqU$hG%atdT!;4JM7W&?{b%22kEI>H|fVmUYAqx<QxuFVu<I0NQNgw
zqtl5zZ=fob$tY;GDit*tBy|vk_Wd*_g$lbuK$$>VvhmN*5a$rBP@@UfxGa(98WZVM
zm%QiVR~wgHy&%7qK*uLaHhJZk<`DV(44N&UnobkL?u?<6Fm@IBO2`(D6CJd^NiAtK
zJa|iQ&}mS;$CDHc!Zd(yI1GuwTp2EK5A>edO`GI;I=_j|m+PCjx+c0%p4o&|5X?xv
zO;3|+SnaaE3DY5pDqbWhClvG_g@%ulc(*0XMNfBr@{69aH01n;@)fGR%CJm#aRa%n
zkOcD^xChk_0K!jhYlh3-oeQPA?%cs?#bVKHKpyPTN&s5JS9&#80*+^fB(+o4eYR<8
zz$i7e*&_;k6FyJjtq6~v0!|Lg^*qlp(YeoVQtG07Udu)K3g==L6L)Z=u=T1?fT&xC
zIJ=$4riYT2NJyy0-ruWH@y7mM)LjPTugwC3FI+LiY_ho02sJ^JGR-C?M?%3}`EHBc
zdWQ-vlyAuxI^ogUVULWj;hN;R@=E$7okHi+iSiuz8TpqVu2L;ET)6@a%mDl)fJRH&
zd#oB1f2b+d>D6EvLC{Dv1k+&B&CHiVK*&E6aC26cq*5i&biPDB&5Qk_c0Ete%Y4bQ
zwf#aC9ir3m<PuoeQbh}O_e4bmQ56ZM!BNq{Dix=-XiK~n6-OgzM2VLT;?pp`#y1vY
zPK8-qt_<3P%TSbsDxn7lZNi)d3~zS{rOh0jxUH_ku(APL2JL$EnO$R+eEN8w=MNv|
z>d(_DFVCIOwQ68V!O804#Jc^DkKB7`&t4D=umSVAfGwU3@ub8!pcPd-D|LpalF-f-
z6&nTIhd4qUrCxmqHSi%J+E|srq&4;TY8gpj@Iqk!QXZ}ussJ8vY8aY)e+rruBgcRh
zTrtehfmUo9?hIuIG*cyHy3z!}v2)Gd1M<i6*VhgX_^58(v%3yXoV<I}Ukjce((nPb
ze??Wo#3k>=O2MzLI(MZ%RV8JPnKF9dPu@p&cIx`sN|b4E#0^|eR;Xwt`JNb~ir1hp
zng{a}yH$h{vQp71mV&jdyiq0b3Ry7$*lohJ0b_QCb|2Dxz{4pp1N9J87t`c!2`n+W
zQU0`LB{!EwHp($tULDt2zDZN$PiV?{zOi}i?H*UH<t6eXz;GQfoB@c!$v{sM%&CJ9
zwb_EyLA;ueh_qQXRz1vYe{U!XNbL5I60cp7^!>fkJ%(onM{z3@*VE@sC;&1G#B>OA
z8HpdU&Wz43hEC?5@>!YOsQ<Yue=2`>b4~wGYiPLKlrg8>tSmmX<yN@6JHPYV*<a<`
z{i&{f#`hQO`dsb@`Hp;96$CsM0P0flBs_vx($nLTEP8!R42iH1OI*A$y3}hl+If3u
zf3H21SA#|14BTfP!3usU1s<7BwVH@4&0%NKDXG#k6*EZS<Z_~q5t#7{E}#?Xg!(?-
zK`)-F(-=nl<Nbfiw}0IFulby5#JCZ4H4Eyw@pK>EW&F)nd-zYgZ+-rwe0>ddzPn)7
zBeQ0fP2bMAIZKhW{ZJkqJ;Bgo9Hk;Bs?<>9JXhl7p;REo3a17@WRy<rln&~;?DQ)x
zt|dhXZ8<MAQsL-brqUEl6pE*ynPNysQsGIoNcIjqAEF6~x7&?TQ5vHrrITc_xLk>e
zdZG_6^Xfy1yUdFa;vP<zyTI7WhZeTaJVC{YU<4E(#wtZV?(-I6dFCH5K}nFT3Wnex
z;D{^yl+q`cZf}sk{q|@1+Je>f6R2Q)V$77sCeQxt%l^aqjT~N5C!TtD>!jCvSH1h#
z{-%%qQh&6t|Ncid9ld*aVC{&qUQ=_2b03xEb$d9iV{J}vyx4*CJm_5rdWRBJ^?96;
zqE)YVyNQ*=Czzb2UXzIr4i4+@4Oa2$()+bBW6l7%F(FGfi#R~-n1l=lJd+l9KyYda
zh;E5frs12EP$)kqH_Yo*S-s(dacX^+wU52~1=W4K^_O`q*J~dgURSfQp3j#{<$*!B
z?L&^eT2uV%Kdw;oTKVFUr=J}6<g8Lgaet(RiXvt?;yqRigolt2qrK8=G_{#9#c^Yj
zjsFKNnfX6iHD=w0mQ_{<tQ)_KnYl7=6~<$>_#DQQhy|9)YEY@Hydc4cvuaJ1Uad)x
zV41;TY&6r+G^R{opdE^Z=I<Mf9yTi0IwdgJHHXh?b4`K4z|U3Ww2%$eC6NS=Nu<nv
ztJDHg>fmgVbXOb-j1b@}HWbaEc1nfp=4k$MOC`7GG(FHjfBsoMCV$89RYkYLLt%Wa
zBC#Gb+#HxXwOEQm5rn9CKAxE}l=%pL*qNI^u~qSx*(3S5Cb%h0O-$PEL6_vQa0C!R
z)KC`=<B#`H;C(Ro7zQ4I&`K2$tGGQamF$`H5Dlf>f0j)Rav_6IYW;@a0*k~rG0zj@
z3=4y51fDGhOMHTnPz_Ir+Z|cybz6<v{$8UH5Hpw}W`_dEVB&?5!H!I6E0W`mft~UD
z;1aa$1M#-4eEis6wFB3@H~!+CkAJCKUYjnT5BNFso5I>>N{ec`^voOHRDWW}ge`S_
z3cGcacenXJ92wO*N;(NW(V65BuO~^Boo%yOGcpWat?jG^-WBRf4n=I`=^3of$`Z8Q
zVMDd1_K~SVY<u9mEnN25`oJ7OStXYA86?F!g}sM7CAjZNm4mnWBns+P;OtD*W@gzX
zmy?(~TVi2WEtGZ0%EEO?I$6DIV&P+<rbl1i`w`Xuec;(%j$%*o!e2IiDF5w6lu(6?
zlV|-+zKar_L7&rARQ!StKHN<946e}{(mnOdxSv;EU)-n5+|S-RM>&^6b}akL3ordP
zZ>N0njC@u8JSF+PA#^3J`;D&tX1}~&-hFO%!v)<&Mpt~W4sjTKXCS>iF3!NKDT-Hh
zI?xj_1!90816S-d7<jnsgbySUpk4en*@pxu(rm>nyO7mz!I`8S^dm21jcd6wPTt1}
zbQUMI$gAVju8p)>-Yy=#lgHK4&!3E)BO{B$qoRxmH(`&Bumw)o<PIvEO%TGObh;SC
zeMX~8Z3;Do_VemZ@OMlmBQb^*dyN(nQtZXu_f)#VY(7)c2B4zl6@%w;DmvZnQ|c~=
zlh5NZL-S+Lb&#H<Su}LksAaR{i?>@Y(9Hc$O`f%2+lO;z%FW_|y+`KnGHauEulV2+
zKc!@FW#5+L^8Dc=4?yasLsNeO`3NSdo)DGQieTK}upwtr>@^E2Q7aaEwTj=)Tr<TV
z3xEevhyj1N(z48w+s7U0X-G4~^Kq}gM<=dt+W$}ai2T}4n)S(N=j+OM3a8}XugH#m
za&r+p=5b%sL2r(3PUr$!0*4~j$%q<QgujmJTeATPE>U0X6?wsckQwCjIRy6&4$g#?
zb;4P9xy|WLajHC0eo`JzPt#F!x%`e?yJG=;4?f5X@*MGiyindj&o>uf#*AVdM$?hr
zo>;sQKn#*rOQ~Mc6npg&sKitbhk0{6)fRhMuzsI2qPV63DExl35^%Ag%O!Bl2l&F4
ztMs~T=4=>Nepi+kG3|y?c^RW>NM}!&n&)-!Cn(jjLGK%nMK=l)Ff({>6eTiH2C%#6
z5As<)zvT*rj$;EXYVlD~OaK+bNU<j&EF^>rG8j0{8evtd!-GsZ6POKb2Q=%1kYF(w
za}z;S#Y<Hj?xcH^Wr|MuW5KJ-4E+GwDh`(l5|4-+hB(XY;=bbYR{TCsenZ|ypQocQ
ze=>T@pHAI4c4%0ge1*?w(RPfZ3+SULJ6t~acBy>h>uYyyl*QAG)}s{cXL%wt6alS4
zEeN8hSM$Z*Vl`E(MXkhBu}xqR3EV>jQ^1Vsfj@DSe7far`9qq?^`aTv^p+*aHXP%+
zGmPg#O*APZrFk4!3q`&`q$t_c8#IC-@mii|q{Up>##E$#-inq-aFk_EfT2>E9b8k(
z=zaURb^G=;mh=0{8ym};OHdR?TgS-d^cqGmkZ9yHI5oU*7%ku#MkVL{Hk1NpD~nT@
zr~+^k7d^J5G<Q@L&HPa=52l=L_9Aicon5U&zUk)_u@q0$lUz@<p5wGS9k3Ln=0(wf
zLtdwocwngwNq&MU4a1aTY0+Xn3|UmAAS(;HO)QnS$aCj2bj_s8X_d@zV`^G%0c9ih
z(0{ccWc5i$4n`N*oCFoLsYIbaF)6<s_^AOWS9$J1puS8zaJLXer^?+D%T(J)7f*zZ
zXmlEY9Ry|!7A3od({Peb#Rm}t<T>d+D+Q$codch7VlY#;#m*j%vQ<Xu&Y4y><=yfY
zjTM=Qopi7S*M6sbk=JYFMZzq3>(rJiK(JM)xl_pPPn|<;cNh6N?G#`!l1xvi7F83H
z!2r#|iwGJ_I$i~gQdNM>Sf~cX`FKFF2@3Ao0O3G6@svER<!J?oMcgcvkvfEOxv9Pd
z#Jc+yjhx2qhc1IY6~9w*4|b-@%!D}fk`%157JHHSHx_$&rcK*iNXBzM7uP3cPQr4W
zPO}MNm-wB$R&K=KS~`}N;cw*K&knssr^pR&9p)~`&&xCELOLFQbD{U1`}H>ciC+7i
z*+!<}c4OvhINZ=Sf<|K}K|w~N%>b=#Fc?iHb+OmP!wUTuZPR97M1<H%yy_I_wNVYv
zOrO1iJ1l=L|GWT9bPmZ5J1<Rsbo`hPuik07EgtxWjXoV#l3~CIpDWiB!(JjrW>76?
zk=zb9X|-Xz3MK}C2r3{&Q~@6++7xV?touC`h8s==-t}vt2l4afURo<pk#9QwE0Sb+
zTbVqa7W{Wii3JL#9Hhh(Z*@2XEpoNmV0$R^g-#b@)#!<)A2g><uLsife6UVonKmVj
z1g;-uQwTEGjDeUW0`7Y@8cgi7-^2k2<67P7<qd0UfWY0fJ&k&19xbescgfrM<l$q-
zRJF`#IV&Fc{KDK**|K#dhthgVYG9)s(C!JaSTW&YVJ_klZF&e<yF{Cd=w13KjU%eq
z>kxQYlY9IH(ER-D51-pWvkC6|5-0Hq9gzl#g(u6bH@rIN_+UqHu;7rtl7HO)+?fHR
z#&;UpuyA21Rek^1*~xWN*A-UP#8+%MvzD$o@pTn-=4O`kOX}4lFX!>~qmTYGGxcAc
z;>&XryJr^;KhEG!1V6I8uL?1h1$K|8RE<QO0Ieb@O4#REC@R>meHGo};;zac%2R|=
zZ2PfRBjZ`GLB7~K<`xp?F`Fs1>C|egMFTAZUh<2UFDL02EwfD$z&uRz`T}6HShGsL
z_7_xte?T)9Z(0kJ(Ok0i<~-`U%fHq<_m#~r?&j+;67w+AF_MmD@OVz65n-?mU}pBp
zfX44pw(%>YJfk}EAzc*s%go~MAfIcLUz1HVn_3;IlFs8xQ8usdccxwSx4tn{hcQMZ
z%Pwg(Mw?ZnBqT&M^7@E~$jE5DP8Stn6?J@w(MXk*FyIHO^WF^oTGQv~Go8i9a|zIJ
z%$c<Uip(r4TK|qzAisD*mmx@<498&#meJI|qy|e#*3W3%XF=_C+76aOG?gcbly=Cx
zp56j4srkzbTeGj{^6AZIvc4=U`JsT1ViaY#8K~eU&*RjIFnubGO46Y6hZ%HU(CgHk
zC?e6xQ|7xVsvaP=>G}X;GNdt$53vaRiv#7&@*e!{r{Bn3=s?;P0bYrm!6mkw=WcNC
zx7^@@T9SM)V5O01Ip}vJRz-Mic&$qmHCniE0FWZF%~YH(S>iYGNGUMJP$U#%f-9(t
zn@v+OM7aEs98OF5YHo1z{Fakk3a@x>5J4pes3BcFk!peRDiuc8>Qop?U>+(*;kNi4
zMP)(9=fd5Kx_nb)DL(|iE@ATB_qexP1`1&<dED7k{7;m8&}?B?ZNMtV6wHXN78@i8
zi9j@1GL|S7F_@RaOq5TzuqVOk<)+9H^y^Eg6O-<oyMtE(D7*&ZU&lq>Tv?Ps(khTQ
z4>(fbQw86gOTN-_(VsV`Bpu^Bl<~1XgCv9oQ&kgHEF?7mfG_iu+R2e_#(JvRm45Le
z{aTKgELNWToq4oG&8da%;ycJOBztT~D~OVS41*fiKpU0FNq7=VkfQoWA%mhV!2(to
zdpD*`53Houufu)+o>TJ&nhUx4EqF15wl>R$`I6QG#7tOgLhgc7kfMkmle!ESU();<
zj}@ln=#5`n_?%xMxxgC{9vxA6;5%uw;v6iyhh6ZwdSM^3)KYvre7s<XojaCuGmj3;
z*&}@3;drin<Oku*k`093?TU91**a#SC*Go0>$#YikdW9&wc4!@E%NI1qRnQ^_uAmo
ziP8C9F__pDo9YXel*PS!?ki(G7R|X3Zc9oQ3sE#%&Ge@cu%M4Lf)ai6qq?g5ZJYnn
zTfg5u`r5)bMjp9x`Dgi)X$$5(H*WUYVMPab?|VffrS2~Kc;x#Zv^Y56xN7j+nIi%7
z7Qnn8>s1!4zvp^fkv#9xm~=r7hfe3z6P;aSl86-6$14RBYacIu6y#oTlO5t;gi{iU
zei=!#z+r{8aI2UfU_-jqfrPLU1+Wm54?1z_yOYN!+0%cZse1h*lO~Vh9(lZG;v`{;
zd|LiRz9Rp%VHOs+*7RPx^X9TGuKgSTv}4B(@JV&+RsI4pUv_9$J4<{y5U>P`x;|dK
z>}3RG!2!tpOv^AQ!ZBj0U&TzBO|Y<tJtb~b%Pp*UXpXKQT<~O%YuBpQ6cxT;<GRyG
znp}J}G7cK}U`m>NHzgMM!MMU?KYlzOmnPT*hdL;TA<AjA>xmhQYYKi$3Vzz4V8-+w
zet;ndgC~Z=f)S$L^mt}p+#qZMU}B3AiWTL!<CniVb#9{8LDPQhY8W$a>UeQt{iw;0
z+3;?ek%H&9*AJ(oe!seE$1jVw1(4&1a=4Ng42NZK^A<q}HJc+XT5Uv#-NIW6y*%@x
zNTJtYQrYvps{7$oQmAci39}4Jst06qAvjn3%=9#3x4V>;6XbRzZsM>BYPyGeEK|NA
z|CNT`{)wtvQpA<>M(!V8dVpU)Yx3k-&E@b`%t)@K%Qvn)H}Bc@9j~@aU=k1O&QHbL
zs&>-N6J_H#71T|z1Fp71q&5oJY(|}_j~72WqsRtaUnTDJSx)9F`SWVfCeSHB9&&1+
zFvB3~H?;C?`RuM;htF=FRZ?BjvkO)8GnyCiGgg<EzuTB{DY9R;eCPy8wh7~buSAkb
zJY<e1PZt^4y}QuKY~~VGPQi^ux7@Jy?H!IRx4UPU0d>*_$<SHVrO2ysq8vvR-#L*h
z^d=_8$LADz<4v~YLa!}6z<?|h2nQ9*^eK*P7S$mK0Js@n`cxRc!4AHCpMJKhl)9UQ
z1SZc)iV#axN-c)3A|tST?@%fle7T$$NvUGM0TOTHU+;AHVpej>u6GU|k>8R({_(e`
zW~Ss9=2wlrb|Gc1MNXJ8e*2*bQ#Mylo>(zpVCl|XLd}NcqM`dw@nUR;+|BFW|NFMp
zBNs>7hNOE2B*yQ0?9C6%!d)S!U~oxJr~Z7uA>+mk`4F_*0<F9Y(qPBxb{I^z!>G}#
z)f!E(QLtEqK3<DSixes7mL6E=@JXW*Y$}G^%&IYzXbsB2zZfIzlF#m+^O$^=redXh
z)IX1Z#I3mT+Od`!Pz1-~mJHthKPSNBtHC@MF*e?tXSriUDR8+BI-}Oksrq_3EUL4p
zpsg$bCZcnCno`Zg4C(5fJ1Z)7(jIIOarX1i_vwGvfx>FSwbsiv<+%o^kQ7gd1>z0=
z#9^}c^_qyr$U=0e7e-xWxe<**Nsv#8)0Kq=#aop4z<~KvEA#vI>qApNo}>&b+d_Y~
z4y+V*-%Z?iMD++8ok;@2<}J)9i1hWi1=vnxt|d`41!)ZiwOXq+>Igfl4hlk9lbtuV
z`6gf*-#npoeW+zD<zpolxZ~d!#jEJ?1#l*-<UFhjZ;{`b&!%tUYIoC0IlN^NJw8_6
zF4<ZNnWqeB=qG@NC)PJ%5(T8xnE?7tCd;DGPuT6~;_I!-g#@`tKTo{PYQ;IKjfe;j
zk29cpOB-u77|c%54AeQyCY>>YBAjC}yib@Fpcxu{&?}Sh!H;o#+7Qy6?nuvM!mWG<
zGp6xf5|+qk%LYvyC!hTx(VV<{!d-88^6L}cIVOKxHfYjBZpDlldyco<5NaCw4ccBZ
z@Ywm51a@xAYXO|^0^By1zXS&dE8yA<qM5<UK=na-KmYoGWNzob!4_<1%sa4#aW8;L
z|MO$VK4gQvdO`u9tm52B<{2<6vKFK25aS}sm-PB@Vzq_^Yx;PDO-8<t*Vv|zeFCHS
zn}G#5NDPb|6atsQ%vrF7t{y*Y<|B{Jn)xU%%9rHUmu@{xqbQGtOWnEqm6vz!-0`w}
zUH)hVRX0)#?X+CJ!=Ts#t+yXgSYhjXd16A~_9LsMiZrQAPH0YIFxdLQK&XwXa1wsc
zr20`2C?)gzVc>odW?mr+BUCypzm1dlfVBszc<J~glSw{%J1OXqPfuJLd-Q^0?az#~
zH7pO7yGn(tc4D>t=ReE0m-4F>V^7Or>>0iQ>0||8PUe*a^N~CjVnSmyNRWqxJB(4m
zdW%KH^o^eM@#@=<_it9$w?-WoFtP~g9DW-d>_}$?l;+NCjgXu8_@m;)S?3=SPF(ut
z<hae<)ZvI9KQ<Urw>B-<8Ml9<{MxRa*WvY>fX>dPl?}fipr3Vrq^!~>3H)@xYGM&4
zXHodc%+!)W6q&ySAKWiRJ`Sg84qmZV0S@O)JrW&p8P9H$&wiI|?7UZ)qLIJUu36M_
zQm8pxGlg+2^M3YV47NHNErlYOCkfFuTRhR*qV>_*NJnJ8*J0wd`Ck43Tqv{(aFnuc
zfm#T*fRn*&Is6V^Ebp_R01AGZBZ}kqT)#GRPtkzS%64{mbnx66S>OH7hwoNbK3lwK
z(CYa!yU^l2`(4iFcA2%Y$=UIl)zb$(zpd(v*p7V@yLHW|euBZ90(i6Vs~~oQniIX+
zXtY|jYR;@S2RpPDqb1*K&>M{+NCyvCQQPT9l=Np{;hxz>=7hwh!QEi4FSGPn>2{XW
zwgq$3OD8?H^Uar^-BooAA@j+;7u{c_zx5UuK6ljBYu~hd)3XPIVLfCHIX*~wnkR%a
zn{BpW#Qt`R#>k05VvsVn;$iq=uzMl$13ov1<WB>*%>2PbQ|kUH$3LK{OyX&3L&<=1
zC%DgBrZ9o$g6?i*<KiQ%z_>cn!DG{*UJ9uI7%C1+1{#V<W6U%qIP(h<;|gXPmH0cI
z#ov_fmIu<DzsG7MvE6x^BM%g6TISDqv~~ek?;8UuSUQd|B3ZShC}^QWB8kI+B(*9$
zJR%|*fkBjmC9sXgaLGtSrhB1%fm00T^Q06Mv*kVPuzx_nqfWOC43-Co;+gJc5D8fW
zA6I=OAC!;MPIIH3k`QfLN=xSpW|M(RnvU9qG)aDkE~3|(mkBkpdBKmxI|gteE#C(Z
z95ytf;BE(c9e^VW25#0UxGDC;N=T4s5NaYe6GSTN5R)5_L(?M*06eO7c7ej=-Jc8a
zVazuPpXIY)HBO06tqg6Lfr~Cc{&Vo>O{iXej@HXNu3VLOa$PyMyph(mTxdB?XUlUL
zm7rl5m4dMX5~s7-OvqmeSWVDqLQKrD!6}OnY&T)u7dkPVEj58`J{Q1ewG=Nvfk?3r
zKH)aAB#MuSEN1hSA!KFIl5^o&N#{IE`^X7B|MgP;;;f!!Gh!^D>$37mqla))?^<7f
z&3wZ!q7FqQN+k)u8_;Q({O~G)6^ZIl5vEm=2nZaF9FElaUS^_wxkX<Spsj)<X0eb(
zU`yyOes}W<PLf0UTv^R&_j5;nIMGsuk)jd9e}))7nq@_Jn>sq$91`L*L`1j*-fA^~
zn_>-me>ksjsxpFaFFl>%9yU1xD-{{6m;teY-HdQA*luU4)(**~(evw{ns@Z(h$89h
z9}DYl9;HEps;^g-t7(sQ^_ThlJo&T3F?#o2jr>_&KL2Gsetd}1lX42TRSJSHVnfX#
zk4ipBRZfa86vvpzCeV{jO;XTp7v_K{o>yZIF>DUeaM$t6UFujYtGc73f`V+K&5oS1
zKPU1Z=YYa2$(?~kdNW(BXVuWCddXn*ZDtm^+TpQs>hiZ=9#J%H%2!fh-OKNk&00`D
zKY7w)8DDaFeQ1(y;3H;z%wd|8pT}R$m@+{=s;#WNUOtS`vWiO(vXLRQlPph&M9ey(
z<BdiKA8ZT?LR}`WGn<k9NJ&qtN5O($Cnzf0&*zvfY-$E{G?J_=gjF<RLOjjQs?Qv~
zuJ7EUxx+J_${e{N_ld#txh=gizZ>s#W_hx|8y^<;5NzpGxdAmJHNfS4Zv!AM_Pq^Y
z<YW992p@6*0o>YjNRzK(S}7XYbu(SwNoxYdB3w;#su&k26hR&enwI^ZPB<zi+-7xH
zm>3?;IUHI}8xa|5?eA3w_4g7{9g06GJXAtulCNkT6U0K|eN{;qoE4PDB1jGtp~EOi
zb|rGRvr2U?U9SG*+`gR)Sm-|E@t?|{uA9AdUt?E#2XAafMDN_J>3JnG_T^XQx1y8f
z?wZ4lJD_vM0lG+1<>_Fw=s1nR5EdNFg_uGt7E@HTJ|r}x%&Q3vC03XwBMKrzhzNim
zD4_Bc!TDa9U@BCh4Z!v5pL+o)Oq5Lpzk+d71}Y4}P~72T$A)g2Qc_8$%S&G1KEC_?
z=zjb5eIuSO|JLKJIMURxyF_lj-QlsiRZYiEeGZCECbHlXb_1UYh>>GVdaFisgmG#t
z%EUzAr(oM9I;^HJPOlNwD!V;e6$kD)fm{)^xsnrSl|M?p!P+@1A<Mz6dzOPmm@0>g
zRfH#~60+j6d}dAYs1Ik(T|IlqxUoZKubG>XQUC1hheuAStY0-d^X&N2vWb)XmrUf&
zje2<Y>e(4ta~tM*Cp=PJzp6exeb%b_p=0_@oKR9aVG`qXB<%!b$Dvavdmak1*erGf
zcv~alJr*s?um+=Af(wCea7Y%br5ptflt&d!kTIy-t1=q()Gp~CsE7<Pv1utWbU?BB
z)ILKzBZEQ#>?kIHrrX_iwz(9<1NlhR79d5KEzdo6>((v#@^8QW_Kv)Wc4H~q7W=-X
z`z~C-7k35qO!qX7inu*SPLdGjvv+Tlw{M_(l=n&QEjch1gy9u6#1v8UC-Us(PnhpI
z4!+N9DG}8+50L?$_FA*UEQ%dtNJ2zJx&tp~bm22It)Z!@?XB&D;-ce<ywSnxpdv5I
zQSM8v`R0aipL8fQRkQ;$cUD%=AIN(s0s>vjN<EY!KA+ivrcm6wct&Uk%NQWbKck@g
zf{O=sA1TjUQBqbo;<0V(>wDx}KXv-qvJ?47;|7<$x%A?^$4f>oh|A#P`p<7y`TYFN
zmG3yyJ9bJfO!mAoes4v)v4zjQ-v4Z3_SA$<=`n?ymh~FbG25G0lN!_?ICKcN`QwrR
z&&Pp^eS<~MI3gs}$n$m$tL*Yk2bF2ci$RKJ@x5&nci%pB6nS!sihFvB=<2d=J^Ph-
zx|NCbJ@X5@ck7#<li#x-r+Yz9q>xx;tCR=1w!<sVK$H;82WhN9*7%O`!5yQ5qcXEZ
z9h5Ep!rI4J)51`wrMMExYe8*@Wjj7jQq*if)A+KjN?wVgiYXmcOm-WGRj^nt3w}X*
zS}c1Z0KYDSmCD(}#+}Z7I{S&IKe}|`<ntQ~CpXuBKx;l^+fjMzU(d>0k3F-UMr_?q
z!?$ghzuvlC{$?A0<GK0r_fe7WX5YE+#jhp1y2w8$_sCm6JTCA2>sdPZ1nYL+ZH%*0
zxSzR$sFHLL7ph{TLR8e@h%%|L=A(*=aT^VWXr0bV!;y;?tkI|_$WB4hoEbd!Ud(-J
zmYu?M!4STAW@Y)3%FM*r&B}WrP+lsDON~x?vT$nsj<-h4E?b<N`{IZt&&zooo&CHc
zR&mV}x_G9J8$VtnOzpnNnfA<lIsdcx*ovO95}Z5^TDL}6kCHwK)ehC3B&|V@mm&1L
zgfc&h;tjptXka3SG7ETsIxLcjA`L>ZG{nHqDM<P&;;p!+pp(yUHT@0mFr*(*Rs&2&
zU@ffFL8*$y`I>S%rAhvQI-2AaFbR)+!S=t9pFwi>B-WYb?bGS;uzS1AI+NS5&N--G
z2=lPTC>0hPQO^Y+kiPRRI=~_!m!07fvYVRk@Rx7XN1F(KGt2*W16C+Z%;j(6N4=jT
zM|o25TSItVf|$()yt1TH^XiWA0p^5)F&G59ptft&`1>zB3PRl@T^p-{Wqow@WeHU5
zl{IK1WCq$6k^e8Q6&5u7B=1Z4hN|CqMV=j<oBdGl$d=mwn{Suw&XFh4a``p>x#jYW
z?A)H2^2Ps?b7|`x$tFnB1xRgRH3sgSkDy>ghFj_GO+hc&PASnpAIdX-A_(<KAs!80
z@QVny=tCG$d@p+`K1yen8)8~dVdMMFS#|Z6n(CK^4&5?z)v0&!!xn>w^z;l7CbP3!
ztB1Zc_~a_j;OZVZHPztLDv&N)<e;-y-A9N~r9yR=PLIMLoz7%7=yj+$l8_4nGlB)v
zeJ^3Qu_R9U;0JfI*wjs#vwh#2G;%$EncLcgpkx-_rjakAbQKKF6>{%je!<8ES?qcW
zr;wT*A)26Q4ppH}V8)US?6j$V-xyi&D44arS466EaqqOuxHKxeQ@gSevsS;oWOL2j
zv9y*e+|^X)O^a_=wRY};sRPzbeHdeQ<+8a0s1J=JJv@;%9S3)ZI3=gfB<ZC11m0$|
z+cgpH=pc>DuP2!R1e6BjJSKrktYw3HuVkxz(G7#i|0V@9MSzZxg<HS7W=!LuhI!A;
zYN#riR9#V)mY!0XJ+j9Oqi1gwE;nQuY!mv=SeF0J;72ktwsg*p2e>Ozddz|E|G-)t
zFL+Rjh1Wsnu(h}|3?OrQ*eSLamx0&V5O1iEj>w?{JKyaid>;P6NPFiqY0MX4xh^ER
zS;f64T8FhsO_&9%Z2&z~<uC?=pN#k=K9+c6iAi7Z#1?D<(eeEghAmYpvDkVIQ<(`4
z2hsvahgQ`*g)G2#Nyhe1RP`9+6h)RFrJu~0@u&A$Hek(w0UbLG*d)J)-<73gvfL~*
zAbDy;mf5Z|A>_qmO=h*4BEQ?u8-(MObXLvIirRe>HL(g2OqEHu8&#7Cr%ajYE}`M2
zom+cU{{8enzUQjtW~ub|Mn2tg=Pngk9(O92NY5eO&=I>w0|Tt*HI-hx{^iSCE8YXs
z^NM?~yh_E2&AD>{cOGk}O~{BNm4P+E&K`%!!17oyEH;zLU^7@XLF~mcq{G1v024ft
z{iGjU#xdYk<z34_hAAN{9bO6D`oiXtyzn8R1v^WQgcnxbne&)^mnx`7Md<qOAtM>R
zsv#4svPOCTNkB>G{qH|TF`-}*!MIRi0Sx6sjPL!YxOA@I8ZU--Dj83c-{lJFJCh!c
zZQp%1JUjfF^UvI6SWV`YM0*T@x4VpRN?;`Ky*}zwrV5f3cSO9;LFO*M`Qo~_{=9AN
zA=%xtpdcrwprEHv{pyk9FTZm1_|CeKBkSr$jQE4q8|-PXL*@q+^C-f@60{mCB|-O$
zo}d^zD&p;C7(b?8*xdfB(L0ic>o9ou21B4y8uh!PuMyVEE1GDq{9_Ypy`+2l$a!>~
zPOEA4bU8ch-Y&CU9g#nJ7TAs_vpz*Ck#lfRyi~<?<2SavNi=`Pdvg$+jEq3v{r}#V
zJkH-jU)4U&#JaMcgYncx=$LpiHClNpe$U+Z)I<KKCi|WWOm&xM@aG|)EXK+A#KvIh
zfE8ln-K2IwiKzPu=fGs)adFX=-Z-NfmG)+Lz&{RD+QS7`7y?Y;!wPsBi7($;bC#pc
zyJ3;o{n0FU%KPZ}>_OiC`)fxH|83kCcZW4RoI%^&i*5^tKhv+IDkr<JOZy8C^*-{-
zqnpRV{p?By24qC}#Z1(btEO=ActZ(uB)w4gSWeV`#+r0INy_*SJ*JUQ{`VfVhz#`g
z2!HSywSiG^)!)PNV2^=;9%P)-L%W~n+)9^wkZApVBw9MPN};hEc^%Lg)WAm-2O1l(
zHZalCO|tSPD{mIeR2vk8dJsKyupQ+qHWNy)v?#FF<F!Sey+c4Ht466w=27R5lBz)U
zvyv$Td7#RaxAX2*H7H7g853V6lCr9zl+wd|G85{;YMomZ*ZhKPUn3vq8iX}1XHda&
zgG;{~NoUShit7D!(lB);jPIsH*P|vK^NVK_Av3v1{7zD<uX0<VQ9B=vTHjRgOKkz{
zvC2p8z8=#^^&fh?jvlsqJ!nzuuf86k4?crYz&Fac*5A<sDK_eAqd<Egxk-6S2OlKz
zKmRaJE<&1)_w|_8`qG0vTE9S#p7(kHl9)e0l8sTmQ!z+<ql{B}+y@CLoq|FqRy(hU
zWi0T-LLY_MEWyEgs?~;~oB<{DC@n(f1~uPW3uk6k?E$${4AZ@}c*P%Lgk<?5R4gi0
z-=JL_a|q0c!%<|Pvcz9ruaw#^5rn^fy6vZ*=F_8mIah}o`#-U2d#-ZD_t)k1vb@Jf
zGx3y)aXc$!RAGka9>jyMVphQeGxSXIrYb$Sr~pNjn%et%Or!b#dk;w7F<%d#&@i52
zb-4;0$|$(%?-BOkC=A;^IL0YGnB*n-=nktkm+A$RupYK2(t|Q=qS2t5oTaxzQ_}9e
zi_H{z7WD-%Q0aT*&(_jpnz|0&MDp|US^3-=?i@{CFMmdp*5L3HTtyca15a<=DSn5D
z+X_7zL$W;)j_3%RO&b9->W&SLa)lZ~S>Y^?pAq;&ou@w>WGa*yQWJY;j-`cs1v4yN
zL~RbrJUX#+0!4|jue$j7vcX#ipJ4UHC!Vd`Qg!t1XAjXkm19w0{B63dFCIgu_$rNi
zE_!tFQM|T+V&nY!G4qeg3*UX5yP5p^uluLAm=l0sr7lyU(L;VJCMgu4ZMyG|J*Ls1
z|GfvOxZc;p8K9Bx8H`50QN}4fm_)Sm(Fl;>BghIQ-4sZsfoe>XQ?t?qGQ+e4tB+=p
zU8X0(jO77?29;`3uwdxt)!6%a1r2H!RXnRx_oX(G*Hm)2idAP8J5U&HM=qf)N)vXY
zV)o8DR$#wRruvq=x>e82Ui>7_eREsJs|ep*le>+b`N$Z6#p<-gF{ql!AeEjZWEfou
zD5mKc78I1#F(oB4D9oiI2??q&KBRqm`##=ul43W96nf46<u%2>^}ov%@NoShB(t6j
zz976Y#1{X2j$y!k!vdkN0>vMED5V>n*=t?G<@TOJPy3AAXUC@h@YRTw-7<D~b~(!n
zpBkQ@->=8)y2s~%ed8#1lg105dxjNv>C`?rymPxD!)KQ4c`Y*LMr_)w#Pn|M3#ONO
z#-(PJcI;L*w)QU8$WMK>m+5Y$mQHeka(S4(M0#z5OZaCl$?UhTf4n|z{C~Rc4BStP
zersj-cY5&tptkGf$Xeif!h_d^z;!YXo-~u~hm;P?s`?<<7wADtQP{+K#QS<cI?+Rt
zQ4iP-8sZ_cz|%V;lMit^(`*JqTAC&^Gd?=HOR`3j9p`jsI19ZQ8SI7d@bL6PZ@9^j
zScKC1U@6#~j}igm&iA6uEG3`S;VHJYtpZ-DHS)(V7T@czf2iexjs}rgnhTOHB7AA{
zjC_@6N<fLq-+M(~tj6nJaUqRig<xXplFJ3dk8ghI*o}X^>+QFE$B4Io_-ab-pPslt
z$^S#ymjFglWoy^1s;*ws`;yMy>8ykhl8^*sYxWRG*dh`{R7Cbw1Vlt|5D^s>5kx=-
z5fK?=5D^h^0Z~Lm29@D4=r}$_MFBTNgmmTq&aLWB2lc)GC4_XUt8d-q+;h+RooF#)
zzxMAMuq)ba`W<&XaPw_q_=JmX6(@La9zV0;wPz^$u)bIK+V^f=80n^-J&ka%VQ2CS
z#1vV+=32xdvLDV&yMtC8et(Mc!<_ckPI9)8pX3xjF^W?|wMGrk@zu(St=5(A&w|$+
ztNCZ|vwkN2eqqbc(`sw&PoP5(Ygrmw?WQ$&?kBtlKjRfn9Tg!wcm}h@+E|9u_rruc
zW;OL{c}LSdxZ}I#J6J#UeeDjH-bT|GxMLa24S9n0lnML};#WbfC*VdrmP842$$3_!
zBPyc=0%-=5WR*nGm6m3;7G}F#1wkQM#6`F>lSRKDu>uG;g>Ws}b9*<~{gT+P0pK9b
z2Ip7|pr&DgRES(O4n~q1*Sol#R68#6@~iyZr{G4yXE<Bn3D$wCJRBi0G#OHwnL4og
z=7(?jeDvnEkE;J}`bGU0lRrJ&+tg#;SEEJu?Gxury=~gu35GyL{<d!Y?_WLcA$7$!
z>Nn~E=Kk(9bB&VM&wg-ibljxBEP3RC2R9IXtOF<Bq|mM%M0CIgm-98yCWq*U;%xW~
z57y}9DZb9xu{CP>zEPMZEaod9{>dE*>xWQ_M82T4Kt143V1u>yGg>}@R#5A~1iVj_
zRHCmRaG-=wkpq1I{K0`WY!z|)ElAv!5qq63qy-V$3T{t^F6jPz0ci3yDGRnGLxQC|
zF?$^O(b0u9-Mja#>DH}ZP4^zv^cyfPC%^CCudZ+J!F7_{uXa$M-h=A!+!0MX5RJ5q
zOAX<cQbVpTHBcOo6zX$jILZH2YACCeS5bh{os)X3?zxI$l<vN@YSmQ_HeU9y&P82s
zpTrK^)I)idw@(C^4g!{nZyrB-EuugXv(#?zr1~}L<&o9wWZ;=+2X#`*9M55ec~l2q
z;bGbeb56k0WAoqgeOlp-+8+CpJFvnKG_jB46ri<0E2uqT0z_uofvvO^L?3wU0Pn*H
z-iKMpA4Ch8{08h$9%lthj}LZw<dA2A-}-FM6psU$RM{@UnQHTyC3AY82D4xCV~+nM
zsG75EO|vED91E=0j885^KqrJ+v7=?{$G`KR&kh_LXEz$j3}rN))}yVY!-KBo!PS`H
zC0$0U9ZiBd=eFv)=7_8Km}u16m?l8opi#GO9yK(FMT&|$xW>zBk<HIFUQJFy8~j8x
zY{4D;%x1OPnW`O#^bBgjI4|BpT}+#8*@99OZ=p`xUCk}1UdrOuS`dtEkTjQ{4@02=
z_LpaBpQG#I7Ji*)D|6W{4=V*~Knfa{?J{E$BKEV?$k!4l4&;nkQ~6rP_wyAkK*rpx
zwUCq0f^2VYf%W^Iw-Am|q}IY1^o{p{4PYm<7UKE}_2E;+i#w<fM%>Zy3YxvL7yX4T
zS{rGJy~s@HMSrb@)L1Vd!y0DtnSk7gXY?1w@fJj1LJLYR??oSc)+n}@FcnxekUwdR
z@N+zZ>-_vNz)}z1RUq6DDYZ+PmO#*Hv-v!MK&w1SDm14cWgv{mMmTnB8axgK->zgI
z#OAbwph6rZ1kgtjHQeUeeB5xw5^s~WITkUGpqjjj3OEYD14*^~UFbZ!_~s|?{Abd0
z6_$YdHgbT<)~vZ0v5o6LWxRazqNzhhds!9}Sqe+4AGq-5@&ivjb>MP6qUh(YOxt$X
zeb22}Nh2jWA2BjmhXOuFwN1Zjv+PKiBY703a4sjX+RL=oqPFv6EpQ6gTBvLK_K#ZN
z6t1;U$Jgn~7W&5fFo2b?3gRxF7JcCBL@f}tbk*93Q`|1>2IOLCZSdUyBM*8vLM@Py
zC4lSrB){HO@Z$R4G44bgNB@|OBfc-`)Ju@RSbvy|Fz!%{x<H?Xd`?}kbf8cDgk9RW
zH8l&*;1TznK5K9XxGwmM=|!ooWeda`v=-`w*R>YnyF_b&c!SnL-GB2IdbVtV_L<hg
z0M@9rkR6*jtp(a=)B??%iO-x=9dASJNO|#E8`uLK7;w3N-+S>Ym^#t>Ua`;7?i$0#
zU!;$Jo%Zawm1rGFF2>Dhxu1SV1zRFmcd&5S0$<p_T`@bHk_k=I16%c=NP!oT1C*l{
z3?QHhIBw?TfU$prpIlRdEr4&c8!6=GSjJp4;$?G;IvLtD*A<jJ+BvYW;hQ2;U~Q`i
zk;BR`=9O2py!c&|o{h|S`b$24;POY5A}<#o*tc(A^sOB`AeqQq0`m%K&_i3f;jI-i
zkgTkCFWnDBZKMHstTt;+gVPqox7i-c2)J^`bMZ#s?9@xz?-XK95kJjc^ie>K2HM2)
z1m@3BkE~q_H%mwLZMz%E0`G|ffBO4AwM5=RyV^Zu=Y|gtV9lC-<Q6ruB(>%<J~(DC
zbL#X!GQId;T$<$4Hr$%;b9!K=*t%k8iKjS6(AubN%F)&}#u1uM<Bo?oN6^}+RX@<$
zFvi+2q8}-oCunWd{jLq{KXD)D30fO<v3|tc=&pJRn?M^2EX{*v6IB*znG3kuAJ4?q
z5M6~O5w=F!2io%n2=!W@H4Z|y1kA@#9ucNT`a2l;!1#J-_E;^_AGc6@>R^KvG|Ah8
zb+s6BDqUX=E(0t=T&JfSg<2823iA$>1If(yLa|2as?GyrmL1Bt5Wgl~AX2a+xP|(z
zHfPPJ74{+0<S_<#Drg@HYxy(RsU0a}0@sOeDq@G3Xn<=47tmRU&@GZl851I<QMh;x
z1p@l%3PO<oha3vpBC%A-miZG#c4R5LiuF>f*++;Uc;_J!tq`%$do!D&3eoj!^Kf+=
zB3@5EHJIjvPLQsA>^L<^-e`J5n|phV2d%^EoHvq;G(f*&EW4lhfXxP;%J~4bgK+{?
z0e7Jt8fOi)ev{gfGBmW$(yTNY_^j}!8eZ1!h8L$jo7wa<JTnAVq<LoWRB2JdC)*20
z5<VGw4mhG%5}k%8(fyC{wM8#+QVd|bqU|x$=pywCF&(`kA)CXD*c0S>3U;Fmh!P7k
zi)Q3=3W(OUHUmIl+jA9C$D<{khHrW@9GAObbHrY+3K;PJu3po3vdV{Ms*U0xcBXLu
zRPoJd<FNfts>4Wj1gpW^AzcO5)PBfu1B59+8ZcadTM(0kMb4IF0+^u@-v$d0dX9nP
zQU^F}B3GqIxur}2-S!D%Cmzl_!cO;|`Ko%P&-7hb<@H5xPm7LYpW>HPtgkL?({z49
zW#H0ePi=LR6IK`cDOs%sX?F;l(P^CCaqR;uYXHiG)&{5Si*d?EUW)cfjj}a*N_--u
zwsYDO<5Jr?&W~eHR9Js(3_LF-#(fl=OzW{?`RLIl^aZnamgaI7b~T}0q`(UhcAJu&
zQWEh0lGBiSWKVTl?0$!o41c9tM<~hHtWL<qqkM8&Qa!m?TUuPe@uGv4R5jyq<nug7
zuOeN%Wyp1XC(klBs&PCF6T+8%)BsJc9U|B1$QX@_9-I6y`}$JNk<VyngU3*|P8xQ0
zNHiK#QZn3xOo7Zszu!X1Gfsj6yfQ^gGly}0#!VM6fbs5Cz$k$@W&MEB(~A)DgbsF|
zSlhAFT%Lt?y3kX$?bf&6+r!hgHj6);)U$a8T>a63#;q^DNwh!`&)589D5I5zHl+Ip
z;wL`06!4QlvlP_YXl2AWCGZybxuCUBC%nzqR&3b<KNqwXbZzL07KmoF7KX6yXo0K^
z&DL$+3r>+*8$+Nl(H**8haHW67zYA>!;f69n<JGjpD&4JWf?sVLC8%p8gpD;`1@S&
z_W?d3DGAU(Ns<L{92QwlC!{6jYxeqaqa?>F;l834*he55ZR67k1C3bo7a^vZJN>xh
z59dDjxmUUJ@{9u;AIp2N7>H2Y*bvsG^W9--blefRYvYzJ8@k<|7hYtxvisnTn8+5|
z%^G-;bm;QW=YK=e>-`=-w{@H`&IJW!3PqTuX_2c++S(Cilb2^|+cw?nZI@*-m8bcF
zCBB-5k`lq`Yz?`^DcXT8UWgo2rx1kU6@lb^8ssYtuZR}WgEjasPHiN{Xy!87BBZ}$
zQNV31af?E6DUlXYC|V%5(wxtktpJ{o8(KH2KdxAMY5m1T3`t1S-tF`7_ve{2>Nl=f
zG;#OnL9bmN6Hos7cH|vqwojbtU9;u^W_p47Sn+_`wUlpbn!gkYw=l8x((}Rg&6qQF
zp3YIKIS+%tNjywgrcqtoX9A8QE$0+-HST~$3>E^861TAt2ScO=s17Y~4z`1HFq}@5
z2ZihST+7qRknlwCuyXB*=`pT31W(-6{6yCOasEVqjE8YN6W-@az0Y;L1=cp!0%_1&
zcnhd~Lw$x!jXt;elNR7R)n$^3#1{57x4`;we*+FH-QO@0oCugI7#;dRK4vzGkD4sj
z$jriZJegmI)Ps4xqR*^<?1{yRPkcY&iT$7FeU5uL3Lygk1qCfbN}>~?klHQ5EF-fD
zSFh2oen3~@dXVSv8PX)G{!L$LGn5p28f9edR|>SxaT&pm%qYkRL70Jw6ym5W4xT}7
z2S5h{m<<9~5Ts-^nxJ?9B@h088|BGpFf0_VqABnR#RRYgw1XA0Jk$&vt@I7mgV0$n
zUexeee*IOfSAq5gkQTsq;OW#q${5QKu8Wko%wBJDTAJCK;_y3?%%b1y&&;w1yn)^g
zsa&;4wjqqi<#i}XA>$qq$`apuWp_yK;M+0&LeD7UK|XqrxSm#qO$kMVr<S!_(RcUe
z`SWAhWfWOM8D_zhoqHaAXD`n&+xyO=-MV1jHUA>%810ENG3RTwc@M<qU9%>Vy?7W=
zCL0XVA#peH7Wg@$wNM-LVaDS~cnka-(ORg5NQf4aW0a}&fi!2Wg}Og(fuAE<3w2r_
zTDE{NrC1B7dW}(#^-t>rdAqc6khe=~V<6-Vx<hM(?$G){J3;Hm5a20jt>p5_h_!Nz
z(>%3eWJ82KpkiuAbG-3(VB-T~kJb*iQove4J-`k`KA+YDe*Gf9PTOt|r~RvVoBh~y
zZ4ERxJU+>@<@i&fw&SV&xG0G^jPEtHk>~@4{lcrY5nqKXY`(hvg2g>dS_?zbyH4~B
z#NoL0(Q5__8X2Ztp3Zv;gE8m5Iv<Ni^I-Q%n|V*K!yVvb=sNo8j;*!U0_k?V1<2(A
zt)FpAjn)F`2-E^3cVQ>GhBjh8rYm~^&h(?!MogzAexvha-isJNcJN-1REGDv!WV55
zvLjB59oU&kR;1<kX)p=07EB3tpgE67?Ba>rIQan5AP$_b9@%sF$=mvjFcdGjJVM^a
zK^f5I+gRNa17+#-jpQJPAq856&0w)0KPNo}*{$}J6yR6{kn#(37}(4;v;`+n^Af^R
zG#OtvDKrNnlF-)zDZ)oKMDg^VZ4ml8&fB!<@B3Cxs~+5S@|R!Ed0`(?^*2k?ffw=G
zcHl)U>3xc99^iwEjGGbZO|kdI!t6*#mq89FUSnE%aws|3DhSyH5o<vKG$7IIH4=tR
z3AD~O0R=c)0V7gCy+t8=nmrd8{hGPveOHGMD3smRArZP!bN0~xDbDvO_XR<J2kAGY
z36f#Gz&7K^qgwulUy|U?HA)_&8)?z79-h#HVh%{$lwL1k7t|dSqNgVT9qD}0z0)Q?
zTsmf`-P3bg|27l+Y-r%+Nsh`^t*VB4^2!W5ukLc`Q&ywyG=#6ZX3B!Q8jD%zt6qKf
zt8d8nJ6qkBX-m1aN<CRzUS2#x7Rxaqn!O*hLU=c=vFm#ZcSgGA7ld1f!{x=r2x0Ep
zH9a|wg3}u)IK5g|R_1qV+ua-a|Axa6Qj(pYl>PgCa$;*VMV2ByHGFoOX9<F3{{M=U
zgRtS)OeG|^8TDBsvFv}s(oqlbdGl>paOA;h)9zh7eagd6(gc>aZB_X{;OrPm_yi`8
z@2S2$>FxznCf#-Sc$&!KcI}9>;merI`NF*#Ul29xp%}OB^GE{D7dB~ku%q}8ERfw|
zoPkFI@itcLca-v7EycMY_xkZRcH<847H9%!K~n_K3pj=nBpk>am#J?fAa69wH@NyP
zJ}m5(Pss2#zzzWaCE@i!P=M+$+8v^K0gMtQWhtluq;E$$g?ZE}kt)(Gs{kYu@JaPg
z)Yd(A=(Qf~=FG>d<rCKp8FYQ>Yt!1j*gG}x33hq{65njdp*F}!8*!S21w3B%kDfsB
z;D}YouP7%#H950>X{Nd+ebVeh%Lmu5R6?os&z6-eoSS;xkZT$ce4Pr^r@e+P&=Nd5
zaU{qFywU>vod>bkAQ7-sabtA2VarDt^B1`Lf>MMr=S5tAgpQ!{f!(1@#aj!2B3x3Q
za`-xZ%(QpW0FSfCFV8@!gevKR?URjLkC-;gC0Aelfm113y=&*%lFDR4j$1CD){#v-
zJHczr7Faf#`w@pRS<bOUH1HB+Th+_Qr5a^Bk893~IDi2k1nQeP6D-K=<K;dGNt>?$
zF%B;CaPM&oVy{W0<I1+6W5a<fNfde8ur#g%#kr7=t5`j-I-4j0oX35GEd@wz(=+vv
zn^ulgkK%Aur@=MTm-HX^V(+>yS{1mr2j-9MF{`%wWLn)L@^NH)*uhQPMS@6PkAPn$
z2W=j~=)w0?=X|H=T!4I!l=rXG+(e)tK9UsYyEL=Vl)~f_rK#o53um_x*}=>XNh_=m
z%_<yFTa&|IFT0gq8@g9iF53{w&uYhig<wV!)`EhApkOni+zTSEB!}A~E66nwJl-V3
z0;mrOB#eB6Ps%9gpqb5<$FdLBc9{yTE9=XeGxxV=#leG<kcDvd-wS;e?^dS1IoVhA
z@*s?t9S807R7T>EM3xb<i(nH*PJ>A((K8yr<1s3YGa19|xVys2QtKvfmoHX+QlGs0
zMI5-;a~GvAlpR=aKeXAhh#$CIX_*<BnTpG%*s?;Isdh;M7&4C}e?OMH5j#OBN;4sL
zAQw<IdJX^*Ht6UuhIjY5szXgphpYOC;f3^~Q=bctd=pcyT5z9XUY|&$PtR`MdM@U_
z>Pq)SybE50wHNFF9@$?YZ{%R0MphsFvFR}(>1EMX21FG@7oiBA4e*hfVm`7G=3?Y7
zOn-NL@(Jv?Wrkm1nJN$-(m(qS|15KqIUJ%G`z+mQ_=VqD^hb9pO5&Z;aeilOq4D=^
zCfxZBVzWBnPS{QcYyJLS>vym$7&M#XE#3>&E1kF4iDl|7zM%EeRtAhuQ~b_%aOWgy
zk<A*O*dog*%gJ%M;`bedrV~(hh<WTD-rm(su(Sxamn2b-L8u^E5ntTXt<b#U?_HQJ
z;D*Bsn~S$J+}(QE?+l16wIgc{5XA=ImjnNrVi04|haf7heaZFF)#`hOolU~!8hi-t
zAyyb*-FrkuEQq&HK0^hoLGN=(lmFd0_CDb-<9&FzK#kmb1*?%3#nLB|3k*wGghYU$
zTGAx+#3sRH#8Jn12r6N>8skv5zc&x*M+96_1a+eshq5@hEpl)8=`5E=FG_oU2XTAk
zjoq*9+4JhFZ%SiSb;*?|w?AFJ{L@d3{3PoRx+5QoLVgi#M!Amx)jIf$;y;exX+wTa
zzzCxU5T;-OMc8|i0vudLGHW2yvAHFd1o4c5Cn*aFaqIZb%M(}I%9DU&cYyuC2D2a4
z1M2sdPV)9H|1NA?PRNPU)bt;;rxWrqdeb)E8?p;4H1n8MSnIf@ohl_*fz}gNVCPOU
zqLv>}8Zo;9W*3^1Y=NcS;+CPE6X;?>RAAir#!p|`{y5JhI@3TAhsBFg(_m?B<7jDr
zqeq&pN}bil>L$<?&5XXb=nL$M8m$>RgKQ`>+J#%pm=lwNUMMl(?dCbr{6|D|hR*OJ
zex<%AFOqj$?ypfDQ86NE(J}-`v<xMZBfUBVR5lSUfXE=MZ6y2wB|$(14cP*GH~|0B
z=zwYsAU55vKvI9q0EdO(_Gls@E-7mZ1MflwialV&*~peb+LWsfAXpXB7ivxUHujDh
z{-Ky1IWJn+p|h%0?HoOC!>+^Vxh;kF5qc2*#uwp+qR-ImurjbUDT|<~m>~5QQB@t3
zX2~u>%|eGPr==C=I~=WrB5P4?L&$2%@#NGt1Uy!Jn|(4Bw2FBoINVKhFumS)%|c2f
zg>#K(*0BmoI!3a0PC0pO5j_mHjZEaQkC7Q02XDF5Xn*SE&C3hb)BfG+H%~pp>@Qca
zK*dgGfA}f&o85l(bm8*NJ2u$ap68a|`^@D7pD$#}x;4Ko-LYfoZ)?`6mll35ci6Dx
zVT!)T7vZ#GtR3-^2{^2kl~}q|Ari^-84M_JVnyO$x*eq#Ws}QP+u(D#loSsVdx`B(
z6*J8ulpv~;35G_5ZB5>1GW_BfbsWEFn68krQvIj;QMvkUIl|jdvh0=HGnqeg>uMI3
zj;mj*7u5c22g<nl*%xZ)i3cQ8<Hco<vM<m-tdQac7s?W@L5{I8kYY?p%0PjmY!k{7
zgi;l6Mh5WtB{L2ks!tF=rfvU*6ccG+8kCD3dO}^qH}_4^EAHXYy3Hq<=lj8mOS$0a
zzgHxP2NzX^L-m4}_TPO^^e#4I)iZx%osP1uY|h3tY*uvM{dd1DANu6oL(ytvA<NgX
zZtv`3ftBiZ_3L-k{WqwMEKtqFcMqJzy#KG68!<ZM*&Q(p1KB9ZcG7HN0Bsrs1vV0P
zCzelP^<XCOImE4)b%^80<?sJRdmo1hYy(<wBA&thE&TnvwfAT9_v0Q1M4{vCqV~13
ztG+1-bb=P*w%Ui9&dGcD>GlY3;p(3H*`|ljRp=2!u!MlGwSp%vuh1t+*}?Sm)<E|v
zN_P0&sP0J6Ub&go4Y`GaEe`QTo4&l6#l<1;;7{ZZs6T=E;sPR^JX}O2F&J8+ICa)U
znE=1Mhfn|fuUU_mIg*PSv-0b+Qk~akOq-SMoATL1FWP|nwdI*-er9a}zUgOe>+45W
z-FSJN`tB^t4;E+b@Mkd=%ot`o6E>zo!WYTT$gn8+`4W<&EJevqr_0sKm8xWi!`Xcr
z!eQ_);Ho7d4;6t>@b)&3MbG<e9uhxWI8l<?ua#)xdAA&j8&MKD0fhN-KLY0yS}n6Y
zap!l;v1;j_SJca2zI!K})yWq=ZTmo{1$Qi(UtMw2lqpK)KVDh!d_YOwyY<7Lx<*ec
z?f&!YIrUQGrOf<0rcIgg)8sKDMq^)zu*Lw$32`W$B59CcWnfHM6pCN;!L#m#tSoyS
z1_y%@KpsKb;xXM^>o}c^=y#}{8~${{lh$#h6j8iieXV_K;9GUx;Oh<moDP{ASZDR7
z;!4#!lx5rvh<s0%pZc~w)xa7r@3<9ZgJKcSnXnBN3KJusAXg}qlab+rjA%;r`HFH<
zQ(O5mQgbqLLix%0nA%WC#1Ue18It{Go52RWB${jv--wP;-(Yx&ZGC;;;}=<3Xf$*K
zPj%LfEHGT<Y0Q>THYinwYHA|T8Ikmw$BLag`{S{xN0-hSv1M4_n)~kC^*rFhe?70B
z+$;9De*E0Uw~e2AyR`DLHy(bvxcl+qs>(K%<9m<1uuhGt-(UQ2=MU<`*R8xN{L-B_
z&x5$BRmIDN&nizC6)6+ayy39l?@XuA?gE3;neWXLQH86)kq30~yu74fx+TjP%<A0`
zbS4>rtfr@Y=)<Fw04@q(?=-IwhDRgigY@yC#j5u3YM~Xs8+f@?z3GwV%r^FuhApVl
zc0v7m!NbSYZ)cnyHgfiTwbQ38dPv;%QMc-O#f9f<pV=_+o-|A8(WR@}<bB#Uv#hc^
z*fcVH)kP8zJ;AF7M)K`Gx6djN-X#RB?4Z>evIc{`%uJIh<g<H#4%55ABS;!F5gqmM
zbx9ZlUn#sphCXA6C#dA-xY`N1(7O@Y<U^S%pEpCqnn^$1rylM#V89rJaiH93+C$~)
zzonrE)r*Vr`;P6l@yXm3d#_tll2z!bWp^HB8yk(5&vrhGBkAkqHNz{?l0x&S|1n=Q
z;mN^i@<+&#sXUkbkDw!w)To)5=**+dK<d};p(C;F=ClNl<no5R5_ShGG*y)4i(~~H
zP#99-`bO@a--+}PKf?Syy&KF-0;#tE0Hm<~_{PM7YsYY0x`yryTMVkZk<mn63H;@A
z>aXfKW&^*&aU1=7=0t;9C6AvoX^NS>V;V2n)QRd$wg#nI9%J{a;~OhZpZo5Nyy)14
zuTIen(dhuLktBp*k3btXn?1>4MnITZCrYg|oa{KPUJTuj9qrp`(6q^`U*8TyG@)A;
zj^`(l^tBGs7h-!LkzC>ui3umz=g`};X>UNmFfx{rk)4u)$ZDfk@aAL-LO4mvWVpak
z2h8hEc2_qf`z?m*2Eco8>oj*zquk<^`B2ysL}z?!(0^2y57|#ZT&SSs@&};eG@l_N
z9V4hm$4-QEMqFRkZooA&o}N+8g1P;xLOFq3@~1pdcuP@|(k9~rIW%H;O;V$)_wolD
z8^?{ZoUyql&1O9owOid^P32?6vIDCCW5jWbc_iIq2A@Y%5&-%d>W)wZ6N;Q7NW+LQ
zCm_*j0T?lEg}wr=4|L^rg`5zXLkjEguU@7ZV_3UkZ>&?#VOAgg@^RE~DMHnlrRq!T
z682*oc>T+A^YRJ{!?J?Hlr|+90lO%2);0}RkWf)ki4+8CLJjCFDGy*&<|H#<q;-a>
z)!*d2hHp`w*mO?HSq#5U9punzV4PJ703(1$uZyqx3mw5o-^Y1*BOY0Da`EGbd-$cC
zey@CY*Yb^<o?l&Z<GmZ7)VK19&)Cj8->9^-dvD@hxk;aWxMb$_gFl=*x6joTsiApe
zVjDW|U!Wl#0|6hcLRu9@9)y%c$dCb{dn6<Q_yS3pNgjtM=yEucy;g?{5bZ8U5*SFc
zcaa|-@l!5#Qs8Xn5S84xhOJE=PZ(3eAZ~-VN7usnl`EeBocNK`+vVeDDo=(_1~WE1
zEp~6bUz)ja%<1TR<&e)rVGh=RCHTDy-cKM9W7@O)gc+G>2lk-dX-SoW&6yZ+-Ja%^
z_A^IY=P<0!c$LGrU?8vj<zK7kyPfJ`=4)DW<}cA7r%x!lwbLy(-6)nI;o^hZEjOrN
z%jtj?FIlQy{OjY-s27Who_Jx~lQd79W20YbLPaD9fRI4I?KWgUGfQ^{gXz9(?ugNo
z7ZO&Vh?4hBtGj8`&(8P)LteqQ8o`oS_O9oLJwNWwTgpZ+diDvd>!X8j!m^%2`IXKC
zzv;gJt(uV?(!+n5u<HGP-k4M5ZFO3g9i8$G;4vvwU%_S$1ngeGYzk?}dq}mRE+!bE
zLw4x_8~R?4GeK>8)4UOE3^BqG6htf*b~Xpe0#(YJ7GHi=ZB#!OXN#THFLyMan?38+
z+dB3vTYnEb`N$WyBRAJ1cKz)2^=mgg{_xb7hHRj@Dg<8=KvQnaRSFoN(GJ8>r`_%m
z>`r^{24@R4$d$jut%Clv;D@Lt74nHQ`gR&PZQ`2Op)qWe@})V1Y^o!j&L4A%p30?d
zJk=)@M|=o{ve`TyRC@%rpzII;E-dJLH%_?v${4Z$h#EsS#d6>jfLtRkQ=?6+Z2T?r
zZb>U*<pt^L_ihF=j(9_K<s*0PJ~Z*4FF$d1mimtR9#JhK9}Jh|*|4C7aiSL*!(kwf
z+7S<&k?XVDb5bQZ>z#I=&mBPKiZNh?^FG_^w{VeBlf|^fNF-=tyPS0NEHYPRC3EE<
zz06H`4nC)W=R66d0UKTNv5~_&M3!ud?oiLFUro8~)8RGD{?FZ?Ghv1L<94xb?Xv@J
zj9#+6-*_YYPX-HLSi>?OdHD7tbJTC!iSjGQ)lV+}O})IvrDkC!n~q=)9+W3TI)N0A
zKsb}Zkf8t#DBBN=t&EV*WJpHo`Bb~jWvgz0Nbkr15?{4e5Fv&OPE{QE2ok58{8rkS
zJamQxU?hS(95a{aOZZ#T51Ai^-!ibU1}@!lwZmI!y*rn-yL!sJzqT8P8Gn^sxF^`V
zefy5L$dk*b&;690jVfwxq$25D=He$=@8}9?CcB|`7ti@jq6*ck^oBwnMATdsVz!d)
zb`%6Kn^S#mH_BNm9tTTyV4v6=etY6_T%mnv3xOr5XeWiRh62TC=IGjcz$N{#ZRtQ*
zsnw6v<LW8(-|8nUyx?iYed&PfnHT@VIze&21bN~^mzu}^Wu{?^<<YmFUv4vWL?0)^
ziZU0Ji@?H2h8)BRW68|TEri-s0DoyH$&n_*6@cI?DpkOhbxbY<){^*ErkN&5!oU?e
za9|MyC#ymt-$)#<N88lMWAh_TQIvPxzP8ZPX3gw>o@pClx$|ziVMu=#>|Z}}^gNau
zDLv;MKYq$+)`l5YGx;fW{pf}*x8B3@)f0<nJohxJjVS9?bqy-Me~c5w#`R!COlW$r
zFhTtVCkyG~S`r3Xa5YVs?%|rSFd<*NLkl{fJNUUo+BBU@q^)=7+Il<_O>2R)ZB3W1
zhq(;8c04zU&mq^wSK{-qy(3eE-x1GpCVQL6Z3eLFQd9!>^;17}Yzoe~&M7i%JQ>2^
zNGo3;Eg(9~Q1skpb6Q%KJ2L=Ok3hib@k1!@-vD3`w_relE8UdKk41<~34$iA3$Bod
zmKH}VWCsWq$iH+z>faE5k!dbZzV(`$`c{?&hg^@6T!++U@^H0=jrj7{!|psL6lM0T
zn%~eTI#TA<oYWsac<rvECrDzVan+NzlikS2HA`5e#V}}b))*DpFvGCYrIEyJu(^Z5
z4Coqece(_Ryd*jN0RC<8%MRFs94*b#2@*56Dv+~@&IsDGdU-<*35e=f`FT>!=6~A6
zInhN)2lxE#=Lv^zM`f-@x3k*+{>!J6re5=)eDICU>h^u8VObESB9>pUYj#z&ZOrY2
zG3ZsgAeA7Z41Z(sTiB=nKWsv=ih^jP7%MLd&ZcjT6z!V=o;(QHlR>1D19jDvnJLS;
z*t=nvPX$vjh&q))$$`L5hsTuKzkv*5SHy0{XCWr)(3x3IWyxg3b%l(gsO0PL#%?#t
zeaGyT@}(KTX~<Xqg|yG{>Zi^w*Y8|YAGxZ$qD$4aS<<kPOBXJDx>{QF&BtG!l6Tyr
zGWDiSqF?pih>)~vnDuh?&0}u5mPUdVHg3X5+^{`@E&(8pxHD5A0O7+*(r}s;>u3eM
zHOAnOlgyIIEyKkStNh7X1%^ZcA_)pm^ZB9;BSwvYDrrV#FmBR&A65a(z&>Rad`MAr
z{_e%=s@cIWPc>JLj2`($z47KTH^ZMymSet?sP=o<X7||P7ci1b(c?3F?I`qUw;L@<
zW(#P}0=qt0A^&Xu&<=tros`D-mLY&YpG!W{dmu_z$M(uy|M*H26Zgo`-O;bL9b&kF
z?+`?1@>rvb+75~5kqOu#9gNGchhC#Q#7beLc83<bhVkrDhjP2W6&i0cbaey9l7xfN
zhKid8s$gYsOW@yN&lG+apJ$rnW;Xy$F<b%l>M>NmtQ1p_Tr`xy2XMK+yaWBjSF@i>
zTX*?&th*H!HSAoAfYfL|Y=B0iPXN7wDoiH0JWP@iP&G7#Eo^AbOU-pmqE`rbe3fGa
z%Ff-6JmmJ#4eC&UU9BGX#3PUH7(fK6R*`?K5fq5U)Ml{R<EH-&kDI6v&p}Tum>qcJ
zAc=Y?R|~b}<Rlp<tqn%<BzTT|Hq=uvC*`{o3<k97mcdDzoisu@9cV2k4QtL>CrzKH
zT-#O}g))Tghg_EF%Qh8C^>3-i8Yij8#DiHYt`j>Vt1%lXTLUilkJb}zyfX5XDjb%!
z>phP9^st`zGTx6KyO6t8U<UrAgun_H5Xwwei^U@%&eP>aSzFXR0YTWUF1Jx;a4J#d
zO>QtEF-Ge#+0VFC!@JC{gFWDkM|bgm?1gAjeXxh0z~3iW1X({O6lD&mpW$bRcoE=*
zolu{Re!53Z;;CpV{h*)38IOZ^BTp}q>z7kg$)eyk8Vf@CQUGcMTq*%ePEJN`Lk^(t
zYqf&IT+)ZBD28O9k%G>>u$Lh4YrutaC<|v25N#6ercm<p;bH--$>w+ecJMe#=zONW
z{?^Fo6gK_rH%sPz^YNlZAH2DE9!vh)_bgq$Vd<`*;@$bkd*2RVa&h_b8^`@LY)rp~
z*++)dzDxTCH2o>&*+CTm><Z#BOePmBl1}g`2MQWuPEi4%*=I$Y9X$jWMMWG~im>fb
z!4yTBQC(6Ip9ZSi8Mi4qT*cZ&yS#Q>9*Vl9uP<f3%j<MHHGInV@pgS5>v@myd@t(H
z4d{;r(H6--xCbTJEU3LMTaEC!$tFX~s(YYGEHBoV|3^ESmX$B8;RbbG^c=B8(Z*_`
z-_e4hQ+x^Wa5{fD$MB%KN>FmUQ70M5VHU3&&O*0jg7?nkVc4|#u8pfeF@|yFu|hsX
zb@dg8$eKSmI5cYiokun9vBvu?yqenm)K~21Dg68;nIi6+)b8h~VhZSx=DCGmkaiRC
zPt2-^a-l?UC?rQXaZVYb1NngM?gjX@!Gruv9JcXFlYEEAhpj0<d=Js~v6Cv#>;6&_
zS~&pzI;fqlUh)1T^Ck^jIAlz=sz5UyXK}MOV4oM>+B_tKS#oNxms1*#mWfg7qwbr;
zm}c-k6L(GY=YgXuRI$%WaW~-RC`Ks8IJ#gWp02a>n1U8#s2WetjYV^V91NZRr5?Nd
zzQ)ooL~n@kbj%FAh6a!YW~Mme2VcZ|pz?;7m)tZk6yM||K*D_D;mnT=DCJb`Lsw0a
z8fHjU-&=k7x}#sPicvEMKRp}I!@fPZQydX(oG>v|C{pMMmlnR}<AS9EC|d|xM^Gw1
zs!)<9HnNxxKxbk^;IX+U`qsbYGwdB!aq%dQ{&!e=CdxZ5)o8~RmrK;4roDKQ1F@i8
zA{nTegR&lGmr+shM5kS(=pLIHXOr1&q_dGGk{EqCLqwOhsYq?%rW<--!i+NQ$(YvP
zvbBdxkbB`gk2KHjr5c<(w5l40n~(CMfM*Y<Igr+c015{q9mi}&$|J-hM1`~{hOTqR
zIQh{85M$&L9rYza2ts-EBRH~$s>{R;bNPW;LPzC`14;ZLdAwQh0YAguQ5IuXELigZ
zX`Qf8TYX+{kP-xCl%V6`A4b`a_!OMpF)59c02p`t6pT-e-lxPK5o46ssYju0PGgm$
zk+@J1tsC_CgG;vbkRMkMq3S1k24-~Rv^whMF=J2}7adBFC@9hkmV4|@FCcy;$)iA@
zQGoS~%tfdKx+w8GqGXx?k=PUYb&?*aC^iWaZ8Z^s9V7uFVOE$>t)F8-#5Cu@{U7im
zN+8uP%PD@WlFg404j}I-HlXa;JUqq(Ams`2Ogw~xQ>rEsk~WfGS+1GzW84DX4g{VQ
z-t@+GqrPckz1U6aa&^<$w|@TH8wbtNd&Jw6H|2xv^Dm86r>jq>E7f`Zm|VMix4QWa
zK0i%oOhNe2-SDpsiWGSO3206hgiK!8EyD=`+bP=+fnl?uzc$2SN@lkNc)%E-984bE
z!^98Z7{AaKlBf&rvMfQ;_m-Rf&?;7QcZeyd{#|_=XYGy@;QruPVHw%1FH2^fSY2b$
zrl(l{XP(~h93bUZp(t}L>!Q_bC+4W$rmi~w8#{ac(j`G`x&Yq28p};J+#riVej!Xl
z2x8#NsLG780|5j9_yoi&_;4JfthQOQiMjy(JE1{m3;HkO%oNyzlE++>bj1wU;s$lI
zx{0m3<8EX+SlK7)dyn6C_kz2ZiKWpa;=;0{4<0;$gSu2)JaqJp(}+8Bd=#LRD1?s!
z$|U{&NhKHY(_sNPF{z5jlWPlw1R=+k?sOvP-Rblj{ILD{Q4YPj0RX{?)S(&On<t!v
zMyHTlnd?yub`dG_mE>dM({CtqInisy==F~PCR^2GtabP=>PvUt(b?#z*gE>iSL&xt
z0z3nsi=`*_S59p3{Y89|-NhcNNGVV+I7+<(ADugRSoDnggZdGhdK)WZ;j%%6hmKP;
z%sR~cA=q&o7)2IpV&_YQEbVi`a+dD%!LKK!d(*u&4e9Bqh@Dmgo0Ao(c2+oI5(xdu
zp%8!M0(@L%BP|H<<{%otN+L$PU6^8FD&<Ynr_8>;NjMjMOYHpBDfR0yV}81L<IQR7
zn}knq94&PiKHqJ!FTUyNzsVz4L|1h0s9x+V8peFup3V&PT-t!1w}_yl(mHw$gEq5R
zeacOANgLE+^@u$3RO4cNMikQ3sfJSiX%BXHu7M7JQE-cHD~<vm${3->E17+b*09@v
z0|8cP8nb>H;6-fVV)`{d5^`M#O+YLeKa1eaA;nr6aVmICEn>9JMV;!okvIG$Me=X>
zOkBNN-Tp}QVYW=2Do$I0qbjHIE=>a97#|A9_+X$jL1{!kUC^TQ6@-sDfaOe8givkC
z;{v3!9p|y4*bsANmzmRHHQCY6---M@Q$at#(9@X2kA7lr;9u;8_ya1dJ_u}v(d;dC
zH;#`l@v|GRN3)J%S1~jCIexy0?iQ<}2l-ELF&S$?aVcSV8VXR2DKFpRq4)`B8r<Hk
z(hA)L`33nk4Fv@$Nh$Dhr}&c;c)1fXlm1ZT=kybc9R$ndyCH^M4%5GeaHs`YRj{4U
zFPm_C?OOwf&;HMSM;kv|GV|_B&#B+69D4YM6_2i6KTF)!zBBOpLdS~p*DZOigC%?3
z&10S%+N-gk4XT)Tqv&u@lOc?GP9mA#N|mG(1rAWVWU<Lf4x^1GwK;KGlRQW(ad}|@
z#_Y9&$me1Q0;0^OswccrRec1o0=;{yKS<8Y>)GqGPc)*UA#oA@B&93#_76eEq_@NR
zM|MFi!$<3jd>%Jjs2&oIHv|hZn*|jIj8=;Q-a)|xOoUj6NGNF*_;ryWwx*!_d2FEC
zi~YB{QLQ5E19%ek<-@DbX&*rjmX~k}tB9mZi2o#k&tq{r;Q(+tEH)zy=0Fq0^Emla
z)~rtZnixb(71pF!u`JL$)pu0C&KmLf9TR$%mUgJ^?3e1KISB52=$WkZ-VJO%vYPme
zD<M2LS-2{aW>h=@52~Qkvr}wIK@lN$NdddV$dYt&*7g}6DKU0l`HYL4M#YG_XL<Sg
zSOp%c(na)yl#u#`v$E)&69<b*J?fWi!<!l9=1^|y7uY&!dY6wTsWx_T%7LDZ4`GqQ
zweR*>xo`?2^^5bvE$Ee1D31g&<%k|-<jb@1YF*4CSske5sS`sB`IpOL)Cc{W9c7zY
zDQ03Q@f{dXwt@~0tL121-{(Nf#91;JtFJwG72e`8ny58r20W?BD5IP%YT5AT#iyN4
zW&IgIXZrvyeYAghJ=Mw8+NMYc)QLpfL%0@!bBd!fDnf7mtP=42&iq*gsB}*On}S&}
ziHZ>$(->o)u@o>}*5ynzR3Ud(AHk58aYic5Ifao3cp56P;b|k#I^rGRy~szLhzl#5
z3C~hNI&i^#4wDIJGN|w7w%M|rLYm*<hjRc(06sJ787pQVB_zb6`t;zw7@cWSevD_y
za3ATe48RuVx=`uLAAn)k06!R<9nw*VA6?*b`4UczQ|eyUj^(k`=-aFBx$Cdeu$7A!
zt&&Fv)Q^AqRXrY{YU(Mh<Xn{Hdf2wc)TJ-D#dWS-i|>BP6CLf|PV0nB0;+h2(ZQ@q
z>x6S-H0JIPG%yG0DL8<9QaHX>S{jJpZBEb^<h@U;=Njt(h4VTq`;3kPc_fuO##83v
zsq63*H)&vyc9DJt_5fuRiF9_0(T(bqG+VzHb}32@MY4$obybXQSv>5qS|Y>=JFkBE
zT~OlKM+&mo7a+zx?c2QiJX@zxpON;Wl|02zyFl_V70SeR6wzUl83>U$fUZ_Hk4o3S
zhzG>JjiKM>V@$KPA8kl{SU7btdq%2zsB2%)yhzD&krs=1VLL+9Y`>etKheGtXObT6
zF@`p%XMa1_{OENFb4ndR1w&2u8pB8GA>9kJib}nx>u!LRgE?y&P?gVWMIBD7!{n-I
zFwvM3EmH}cPuuV1S&-3a_!TkXMqGKEiNC6z=y&Q`xnk_Ne|!x2N*%aiqq-IwCMtHj
zO1-E{UP>`~V!<l=5g{Iere*S?6mK$M3{b$>>k}L`WbXHw9VYZF)|Wp}x?)-|bq0w-
z=uNCM26}yTITJ2i_(d(n+zcBxcFEF1l1yiTxOKzE7hc3U!23is=CDGbJc_NLkXvY5
z2o&^Sml|QI1r{7xZyiSTicTMzm){d$d_H15U`H_>7gcxk44%Gj+}NYX4$*TlH~MpF
zSJi++?ScHj<D<+XtPO!cs!J48EQnRHSOg%S0{#>pOz@1v__zeO6^>*Q8Q`!Yln?|)
zkxs?Ug1WZF)_-`<*2kyZW>JT;ji!mCXD=Pv@3oO|+X?EA-d^VhE?97A?j2o^hKs>D
zzEnR^kI`(v%SrepZg|(A1CnlKf_R+8b*oG#@bH{Y8-n&ot#Tl1i_jqT{_(l_Q=JMy
z;rSYtS2>w2TO>*-o78VFe5(GMc90h7a5{7S^DGNSb4N{|I_jorQ%3=6^Q`*8#nW_@
zsDuA`Rz0Zx^6YcZJ^So48%Zm{mz;?eBwY%%os&e-?Y0{XRt6(6WHlBLVc1FnwzLaE
z4kUY%!%AD5Tp53+Nm2bNoH`**jiOL|1j<M}1RQD!<(#tONmGCR5cc6Cn+{HC*nG6#
z)oge1<{9gEfz7OAqk0cuDSh=*ZxqMJt;Vt|!US|T0jC#~AmcQl3gvmigh*vDB}WA9
z<>VB&^V6Lv2%JL^ll*jRR+hC-Lkb+4H3-hn!ne~WIDZc#1CgNxL?J&<NC?JoFd$7o
z<Z`B73a2^7PsdmDHG`KmgUpN^`g;tsJv!FR_9;`Y#4>CA?!`BCxlhXtXNURNXQgwg
z&mPOlrc?R{z6ZdUlASIXol_BnB1tKBa3Z@M_|aCJlup6>zia~91)6<9FKZZce^w$~
zPh6^gtDb_3FND~g%@fDZaIk08Ywc6U4*2Vs2fZu|h{aYctL8+v+vgoxI4`I5w|#YK
zg=di}gpz@ET#gZ-mOD<x{`7a#DG=WB7P!YBfDFk`t>Yf!9=%RGK2wYLu<+Ph#B)&9
z1v-B#(cwx@$H4%=V<4=Uvs_R%VG~0lS#Nj<6>BvCMWllV#aQwmvSn>qiB?_VmO?4i
zPU6&*Urj2gRD7<5fEs@A;`eIiwoy0Uwdjp2WL1rKvl}?$<{Xmu+XZelC{l>By&zGm
z8xb0*c9fp7rr6Cmr4e7s`K8n5Fb1G7b9tRurp~^dZ#T<x8X=N=1IbS7Chai&JH|-m
zk-Up)N8p%&FQ70?DeKAmtMOA!wj?<-cE%*4{UOiA?SXKeVNKWZ{><idKLR)Yk8pnp
zyN7lTPQDl%)9<&;{|WDppFHO&znOgu>LO&Dt)LU=MV?rWG?z3<bJ8$w#mdY4eGMy%
zq!@LoycZN@h2E3`nH|7CC`k-slFbq}Foy}JF18NQ50CgMPq15R3@$-9bFIVlLN0@y
z3elIE_@GW@%g{Blmdf*#Gn%Xp<=YIdY7!~QNz_c^?=-J1pCZ1J41O2!6;uhBZrI5x
zqlm%cQonS>@X(bl^+rn?rr#g8bW}YerZJBy$|G56^jq4I_)0|45PAr@7b!1>WO4<H
z2JTp_&2KY0?-gy#V!Jhu@}IUbi;e!nHV8-KD!z&n*i^JZoS;08BBJ#Kku_9th@x5q
z6|L}l_)_cnlZl8PLXW09w7$fVGBj!+<TU6VXr)IJ<P)M79mg4!W7!UAtGF6EiR&fN
z02l}Y=H`b0Ol^o@9W0GtJHGk~mvN`@f4tN9f4x&|YE(<5x~7ltbfbW3nlh9uxHX_q
znndacM5l7CJ|W-s5Lf71s%zXT4W=Kp^!^9#CmIP#d)Wp9W$y(e7TExFJj5iBANnvK
z3W~*IH2Ib8s&dhoZ};C^ak6_@+UviTd8Vtse4E&UA_OAH$)j{f8D5pH@9+lb^9(_U
zVWfJjw3pp^vKJ6c{co#Zu>v}%gs$pEc1SpfsAkmi6A7!$fJzyZ`b@$we|#?gbch{l
zcgH8)a#-^5_tfv0<xJwUdG95WVx!HHv1RX>-xJOg^Q&0b+{np}HzL$x=Pymdd}h7c
zk8=X!muB<vJA~Yb(`qvTu>=Ukip%H#Xg(wtKo#g+`M8XaMw^UKuKt^y(PjlE>de?H
z>9{^Y@ri1F64ks!4O!IwvWcktWw2W$8!!>OQjuPI(7rPLIohxd`sg?Cxr1NhbL~a4
zVVyRMvB?x^E~O{=TqX(G5qrxgfGDnbfIhFW2gIhA{ddcG4(QX(^+stUM_8<j<QioQ
zLjVBPDMRcB^f?567@3T<$Cyx3PcjMQH6cNj&YqYdldCwy51X%nKyneEZm2K-yChfI
zsP3pzzpYXaGE_$QSF!%mx{Su|((4&NX0WH!>oaKGp}|VK(G#CAFVe+sH7j11Ao+md
zDH{+G;s6bKVAMxgh#&Nzkom!A1a7O{YqeXGJT{v<$%Jo%L!hKxbWy{`ZSG}4@A#UK
zI2Y?Qw+-QMp4*%2)4QHurT5>L8xW@gwDhGa^>ljxtMo4^q5s>nKowmr5sNc_%0!vr
zIrw$z7!B$+^<MlsM&lZVvKZ^+LYy(4ouFkzo&%~uM*+Y-Oi0lm_2~UeRz7y`eJjK>
ztDoNR_^OSN&Lv@H(<x;X>wwP(;5C4)F#`xIv@3E_9g<n9ZwUD)&9qz#ndC!Dc7BXv
z0;O%M5*kmexSRNz7X%zJ7zF|Q48LZ`wIc>!JwmLe%4l@$A*z2i;M#^kSNsOo6uLH@
z1LWo*=zU(;ZL$%MR)vVR9>VBIX`3$X%iFi_h1gev!QzB++7l95FjyGQ2#0%AWMxH)
zO4HIh<^>U7n~XZCZX>$CzpN|l6Ig@&WO?SkQ|Fspji7~U`4ZGck)9PKNbuT&sFDb0
zK`w+*&mX<PgT1f3o3W0?WjEYVR?J@AzU7%6tl_zr#BGhoevpb5U3r}iY)yBzX1lj-
z-LQiVd+w!Zg)GdU*LZ2}ysy4K`yY1j?0=EVxKY%uo%;IhXSnun?XNGt;eSOZ(5bsf
z+Q`;Y3<BASw7;e9{BP_xPz$Q)f?BAGZrccmpBK+X>NRRb;3f7z{3PHSymmHWe)bYe
z|6M`c#3Hy?wyoDFM9~+tjX!{^3OE$)lu2m2W&J^M-5(blq>+G5Wr_jFM*u2xHH-iU
zn7~wIxQNSeT@q3vV7?+;bFfg8D^8Q9cuil1r4yGm9{V2XHAtDq?db0qu~D+1j-y*Z
zRtzc7g4^u&cm*>8109)`49%dW6^P|xJlD)(Dj8&Uq{ozJ`CMYpP926<A6TDi@B1L0
z-pH2qkK8aF0ZF^-Z@#3K;7MV~XZd)ji?X{#+37^}OFM)?vk@845}@!<x*QQb2D_^c
zdKEyblIj{PiUG9^Tj;>a38~OT%J|16b<iu~Nl67JbUb>6r2NwenBK1*S+PQz8r>%b
zqhGUK+to`<*)9PgZyO=x!OqL;*yjp!BAvaifQ@h}EiPAfMye#HioUG0v_Qa@m!Fgs
z${O5Y38lNz($fYv*r63A13J%J*APe+ls_wMPo>sLtR<KgefIb--f?1#paOK9G(uQK
z6aum2-;f0`00LDa`JH}H@P6;>Z(Ucnu-Cx;Y^?e?ejYRQuA#d3qx%`Q<LgVqp}}9J
zhldWGzHP?#no0R;<Hc4JuHHUl+l&t&x+9tZn%!y4zX{O<g~Iemr>wMaett$;ZW@39
zix9}}C_><x!_g|}9n=sECJA*7>3QM2K@H*1z=o`F621|@Y^rN;DvtP~ATW%|4bT`h
ziyS|vG}AC29ma_D;iH88hX;ol5Qf05EC`G!i{+{z!>6j829H2<cB1?JOYgk5UIeU}
z`gMi+8Jo$RfbIODZpe-IJ-reTf~%QR{h?Y?#?72O?!7aYq8Cxt>++@Wk@Ahtvo4dy
zes}h$dbm>$qVMkTqbxM+#g2I(QjNnkH#aRaC+JT#+gz?3E5yE>oWekQx+yiaz!nIY
zla=(0^uY~Mh9hHshG><NGm<kr*|}i70~)f8PDG#9HF#hT({vSWX=CLWwXzEuMbb3H
zD3cQ?6<#2;F`61$as(V;utr}1|NBD}106;&d#rR`1+94{l8%Tdr10%e2H0|SB$&rd
z>eg~*f9UR8U-(7cU$|tJEZ({(m-YO4&xTRGZj%o#y=PmvB((kK4oyNwX8CS=AirYU
zPb@h2o6In{L|3eSI_5z`7HKOCkF<sgCb!AW!EViTT5>F{2x_FPRc2;sZhn4to7Sz<
zvZY`W(gk!z!jBIy0&Q6OI`iRZXFLY1>1)Ji5|NSOX+UI^LL3qum>3(;yOup}$mB-?
zJNMEPD_-8dZskt3xJ#d&ojdpJ(<M6m+1GbIKXY`|m`LBg58OI@fX2Bluix_K{!N?r
z9@wB)iDm6~ZQlM$*_y&J*S}u0p_nWgg-z$A&rmlt6<9C5BUxz}UUo3(uvrl-Bj@G?
zvmMz<85y1=z+V{wkp#9}0+|a7q>m}SXEg#QeSlKo0mDSWR24{HtcukN5{*8uN7J|~
zE5*Ay)hb7<yLP|){?1YLd)|Kf^+P}H9A1$>Y~<@VjrruYBm3u<?oUZ$Yj!=qb>$AV
zY1-*mq`mj|@2c*~--LC7_GdhYT}m}W30-$&q}b_6@iG($hV{ajmEz6wdW#VO-8vj7
zOb_52=}=a%PYG^k#-pDx0us&mFlcw;JGNRl;`MAy9i|(`!?2s61QGl}5n`l(c@j{q
z64y>XqV7^fd$M|-)v!zMWM;WvobTK9<mz2J*00{BW_RmLa7KN*$pN+LsVKrKFaL0Q
zvpDZk&7M8t{J-sc=h;pB4m{ml)z>MW;uzXSNH*6;N|H@Zhtnl_ZMGyR?vj!On>#X5
zgDF(V$&R33lrENoF1uZ(7)z4-bxP!da`T#znCaXXvn1*cNvidXk%gHQ4xr|9xyMtE
zUsYj=&D-?0*zSPX^%<l5^snnS|FB6`wu-03PAgVK_lvHn*my@(k*U!VwrWoFdpd)w
zaO?sd1JQu9aQ2GAn5IvW)nCmmX5Ay1$mp|WqL;}w8SqgVLA#WeW<t=GD>Es{glMvo
zvJy!4ocEWz(7o8nplu?actgM><XCru8&ZNqC8cS>-hwS-bcu7G_;JyF=U1%yd2!?0
zr5gt?e0fmys1wV}o*wr6?cwFj@WkJm9(YiVKBKO!=so_f!Zmk@_cLEb_nGQx^!=))
zZ<MW|E~-ro$0~kDq>rL6!sa{o--s;(f;Dr2yH#j4iaX-&qu4=oH=HB<?hE|xnfU9<
zyNC0;wYFQ_Ep~<=edXOfaQEYSPoC7<ex2GDyTT&W;%>}wM{w~`kb_A&haEOG+l{zT
zA=?OqzZ`1@{6bdQ=X3OF@EPUg#2m$#>0Cd3!F%~hgtR5v!|mL}iHH#yU3leYW$r3|
z4udhtqn=kk*>m8d6~Fy;e0^Yh<>Ny)Z~XSh==`ypvg~ygy=U~5Rw0=&^3BIbwzA4K
zg=Z=|FvoE9-;I^b`;T_*CjHm6RYV&d5WfICC`7~93I9lhl5at@fECCO4kr&`bt{Z$
znM9oCPJ)#}v0xzv5ymb;yUWk(z+Pn|*{;ha;&{<la84ZFXwBJfuv|L7O@7^R&3(~!
zl8}EF&N~DY5RNqX8Bj#w;)P`ap~xJ=3f!fH9u#8+IE8d;rfi9xP~Vc*t5wRp-xeC@
zU!;}_(Gud^p%e9w<N_v%Jo*UtQY?bSmL$o*B{U);5>+}S2K@xt7ocs;S)s{m*q+VQ
zt#MW2p&lJR2=OhxLa}S~sQh5m#?D25ld9FK%~E&q?8e6E)Tj-{CngLNN6Q_gt~j;+
z*j9uBZB&j8cjh+zBsVIbLb|DpBqP~dF&Gh)AyHBbLhCRI%mkm3#^dAsP?x~?bQ{79
zEW*Re#Z@n>=eMz5huOC$?c(Rhq6ZC=NPe2m<{GNxFf_4D$WL{st{nhwL^>QF`Iw_t
zMNYRt3S?(z<>W{{AY8S|LRuhJor?j)qezAZZz2-BVy(%*OguMVJ6ibpNc$hsktP;G
zB+51tBY^y5sM@)B+uV-J2Q1z3(gWLO%-i(93yq70)#VK=Yu~GvIN_Q>1BbWo*;_pP
z;Qnp3*X>&U@S9sVzoLG%xMz>rPM!KP)1oB<J6zR|<`$MZsXuH1eo%@7DHaw~DzF5g
z2-u8p`Xj7HBNXa0msbeTUk@h%+CS|aU!J(Nywm<&lZRg0W6Hi)Cl75fc&oczmS26d
zP|bf(zWB=C0yPg@XBfK<wfVY32D=eE{cUEX-%XW*^97c+tEvBvG~{M$KyFxZ;UT$$
zA&Ap&c%(SV=@Mk%CRmIJC>5<%n`lEvk@#Z*QVK#45f7JSfmQ|W3i%*>szGR6xg|Lz
zM(8AR;ZH=TU<m>weM$KcvO?sI^aP9$J0XjSrSlIqe9Hz7RBsUFg$GBRRksdcPqFpt
z+4?t5Za%?+L*F{F`6Tu<d@bl<XHbL%F)}IW3Sxm!CIehcF(4_yVlu)%Ys3U=te&2X
z$0u|LeIytyoU{n9^)WUSRNR<}T7&iCmXjx$iS2xtegD0>PyL2?$gqUxfwu7oJkLTb
z)eJAatPqBb{<LzCS;E8g6H<GYS)^xS!!%}!TcY*!8_&8(VHw}6u7}l{*s}&2_JUuT
zh3?4kgQZ?X)PYGc!M2D2Td}bulhI_BM5xK61!y5ZG{zR}3y&tMAxW?t0;ESCsCK?Z
z?abb~<<;}&&x@Z$L*i%Re@8ReYITe{7BoV602hJylPB~AjTnXg5<I&4^=}id51{Ly
z-f=*hELXb1CYTYi0XLMxh8hKAfR&Kt5xs#JkboD;GYtV=TJAaj)!8rX%w=qtaq~@9
zrR%GI+pur!kZZ3;wlev`j&dI@kT$Gfd3Gf2Tu}vs6BUN$(LLHcs$S_mv%YuV+CHrG
z1MYDgS}$+DT)2HN1euZYVR0vRnMp{6X0BsY!qO^qJ*aoGB}nB+0*6c)ICQ)GHK9Rn
zTS#rF9mSnZ3(-ab&ZP<5{Eu-iwI=#qyImbhO>BAq^Tq1q6XHf7e3*o^=6;wK5E^K#
zmAzzgCe0I)ZMnD+9Z|ok8@63h(28&K5~7bnu|oU|=dcwP#4I2rx)5e<^9RhHOvxV7
zm`02a(3X}d%tMk5&JYe<G9a<s;?lA<ZOTfE*=}|H25#vgJI@^p=FgowPc7$`9(tBd
ztPwBZ?4(Ex$W?BG(GG<SCy;0mJzl%nXja?|rUTdxGNddbMWTN2SI%d(ZfK&r#=*iq
zZ21b}389L1RT!sHyfE*adKbIv%sh34Vy<w^7e9aOvDIR?=-~}RN2N>(ya76^7dwcD
za0;g26wHBz%^L_vo*=-`Om@JvN~viOQ-O&DqEwQ788*zY7LiEIh_-!fU(jpqZ>=|Q
zd+O{Ie4W(dY-2uQ2^uTe(ue;3`pZv_E?ZQ!<(ffV+fT;ftFCpnm*=louxwqsH?vwT
z>>6<wv0b|sLsAljVywvt!*R?~y3ii{$ZRvG3aN0*Dgt1>gF&ZLGMh3zQghGHkJu_{
ztdZ6Vyd4Xa3rSNCa%Os%C*k*>`1_hC_lw~kf8Uv6&1|T-^=@@j$1a^Z+|^T>{P3nX
zo?z=YtgpEHnxc{i)boA1R`#6Gy`J`HN37s+%pK4#BS_E^kW>eW!U%ChlrjWbGMW;-
zD>OM|Ujt9}vDK_ztrgd*Z=i)8yH-RC!F*_(C%FtrSmC`RA&=sde7RClZV|L}XNJXT
zX;Xq=@2sqXg4Co?HjZhY5Eh&FX8uIWLaW0~FSHKESb=WBQ6UADTR3sr<|}~l!33a=
zGuDVLTDqx6|9;)WZ#?$Y%YCkyztwwHhmM^V-8{3XxLsaeSu4Y#Ipe#IE^5`eZ|j*W
z9=NUBgf<O#j=McNrMN?f;z6xjv!_ea3(I_-vZC}7tXmN%>lmbKoWF?a38WZYh@gOV
zESzIaPX}=YyqTsyUNn%nzG8Y*O_(npH$<b{i3Xm9{))#geBHOQwEThlO{P9~-hSWC
zM>p(Iw^Vd*-?6H9Pq|!ebnNj@TR7^`g-bRc3-{?()vaq$k0Iz!y?U2%ui+d{0W10w
zfCiljxjP@)XbBJ|tAJwI6*lNTh-17~m?+#T+#xJs*2v;Wr?v)%qg&@v!B$s))3j+f
z+%Rd<g4@TAoptxDi4&{ut{!&x;>E-2C0n3ZVXnpN?OBjxMzy{B?*GfYc@sy^oH=RI
ztXUI>_Ukus;t1RDL4y|EI%0&;?Y0%C2T|hH=1<Bg%`fZOxlfmZZbjV@2iLt@m(FFS
zNha1hE!k#d?b~H3vfQB}L_(exNllxdUh^Z0FF7rH{F~ndDxh2Vu?gXj-oyo>MY_aE
z25;js{TFM9-sYPdI)g?_+6~(OAY#}a!@k@KvPCk~=zxF$3m&YJAZ<?GMB>mwNfTxI
zYx+$h0bQ@4>-f>l?tEPhFqM#XJ(nU8VgdY0IP8g8)quWF8#au3Q5D2e(7acvXC-eM
zK45Jp|0Ya*(_nvVa<ngVUH+We)t{JMet9y!F7IQ`#<o*Y6^uD&GuNd}Q}Ly!c;l~&
z=g(ifc>bODsxubji+#Rj^0YRsJGPxX^2proZE{+bbgU`O9nMC!ODhTvoi|>7owc31
zckfj7AA5fjS;@Z1llQ4d=?RKDb?T)}P-H~rxYTj-WVR8{uA#>?mN4fW=0G_xXWwOO
z*DiZx&FbZEzrFv)9z#ldn&hOO?FTimQQ2A9>0hia%B@i^S;m-#vPaZguD=QVpkCc;
z+>Db|LKIjl;ENQxbCHmrk>LsitS+krh?Sz&X^J(V1b|mrP>}6LxLP*85#v%)634&B
zn!)U&a|Bv%T~@>uyoG&cmJGxdI0GO}F#ySzuK*Gfd=zb^vq?o#r7ey1jYFmHT6Y`U
z_tj?x?Cvvo-SDnmN~`NTruOOGy>E4o>RyVsacJW;(sP$f%DR;fzH`{()$LntA9z(s
zMZe0P(`q`ZXS-JS?Gou*twrXDrz!G6ujkjF0AgB1Ug$n(pbZ=G4q3d;7@kxLNe2>U
zMLMHAd3K7cow?LnDz$=$tSD{T6u1g1F*{Z5(@^vwEv=osonUSyv_b%eU@t92AVw+E
zYMEaVVF?p9kvz`{&~^pi0A#?R>oi-q16(Pluoway(vO&_e!A)NrgNu?{Jb2^6exJg
zebQ(C`)}^p`v|)rs&A<uoIGhuO>5P*|B6+^$2x8tv23~cANAe!pTGShOKbgz^x1QJ
z+IP5R!PiB_0D)Tj%*KlGMXl1(cMcsntm{2}`VIK%*UXT3>(K|EdP6;_o+Jb{d>ItO
zTaa0LN3xO4BLEtcK&AsQ%lMrh5AvG4NUJqj43^pk17(ZxNE8SZ7+edvovzR*yGUI9
zA$q{%LyKl1abB0(#?8F`>h7(B1r;ehc2=tIt3ftUs=xP_ZQWB(*^2USP}e>fJtme&
zi?LSas1HUNK3-&JOo~)klAVF%K#DKLB!$CSStbDdnA`wjXqAMLS)q_2DcNaFLZDd^
z1k${81G1O|Lkz+N%ffrCEl^DBX{KYHUGc&2P)s^5U}J*%13aV<h*^}{<%eSD2AB}1
zYD4d{Lo9>OeR`^^dTFcjt*UlCRUT<v*JZ@m`u;4rfBo1I-VZ-y_Qvf;0h@Gmd!zc3
z=zQ+ugWFavo3VJwlEpI~hV;G*V$nxNsvr$KX6Svh*jucgXgFS_Y8{0A?nLFnK>dz$
zST5WVub?1AH*qWjj)jg2Sl2Qw3wLOAliabnIyJ82gH289EwFTVK;|9CAjkb9qQBt{
z=uy#4VjZMt^6?__1MXb{_jjQDE64Tc(j(Uz-jAKG8h!c`k^RNG-y!>}t0rAhd;-{G
z@;Erz4&d}mLC&_{=MSdXWLT?=sc8rlksT>AyzU6~DEoN7W{>3$-q+zDWh8_XrW<N5
z5X>SM5~1_!VDfWTE$!PYw>Y<J_Z~HDxTlqmDXpGaBL6gany1E}o9=eIQqppZYw~+6
zzs5WAn65vW>~Z}mU+ByAC+JrS@(nco%0x)3n%>p?{s4L(ycPM~%5iX652VWss%mI;
zBhypKbR;EFN?L{+DIow#L_T9u#4JlFVHe9_O!<IYgFto+K093s<G)Gnata|W8Zs+T
zSrH<slf#8&0Xhs`0>jsFMDhv1`yRgiI#z7Yd2nv$%g1)Vg3SGgUfCnBM*`yt^>%g-
zn@pAJ4s|}}f8k)+U;p{bMRt~*`>nAJdXMN$!(oHMWvnpu9(gMPs=kL52LyVCeMx@Q
z-Lqu%X>dd=PAR21Q22lCeRgyCIrJZ?fz5DdU<(X6Ape0G{KDPHW|dHGZUrlLq+avj
z_;!t#<AvsKM9eU%$1i23ZOqNu_Ucvqga4i<CZ^0=t(TXJ7JzP10m?`fVbibz9U_D_
zm7yR9Ak}J3M^X?Foscc!NNxt)N%;Ws3!<24&M6Rxco-(!hZBtV6JmiJ&JyD3;1w=r
z7+KRB6Pz`1=Y7l6bFTtr^<7r6bk(XQ><h!rJt-?E_*XwW)*Ico{`_B9=(4o6as1ll
zkFSze@Vsf%uu^7Vjx!)70$Bo4;#t9fH{t~rT1G~uH@#nj*DD0vW`~G)XM3Lp@GS)U
zX*NOxUcQ6Q7R4w;tIxwb9IrY9?y8-#kgDQiD3^8>y4$`u<L!4@>Cll2ZegW;>M+Au
zlU{ys-9xoQKYB+z5uHJppQ3%HfBCKcwVTHH8jmzJHTvZf>NU{P5Sexf=P9oILq5^u
z;#X!}zMHOG{*QdTDIM+>R35twi@m@aPsnen>y!=H1>TnpsLNz^iO`%6zK_Y}24%0&
z7)COjcGAIZ3lTwGx8AZf(66#pcDI_0@r4iEZ#c5Hu+MT^d2UvAV3Q?jDsNXEtmZb&
z!-;Kr!6>3dEL6MlGQR5@Pi)*+KX{}1^~#lf>NH*o)G4Y2R=_!BkEYwT*gJ15mJr+)
zm=%QIL`hQ^p-`{g5wE05xv>cq$Auox5w8{F^|sbgz8!I6o&~1}J#3s8YdF+6Nx=<F
zouRXo38NyV>1i;lI@6@0qJjc{+qM=<JERtt7Z!Sg5;j*>Fsrt~7?ho!;yh0t*aOa4
zEt81OD?N~=<&i~yVM4h~K_rXQl`;%9J^?&3m`AnOsBft|%)M^HkAj;7qBv&Xpym(n
zIVrNOAB={D@K*iv*6p>mTW>{j`^&75*=qjYeNxYB^A<d~d)tt!S!MO4ZMz<lKMEBe
zFYTn>r#_EdxSOi`^{ZxU*=^uDv#%;YUL5-Qzb~u5_F@mHxAtP@%b%aeEI^f2C|@R7
zxH?jpjIb>fhY6r`sxJwYVX?TF3#MO~C4&L8CCTr@1&4uX9`GdbY(*|vXalAbfL@X8
z$;FEhfjc9vq6$iT9DdXo0%GYh;KWAug={8gr^)l#uw7kDW3OZF-u;JqZUfTeqVq@J
zHRKUk`6dCEbPZe1vek#9|9+p%Qx}4d;0xJnlmV6^3;?o@+ix(WIT%zd3u4+~+k^0f
zq=OWI>LBmhlq8st$sfb8Lhnjo-G`T-q8Z4DLh>H|=^MZo2L*zS1ww@n5z~A-gvAOC
z=m5F>O_)1aJm;v3#}hu#Kza0M1P~;T{_4H=zG_^}A%e7i%7%ROGYEc?=L)zDhExX&
z1gM`W)K6qRA&eW*y^bU#1R;()mW1;TaXuc5@W)+@B?W0+j0K&G<vbULQiD{OC`#Gb
z4m=@7nsZ1`4?1}8RP<{tLkMxk;Kzeuhseh2w-!uD>a_dpDbAD}WI?!G;pB||4aqWd
zc##etg4@q6x!hJ6ld9vPaWj=BU^csAG!fbb^cs-8ZmQH!(Ih<|1v&n)C=uY$j)|^L
z`p4!Q_uew@;A~|2KN0+Z()^FNW_PfhuTG90zT=vw|KSx!i?d()xFDCqq}8#`dYXSS
zyJ~D>{#9GoV>Kv~CLP%gg!Eq=aAx=cVuq+hVE@9Pttg=+U<D>QgR&W!W&lrBj1FWy
zrZs0e{MleQX@F)(+{{T#siBQaQZvb&*s~CG<p0Osn+HZwWqreSt9nbNlkVyz``$@+
zI$M+OPFnV65h6=KL?mn?vI(+@h=7Qw$RI9*D<UeRhzz2mh=}_jq9860kB_g9<1p&D
zi!0+ejF95}om17F1aaPZzVH41`-q-Ys;h6^d(U#uJ?GqW_I<A(%|A@R^M~_<_;UP<
z!^hls`PA7Cu|*%3ap}VKkNw7X^gH8J%}0N&t31?q!TgV}x^m>VXPPwqE^LIE$QyEI
zGN3{Oal#m$m94m7AJ6o_`-3t*!*LSG?t&A@$PUIl*!hqsNu2K8qxgroaGvmh0v;4l
z>O(fmwnJ0(@20<{ACl|EGC6W$k?4M%H<NOealW$Wejcby6>Vq6Nyj7}qf<U)H-XnI
zOUiUwGaL%)x7bKBcwuxzqCck<C-$8-H_rGde2O&HBa^jQHn1#+fg*SsVGf|fJ=81w
zgdhu*DXsdkk$0l7!@CIPeh+&cx5x^#6c^CE(f@S%R9-Z4<9QRQXILAszj+QTSiW>=
zvb#G&bNB@`IlD)*D0z8MO_8q(In@eXaI-iI@-zjTBezXtxZ&BuajGns{gH!(k~`oZ
z;hkuhEhUiVsZ9rq1G1cuAfrz?>V-#;o>-i|=N~UkFpb1^7&H9+49xKN$V)`&D(-wg
zHPf*PYI>^E>EQ;@l&|?V6vwzWVgHc8jC&!CFHiRLqtcW$*M_5ccFnEGxw&4O*MnJC
z$r(rIK=LsxNMnZ!XF^@B%v`t2>GHz8M7a}qWajxzb8H<0qs=eLJ9B8vu^5<9K+wca
zr=d|iMaX8I*Iz%@e~bR-m-IIfu<a1*o)U8zS%I%6=laD#y@~(l1IWf<WO>7%2Eqk`
z-8@#AL9m|YL-V^f*&k!cFG7_7$ybo+c4rql9NsK%hNYlDLU2S0RPkbXgKR~%B8VEq
zu;u3ZJbsIRcv}J0eo=hcun+f*BEvPzU4%IvhMBG(qauk;KgQ^Ikf{&~ppq`(Me-sZ
zjqO#)xauuOepNc$4b5E<-tzGJ9$T-~*I51f%GF!Duh;i43y&V4zcF}B^)l3lL5`(;
zPdrm8-dVd=udRCV5xu8adBs$B`_1wK_q1jD3T2t-PGiOy1k2~Z=KpleILgy8<{`$I
zT^KVhy8mB|IZ^IgRK0w>{(&W~zu&f`=2BgsRB%Q_Ki1qUcaoU7Q{N!QE&pwqm@{jZ
zzOL-I%k(WGG`xSN-dF5Z2e#_($&Y@79SZT~9ALQ=>q$WReR2$Rr-IUo%uK1EpbXI;
z`Mz>^JQ25~mX*Pv<1IxNfGQTwm4PZ0jB!>tD~7en#l?8mSBM0(!`m{j+GJ$d%Wyu+
ziJ*QI{iHH7#I-E0Q%hu53J^%@XpjJ`UVPD+6zCd1{EGnOq!(LKgOPuYB!oQj&bk;<
zcY>wm0s59-rH%G|V&96GxjgOo7bJ3g7-kF{Z$s{SbH=tN&&7<<gcV3UVKiU)-hVk?
zL(KUqp!pioR))+@NF<VBrwPMB+5(?sNM&QfOi}ksruo-X)@jE6y$MT{3puc;xD1(p
zNm9IZQi6&8{kEmyMIfx)UTMO5Qol=&i*e_c7;B;!*onScTGY<;bz%Y5_^=+a?6Q3i
zzv?Z?VbSWWL_!_dzkf102*DA99E18Qz132+x<S*1_Rg!W9+DM{#-hX9VzH!e;6OzB
z3xv`q2PKm|pv@<hs)FHdRUsehF!@Y<hELD2KI48Fsg<J0CCoF1&>KSuBg!E`nX;a<
zoH1@f*`X)`_`aY#r;OSb7yw}VfO3$a4}$?Dy&+4CX@W&?q-k-b%|XJbO4&zN_73S*
z&}ZWLTX#Qo-|mCRfArrIri9nE&D?N9iF;i0li%%l<Li@qx2LiWzV*Uy&UtF_<ZBK!
z-`#rNG~4&uoz4vvyRW+8X(S+gYTbb&S|~i$Y7Ku1)yJ~^)<-tlEz{<v(-Afg(-vP-
zSbg`@)&^{|q*Bapz&aIYF1IDy;x$>_yQ_oGJafQ+voODBInL^@B-Jvtrkkd<_Dv>p
zYifq~?KPkma{V{Oo8m*-nwq?W2M>_Q%{;VCN}gpO;4Y~g)K*g94HXP(D=!a)ybY+@
zVIE(OVb#UN@|?#CUZ-itZ0AL|+%0`TH&{Doe*GWMJ6rw|*uL__SESuahAN+)dES>L
zLR=6OQ@^YwR?$3q$d%V!G;`%VoYDT_;tPhhojann+iyy=G4X*<T=DqhpM7)fwaEA~
zKa~)s--<pH&wIK1`cY#pv`%%e&ze_p;|1q0E20!ITX%%w@fw<aEzfb+hCe)*?1yA9
zW~P|Da`oc#3&R_x5348Z)f~tIRMJ8$9wO54x0$0Gf8P#OtfQV@y2?im7JR6Ng+`SR
z<SOPWACQ+&96L-`Mi^5U6_GXb4x^O>?`WqgAD!$~7m2g+Gp)Vlf#<#LdA_H%-}_9V
z{9*o6ovc-J#7g~&6A%6I`JD%p_aA-q_fHs>Dho1?AfCYoe;abN=2Pl96#7Mm&Z0aV
zsm{xTp$Zj_V5Wi*C3T+tmpui0fvwQfw1En7ZJqnt#WDp0Rr|*m%+J>QxaLlsGT$X$
z%AV8JDs=;rc1xGypS*Fw{P_!r;_=VAh3)D6C`Lq8?b&edAV<F4X3N2qm9$?J218;b
zIwu4%%H0G>rqm2v^73MA@>!{+(z4z@s5}bNv-WRD*1!VzD0JHHqP*6xHE&ByxO~i|
zgJPCFgD*RN0>?lWZd!ZQ!?NSyjYC66k-wOGWjSP-4qG3ps-X;wB}1U@Ms_x$!6ZZ|
zcs0~`bE1NQ(}mz#bjdjNd)iJ>#v0y#oBg333p&~NjVQcQb<1MIW}iE(r8ZO+^TWu0
z02}X{9vCt23NiMkS&c<sd+QP>j)E3>mdF|-Uq#j!<uYps))+cZ8D@h`>OAEk_VKJV
zp0OOn*XS9uuouy=?o)4sJ)8W*4btpnA`^-^#cCr_Kt@KlFw%$%sav49I8s(OtgXya
z0Aovm7Y}(bV7DjBGrTRU&_QF4nvM<D^2`hxgb^(L*!vg~qw^Y{HbaynEW`}`YR2KR
z&TQbuF0NT~)27ZQiPpCZQEjm7EiqUR_50y>t-}-j&R$aCY5$YH3wf)a)1MT>kVtQU
z7<!^?^Y%v`_}wFacmT7vcGUbC<K;!iy?=OAJDPRj)P(#F%Bfr}mca~jxwuSU4a3aI
zuRq12X#MhA;uYPO5eBc&jCA|Oj6{nA0nA7gqPDRfmfd=H5O&>QPNx|`wXpxYGt$Wo
zNQE{#SkJOi41c>I)0S28mT2KQ89t(WlIG-i&$J!b+R0Q5hNKx8y7-hC37aP2hdNt~
z!JDKtFFtvVt-Gxe+HN&6`_y;?rTL*O)T_X@r@UN}Y7jvk4urBoNHp)pk=N3EJBo)|
z6-2%FjUC{nyKljP4$BS`0<kAnY!)R}LOx0qP#!$24LP|uv&%6NbX}>rtLSr!tvfWA
zzXlduR;+)7-F$<nbPw#^)Z!7PqVf3ho7U!>*{%M}T#>7P6Pi9ftRI0ud{Mu;df~!K
zq@EfCqF5H}6|L(Z)UVZ_d*x_VO-V`35ZJJ88a{L=QWH>KzjaoRWhX{ii%iRPN{QE%
zmtm`{tf}Gbe)Ty{XI-eW#sz1lS4+BFC52qJ1a%5&Ysce6(i(H1okUT`NKt^0=sXzW
znuNRz=6I}b1b@&#*}RM0Dm`GcdcONCqouj~;EWHB{_QjG+*$q)+fS^#*W0~&ZJ&a3
zMvOd5>(je=p!W{B@reFmu&GDS=8&lR_!|)@A2q5%fB!4}XrEARd93vDE3baAIC4f~
zb3bFXa`blGh+3tCr8a3(a^$cPy?c!wk&Lypj2Mxl78kk0u(*bclt3h+s^ej89fuEw
zoi}Xg(ERhx>peIg@7}w2_wN0>nqTX}!DJ@`tb{V!5C9z}Sl-ss(FaHZ;}^|Hhp6t*
z+xR|A^#A=D;vNjq{qNXkn-gT}A@i()szf375Tjx_$GD@^G^LP+$-F7vKymMwX*S}H
z?REFalo5CKj?u#(OB->|-q33-8*v}qH2Ik!L!UYS{_Qs}aPR!hjA(vCZRW1Nb1&*K
zfAOkTU4P>0c(SUls&#PdXg2aj`lO7!gGUW*O&NLnMA*oCO#goVh12E=&rcuysPucO
zIh+;i**N9W=3sqLe`4Yd_A%K#O1vI-K~Yl=9FJ$ul5MYj6n5!JoFUts95t||DL%ZV
zwqL)N7A273sP-1)aEU|7&dUn~Mx%!GImtSFbmqu22M)B2tiw-ZQ&VGOPg}A$BclN6
zN(Z%-+1%BVAG9lJgW7_SZhfP*zra>Oo}0W56tjS{9gH;tEx(Si6uzuvJcqs9u$>!~
zae$cSCdy(7Wg0jFi<ct|S#-e@ErO@RlZ?{9`mwM7e)|<;`u4ASX7R<hTz&Peb1r)(
z)UVH&D{lMgYbXxKAGu<w9PB_&MUUyDP3-Ji5$$hc#|PVd5GhVddL1gs(zoq+X7%c4
z9~Wb?ix2hE{|aZ+Vg0}6&$oR;NQw81o;j^gC1GX9q_ws&&Yq==m3WUfLlVM2Veb$B
zL{hpr*-~88w^z@20tH^kQ_-`?l6F<}2lMoc_wAeP-qgF-8NGTX^OOG%92W)dH-QV3
z88_m9(%OwFQb>>@1{MFYPWC@{XDEKSl>+AfP5&-mJoDJdv7)(cJe(V=MkS(mHJ;IU
zS2Qv5|I7n$bPN%z^=n46qeGt8wtWWvZReR~pNDlbY*97R>SVvdi~=<rtSTw5sHm#)
z%SCXe!wFKT78F2lB~zzgpsr>eoFKI&;czfeiX&ygV2xiDF0G)z@P=SkV3nX5#5}Q$
zsS^#82*UrQCz^f{)=bRl#8w9a2$oRR)0)XoQlg{^wXvt9%gl*Q`gHhBs+@57Ke$%(
zJz)2FJ=Tm_lSTa15A=^$t(QZi5{(-g`Tvnvf3KN$Sz$9I#G>}wa{Kh{>AzE4FCzL4
z?I*v4>b}CddF=M-__uv5>7CHexF$+2<t9W~M0Z9;zFSf9atrOq6Ahy&+$b<l8u}KL
z&eR}@NQ|67T=>M`O4*MXSxObBjKennTB>>S(O1*PKRs^myW-v+PqgX>eW{8kWW?8h
z{#wuVYV9)m0j-EL75S+juyQ)G9l4M@IsQT$@-iVq5p-V?Dtu1!m;DIR`p!NENCRUZ
zhzyeBPQWK(q$Q$~Vk;Lfzeaz{?ZujIr;J3XC-(c_Z`@wh4nHAcvQPeuy3>@c+Ox~9
z`TW_Gks3k@0Yg|VtoAA;<gH3r`Ttx6f6K!}(O~`Kohx_hpAHhG$PPGI6z^KGOOy`L
zKNXK{S+-e!b%^M>dD&($Zu9cZqWf9;%lL!dwbQap*$1uIEg_a81GU7FdBOwVGa{=a
z2V(C1^j2m~yqVYRrg*FzB92_EVy&&Y+ZnMr;-ETZPIGt5d$qB_XDphuuzL%&{G;Vv
zixYk_zl6wgH4};sCKCseGo{Gu;B&HWi|!m*9wo^L%Y{E+tZ4|xYZ7wns>SnrTr{`u
zuFTqolCy?f_mtbZv8q1Uyy$|)p7Fer#9m2=H!ORREn_V9NtH>LQ-L+w;qd~%?1w_>
zuN%x@j9@>_9YvgFBNzmIp_IwZ^1Q*V2m=||c;!>)+Q#;1Dl9-A!m=LDF}5|6QAP-F
zIEXjMsW&K2iaqh*lp|tKaCR;dd!3leoFjh2sf(~8?^@A~LQQD-w6d(t>{;g3w1UDW
zlC=)lmG&S?bR9Ze0KKzW8i;l9eC)_KB!`TQ*R|Bu<y|<tM@g`MFgQtZ=Vj*Q&7L%7
z_L#ZzrcOF<){Ju|Po8mBzn&u!XP((-*syW-`l`}cVK`jTt($M$xEV9-T5gulqVlQC
z*P@XaDIDxpfc09#U)ZhCjnuUvXXz$L4Y()F@8^?__?7;f=P}pBRiN1moi6=HGp4xH
zUx-uh^w+=rS=X;AUrt<LA7SlvW^2?sG;`mCg|^fm)~WKt_;aMS*FbzW%sTD(XI=iZ
ze9`64Q$Dpml=?J=c7Oh_)L-0^b=|ayb#>v$OaDANeF9yyT_kd+Ppq#EHIBO|^;>yA
zb(Q+9=gk~fS6AKbrRfv+(U}H@SJ;<Z-v$<3e7Z4&{bv(S>P$(-3M0{Qon&)lmsd9T
z@b;+8w$(*#B{?NIuv`SX#qvtrIf<UtwY5ESN@4*dLe55d6N<0xP$q#hg96zyX#8bD
zxZ&V@v<GkuL4k=chD!mL15V*Lp)@bTTj4p$g~kGlpa|h`B-}R%t{Wu~6%a~523z`T
zgDNj*($*gGo>h85+_P4GZt(tohgTjS*Z;*4hgVv@KJ)R*r^o|dIIi%;-RlP|8#YB7
zWqEf%>D9q0T4-FO@!S@C>(5u~<<ttbX0|FH9yoXG6nALs&nNhz&GPM_S1z0)-*Ei$
zLD9YODe{>wk&cME5cXR8I><w+tU5kf?<+4XC@h3SO3s40B#`C6875>AbvP=rP$VMD
zqDfv)W~jWNB-bcs@|Wlv$k>4uFlI)`AdiEo?eW4$*G8tHbdeLRgl3@=L+nuzLg;u2
z(NXtAwC>QiK9{O~Vp-hjM9hWLGUa8+x6k!Zj*o61CbpS1QS9qd2W5^Sas^g+eV(lq
z=WjHr45P#O-7*vdL%~>=1;GO-8=GmPf!VR4DlbD-%cPQ>Y0+G6e<rfoX8JP%rUiz)
zZQToKoJKa1(~R$r6pm*mbT&rENu61!2h+ndlRS&sTlBxINu_!Y`~UXY?+(sTg*&5d
z!HlU6*@fJUgE;&1iItSvHI)HceDwV9hum@9#jWR$|K}d;H6!ptQN1LJm1s>?%bpz6
z#==VOLBv63p#?D#N>(;jcPZO~pG>!siA5ffalE)1syXkc4G%xbDJE^+HBod#Dq4av
zJ0Kak87hGqowfQq=|W0t)`(`K3WBv%-^h^?<@%je%nPNIWSr(iPEd~L$j7cfY|BLs
z-$I8aHy7b1t^&IzQKnSHNjPvqO_E%)3xN_YKYY}w*eeLsUyYXVQY<=tP`$zknh2y5
z-fcvL1VT7c`9n7<b2wVU+VsH(ujqX_hv>W$KN!&x?02U6FOVRG(xPNf#c%Q9^t9It
z8x}IxSRmtzQJpX|vj_*wGNfF;$LIDT>2#sniIBn!H?p_kz+0vh6O4XC=D!w2d<Ut2
zBs|hEt$E`%AOA5v!~>umENv(%hsBxPRmeFJOF%{#7H!M6^Cym7zi`YYtKg)1Td2a{
zK5$)bj}4>3i&xyJe7o{MpXKv6`#HUY-XxEjx2S2{oSB&WO-3$fNX2StWwKvRxxd0&
z=|e&KqF_*ix_|=pMT!a;W)GKFmZDC5ju#akgB8Kjylfm$#woRIc>i(EvUG48GRi_L
z!?>W6F|+^5_%Il#%DisV=uD>yjS$&Y16-<>lCc=uI3BTr9S3Q0=>aRYee>OJ{jFoQ
z?&kY1eC5M+lkUAZe&>Rj^6X1B&-8~z<xcb6d_#`j(>7$?Ip-jU_4oRrP0KD@>sD@E
zyQzHVMtQ}usjU}3_#kOX#33Vr*DRdJF0&&3+y!$JMd)PH31{#}W~L)63+IjzI6$Z~
z4b>f1CW9j|5MT&&Mzm(+Zn2DPznAjw>#wa@W8J0e8}#<=@@QS2inoH0l^5XqJN;Wx
zrrUTc?0YVX3Hm?1l_}hKtMUS}!3;wot+&=7?fS9zj_8xb{YS(h8tZOdvQpWT5=8ve
z=HNWPJ;UWH!!b;YrPPJPtGVzu!nRh#1<7!>n=Ae(r2M8jz&f|-bx-O4ghcuu<Hxan
zV+MdciwE)8Y-Hk^MX;L4bDD<euPN)>@11@79?^K$+T(Z4T{~pus<rojCg*3hqgtA-
z&vS0m552KhfA@De`NAD}<FS|bQ_nZ)Drb=|mfDi_IY?CF#j$y*6kY|dm#XZjt^!v}
zTR{QX5$6GXF0UVFSJjp_3tSL}VK6-cVmgptn$wsDsrOafT`vAbwuJK3VEh<Nj>ocQ
z>4&%8bV>b^#!Hv$`)V5Wx0FU*8Zz|W<JS*-Lf2Qtggvk1fjdQ`O-H)&V?Q`=&`;1#
zUP47659XYhV{Wn;iwSD+D3HK8erzhKY;u;<nS-De)SS$9f#6(zH;Sxzq5lhy-;)(e
zS6QPa2J+XC!89leHZ?U342Ul~o*;C<)DL_B3Z_ZpkMdK?t|3COxBkx7ROL1M+OD<N
zkXxBn&s6<28qqxaSkNww=%QrYj!l-&V^gS@vCEZ%kilFGG6&Ryvragx;YKhH7E_<g
z<?(YeW51eOG-=zM?lIQQPJ>C`rjcnhm|u>B#@DH$gkPxox4-RLRKmKUqpXB}7p;_?
zOG_YSH~bruAOlfP4zZ$-!)IYvRtV&A!2MR-N7V`32lMd#M*PM~fXaRdCq^a&7vlOV
zB^2|bnv)1E!l4E@ja-?w>}-b<=WXCTvbr2*6-1*9B9E){P}yo=tfv@ZfQD(H3>Npn
z`a8S3)KhB|Y6=-pZp_kn)F)^$)+XSD`h={^ic3cFCpFWJe30;bBfu~ldHS#?LwObK
z&Tu@&;kPjsKt_<(1{Qv$TR8dLsb^-zhcJrwt}$vpC@5^v{zb>^;;)a|_prQye~o0T
zSGph>$+SCd*qLV|sa=*UQ`52?cmyTUTz(tUr1-!ENFAAB!y#*n;-<`j2+lGhXqj7S
z$)KMUVbCA6dg5<mb!5?_B@#HN#uN|RpFHadirH8yUx!SEV|7`U^-U+G>*T59+JD0Q
zUASEqQ=Son+n1a;BsL;%2xm;?dNm%3h{bHVZHir{h%#06*_=+r<<3A19Hfq0&ah-;
zV>S2Frh+13sjn%qLe?^~!`x@1qo88wwA4X_NC=dc4`>KH+9ZlDT(=wfy{L@FGw-gu
zK>vhhaGB_}@=GeFA=Jmj)Ftf)j8(&0h57VJlamoAqP`p!w-14@R8R)NQ#rWh&O~x|
z8FeP@2(W_E0pjp@GF2IeG>m9BW8pI9ktdTSp)t1*F6cJKfsT^i6hjXwdk6lb*$r5r
z$gNqkRNRo7Onv1wSlz6V)vI;=i|yhEnn`))r1qaIU=<@j@K4a}a-^Bb7?MqAd29}(
z#mNHF^D=x63xuG6z{V#Y)DzBf`~1k)2u+WAo#kQ;k9Nm~0B0Iyt${>0$qM66O70P1
znEj?T*p32uoqA5nUQd0W+p-Fd*s=OR#By!YUw{p0qjll$e)p=rL*Is@x`pkl#lDO5
z&6e#Xxk0^Dr;&K-Y*fd|u%aBI)9KP^VYEXpB{_|wR<bNPoF1f2Kmku|D9rW7=p1#*
zTx!r^xF?BhnO-rUojO?Vm6t6OYdg>DLH(H<nMgZN>rO-t89hU35m+p;=p-1njR=ji
zxuk3>s#hW3oXa62je}kFBYG6}cp^|%%D7K4VRi#ON&Pf-GldQ>80gGOu^rPjNPMI}
z3nu?q-}o}oWJhrxss>`pLL24lqlybu)s{TDS{7aoL5PwIMq#iFWH@D6h{|9c1z~|%
zb2FIg1^tGgCjr>$$7`KVy9xbZ`}0NsmS}p~6oUv|#SEdg6QAE88A$n=sV{?*m8fiv
z@})o-A<JrY3(SN-g%wmX@~g=7ulgOSb%^BOuXLt!PiT&evMa)m9Qki>=@o>lQ@o?O
z4deJnt^|R2INNs2Ocv;;f3jS1vlfj&S<FnfifX@zHbBiZ6i&nGdxi5|b!b_}F_MmX
zIdxVP+jh92(=#G3yAgE&ho$36&G|qN+?WsQ0qM4GK@qVo%7A0f&T<I~KNpI_iOi8u
zI87SinScV%yVx!rpqXIZmT<%KAm6TUGz-v}vw-qfMxJm?0r(&Kri1FPl}Qtmkt{^)
zVq;z6_1bI|@F|t!h<lD(MyWViE-5WVxM!(SP~yo(X(vn$3Uixm|Er1{^A`Gx$vLgM
zNlB(mI<oo}Zh2Z%+yaer&gzjXS6#F1olkpAL6ELXf6X#M3Ai8D-+q&nPG2FE&Ud!H
zyx-q`f~FLmr&U2$ZSP<vOK2Pg9*@nN^yZQRT86BprBFXLwNPtmD=f@KcKJbVc`k46
zFZ9n-3LvDU0;bs0ojjRD`du|pP9>jWgalMj+dE4>yq#6hg)8p9!-lCxB_!p&k$3)Z
z?Z78aN~=v3^!AN9%8^jD9=+6Zqux$@y7=UF>(8(<ho!i*G}*VzsYIiZnn-1(mRnR)
zgO#|sNYk1sBT`MIrY;()8{QUj`(PdLSx}=&u|}iirP-xG3u?Qo(DVAf%!d<9)fuNY
zK{4swUdPbrbH);Z81Xi?usIwp5C3VGLok6d!;i;SVd&dd&O*n|dFvZf7Buu9Hn7j7
zkF1+{i~gE^4?-{coN-G->x5Q)*Z#-zZGDHo`r@<yp&yx_=yOJ}_Yir@&HtG1&iNsK
zN(BzpohO!y)%l+9i*?Iq$1TJDw){^YAN}CVWwVz4q4A8TX>KN*+-><8Q5ZGI32;-g
zrGn<BTWz<hDy=pzH@CR97Sq#ItZ8wnwhH$fqSXjwtFF%W`4EobbJGMxt<kcIin44(
zY1ok`3q?h;u@y#fapRl`;@Zrq>O#!4HgugV<1v2rbn{g~t_@6%arVIQZKNiQ4|gJ~
zN3-SdnAW12p2?Qcx2~9S-8b+*X#cEP(rv)lGv>{lcX7V6rg+PP>v#N6S3hpp3~}PJ
zXX1A4?c6aHB7v|JpNQvpKgr*+d;M0+h?T=1di?1JySH3(<#|cchv6UMinl?Wv1EN%
z?#_BL`D+f7o-7SA?u$+MP4Svz;6<UlTg|BaCCe(lgiS$KCQ_tQiEdsJj1?iZtuzez
zn3Z3w1oGFs2)w2*L<XLPhWxjn&ZthgPb0|8PZg&!k;kYQDzBm-S(Xr4s#E4uHaJ|<
zN#$i)O`T9Mgb1%YY2jwnp%NbbTeB8b`*hklnDwY&FVHy$Z!aDt<%y@tTG>?F2zf^l
z%!EXY&~cDW2_6wwwnO#{>_SQX>OeMYUa3K{_m9K0u%G!9>q@H_`B*_|mb0>AhiKJ@
zBb(3HU}nczH}~2(SsXKDD_&0hz*;vc*^p^-$r-5Oft3WSu0SSC4|FWep6Nt6RVmvA
z5=D_El#vn00!`a_67vR`p(jM99sA+bj4&;lyU0#cgR>-5f2mb36n*tQ2pijj--S3I
zJ^?<qYr^oPBO`;5OK~_Hm`Tl!k4}*&II&>CM%RTy3^<Sh@sEw7pAJ;os5Y1{+wQ0R
zI%dig{i#ktVKO^Q3<Ei0E<{L@L5@>%>MRa8*x%3(i@>Q9_^JL+VgI!26hb}0KJEZ!
zkn{!2p@bRBfR2yj=}@7NM$Bz@Q0XWuPF6tCb7ZNC8;T9Kbg3Pk*-JyXr8ZB{pTXCp
z=Nb3$%Ur#YLW&hqf|kvqN`GgYz8yb1#ix1?F-G*nk+N2tqxja;Zo=*F%12TC{HUDW
zUfW&@)l!9qgQ5)FV@;ZojM)+XX_ZiTm6I}CtitL>;#-f3)HyiA<?<tV3RrOC)DVgY
zVc(78T(qy^rPb)3xzh8z8kRV^q|c1}ZUzB(amIzugaj0&ygVjW>FdR~_ud!d^xHlM
z4}SaPk+1bFmK#*LryS5XimB~~_04RSUZJlvB!QiB`MIQ_$Qv(N9Z4L~$&|5W(PVda
z2+l&qCM&S9!4xGyHqa3d5(&m$h2nx!&Sp@8MrUi82vV!N`CF_<;kcgqMREa7-aunC
z#KVbJtmEteAbNzPu+b?SmxPL{s0WDrW=?xH$WY5hx?~s1Kq2#sU2#HO(0sAsi+0FH
zPYjz8_W_wXX+7&;40IyUq^#246L)|;AUjStbd<4czZgp~o9H1vXtkMx8ryUlCKu;?
zlBk62bmse0`f^?dtnVmK4ZF!H!jaXoU)2f?zc6~h;d^kpd##0rxa?XRd$&nhu*G#Q
zk<HrkGSJoz%uEh?hJFbo(SsQy1CE`Hj9d@q17)7<Ij|$3`i$S1(wu*-U!4lYkp^RS
zP^7BG8M4)=7>AvOSu@Vmq0PE+5OW>1!s!HMB|?xg^Ya~Us$y1%Lqdo)%FdJ_;qr4O
zS+@B+8kL>kGhJ9ci912Z9d<q@c*dHYQbh4|<$~B#1?}vp>9e4^nrn&AS=DxjXx3j_
zId_#fEE|(GcbbgQ$Ct8V^35pR+f<*YKZhQsYU%x}9u7+N(63>a_V4tN?55m9S_%E>
z9>SzCC_nZT&Wf-0E^kG37X7V@1}qojEL3O@vnZq=++m~mUbFWodWT(zbvmfcE7d0b
zByC|0fX~9HwXS+Sv|sIuY<rzfaDuGC>KrQQ#~g9iGbqx#Mf0uyYy6v^=?AAQ8u8F&
z`fJ#E9gKxu-QB)fw#=GcR?|*rG_dkp=tQw5p|T)61zz6uc(Oo0Sy`y=CK-iAX}i@4
zGZ5%h=f_aj%{MEzuKw-AbeMA1&hs$f&8u7VVo=IJDk`W?CQhOXPe-BCmcw^(VKRoK
zIk~XX1d%zXMx#K7a9O2PQGi25RqmW*CiWSnnHiaRiXAyCC@)_dg^d~_9CjvH84#kj
zA5_CWnGUKU8Zy+8s%Ry$TT{vbg|HK+49Ym(5#y@W8l3}0jxBq6JZPD6y%;ukx&HBX
zq&~d5xbFiGHhtyrP7YUzsVJ{JL5x5CPS$_ke&0T){OPW5Cl1uV8romr6!-N@FKyFW
zO2(o@?iu<b{ffbR_A7^<xbHEpD~S9LlcA%QNL7&gO%)D@<o6c^P#P*!K#ARh*^bKc
zjPlG<4|1!(V}K&c75PaRiiDzga+J~`ZHieEm&RH^<0RG8^gngxl8*6;W-1+rRPKi3
z6^T4B^iUZO9OFiUE<0-AiPmzF^FG%6_I&H@t7knsrS*mD^mhF%uf99{M*d{EYSI-M
zVz0bdeiXr?fBWvXt8b~T|2kAHtVchbd}gAl_3MR8=3hbBgj^(SRw62Pc`_M5I`eQY
zjAX!SbzUCgkg{@f>s1huy{<A8%C9Q)Rt;;b&Tu6yIG>zn(NG*o@>)s?D+&=eQUTQR
z5K%+$RNQt1E}2U-sT5f8fM&z=g`oCdLvV~q09kg+O;jt-{iMHNaC!_sM^rH9e_g4+
zyTZV=qZ-A_vrmI&qJd<e41KC?Q3~IX#)NN7xO8=LKxtW7Rh3T^!)4>E^y7FwiqiXh
zVF!#G*6OlAA&ws91oFyD@&>i}l`LgQTcte-zb<^M?h*uI4Z*=zV?{kJ_D`J=o{&?f
zB-nv?qoiObx=2k2ip(E=@{r3wymks%tk|J{vnoXk)yMW3*zZIWeVqtMt0ii{UZX!4
z{C(E4>v)d=ZP&imz7Dqd$FPjs<z{5kA4S=9{Corf-@rfH39ftmALbMA?C}$+3V7uG
zqMXsC$gx$IRhnB`T<nIm3^j?%Gbt6fr7W+2_q;_ib`m%xhGfhcR>S>8>zqkY#5tzy
zN~uajIUpbC1Evfk%id`{U|Wa69VnXDi8W$u`-_(SB63^G3wG0ef0gs|(Z^lw$+uwh
z8@W;cWKSnY*j};#lOOCD<ZCgF0oD|$$Ypc+*cVoq=Yuz?#Op3}4{pmVEcEB+xct8`
zLl~O>DP!n@>t7flz~@*8*eMZ3Zqt+v;?gVcy(_x3lti@H0mEeo8_f<g#Dllrc8}kw
zZ-vPAif?qMP8nz2;Bll=XWa)?(UGc36>2_8+#&P~hTy#1kVhHT=20AoNN{)s?AOB7
z1bKs)GE2o$(IX_9v38(ycC7y)Gm|M+INZSzb8Bx{cs98EoWJYt(a9dMrap=BWy;+g
zH6j*Sc3!6o{lcwsj_$hv6m_1+G}T0sMf0pXG0WuPLezvEtBEx`7bU)6yc5{e<oKXZ
z`&`*DwznV%#42@^<ux~#Fozi0TB@sttbvIK9i#4{zc7JNf;%eX?uBK&cAb9sG?lH5
zGP9@D3}oGi=$Y2`TxmeE!sdolkfeOh-H=B)8{oXpp_~om2!$gcZBR3eot;)+QuR-@
zJu$)w>E+hx*Zt#nFRmJT?Wikn>af6$dtCqeb|k$k@bB3!eomQTNy8=zg*6Z}cP4t}
z_aiNpOQ13t$}zb;PESjlvykV@D%;_uBHuRgR@wkyEWGJ6ykMzxS9}tkSYT&zLKBCW
z@Tdg#u`h;QmYjdd#q%s3H42YE{SW=CyfR_yaodgL&SS5gZ6{`nc6+EI-(jgvA@$!h
zR(BwjxSx35#AvFYWUn>?lhXFte`T?L7js2@8lDVwSga9Ag@B`f-)Q~IP8q#1XbsmX
zyLF1lsA%}<E!WVwu`j0DJh@WuWT~tuv^|kfZ^CJAPXx9nN=V>vc8WWHK~g+1#Fv<&
zUu;gSg)kDl^N+4u6Mc-lQ`C0dmw=kEE3s^1YC>ONy{0WmMjkdN=9Waomc$uQv&fup
ztZ=9A3*xRQc+A96tSPl2NmZ{tp?~w)sRgX{dGh?jW({kmA4fT6B@bu%M<;9Yqzt63
zR;(Tb_!W4vP_qJVV5AarhjQc$*@gwh10m)yPptE1mQ@VHu-+M8SdyV&LX343upk$R
z5h2#>4S>D^`lbvoYTj)T<7~*0vBjjX50I`Krru$eW%~V#+Q*_!#r?>YVFbJFY`jYN
zj<b&jei8dH%pv97Lfl8Dnp>Fbg)IX~UP?M-TCvTQ>#`Pl;F>*EpmA0Ybdr4nr|Y^Y
z)F`ojKnaFIG|gUwGxU)m+HB=!EZfKK=Gs@@J5bx`)jtuN|5y^sD6gt}Tx>EW+=4!D
zU#vUDvAM4fJOSsH9vHrV@EzC86+0m8POlMISCK{ljgd71$<PSobOpyT$PqPx>v;~u
z6E?XSi71dGs&hR`v_Q2axdqgT9K+`t6*-VT*GO&j<jS+$hBON`L8+qf8J#Oh+ToK$
zjjrFYrh;$SbY%0hNn81E)Yh={<9=3~{meEr7gtJiF>+Z^-O(1KpGfG2ewuYAWoa{7
z^guJF^R(as#Js3#aX!?RA`Q_x@T%Ig{FIi8_cWCBk=G!o_NnsKET|0i#DW45m1ZI;
zoT8y3)(Rb}_2nqB+w?v2*NWT+#5i${ej6f)w(9p=YO~(H{eiui?FBn62geT<&U4Px
z=j!+3XOUPfR=51|z=^=FyZ>-MNmv@kV(6?kqo1_8tHpV!k5!~usMs$0DdD(yjvX!%
zyQz<w(Nt!5p`mzUEut=AJ7pxvs*swDV%vPYN*;INWvbpszO<L{VTb<dN$Cgu2l)%@
z9oJp>^z5-O?7M8y+~vxn@E3lkf2qGNGQY=;BN+X<t`aoFGf5biKO$TJ<KLPXZ%kvH
zM?n~u|4P`9W<j;=R72X(G@*;46+;)5W{I)fiY!9uRt#+vtq9ge@r)a{=savFO*xY=
zU+;1|h&$ol)SK<}O1IOBX9Cn44&Xv>-ZWb2W3&PZ*&R>Jf?T55$!c4EzM$09*;sZ9
zvkPpvI~*mjoQe~NXPsWF!d5mI*-Sq~hdUyz({|bj!CncMpUAPGib#1`Dlm%NQmA1y
zv;A}BMSbKCsBiu((vr3RapIAg4?XxFZ!J^CVT&uhqEA)-{PKT%J3`p&nl8Fz`uP~5
z)E&0+F_1(B(kR4v78IbbRvGD-iV&_+DA@{N1THAZQnI{suGNaA2gRA$F-aR$)5AnW
zo$f5DE~I=jaT^)8IROKzqMXv*+uL_2uj+%o`T1u3+daqsIN{@I_ilOZmCM9WV#SxQ
z=u-;x5AXco@{z(;A6vcR`fGq?vYZ^Y>6m%WK_`Yw?;CvUP4Vp}JQ1*N#}ofalp==X
z=stEN2#=I%=}a`Y!1(1BKy8Oj{8pv$%WW`zxeaL++8`<kq^Sg%>a3qrD>w^gP|03y
zMUiXMtq{$wXDKy`dLqq2g(afdh)E^?fBpbE5tQ?PH-7*yoW_lOrHPw;j2nv*`6X`T
z6$Wl_!bsg|Q5w@2Zb{35SIt%eCY^M&G6dDzpJO`t+-T)agHB8glT-qobZ2^fo>~FD
zHlh{KV{VFG$rp1Y(W^uijX|$}W_mU1Tc=uJdgT^CuhhaR=lrP+rZjFtnuRv#2_wlZ
zX9A#paPCH<ALmHB%~p&u&-@IxLb-B{o}2@+<@coLWDa<%ko&U7oD*Yh?woUgEw4N$
zB+Wtf0i%^_lj<q{V2ounWMc+u7Uc<4H8DJc8SH6rV5{ly*eD>ySTQ?new}w6meK7S
z3|qQ&*GcIFYgcHJcRKTw&5&llXdO9te(7-R(t6r$plsIb4P!X@3fRqPnPkWg+iD*F
zK4bjw4G}IZN`0ELAUkaJJpND3Il>`&ex?H(5#3GE%~;Lure~C^q_6Re^C^Kis~o$%
zPpwAyu;^}zM#fVc`KguCbEkPq(%se_7<v$S^SLc$4W4p6E_}OBezp_2Q3W+ex|)h7
zotT**^6Jx*E9H;VPoBV&b_YL+ImAEf7__NL7bF|qWZr{I#;Twsu`FvDHVdlUp|~bo
zS{9TScDhs?27uuf+J?)6^&w?S=M}*)Vx*>-wQ4L4Y`uj71O*#DEcU;_d1ziNKyJ-d
zY0ukQ5z^llq}v!?xf}IQl$mlX``>ox?RUuJkeh`8Q8iY}9T=a6_}3;CXVGlrbIn2l
z9b_*1^`1lRp`QD#a@q;-f9N@{Zibb^8-uSCLqJR(b_B3)1g5{Me`tE)-hc0qXwV-d
zFPx}-OWrDWkrz%M@+m6Szy&AvvVMkMPhoEGNbzI=qVMc>q!yFB3S1~~nOhy0Tf{1p
zOQ4HhmQu^S@yc=v1uZWV0pn<8Y=SsLlq?fX`WUzY4vpM->n-=p6bJt63%L<4lGSa~
zrcWb!p!I2i4dK<u2ViQ7wr9|jLQu##$uJ1f5)2}Y#_g^ylcZ2iz8c663`6l$FG`ds
z#nd}%KC~Bfj6DZf|H&yxlZVMkq1?bV*)mccWy3YQQ8*5rH+`wDBgA_GPJU)C6iv#A
zG2>cA<M-cOyeCxq=<+YVlef0qvu5J>(Nn~(|Ne*Ec>L-9{iZJvH|q6!-)!yOcgPX(
z=tUP#p56~^z*?{E0Ad`=q&mtyS&~tS2s1>A!he?6P@^dIS>Uw764V>BRnzI!LYP1b
zC8^vz!%AlOl)jEwnGR2<NxPt9Iu~Icc#k340|+p(bTr|@99IYmGn{&X3Vb9_`iK7a
z_x2u~rP^Jhapc(ZhKl+lUtGSvPs7XO=1sTET5w>BPgJ9hxLY)D4&GcNrXRm(=%DEf
z{;BVI`HkMg5~KdM=Kk_s8}vtw^AY*jeQZLO&}!1z3gBEp5*nMW61b|V3@bPWhD2J~
z**FXq43-aX3tGG|Hc^J$^r#S|4opFTGZDocNhC$CWyAyFcr{0|G^Y_oBf)_pcp5Mw
zoaZl(T9hBR-0}FXbIxrW0X%*A)sK6h-nLDQoxNb=U3c#nrJtb=!@M<rthD7kylz^X
zfvSD4fAXhUbKX1DI(F)tzkQat7Mikc0`@1>RJRwFM(m&}a&pvy;^G=L?5z$}hlaFe
z*s2Sw3(K;~a$DNUa<ZV1W_8}F06$1r@T;RSjz7U(O4%gns4E6X3Ba1MfiZAp3{Bj6
z@9Jrn4Bs(g+~x0Hd+_L?Z?-a$J~@2imfviUAEOjeRTb|v1UIdDzPlQFekmho-|KhX
zIBojdG?IK+Xcht|r8tY%;8AjNkO(S^4&AD1d0`on7-cD5j~6OGDo+*{Ba>dSh0o>T
zOkR4mGxvx1#X=^{M21G)89C-+l}1VmCzfKuiLo{w+P`a;SoG~f58i!9)chdw(&*Sk
z@#<n5VPXp-LLjbwp0yr$sGw-N3POVl4;BvG=U1wMoZ{jl4-VtQXOUs6s3^)R${o~J
z<Sz(x#zjgzrBFe8fKvuQ#C1A!z|sr>h94e|*s<-mvz89uJ96CO53fIT;?T-@ycoZG
z*Y7qPXb6_SQy*e9AfeX`4rv(Fde+;(f&1iF_B$ZM$`MIWF1fTaSD7szaUy~I3RImh
zD}yX8Q<TCSoc?m+&{WDDWeV0*ca7Z^SrNO+D)55+6qB~qCyzJ}aw_`$S4WQOdrvWI
zUm_N_3`kM_{=G`?Us$)%XY!bSgmtTw`mB{mt`b)s@*QN9=at#*epDPmzBZSF;tjCU
z`VqjE_INO{{Ibto<xms+=UuGYmRY9s`Q*sAKbK9o>xx+e8ymY1@13JW#F8QCEkw?~
z*Z1#}B?L0w{9xISzRk#>GlD3bauaXE?B-MTyj+|sLC`3+v^nIxF36x*XDLs~^W~5>
zkYmsB`atkbD0EI!^3YjRBhRz3Ds&+b;}%IDGQX$A4x6o*Hp;EN&pP+qvqa;OPd+;$
zw|~ZQ#|2QqmXn~Qh2Z5k_U{pL7rQrlY{A@ekF7Gi8HmZxE=0QLyu1SBxAZ~zbSU{E
z2T`|9;mpf-<@q&7OPhvyCRzFK^_aV7kV;CVgm3`^?;&x!h{~;Jqucdg{`K>(WPLVl
zyd0a{o=>EK$$sVFftSWmwnfY^?Oncy3@JvmM|p8kQMMoDlTq)n#04uoLU6F^LN{|-
ztjNf3HD{F;-_E;lI`>74R!${SV63714`r$R4=LhMn&fAZ#_(Ch3a|Ww82+*FeKPx!
z7iT{I?t5=<cvN4jG%dr)xb?_OG2>G)`pMZpcdyZpeRV{C=uSI&Nt(k^$clXGWqw|s
z(+f+1*KRM!LYOd?(0nTRVo}`|B$Tt5Gx;xiNu8vvpwUMg=cs5Zm+wGrjpuYK7I3Dh
z`|HaShCbQyz}>>X@>c!N^7@JGk3&z;;Fa$-=Bq&Hp(pfbF1?Uwl&aK_J_W-ws^wxE
zfQUPy(p(K^7(GOpcBcoSL>*L_QeI41#e$c^!@3e8Q6zrkuZNBqJ4`fw^VyMa&9KKb
z{q1}G;0sD$4u3>XBIwB=V3m6!@Jf%zmyzLg=0Y3r`F${st1ds1g0{4|I?YihGfGEK
zARSYPGqnp;d$RP_Zy7mu%rGbtpM3ePj4-Q7pXwG<Y1sGrt1rtkZ9$~5z}BIZuHY%k
zu~(5#s-oC#ugR&X2v>RCZtrmTqDzsw3*i`Ec1)dWvFy+kOzRFS_N3I&qH5`geT61$
zCitMZjPkNd%B|TH46eHV=ldQL%4Mtn_~xor?|iXz%~waZY`aQiT(Adux<1f%z5djF
zPgy2k^w9VLBR*Yx_R#5LkIuYc#s!TL{hJYAy>`n}UR(at7z<h6sz7;_@BpHq9n6u4
zpSKnj1yL)t%3CQ{%J8yRqIO6rqI=v~a0q6ZbDP$kJB<Y5i07Cjz0qyTj^gj=byFO{
z7Diw%X+uiO)?02B(!7txZb$Z^pY+eK`t3VH9GUmo_)))q<l|L0%a6T1@T?^b)jtk@
zaP#cziqytKH?FU%erNE^{t4*YZryDo$_$DpffnrgEQr*lU0;#JB}$E5AMNKJ1=R$_
zJN(p2WtH(163`Z)kZJ0vQC+Im%&@`|j(3dFM|G)MGsE&K-$xU$s{e$&JzLe~>8M9b
zb_m&%vO^d)_04#KZ0dG-I_C<+6NYINZ5wSIO0}UZwwCkmSCNep5wvHeR&?8nR4dA2
z3wFxb{VH-eZACb>oy)DIW;=zcUG&Mf(N51!?Oaad;C8xoZO1Vr-Jd1t{&ZM;sXtq7
z$I|^-VmV;8)9aLWrli|hYArVVQ<v%wkE^HMoo;7odR+ZF+R=d%uAqTAmO^4ED$|a_
zOfqiJcbxyC_IPj4c(Rol?E%+AkDsI`El?!sNgO6mJ&7CERSs{ucgw6{vv>JjduQ8|
z?%guW8|Ek*I(m0XJ6D+bA{DvpSKGP5%onN1O{cUoHr=1)>2^9SpG-?AU1idevOL|N
z<SFfR%=(q-b_~;4ikdpl`jzQ+Oj`<_*ydSZj@Yp*>|8PP@X=u(4x56EM0$#urXq$6
zW6?yq_=zPktNq9<eTQs8CU{%BeruJZe4{+b`R6T<zUA0viJW`xn{Ist7f2Bk^vzae
z;g=_i_pYeCO1E2!H|*ZEG18p3{2#N-+9?J$YmM<rA>a{I23ub1akAwphB*-2u^Zfp
zn%8&^UMJL!nqhgLxpM;UPvKa7_?r0sVZIMrHEOaD*BV}`=@znN!g}atl%YjhiKp0z
zYspJRT#FWougiF%>7Crh<Ww7C)XDEo+eWt8h7DC|e%Zp`?Zo%o3-I)FOo6g6ga=^?
z{Xnf?;(P7~o-s0wDsn{%<0nCr7)?hzms|Fj?W8IB<Oe*Sj&?3LIij=tpb_28d~ft;
zNxDBB7JQnQZOr#Zf0m^C(?Q8RGY+Caqn)Mcc52cb!Sl;}Z?v;C-A<3xxTJ@HJvZ|`
z+9AF_`GdjtCN6|AJennabVq$0;`+Z4&SqE+!(suP86pzTahw(79dTBKRfRlao$(Hb
zgxrhq{x|ap*a+zfM+)!#^-&zF6@&%EpeY!Y(Dpi<i~9gppCB?y^L+*LfcuNVN1t2Y
zz<qc$hz6~XrD+qHgK;0`V5ZGu#`D1V=iEm;Pkpqm<37p-ooRDD_YvRhOq(UCJ{p#K
zq6lsSE6OUS2t_XHi~+04l*O%pvgq75ttbYG6ZM_i&gItCW;<!0F;mw1PVID1R)_D8
z+hNKw`m-e6pAMTpQN&|RSw?@Br27*~Q-skDQI^rp(sX~~oyTQa&y;1fv($q1p2yYU
z#b%r^WuYAja)odr>{wZdb0Aqt({l|PTu+&P8B2K5asp4<#84+oAj5HG%#`h2YEdTF
zA63lDKeZ*`^$luCo=h!Bmo4WO(lwkgwk|CUkfs_f7>h36L9(E83j-eH7Sa{>j20l(
zj6Q&Jwiqo`q({RoK&o*cNUD8~@ngJcUBqYuQq5=s-#>WTHXzlEafneU{?MfbeH2xm
zGg@GJ-;ttss_ABYkLg|K`;US@Cb8^31AQU>Sk3o0VCE6vftep`-Y+$t#~3Ctf8crM
zk4fCa4$luNn<2vv$!>g;`QsRmQsk%jgKM)fwk|NSmCJ3&hSLUf&DGHuTT_fDq;1?r
zhx|XajRBJHU$%j&To2Gpo!SE7i+cfl85oz#Q}{A^LHOcc0AH9hY9mcGMlT3o+y;8E
z!RW;)Z4kbw4Xi>jZXr#%n18BMXSBfc55lAw03J~v&iEeRN4jp@hhD%Z!h%vS125Dk
zz7Jm+<7<L(-!{g$k5xryeBpV<#(UgDk(C-Hd+Hcp_$EJbKaWxrrtpP7(FU!x+y=hy
zIc*!X)>0c7<%cxNjus~9&smWj5TBDKXva$M9)8QmSD>!k=cpo=finZ{UD+<2DT2Er
z5`AMLrLUr_W!MVk`Vlx{Ug?AS{Ha3Jmro71A3Ez$DPLLMYdo0nw>)x2VfXz}{w>KT
z>Mid{-EAwNJ)w3XsuZH?tPAm<Htb(xXuW&n^~P>W0IC#n>T>)?E^?y9{P^?B`{!SH
z$p!b%pCNiStuAUix9Nugo7P+28#;bkzrw5UXnnZ!rSWt9ZHv%*Cu-p3oA1a^W}@IS
z<%W@k>_CzEiBXs<B5z<AM)OE_NH0s^S5qt}_e2CQ=+$^-_5BxIGV7xI$KJU)d9?W)
z%a2#z(XzR&u-~-FgZ3^y&p#gq2Oi7G4{XP9P^nC+N@_T6PsQ}y7E6w+NEGG!(nG>Q
zFxvQGWT%wY!)~wZV9S@=R;Y>oRkeYtoI#To?C&yW+vH2~dtWM-7W+%o6}A>V+%b0a
zrV*nqL`Y38P6vdOK24Hvh^QP6Gk>A097SZyQC24sJ3KM^I#LkA`b7!sFbfq8GIr2N
zPltUqX|0r@&gSic0X<PUv}Hh1b#2yyjM?W@4R7gR5DsTAaL&5*rW?ndbNh|k`U_9D
zt9sc=^Gou}8|PhJP*PCY4GD6d8GQDT*22w`&%Cy$**}|Y52(y90V}A6ovHX;*&-XM
zD5+Pl&XF0(#C8??X+kmM*g<<@P~`B0h1ZC;GWTwJ@EOM)j)h~#UXo!wcF|=2+zVRo
z-MM|sdFM<*Rs^1f)LTGb*sW)~ki8WNw~Vp#J4{?x8I5DS0mPK*(lxWD9gYmr4>~Ss
z8$aK1d&bk7f44W&didO>{>c}`hMs@kIS)Pj#C@rE*lmn=oN&o^m5H)qB)PEy`z|-M
zWou4OG2Vy7#;;E_aql)*2d)mYwjvDZP2?ZIv*x68CmN&8w%KYd)U&BLXV93b`i3r@
zv8{;r^MvPS<mHDQGi?Lbr#qGIl^gjWaC#z{iv)HR$&9R)ikuQ81+luErB2zYz)ejg
z@Cr!4{dz4RW}G@eNT>H#ot7L<9JJ4xvM>AgjNK1DuqRWtF*(#$gB+$zNRvb6Oq<+u
z(8^oxyzlx(5JF|c)Fn&^bLK<zz#Hrnn;=^}=$jYOwpm#YN%DCCVEWH2L>5mRj5RD!
zl<L&vm)v+TguN73kTl|?-)J55#EAZZ>*o&{)hiLG|2RIUf3Kk<BQsXy?(kIOJ+OMn
zVG+SB<R{e(#ct2ac381f>l@|Nt%eUcRaBh(F$boe+q2g)5qe5@=YQ|r22bhe$6ulz
z8!g$4mQ?wF-qIL-xzSQR28n$b&J)yN>=2|GLO8P!-U~N3BwrrfF{g|jjDWz|L;{6a
zLn5Zg`ayWZ>noqV0~t${*0t*$wdL!d5sRV6Psggh#IhP~BYRtt($nN4tyG>rV?>)j
z=u$?sx$;wPxRi4QC^xKo<XN*J!+*d$QZ9-0(=NSa+Vq8&Op`y-zd!M_{x{+M`5(e1
z_k8#de|UKNwuc{vee|G+ieiz2u)EhWOT96+1T18y9h>`Kjg9ijh2X_bAbo)~>zus3
zcZj3HA**ZGy9R2jX>@{iCYHV!T><5;fS=kYB&i6|ZH17dvZ|@AZCX&q-}$X=^eV&X
zX8h_f_OpA1CbUWPK~i=ablNwEKKRQmeNQN2{ypRBMvfl6Y3%RT99jMD(WOs3C!_L%
zJZJRCZn5O>mRA;!du-F?Pb^!3Z4G&^wp#k5UqN^g>vM4+2L?_Uq^q436(QtG&dVLy
z=FGbyPtHOyI<>O0WJFtKP<4-JQ>#+QU}p*{40U!Rrc9kA22(y!)DP+$#AXz&F-8E7
zs3n)YZ^&);$+x@DeSPX(w`|=#Z^5>E{-fpg@i*@m{*Phyt2JGsZy!MvUTyQtg)_!{
z({}NeZav@m?QYOdE=IBh_)`&CiYziX_DVUT;A*D>4pyt*<`Y(*b!1zH&!@QTZUqD2
z;A-{?fnPgWu_5m;)d<|=)Pzll8;q5cH5M6D?TTf|WBSYO*UPty;>YxW!{W#vQ~YJ2
zexq3Ux^lybJKvAKU(xNlDjl0GAx%Y}nk<)qYZ1+uhcIs+j;<G@Y?#C6E5fl)w}h!g
z+zY(xt!+q@<{Z&x>pHP!L<M!ubY+@EfaJG+A7zC{fidzeqdJovhFwHjCz|Ey|8-pd
zPyO>B?-=o)lSHBZe$!Re%Mwa{`%i^|-tv@h-}<|LY=p?HY5L-@-`QXO5;ob7?Ag%q
zD0XY4^;JYR<U_&<DWN}S8EKi17}&a`AF0M=L^wKRI|p92(iyx;a=@PA4To*ph_w7z
zu4<21^4s4<D~}1wOUJWGkEC}Du^zxX3h@qE>aTCJ46&@j8>=YiPO;VNbOr)Y*McEu
zncH195*Bv&gbPNr<pdSS$TmV;CvUv*c1keJMCa*FdL5i1=4lj08rFlRIAxmf;FO=~
zoyWPxAqWe;`RW0qC)~Y%mc!X&{UtB{S!8~8|KF}||8DZdQ>IS3Zn<pHN9tp;kNL;%
zeR$HazyIlo(AMi8?78-eSywC@xp*^169)EfO4sSOn{~WpX_R~zcIG{(9T!I?%4CVv
z6R)hRt*ckM1*@yWNW_sTg`?fNMIvF3($pLc2J32YM9@<rWtL<X+K|&s=@t&xG||B)
ze|-&w20_VzBp_{vub2#QgG&z32Z93cJ>65Ox<Jt!iO=f<m@sub2Vx^+R&+?YjgXck
zCr2oOTrHr*yxtgoB?5|^zjo2Qu?xr6M*>wBw}h^`<ox;ZGkS%p>T8BvG)S!8VzX>M
zwrSgUTP?Onl^s(T)c&?P6etXOntHXyCtea?UWkl?rFE6DiTc;FHcy`<AJS!^w@1YK
zCGFo49fT1zhkP2)*b|@wyR=kn<o!eh`8N{QVYq*uc^|S9bb`DbmIW-IQ4>8G3|Mk<
zoEar0@RL@Ds$4iOSXgc!+*a-`lm@pI=D6S{^0=^C8u2LUm=qiiG-isX4mtzHX0s%P
zpU8^1U~@rj0<Q-uWTP%aEKx4cyL^Ui-m-UR%M10-^{@W^$iXj<Sgo`F^T6Rx54?Gq
zBVWkxuiaGj#69|>Telqk;h+6~9HV<~d=LlsGlf^gHs6f#a{p<^sjLHQ!NLIfi=AFP
zwFfdjhb`3nycNqUJ~s*urN56I4u5VJBg9C|3!X4c)#)cvZ?MZfBx9c?*YZ2S&%5#F
zZ?S$WlD11ieg!0M1Oro=5|ojIlMbh%t-F36a`NQKS1{#v+CeLK;5&9{04ln(CC!=I
z)jfnKzUcJCWhcjXed6RMtf<zGC&W<wGvkTWnTC_?Xyaju3pC#{i=Uv_$qvirlX&JR
z?G24*#Hds&j#N(+Jn?&q6*Zq2u76>?$8J7x5;j%&FZSi>Ct6Q^LYk}lWD8LvwISKW
z*;9!|w`1(b?9<cV8zC81A1LFgsAyO>GRZf^-?K~gN-<IK$$Rj|udIKULb!i|W>Ac7
zf92$zl6{AOrr4L`3QcUtHu^5U^KZ;X3WNV|zH@3D(pvO&6z$-tAGAMLb{O-Qp5g7V
zeI85C4s19I?XvN(B<+ey;w;-$NEg>!DOsh;lM4V7kc(ESJHs9fdtp_!N&`<m3OMNG
zD!{=ETNn;GxfgdvGCZ5%D87FVUytVNbNPA<!?6sn=67Ag@LGne7+%M4HN*S(z4vnq
z5AfSJGklQY7KRTo+{*Cx{Ny%<4>R1(@DYYP89vEy7sIC*?q>K5!)Li~&oO+S;R_63
z;{NRAx4g{P`}q15zJ8Uj4{!?y8NR{rEry2}zRmC*hVL?bkKy|a4>SCL-}Mp0j~RZ-
z@MnU;#?Zkqi=m6YB{YU!hJJ>*{AoVJVus}mD+!w-$gr00)H94QY-AW?*u=1zpFD%G
zAbKzyK;som31Se9S}+X=rU5aAKRut}6owZuT*6N-J^3!4U&ioCzO$0way8$%hT*jg
zS2JA0@CJVJCVui}zWy!4TN&QPa5Im38^7yOzGf_o*SLi@`99-9yu;W3&Cl@6i@)&o
zR}8;l_$|NdC_ni#&%g<WIzbuRMZoju8F?%{Bezi><jM41c?#d3#n+ecrwbV_KlwF2
zUBUNPF<i}X4Z|B5?qJAND!<9sZ}E5EWB4Z;i~K%c|Cz53^Yvf&`a^#HuYCOp!|(ad
zQHDPfR5Iv!Mdj;EzIO68(~sieJ2`x(fMFrSBEDbDu!Kgcl=5{MUzhWB1z!jFx{6_t
z?}Yfeny<rrUBlP4d|k)a^?cpH*Ac$%#@CH}9p&p7U&r~nnR|5x!yXKKF-$V-&u}2a
zAq<BxY-PxDNnwekjNv<D8IEH(f#D>Ej7^2HsZ1rDD$^OxWH^iA#SG^%oJUllEMT~h
z;mx2Hl_jdm5>;i1s!AkLRai=WfW${COH`F5stWyj748r>sVq@di6p8jQO{M0B&sS=
z|5b@3stON1L6WGdL=sh%NTR9|NmNxLiK<E@QB{c~sw$C0RV9+Bszef1#W^&BBvDm~
zB&sTrL{%k{sH#K~Rh70eB#Ej@BvDm~B&sSAt*R37nktb*RV9+BDkA0xl0;P{lBlXg
z5>=H*qN)-}R8=C0s!AkLRf#03Dv?B0C6cJBL=sh%NTR9|NmNxLiK<G(#i~RSRh3Ah
zsuD?5RU(P1N+eNLiTGNTNTR9|NmNxLiK<E@QB{c~sw$C0Rav5{f+VUcNTQ;U5`Bv$
zswzmLB6&SSlBlX6iK+^csHz}|stS^*Doa#VkVI7lNmNykL{$YzR8^2fRRu{@Rggqg
z1xZwuC8{b&qN*%WRhFnKOH`F5s>%{o6(mtrK@wFJBvDmC5>*u>QB{_xsvwD~3X-U*
zAc?99lBlX6iK+^csHz}|stS^*svwD~3X-U*Ac?99lBlX6iK+^csHz}|stS^*s$eX$
zL{$YzR29XP={`wRRggqg1<yQ7R8@S%cSxeDf+VUcNTRBOB&sS%qN;)<s>%{oWr?b?
zL{(X$sw`1emZ+*ci`tP%qN*}UR8=O4s<K2?Ws<0>OcGU<NusJUNmNxPiK@y>r7TfZ
znIx(zlSEZzlBg<6R8=O4s>&o$RhcBJDw9N2Ws<0>OcGU<NusJUNmNz-kswP{l_jdG
zkVI7#lBlXe5>;i1swyN=RfQy~s*prg6_Ti`LK0O~NTRANQB{Q`s;ZDgRTYw`szMS~
zRY;<$3Q1H|A&IIgBvDm`B&w>AL{$}%sH#E|RaHo$stQR|RUwJ0DkM==g(Rw~kVI7#
zlBlXe5>-`5qN)l>R8=8~swyN=RfQy~s*prg6_Ti`LK0O~NTR9=NmNx~xx^AxWr?aP
zBvDm`B&w>AL{$}%sH#E|Rb`2)vP4x`qN)l>R8=8~swyN=RfQy~s*prgS)!^6NmNxK
ziJB?ZLj!h6!IK*RYZyiu#u+9sE|+u$@a2-a<BcwfM&y!cL@sF!KXV(y+Zo=$@J@#7
z8E#;BH@C2n;XMrRWq2RAv!9=Njp6GI-(>g~h95HgE5lC+ifo2%h8~7KhLzM?5oB0H
z?Tb2w4Gg<6j53TfBuu#kVag?VTw*Y{GaYzzi8%}xaBG+FGYk3CMSOiZ!&ThQJ^ajl
z{OK0H-p$v~GJKBjyuhvPIXM9>lYDlGKl7&_aXZGie&*{F40VFC#E@1fmwY}wFJC}!
zlrQG%E2uU3O1{2|pShahwS4C~hQDEWJ;NIq{+`}0Z{zF789u@ANxr{}uW8+J$xkzU
zp6|cF_g~~U{*mwVSmc-ZdLP4A8U7bPL+gl3{*J%(1H->DZ0ApTbV?RIqcAoVS}9x#
z<5cm}lS(eVSIOh+vltF#IGo`KhG#Q8hvB&l&turea6H3_40-kxo;~G4nnPt8!x;=O
zVmO=O9ES6_KMNQxWOy_B<CYS@qgzxmBpKos3mD$RkXC%Rc#h%A3`r8Y1xY-&{Cm2C
znWyU~`Fa;$KhM`M&^1PlXE18Irqx7a-qe^kHHmmrlZZDp^ke}b@utSSsWESA%$pkX
zrX~?@Y7+6LCJ}FH67i-c5pQbn`x7MI)Fk3fO(NdZB;rj?BHq*_;!RB=-qa-GO-&-+
z)Fk3fO(NdZB;rj?A{y41H#I?c)CBRSCWtpR%ouvhyr~J|O^ta|6U3XEAl}pj@unt-
zH#I@LsWESA%$pkXrY49tHReqXGf!<2Z)$>gQxn9SnjqfP1o5UOh&MGsyr~J|O-&GQ
zYJzxE1E%N>@unt-o;Bu8jd@cO#G4v$M^6%OYJzxE6GXil^QI;fZ)(h&8uO;cys62=
zn;P?`CKGRJGV!J+6K`rV@unsdZ)!5}rX~|_YM>DGhj~+zi8nQwcvAzl(0$@fO(x#d
zm^U?<cvF*!H#M1fQ<I4|HJQi4ys62=o0?3#sma8fnoPW@F>h)z@unsdZ)!5}rY7^~
zm^U@%O^ta|W8T!5H#O!>jd@d3h&MHbcvDk|H#LQLQ&WgHHHCOnQ;0V;g?Lj_h&MHb
zcvDk|H#LQLQ)AxLm^U@%O-&)*)D+@PO(EXY6yi-yA>Py!;!RB<-qgS;3t)b?GE^A`
z@nj{qhG4zG&H=nb*F;^F%sZ9fnn!WngCVVGmEaos^frdKGrWW0oebAA+`y2yqY~Uf
z&%eg-b%t*;B%P-c+(D3Zo=R{BAh?5|o1urHk0EhKC38n5C?CCI%CBU~uLR}Ow|?gP
zCm8AknF1?iJAGFseW?<3h$n#&f<qY&XE=i4*$mHNcrL^97`8DS&u}6`qaB*(N}lIR
zp65!Q=PJpCw^vCT!%93~h56hIh*NlgJs9@n`@Q(OH$&2*tFWIUcr8QX&?@Yw2$Du!
z1(`!Fyu{ZpGkk?0qzBr^{19xWXD~km`CXzXU-Mf;U%no|-`d32KQlbR5GC5BD$E-}
z2lZceG8{|KLx&_-%CMYafMFHG5W_ITT88xuBMciE#u(0{_Aze+7c#sVJx6YBd>Uk$
zL`)xF6Ey~z>ViylLC9*lLsS=ptR_fQ7lf=PNc0wDdJ94t(>2js5Ym_+(OZz|Ey(m1
zWO@rSy#*nS@hPM+L82%`y%A(;2{N?=!M}8es3i#gB}mi~1pg8wY6*gW2@<sg!M_Bl
zoe)z+h^ZokeLCGCst7SvgqSKq5>Z76E7aG3gfC=3<U2$aA*PBDcG+}IR1spT2r*TJ
zm?}cp+tPiaiV#yph^ZpPR1spT2r*TJm?}bo-@;T8!rqX+MN|<2HxVSN2tl3$GF60_
zDnd*ZA(^Nm#8eStst92>L3fBMLfA(TB&rBu??8~KB82?{L86Kf_6P)tDngK2cnecS
zh^Zn3ZrY2e;d<nm4P*9J0n$z<jMI~0{LmbRd49soHDR8gFwakz=O@hb6Xux-^UQ>K
zX2LwuFvfz`FcyL|mN1Vc%wq}jSi(G(Fpnk7V+r$E!aSBRk0s1w3G-OOJeCHg<OZhX
z2Bzc&ma7d+$qh`&4NS=mOvw#Q$qh`&4NS=mOvw#Q$qh`&4NS=mOvw#Q$qh`&4NS=m
zOvw#Q$qh`&4NS=mOvw#Q$qh`&4NS=mOvw#Q$qh`&4NS=mOvw#Q$qh`&4NS=mOvw#Q
z$q}q06Hq%&Wk@`W(g_TSXCpk)2xyzGNeV?k;dI@DVK3k`!t)T}d5G{lM0g$|JP#3`
zhX~I@1lkw1u#w?C4DV%lAGbsN9^qMv@GM1mmLfb$5uT+8&r*bEDZ;aa)P3|Vo}~!S
zQUshrcX%w&zVJq9Uj!Q%c4HW27-!hb&!0hk05=gNi4g(U5In(9CkU>=r&xn9V_1U-
zk~D}w7ef1tkqBcX!WfA#Mk0)n2xBC|7>O`OB8-s;V<f^Di5M7xZa}SF$Z#6N84NFC
zIGf=dhV!UD;4*>>8QzTkL|HmTSvp0Tv!X1WqAZ=FES;h(ouVwAqAZ=F%zaVjz9@5F
zl({d;+!tl;i?VczG7m<X2cyh`QI<|omQGQYPEnRlQI<|omQGQYPEnRlQRdkwOQ$GH
zrzlIOC`+d(OQ$GHrzlIOD06g_IXcQ59c7M=GDk<5qod5xQRe6<b99tBI?5a!WsZ(A
zM@LyYMOivUSvo~oI>jWH{u63vXbdZ%r^R@dVmv=F%n#kUh9POTG0YD^(r;s!AA&D2
ze3{`Z1bOT+9(#<(9>dsiAI0nNF4@U&EZxEA2$nJ|XBc2u#W2J$%&?YWJ;MmYMusuK
zIAcG~*pD;z<Ba_{V?WN=kMp?VjQu!|F3#AGGxp<*{WxPk&e)GL_T!BGIAcG~*pD;z
z<Ba_{V?WN=k2Ch;jQu#zK%8eF&NC2a?8h1VamId}u^(sb#~J%^#(tc!A7|{x8T)a@
zew?u%XY9ur`*Fs8oUtEg?8h1VamId}u^(sb#~J%^#(tc!A7|_*FmJ11ZFfUQN?`Wr
zn%1TS=5PTZ$&&=j#ssed36_ls+@og(LK-Asji)CEGi+fvgyBfwB_YusApvVVJwrQ%
z1g!CNP5Xretnu_lqJ)G*T1P?}$B=Z71WpJLoXCA6TYUnUB6uxBvehSmDS~9HPq0i*
zuuM*{Oir*&POwZ)uuM*{OisX_PtQNV{ol;+L55oxKE!Y<L)xz;V9zJ`FvIN(A7QwY
zA?@7~u;&weis5dC&oHEYXae?pg3mLg-CRO?kw-^X{RFJ~G?Op$^*+9Sg|A=bYg!``
zu<g^6v=d3d!cW(vA0}Yur)$y@6R`Hv^&y6DGbC$s0@i+lWW`Ou+E4H>L((b}u=&#+
z(k&CP{L?k<XcDmh)Ac8O{V8AnOg$Gih7N{V3~ASs5H5O#*QSKf_?k4*gz)k;>7@zb
z=j&YlRzAaGq5*gZ2$FXo!QO!cyaV(u;`f9geoqME_k<vRPry4skk;sg=tUGF`Y=o~
zBp*QnJ_5`td;|n(bxXigK=;Win-ItOPCG$arf<m#LkmOFtP-qQC17dCyTFh5E-dY6
zjaR?~?Co@C3VjMb#Wk$c_!Qhq*JXT7*69SS({!J#(+O}c!64ru>vTe?=IbzD*YGu2
zrxQvYUz2q@0qZoi5aH`?eBH>`QNAYYbOP3CdZwAL&tTYtVK0XNo20i7kMpYUymimr
zXX#UDR#oYy>Tq4OC7IlSF{UqyJ(ky8s39(C1&Ntti2{lJ@c1EYO)7`5>Ov`%G!kM{
zV1wSGSeh*8#mF9Aj#oCWJdzxF7)^zuD8gRF?|~TE1-09iNUIlwp6~aQf4<l6I=bgR
z=X`(Xe9!Nk`{<kxf*%6^1oSNO?vUQf2!6L#s{J0%5$+DFu{~3`o6-F4kY3D~es@SO
zW@Nux>)8I4=MHykHQP3QIeZwKz8pS+?b*cLTHp3Fjw0^XD!1)7Is7zC9soZBeirmv
z=-pc7HvT2Q^2+vhY1h2)H^4g-8*G=J8ymnzFby_=&EN!>2Mb0ivryWrx5?v1{V#mU
zcKOu!PVo1@cY$|;cY!)bK+n7vd>^R)=U2)Hz&{l3P&vDVzX4iZcSv1_gbDuYXl;ko
z)#%u4hjevb_+ilPc1Ot`Q0K_W{up>a_yFm9u|JNT!q$J*>PgpPhd6Ow4PYaf2AjZU
zu!SdE!8WiR>;OB#F7Vsr@*S`j>;wD30q_X;U2qUQ3LXQq;4pX+^cv|7DW~x?I0Bv_
z#~e5cj)4=D`5e!94R(jVg!;Dy>`Ck*PyPe;6!s6Wr?Fqcp22<@`xWqq;016Vya-+f
zuY%Y3mHq=&Ilcz|2>dblI(P&83Fvv~4r!+GSHWKgZv)+icStk+SGVLHit26uCidI0
ze+&C|Y@O(&zq)1akY*a)_I5}ojc$88q?1P4o^;Z7m6?$q`u(&k>7mnUSJFe-YX54b
zYX8QENcm6xl@w3ElH&Q9$FTR?R`1YXrFi<Q`iSk{#r{3)-^YFz_MM<(i5-eq{A7gv
zZfwuIcBltAeGB&cu(x8rAKR<PJJhHAjOS=O6xG=NBW%xQcIbPY(Q~vN`W|QeAowAW
zx@)%Ll7EDh`>_8E`_Hkfu|JAU|B~YQJ@hXro^AS<6wfv+N%3rdf?qj$*`e8ub8+;t
zBm5-xr?BBris$q<Is7z#Jpg_N{4Dqv;OB%%)FX*{B#F(Es7Dg@NGdk-Ggglz>XAe}
zlBh>gQQ5rG?d7EQNcb76M^aIl(X~q|Dzoj{B^8y~wt6H{k0k1mL_Ly<yM~l*^++o2
zGFm;7io5*0)g!66%V_mTD(*5`J(7yMj8>1N;x41rBdL89Myp3s`zVZ7kEHfd7_A;j
z#a%|LM^gJJj8>1N_E8wE9!b<AiFzcpkHRTdkEG%*qtzp+eH2EkM^X`&pRsx*QI90*
zk<>m4r&~Reinwe~VOu?tinyF^^++n>vTgN9D&jI)J(AjAVYGTA6>%A@9!W)9Myp3s
z5tq^GkyONGw0a~JaT%>1N$tBZT0N4eM-uf&23C)x)&Y!Gk0k1mL_LzIM-uf&23C)x
zA}&8;^+*O*k0k1mL_LzIM-uf&q8>@qBZ+z>QI90*kwiU`s7Dg@NTMD|)FX*{BvFqf
z>XFnKDsEAaB<hhwJ(7x-R0h-|iFzbak0k1m)Eq~@QoN)xD_*i~^++mSa*EX>iFzb8
z>#=S1NTMD|)FY`GkkhRmNySUHtsY6#BZ+z>QI90*kyO0ozgj(#s7Dg@NTMD|ea&~e
z)gy^|BvFr~;w9I@>XB5uWZUYI)ar+A`WNbvL_LzIM-uf&q8>@qBZ+z>QIDkJCBMPy
zkwiU`s7F%qlGCjoNz@~WdL%=uM>4c}B(*ERX!S^HSAfy#u~RBBFEmR#r4mMK=1%5H
zJDDr(WUjQ6xzbMNN;{b=?PRXBlXbkE%sX~6<JieuV<#(AJDD}?WWKPInZiz1sCF_7
z*s0d2ywnbj)}oz6&O2E(+DXj0lW21%t42GCGk1zHJxOf2lc;hh@#Ic1<8;T6JBc1E
zrHyIr4D-CT5^b!MHrjTrE2(uQwXUSrmD0v8rGFUoPJl{jqtPQmrL^&!(EG<KrHxMa
z{;^7FqiydWtCThl3B7-;QZrNk%3u8|rI5x((7S6YrI1GNv8jaZO4zQ1?Mm3LgzZY$
zu7vGMDWvoI4%iF!f&JhBcm(_|=&$^hQb^-5FbfWYCqaKztdv3;{cW^T3TgCCvr2ZF
zRZ1akd#72Y6w+lr$1{2C?_(FRC$Wpv{U5NWuz!F(jr|h#4ED>|uYf-UFM#vlMes6s
z74)36QVMB&4g3-KWAJtG2KW=uJJTwqkVfxJtCT_-Z}VTJkg6%Iu~G_Y+ikK^3TfLd
zvr-Ca+dI}OrI1F)HkDFHqj#xQN+FHjrB*40G<ug>CA-urH3Ri~{v+t9qf(kF4yBoX
zGwqG`Un$LW%18WWX{Mf$W*Q&z+oYMc{r$9(o>D2zwC#PBmC{W8Rhp?3X{PPp#rE8}
zQkv=XcVXWNCP=vpJHmc9_It43i@gQ=eb`&E-;ccw`vchClTazmbS{5{T>)+flVBzI
zLGVK$b*HCSN;Cb2`^=0q)ApZZS7Uz^`+ksqhXPcF^gDE*Qkv;sd5&2r&9v>fv{IUB
z+saTW&9qIglxEuY9J5lIY5PqMy*IT|nrZY-s!D05(L1RsrJ3jSpOK!I?UH&J9a-&?
zdKew&>>|$DMVzyXIA<4e&MxAdUBo%Nh#z(lIqV{4*hRFki_w1<<Nhv2{9TOoyBN)P
zF^=z2`&2G!nMOzHyBIxpG5YLc+}Xv5vx~827h}yXMwwlVFS{67b}^>xVl>&sII@co
z<Ug_>>`(LsWKk!0{hBfM7VxdYdq}^B^m|y5yN4CIdrHjkJ*>#xBi-|pUcb60xEri=
zirT;NgWx*p8%ExLPmK37fB&%l`{CUsAJ(o?VeBoS{y|J<0=ZOs$bApF?;-a+<i3a8
z_mKM@a^FMld(`{%D{|jM?t56<*%LVTJ><TJ-1m_CpDOn+mi(!57b<t-TZQ+L`+eko
zAHTYfUsV%JSC@GFs@8a6bmUx3%v?=OTTQ%LO}tu7yjo4XT1~uKO}tu7yjo4XT1~uK
zO}tu7yjo4PS*?{lzu6IHHL+ziv1K)}Wi_#7HL+ziv1K)}Wi_#7wX{yZlFAu9f2@|W
z87VW-S2fX2HPKEr(M~ndPBqa^HPKEr(N4ActbR*`Q%!7B9a3xcN~e1UR890!P25sV
z#8OSHQcaZdG5Gu#e0~f*KL(%olYT$x_mh4<=?{>ubJFF_2k`y_c>e*s{{Y^90PjD5
z_aDIf58(X=@csjM{{g)J0N#Iq_doFF`|<u>a@k8Rd&y-lx$GsEz2vf&T=tU7UUJz>
zE_=ykFS+a`m%Ze&mt6Le%U*Ixsf|5Ql2RKpI(kgeic%$RMJZZQiWymowv?hRrD#hj
z=0_>!M=9n<DdtBh=0_>!M=9D{iuRVGy`^YxDcW0#_Lic(rD$&{+FOeDmZH6-m;t4j
z`=prlq-cRDT40J6n4$%yXn`qOV2T!)q6MaCfhk&GiWZn+UXx-*lVUEDViuF4Wu|DE
zDOzTVmYHHskz!7fqLrr9AH|sZqtObVqTQyLDWsSqq?jF~m=UDH$j>kfND=?1i2PH;
z{3)XSl*TMS<2XM>%TLkrQ?&dPEk8xePto#IwEPq;KSj$=(ehKY{1h!eMaxgo@>8_@
z6fHkR%YO)cdkB4d2z`4<HF|f+CukL)pjCWAvFnghyvIgYUiz=p{S%4`lmY{vP;4+%
z@-V-8m|s22uO8-C5A&;s`PIYx>S2EMFu$syz17g(YG`jYw6q#pS`96&hE`NVE2^Ot
z)zFG+Xhk)&q8eIJ4Xvn#R#ZbPs-YFt&}M3AGc~lC8rn<^ZKj4cQ$w4nq0Q9LW@>0N
zHME%;+C~j+qlUIoL))mKJ=Ea+8hlrS?`rT}4Zf?vcQyE~2H(}-yBd5~gYRnaT@Ajg
z!FM(It_I)L;JX@pSA*{!f$c|NTYGQCzjn-l_R%A-{RnJ70^5(k_NN$C>!mHVCH2x4
zqvs&?iXx2OpH^S;2iR_n^(EfhSzqG)Y4s)EpH^Su{b}{g6zZ8N)H744XQoikOrf5c
zLOnBudVQDl^Nz#onVr=$JF91QR?qCLp7^<**;zfavwB4udY*W=K5!&luSmn_?|t?9
znrZa@wEDoirt9@J(`ePI*H=rYdw*Je;QeX!u@e7P>Ze~x{fv&d>WTX5iTCP>^y(F>
zINdQ`y<!z(3UowQPb^nY6jx9DR!`(sA3ovthqa*h0oJoWtpT1J;JE>w8{oMCo*Uq~
zp~O5lz;gpUH^6fPJU75|13Wjta|1j#z;gpUH^6fPJU75|13Wjta|1j#z;gpUH^6fP
zJU75|13Wjta|1j#z;gpUH^6fPJU75|13Wjta|1j#z;gpUH^6fPJU75|13Wjta|1j#
zz;gpUH^6fPJU0+IH^6fPJU75|13Wjta|1j#gyy*co*Uu05uO|2xe=Zl;kgl>8{xST
zo*Uu05uO|2xe=Zl;kgl>8{xSTo*Uu05uO|2xe=Zl;kgl>8{xSTo*Uu05uO|2xe=Zl
z;kgl>8{xSTo*Uu05uO|2xe=Zl;kgl>8{xSTo*Uu05uO|2xe=Zl;kgl>8{xSTo*Uu0
z5uO|2xe=Zl;kgl>8{xSTo*Uu05uO|2xe=cAzlQ2N`fm@=x{-$GG(4x_IStSHCdo6_
zjWj%KP9}e);W-V@X?RY<a~hu0@SKL{G(4x_IStQgcuvD}8lKbeoQCH#Jg4C~4bN$K
zPQ!B=p40H0hUYXqr{Osb&uMs0!*d#*)9{>z=QKR0;W-V@X?RY<a~hu0@SKL{G(4x_
zIStQgcuvD}8lKbeoQCH#Jg4Eg37(taxrz4N1kX+I+yu`}@Z1E?O|<7Gcy5B{CU|aw
z=O%b=g6Af9Zi43~cy5B{CU|aw=O%b=g6Af9Zi43~cy5B{CU|aw=O%b=g6Af9Zi43~
zcy5B{CU|aw=O%b=g6Af9Zi43~cy5B{CU|aw=O%b=g6Af9Zi43~cy5B{CU|aw=O%b=
zg6Af9Zi43~cy5B{CU|a!=Vo};SvzXa&G6g|&&}}M4A0H*+zijn@Z1c~&G6g|&&}}M
z4A0H*+zijn@Z1c~&G6g|&&}}M4A0H*+zijn@Z1c~&G6g|&&}}M4A0H*+zijn@Z1c~
z&G6g|&&}}M4A0H*+zijn@Z1c~&G6g|&&}}M4A0H*+zijn@Z1c~&G6g|&&}}M4A0H*
z+zijn@Z1c~&G7tHc9yola0?8#z-<fMw!mQv9Jat=3mmq<VGA6#z+nsQwZL8r?6tsN
z3+%PPUJLBCz+MaNwZL8r?6tsN3;eWD_ZI5jLfu=adkb}Mq3$izy@k5BQ1=$<-a_45
zsCx@_{~C4tZ{XA5-+|ARI5vBx#Ie~kTJ@b5dN=YjYD<g4B)F4wuMa#^vJ0#yr2%XN
z(_j<W3}$$80y_^DjA|QtzuJbe!q2E}7|DwrU(c}P>zQCT=~ev7yOEz!n=$?Z{H0NC
z#^`AO8Dhw1V*Zl&j8^%K?*zRY`5CS08Sez|0^be37knT1e((d}AA(Q#{c1DDCqeH<
zZiTm2cx#2XR(NZLw^n#-EirGc>WPa&^VX_WZl{>HR(8s@vQw^AtK3d8Z>{Qye$u?P
zvQw^=opP=4)(UT}@YV`%t?<?gZ>{jw3U94iJJlQ5Dc1^bt?<^WzNYuXTPwV^!dol6
zwZdB~ytT4Zt`*)|;jJ|^Z>{W<YYoj?D?8;{*(ukmZ$nNoZ>{QU$_3t9;jLAD?OaJ4
zytTnw8@#o_TN}K!!CM==wZU5(ytTnw8@#o_TN}K!!CM==wZU5(ytTnw8@#o_TN}K!
z!CM==wZU5(ytTnw8@#o_TN}K!!CM==wZU5(ytTnw8@#o_TN}K!!CM==wZU5(ytTnw
z8@#o_TN}K!!CM==wZU5(ytTnw8@#o_TRXh9!&^JNwZmIGytTtyJG`~STRXh9!&^JN
zwZmIGytTtyJG`~STRXh9!&^JNwZmIGytTtyJG`~STRXh9!&^JNwZmIGytTtyJG`~S
zTRXh9!&^JNwZmIGytTtyJG`~STRXh9!&^JNwZmIGytTtyJG`~STRXh9!&^JNwZmHn
zymi1^2fTH_TL-*#z*`5rb--H(ymi1^2fTH_TL-*#z*`5rb--H(ymi1^2fTH_TL-*#
zz*`5rb--H(ymi1^2fTH_TL-*#z*`5rb--H(ymi1^2fTH_TL-*#z*`5rb--H(ymi1^
z2fTH_TL-*#z*`5rb--H(ymi1^2fTH_TPM7A!doZ2b;4UGymi7`C%kpSTPM7A!doZ2
zb;4UGymi7`C%kpSTPM7A!doZ2b;4UGymi7`C%kpSTPM7A!doZ2b;4UGymi7`C%kpS
zTPM7A!doZ2b;4UGymi7`C%kpSTPM7A!doZ2b;4UGymi7`C%kpSTPM7A!doZ2b;6te
zA6Fxh{!0(^c&goY(mm}4k{))!TNk|PTM8*27rNlB3*Nfmtqb0|;H?YZy5Ow~-n!te
z3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?YZ
zy5Ow~-n!te3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfm?K$x_U-F!IGu|Oio)ag=2CxxK
zgH2#FI05Ftf>E^-s{DG7%5U`kz2{VZ<2ym`_<By|H{J=}1-=`6FX)|M&#C;z4}jhY
zc9?P=rksZ<=V8ium~tML@BEC*d04(Px}1mQHKWUUSY8uS&cl@RFy%Z<IS*6L!<6%|
zc-E7Y^DyN+ES{a>avm1XMwjz2<vdI|4~yr;l5Wb`O*y+MXE){SrkvfBvzu~uQ_gP6
z*-bgSDQ7q3?53REl(U<1c2mx7%GpghyD4Wk<?N=M-ITMNa&}YBZpztBIlC!mH|6Z1
zoIRAYhjR8%&K}CyLpggWXAkA<p`1OGvxjo_P|hC8*+V&dC}$7l?4g`Jl(UC&_E63q
z%GpCXdnjiQ<?NxHJ(RPDa`sTpjLNAwzshO!8fHeNwe5LXhFL>~Swn_dLxw#P8Lb|x
z-<EifM5e^wtTXJ9$goEuQ{p`m8LcNf-FqZ5T2;2~JrWuANMzU}k<phF=i)sQ88Kt@
z9*K;YF?x?gM$8ync(N621KYt4uoLV8y+<Nb;yn@>eI+q^k3>daNsQhjk<nKYqxVQ;
zw7zZh9*GQlBr;mxw(UI<8Le*{y+<O$9*GQlBr@!g$goEu!ybtYdn7XKk;ur8F0=PY
zWaLfT-XoEbPi=dTM21;aMl0mDy+<OWb#mL@BazW+xoz)}$Y{;nw)aS6v}SJf9*K<B
z%#Ge7k<psD(R(B^CEg>EVUI+H*;z*4T%7V_@OAJ8=sgk{PVdPC-XoD=k3=T$9*GR|
zxJ=+Z5*cQ5nZSD_GR)~Rf%iycnAv3l?~%v^-XoC-yhkDvc#lMeJrWuANMzU}kqNv<
zA`^IzL?-Yai41!rGVGDa=nI<4qc3Pi?~%x`M<T->i460{40|Lp?2*W*U+5Y23#0c)
zWYjxsdyhmW=GEqmz7g2=_x+4|jsD6WiH!P=ZSRrDs0Z2h9*K<lk!|mh$mlDQQ@lqa
z6MBzCMt#b*_ef;avut~hL`MC~w)aS6)XQvpk3>d&&9?VQWYptqdyhm$-z<#YBazWJ
z3#0c)Wc1C#=sgmd(0e2@%#<^s_ef-zFK5^zkzv-H3B5-m!`wN;+&L4{@0dYnLi!!^
z=nQ)#GND)0GwhMbg#Ln-3B5-m6Z#8&CiEVOOh~U}k3@!9c7{C?8TLqILhq5tgx({O
zVUI*6^d5-}dn7XKk$9f}8hf7q8hc)P(pB<2vBC31Q_rivJEZ|^1k+#>*bGj9d9Yw)
z#DAU<|9M9I=YuMz^Iv1n^Iv1n%lk@^myQ0fvFGJk<Ga8+!MnhBgYO032fiQt0QiT(
zZ)=@uQRpwu-;TWn^e%<(kp3OgzeD<WVovWRy_fV}(tAnoBfXFGKGOS0?<c*V^nTL&
zNgp76fb;><2S^_zeUS7)zD*DEZF-Pz(}R4Q9^~8fAm643`8GYsx9LH?O%L*IdXR6^
zgM6DF<o$zhzMpT?N6F<Vxf~^zqvUdwT#k~<QF1v-E=S4bD7hRZm!srzlw6LI%TaPU
zN-jsq<rujfBbQ_3a*SM#k;^f1IYutW$mJNh93z)w<Z_H$j*-hTaydpW$H?Uvxn#*D
zOD<V*$&yQ!T(abnC6_F@WXUB<E?IKPl1r9cvgDE_mn^wt$>jvOoFJDI<Z^;sPLRt9
zaydaRC&=Xlxtt)E6XbG&TuzY73353>E+@$41i1{8%P_eNlglu<43o<+xeSxbFu4qq
z%P_eNlglu<43o<+xeSxbFu4qq%Sm!MNiHYJ<s`YBB$t!qa*|w5lFLbQIY}-j$>k)u
zoFtc%<Z_Z+PLj(>aydmVr^w|Lxtt=GQ{-}rTuzb8DRMbQE~m)l6uF!tms8|&id;^S
z%PDd>MJ}h6%e+pv`Zc5eYJ973gxp8SeT3Xc$bE#|N63AI+(*cLgxp8SeT3Xc$bE#|
zN63AI+(*cLgxtsZQasL=;&DY;LnY&ivW$+h#`#h_uJKDLd?_B+C^l4bma?6tY-cIk
zS;}^nvYn-DXDQoR%668rouzDNDcf1fc9yc8rEF&@+gZwXma@G_*<Pe<FH*J_Dcg&b
z?M2G=B4vA#vb{*zCRDcCk_nZ~==gAg_;7-C`w61N38KUa%?<sGze7!EZfNv(s0pID
z3D%q^SaY6W&3S?~=Ly!FCs=cy(5%qU`}_3-(a{8P(F76E1QE^zvCRZg%>*mY6GSW%
z#3~a+DHFse6Pin^Jeo@y{r!3(@b~Kp%_WWZIv33uo$l|~6Phy$HD}ac#h!j8_Kc1w
zCK!<?7>g$ug(nz)Cm4Sx7<nfcb0-*WCm3fZ7-1(ETPGM*CqjR}o(TQ@dO~wXqtCI?
z>6jW#bY`0o-<`vEdHB!6e;)qx@SlhOJpAY3KM((T_|L<C9{%(2pNIcE{O9365C3`i
z&%=Kn{`2skhyOhM=ixsO|9SY&!+#$B^YEXC|2+KX;Xe=mdHB!6e;)qx@SlhOJpAY3
zKM((T_|L<C9{%(2pNIcE{O9365C3`i&%=Kn{`2skhyOhM=ixsO|9SY&!+#$B^YH(D
z`2Rlqe;@w85B~-DFTj5R{tNJ5fd2yg7vR4D{{{Fjz<&Y$3-Din{{s9M;J*O>1^6$(
ze*yjr@Lz!c0{j=?zX1OQ_%FbJ0saf{Ux5Dt{1@QA0RIK}FTj5R{tNJ5fd2yg7vR4D
z{{{Fjz<&Y$3-Din{{s9M;J*O>1^6$(e*yjr@Lz!c0{j=?zX1OQ_%FbJ0saf{KMDVn
z@IMLvlki`J^CFxVVY>+1MOZDuY7th8uv&!GBCHl+wFsX@_$<O_5k8CXS%l9bd=}xe
z2%kmxEW&3IK8r9`gpDF>6k($X8%5YC!bTA`im*|HjUsFmVWS8eMcA04c2m@DirP(4
zyD4fnMeU}j-4wN(qIOf%Zi?DXQM)N>H%0BHsNEE`o1%78)NYE}O;NikYBxpgrl{Q%
zwVR@LQ`ByX+D%crDQY)G?WU;R6t$b8c2m@DirP(4yD4fnP3@+s-88kErgqcRZkpOn
zQ@d$uH%;xPsogZSo2GWt)NY#EO;fvRYBx>orm5XDwVS4P)6{O7+D%itX=*o3?WU>S
zG_{+icGJ{un%YfMyJ>1SP3@+s-88kErgqcRZid>;P`epwH$&}asND>;o1u0y)NY2_
z%}~1;YBxjeW~ki^wVR=KGt_Q|+RaeA8EQ8}?PjRm47Hn~b~Ds&hT6?gyBTUXL+xg$
z-3+yxp>{LWZid>;P`epwH$&}asNF0P!YmQOtY&lbC9@@7`<*TE+V8CN&FF7}vr;+R
zUi+QZEYB(aCOE5A9izXc&T3W1=x>6vto_bvwZwKFEEuI%dcX9_=x?dB(kml*F%z6+
zCO8}TTk5Q4g8r4irOvYUJImVdY~XK#v(ho6W35>tnc0}XrOs-eX!N(#S<MrT?*jcT
zbvE=j!CB4sjs7M$t2w^W-%@8auQ&Re;H-2^@0X4l{VjEtwcl5WvR)y|dPVn5eWT<R
z#aF$;4`Sb={}y<q<UX(({3!Ssf4zzQkJ@?u3h~%0L}GLJVh&%-;fpzZF^4ba@WmXy
zn8O!y_+k!U%;AeUd@+YF=J3TFzL>)obNFHoU(9K>YQAI+U(Df)IeamPFXr&Y9KM*t
z7jyVx4qwdSi#dEThcD*v#T>qv!xwY-Vh&%-;fpzZF^4ba@Wq_gVN?cuF^4ba@WmXy
zn8O!y_+k!U%;AeUd@+YF=J3UNb_HBuWVyh|a)Idj0@3vaqU#Gp*B6McFA!Z{AiBOl
zbbW#7`U27Q1)}Q<MAsJ>p)N2&T_C#tU*x6J<<$~&&N1kfmU;4;C$D+(nkTP$@|q{F
zdGeYkuX*yCC$D+(nkTP$@|q{FSIO%ld0iy0i`45Pd0iy0i{y2Yye^X0Me@2xUKh#h
zB6(dTuZ!e$k-RRF*G2NWL|&K4>oR#=Ca=rnb(y>_lh<YPx=db|$?GzCT_&%~<aL?6
zE|b?~^14i3m&xl2d0i#1tK@Z+ysnbhRr0z@URTNMDtTQcudC#BmAtN!*H!YmN?upV
z>neF&C9j+0a+6$c^4FXEbp=&lLDg4K^%Yco1yx@`)mKpU6;yo%RbN5XS5Wm8RDA_i
zUqRJZQ1um5eFartLDg4K^%Yco1yx@`)mKpU6;yo%RbN5XS5Wm8RDA_iUqRJZQ1um5
zeFartLDg4K^%Yco1yx_w8vcCAYKiAQt0j9t{|Cn^JHS`j0lvx(@Kttzud)Mtl^x)#
z>;PY72ly&Gz*pG;zRC{pRd#@{vIBgT9pJ0%0AFPX_$oWVSJ?r+$`0^Vc7U(41ALVo
z;HxE<Dalo1;4f&afxn=w2EPgV|5jGn0lvx(@Kttzud)MtHB9=iq5tP@l^x)#>;PZY
zYN}KGe=Do(0ACHOv8i?VacuwJ$|^g+S4025?P}=%(_du=_$oWV*Whgp-qzr4jh*vr
z@U{kTYw)%PZ)@<j25)Qdwgzu&@U{kTYw)%PZ)@<j25)Qdwgzu&@U{kTYw)%PZ)@<j
z25)QdwpL=^*5GXo-qzr4Eii9u@U{kTYw)%PZ)@<j25)Qdwgzu&@U{kTYw)%PZ)>4>
zTZ6YXcFwQC+Zw#B!P^?Vt-;&6df6i->*{63gnqkD&swKvt<$sCHI_NuWBs~DG~4#(
zy2i3|LVp8Vr{As9@7C#e>-4*I`rSJHZk<#0);U#gU1u8mZ9Sk*)mx`muG1^m>6PpB
z%5{3>I=yn8Ub#-MT&GvA(<|5MmFx7%b&ZTFk48r0d;ES*)msm?V*6CRb)9K!^nVDh
zYxMM!K2>jBqo>imZ(XCL@fYAPjT$BOS80*Bk`@`g^03aSdg~~_Its9k0<5C|>nOlF
z3b2j>tfK(yD8M=ju#N((qX6sSK9`D9_144x7yJJM9|!+4co2NT<<Y2Wd=mVI%Cmt_
zH}L5OKHb2l8~AhspKjpO4Sc$RPdD)C20q=uryKZm1D|f-(+zyOfloK^=>|UCz^5Dd
zbOWDmC~i5Yl6a+P1D|f-(+zyOfloK^=>|UCz^5DdbOWDm;L{C!x`9tO@aYCV-N2_C
z_;e$%PdD)C20q=uryKZm1D|f-(+zyOfloIS`KWC8bOWDm;L{C!x`9tO@aYCV-N2_C
z_;drGZs5}me7b>8H}L5OKHb2l8~AhspKjpO4Sc$xQ<PO^ouX{CPd7sQbVHGnc*Ca~
z_;f>&(tOD#KHbEpoA`7SpKjvQO?<kEPdD-DCO+N7r<?e66Q6G4(@lK3iBC82=_Wq)
zo#W2yIhAA+pKjvQO?<kEPdD-DCO+N7r<?e66Q6G4(@lK3iBC82=_Wqi#HXA1bQ7O$
z;?qrhx`|IW@#!W$-NdJx_;eGWZsOBTe7cEGH}UBvKHbEpoA`7SpKjvQO?<kEPdD-D
zCO+N7r<?e66Q6G4(@lK3iBC82=_Wqi#HXA1bQ7O$;?qrhx`|IW@#!W$-NdJx_;eGW
zZsOBT`&1W`>HiId`hP>AW+KAh2Q?Fst(k~WGZCR?B0|kXgqn#6H4_p3qixSbg!=!x
zAaFYoO3#JTK%xGdN%#k#{=Y`H^js)C7fR2C(sQBoTqr#k>YKh$-}Ht0rZ3bteWAYT
z3)N19YA3?Op!8g}^jxUEFI3+b>KnRHU(bd5ZZ6b!aG_2K5bE2v@P^UtM5t3zg=OH|
zLFu_tsEgZ)>@A@5T(<hYP<k$uo(rYtLg~3sdM=cn3#I2m>A6sSKM34Tgwk`N^js)C
z7fOMH!0kkMAE^I)m;F)jesC|C0`>J)f7NV4s4uoceXAAnHn$Vm{|_iVm#w}pRNoh>
z?+exUh3fl4>A6sPE_6Ey@o9)pLwp+I(-5DA?)!SiJ`M3{h)+X&8sgIspN9A}#HS%X
z4e@D+PeXhf;?oeHhVJ`%r+pgY(-5DA_%y_)AwCW9X^2lld>Z1@5TAzlG{mQ&`+g9*
z?+fkI5TAzlG<4rrihUa5(-5DA_%y_)AwCW9X^2lld>Z1@5TAzlG{mPNJ`M3{h)+X&
z8oKWXAwCV=_hs9sq5HnjJ`M3{h)+X&8sgIspN9A}bl=yL_GySuLwp+I(-5DA_%y_)
zAwK<8`E*g&ENULAYna~x>T7jyTZz6&3H41%XqIl1XU_?>sw31&i%_dNLapiuwW=f3
zs*X^rI>JU!t2(lqz-CZ8y_KR>9bq0U808DSU%oJERYz!LxJ^78cY@>+XjMlkTGbJ1
zRY$l6{sPphPH>y}H)>T!sBdRNt?C4~c_l%pRUM&Lb%a{g5o#qtco(Qu9obsd5o%RO
z_<m5UI<mE@Bh;#nP^&sZt?CHBp^}%vTPeKh%3nR{J3*Xo-b&%E6y8eVtrXr$;jI+j
zO5v^4D=>QAyp?(dMrhtj;jI+jO1%OT__h(fAKpsgtrXr$;jI+jO1%Q3XUtnEyp_UR
zDZG`c-8$X8mBL#oyp_URDZG`!TPeJi!dof4>27G30p3cz0wdeJmBL#oyp?(dMk(g4
z6y8eVtrXsTkIA{94BpD%tqk7E;7vDXt5jw1Rt9fn@Ky$IW$;!8Z)NaS25)8XRt9fn
z@Ky$IW$;!8Z)NaS25)8XRt9fn@Ky$IW$;!8Z)NaS25)8XRt9fn@Ky$IW$;!8Z)NaS
z25)8XRt9fn@Ky$IW$;!8Z)NaS25)8XRt9fn@Ky$IW$;!8Z)NcIcCUm4w=;s@&Io?H
zPYh7Xhe3}xw|gEc{D_#m-Lp~Q$H8xd-vN8UKCmAg0FQv*1qZ>S;4v@@4udDbQ{eZ&
z)8Ghr4*Whi3H}541MnsAW$+d7hu{Tp9=r%@?yvG|4lBG)jeZ2a4*tX#{Cod3_zmzk
z!QTR5#wP~ouW&-dayt>r?LILexZN|~;C7!FApBkM_rU}hfsSNu54V6@L7ft&6vsBV
zYX_InqyO!mI}07v-0r!vP`lTJ9|9>)_z~<s1GVO$zv811A9?Pq6l>S*;lrTT9AtkA
zbZN`+emUMR$NS}Yzr4iWFUR}kc)uL)m*f3%uSMvu_I|m~ixArT<vuS$Xz!Q%ya=Ja
zU+(n^p}k-3^$MZAU+(n^p}k-3^$MZAU+(n^p}k-3^CE=ye!0(!5Ze3YUcnIB`{iE2
z5Ze3YUcnIB`{iE25Ze3YUcnIB`{j7Q+~-Bew)e|@UPMri_sj8qd0_9C2ljrs&x;V+
z`{j7Q9PgLo{c^ltj`z#)emUMR_jwUPd1&vKhxUHCcJ~?W{c@idA+-0)@qRhpFUR}k
zc)uL)m*f3%ykCy@%e``<U)lTRUO5rk`{j7Q9PgLo{c^ltj`zz$d%qm-mwV+Th~xb@
z-jCz`INsOY-u%_=JdXF{ct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!j`!nu
zKaTg~ct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g
z_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!j`!nuKaTg~
zct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!j`!nuKaTg~ct4K!<9I)g_v3g!
zj`#1-xT*i6F3}n6LhaKQY6p=}ds>8Ux7>3iv^w2UVs*NsL}#!Ib;h;u!#sH}s57pW
zqEnrPI)hz!Kd952W$(q->CLiJ*gAt<w)RyDt)F+4SflRn3cS#5^$xATyKFjxU8pnI
zg^geuYyz9X7M^bf+rW0P1MCF5K%K#^_vj3Eq0V3z>I`<F&R`en40fT;U>E8PcHtm+
z6x12)O3@kYLY=`b)EVqToxv{r9;h?eW$O%fq0V3z=0KgnE?Z}?3&$ym&S00VGuVZB
zY@NX_yMV1T*ku=aQfIKsp2GeC_B6K6U|0GKw$5Oetuxq#I)h!PGuVampw3{Ituxq#
zI)h#4IqV(k3$|aw)*0-we~hg&*k#|q{t5P)OCJ0?@K?cK2XFH;>N|R#S<)TqLAJ|C
z*BR`x-;S*_*k#|&ugXE~npTSTNDFlayHIyt3$=SzsNJ(d?Vc5C_pDI6XN7+Z-pxC8
z2D?&p2D?yaunTntyO8#&J}VBHXWgNm>vWyLE?nog8^)N<U>AnquYlV7trYG37Cz*>
z6p!h*>gjqLbFn+r-<`7Ge^s0&TYX=DRkUVXXRr%(2D?yaunTntyYNm>XRyn@3tMNf
z%hnm}LY=`bd@r`nV3(~k*o8WSU8pnIg*t;>s597wI)h!PGuVYXgI%aI*o8WSU8pnI
zg*t;>s597wI)h#KC*YsD?$Qva+=s0**k%7Yw$5Oe{ZZ`uL3%N>%R8hn{%eYKoxv{q
zA#7M;zIlf<$LaKCDUa<>@{G=4m+e)BJETIk-{kPqFnIv{4ER~_FTl@%f61?O277R)
zMlPdHatrR18XI-eky?*6ErF&b(6j`amO#_ECrf|zD4amk5@=ciO-rC@2{bLC5wKRz
zxXmQcv;>-#K+_T$4V`XHOK42AZB0v*Skn?{S^`Z=plJy-ErF&b(6j`amO#@IXj($E
z55LEnmeB0OXiekxE}=Dz+q;C;G;Z$_TGJ95k^Q_iErF&b(6j`amO#@IXj%eIOQ2~9
zjmZ9$H7$XrCD614nwCJ*5@=dNBeI{drX|p{1e%ucy%I{XrX|p{gyu?q#+sHu(-IoH
zZCle48o_N_(-IoTonlQ(Xf(HNO-pD@w{1;JXk@o-O-rC@2{bK%rX@78JKdU=K+_Uv
zS^`bu&N8K2)3~`zXiek(GNCmsq5n@&$<efg{y)XGHI3WNgw{0fI1^ga5@=dNv4L%C
zT0#+mZEIR0u%;yfYgz(LOQ2~9<)fB~rX|p{1e%sW(-LS}0!>T!E3=-orX|p{1e%sW
z(-LS}0!`zdH9bT7MAH&zS|YHfCD614nwE%J(-JXjS^`Z=plJy-ErF&b(6j`amO#@I
zXj%eIOQ2~9G%bOqCD614nwCJ*5{h%=Su`!7XvelSErF&b(6odiAE#T>5@=ciO-rC@
z2{bK%rX|p{1e%sW(-LS}0!>SxX$dqffu<$Uv;-?-2{esc=ah>zErF&b6eHQTrf~zE
zkY0?YCD1f(qf@#yErF&b6hYZ`e3C%ZxSvk8HH};9gx0hKnwCJ*5@=c?w5BCOYg$78
z&tkNuB|>XjBDAI@LTg&WHzo&np=o!aX?LM%ccEz!niipH5t<gEX%U(h5vN6HT7;%W
zXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4
zgr-GkT7;%WXj+7(MQB>YDsF_PMXcgRXj;T7ZiJ>qXj+7(MQB=trbTF4gr-GkT7;%W
zXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4
zgr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-HrX%U(h5vN6H
zT11={p=lAC7NKboniipH5$o6ynidhKMQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4
zgr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MZ{?lniipH5t<gEX%U(hp=lAC
z7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gE
zX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC77?dK
zXj+7(MQB=trbVISv<OX$(6k6mi-^-AG%Z5YA~Y>R(;_r2B2J6Yw1_w@LenBNEke^G
zG%Z5YA~Y>R(;_r2LenBNEke^GH0?douKD0SQZ3^hT4Q;SRKnN*>c78br$PPqx9nz6
z|NSjn|NSl0e}4z>QEL&(<9d%gZv0P9kxz~91b+{F7kDRl7pVXK)-&$~_21vJ^<U~j
z{g=8>|NR|op`2SN=N8Jjg>r78oLi)3e#Yh8A~iF*oLi&}MwfF7<=jF!w@}V4lyeK^
z+(J3GP|huCZ+c!W&FFG&Q5!S5oLea87PTnbF6S1?xrK6WrJP$S=T^$Om2z&SoLed9
zR?4}Ra&D!ZTPf#O%DI(tZl#=CDd$$oxs`HmrJP$S=T^$Om2z&SoLed9R?4}Ra&D!Z
zTPf#O%DI(tZlj#rDCaiHxs7seqnz6)=Qhf@jdE_IoZBepHp;n;a&DuX+bHKY%DIhl
zZlj#rDCaiHxs7seqnz6)=Qhf@jdE_IoZBepHp;n;a{dA3`~%AA+Zz`H-^^%q`}EC>
zM*H12GaBu8-^pmS-+d>ekaGGK#reRuC>q^9eT$;e?bEj?8tr%AqG+_=eT$;e?bEj?
z8tr%AqG)vc^gV;~LiZ!zGw2kT({~6OT~6O2XmmM!hoI5r^zDI0m(#Za3Mr@W`_tPf
zr|<hyI_30zf3{st-}h&9Iep)s(dG1ge@2(n_x%}N&I*-NXKJXNMz1DSsI)`E1b_9n
z?+QgJMt|w9P<%2k^vY^QiB}yfO7?*M;!vUZ#CSjGmF<d>z1Sbe)~zv0c@Q+)72?Es
zHGqwvZjDijZjBM@))-+6Pqu=(HAX4zpl*$k-3fMqUgfS}owI^<&I;B!D_G~OV4bsq
zb<PUbIV)J_tYDq9f_2Uc);TL!=d56zvx0Tb3f4I*Sm&%@owGs_h;z?@qu>~*TVs^&
zHSh}g(Y9B@E96bvUJtKO?BU;fRlGv6hi$KoS19(d?G^G0#U8d_#(o9#I(Y>vr4_7{
zR<Kf9q1eOeUMH_m?BQSeTS<jt595!(AA_%hH^85O{+3#y*u(g%;ID(Xfo{VUiaq>S
zx8w@N9=5&GUZL2-w%6M$6noe%2i-C&6nhxm_9_%_7~S?N0=K;i#T&*y2CK{rYqk}v
z*;Xj7@Ly?HiYsKR{i}Vd{Tm-5MYqPtcAQ_K$idHeg}g$MgKYH<{gu_-3iT1&zw5uM
zr`Yy7e}(#sZQU9p^xA2KdX4P}Terr@_R2$rdXVic*t#`F_EzloWBZFhh5D4!z3y6}
zo@M)wu>EbQLXm?p3HsYmg(3&zhd}z2A_tfJBc$Ai{b$&Jj$MuYQEd8`A_u>L{-wyl
zHvNm0<O)R&ew)7~RVZ?>?bX@}MGm&TT3eyW!M49HRVZ?>4Tp*xY=0U&0P5BlrF<6D
ztueAcC%juTAf2vW;@w2PA#_OST?E_>8r;pQ``z-LQdoQUJ&8ks@8i?ypL)`0&Dk!^
zv28DGXJ)irnq%7>ZkOih#2;yn@m_EbXs)(PbIu8M(uhze9td^Ph)^dU2zAnkP`9xN
zbsLM&>sr16&^hX)5ur{R5$dE7p-vhR>ZB2&*K@Wr_u0<eXFGGB?aY0)Gxyof+-JMy
zKF;eqU@xeXMwHSI4uD5Moiw8KK~N`+$UX*UL7g<Bl#`%N8j<}y@H99A>NXao=Rn=Y
zB3rky2zAnk@Ep(Rq!HOVX+)@#Mud~tMQWszMwH@}ob6H`+tb)DVS6QKyOhW2uYf-U
zFM#u)P8!i)b<&7XCyfZbI=x-WV|)$NNh7koI=x-99-~*Mw`<m8)NL%mb}5fhx3LIy
z(unXj|5dXdy^~qbb}5hTGSYt&`|a4jg?&4}(n%wF#=U;Kl*g#sScJNbMfiSDCymI~
zNh88P2Hg|4YmQ@dfAkHH;!0ZN9BFUNakfi~oTA%U0^k3rXVj975BWVBk!|aw5usN~
zw@Zs`>!gvuw?pc$(juiui)`zp5usPnw@Zs`>!cB(P8ty=NYP0nvLkGrG$Q*w*g9!M
z_7-fNG$LCkjR@b5t&>J%>!cB(P8t#Fq!FP`8WHNG5ur{R5hg*MG$LCkjR-#kQg>!C
z+oeTL_iFQY&0=hOwRyW{F}6R7eLqOQV-~YrTI9cawRyX=$hKFTw@Zs`Td}uGi)?$f
zdAqd8Hoa0>WE&2pMYiAMP$!MZJ^<=A7TG#!M5x<Xgu0C-*nt-9K#P2n=8#gXMLSTK
z9ca-Gv}gxf<Qoi!f+Sj$M2nI<>09%3DluB*Tl3~+TZ?>ap3(gH);y!NC|TmR;al_k
zS8I`P%`=)4-<oIJocPu}+twoAnrGX!_T72T(OTrY^NiLa-<@Z)7WwWxKiLX;ZP|C{
z8NIgbyYq}*TlU>~&dXZlyYr0JBHx{7v=;g9JfpS9cjp<cMZP=FXf5*Hc}8oI@6Iz?
zi+p#U(OTrY^IQvSk?+nkT8n&lp37`4^4)p1twp{&&$hM5cjvjZ)*|1XXWLrjyYp;Y
zi+p#UZEKP5&NEtze0QGFTI9R)jMgIGooBQb`R+WUwa9np8LdUWJI`n>^4)nxYmx8H
zGg^y$cb?H&<h%3qPPE8(=h?Ov`R+X1)*|1XXWLrjyYr0JBHx{7v=;g9JfpQJ8CZ*a
zcb?H&l+=2Q-(xLGqD8(<Ph6ozzD>{Xcf9S}^lV#;l4y}{)6<h^Q4%fkZF+hJE%I%8
zw%w0>o1UITi+r1&ZEKNl)3a?Y@@;yytwp{~&necTBwFO#^lV#;e4CzaYmsl$vu!Q%
zZF;t?MZQhXwzbH&>Djgx`8GYHwaB;W8LdUWP0wg8@@;y?KXt9qBHyNG+gjw?^lV#;
ze4CzaYf&<!-=RgmP0xR|7Wp<k+twoArf1t)<lFRYTZ@utk#EzpZ7uR`dbZ&ZElMgb
zGLzOK-==4@7Wp<kqqWGl=`9N11A6wfQ|e*#T*kNQ89kTrZF)w}Wqg~S(Q_H!rf2l*
zz_;lcJtOdKdPc|gzD>{Qc;2_^86B(dRQohKKKE^ULLy|}rYBn*8XZ;oHa(-`N#CYt
zbPVa+^o))heVd-qv7&F&TMW4OO6b~g@0HNC<K8QwYsbA;Lf4LauY|50_g)EIJMO&_
zx^~=qC3Nk$_e$v6aqm^Yy;nllj(e|!t{wMY1>AcTaPO7Swd39^p=-yzS3=j0d#{A9
z9rs=dT|4f*61sM~@!f7}w_D2Z6xVJyzS~XhcH_I<)NVJv+fD6u<GbC|Za2Q$P3?B$
zyWP}oH@@3V?RMk4-S}=dwcCyFc2m3E_-;48+l}vbQ@h>xZa1~tjqi3-yWRM1H?`Z1
z?{-tW-S}=dwX4z|;M$<7L?^ch9dB2urbgX7BJ@aCrTQ9ma*I$Ww+MA|i%=)G2t5*2
zF%ne~6<0A5RWTA(F%nfV5>;t8rk}UYSE2A#XnPf^UWH0mq0dz)a}}Cgh3ZzJw^d?8
zzZDxs?{cXM5};0Qk*$+kggUuJXl<<0UQMU#<QAb$ZV9SlI=Myo7XK>tR?t1V3RS5>
zPpVLoDm0`D4XHvss?d!p@#*KS6;-H275Y$xGE{|6`2ArmsFPb{e?z%&Z<_Ge)N=kr
zxf|aqyoWuU_Y$AnOMG&#;*I&>Ua@^n=pC^4if!Xg(!JyQ-jZElJt+-fBbWx8z-BPR
zlM~o^uwWE>dcW8+R`?mQXCyCnz~0La*n5NBq*w7P@3_8~9kBPZ1NL6AsuZzm^vv#F
z;;4Hy?kE?HFUEI*-f?}eMib+m;9cOm!S{mi1K$sR0Q^Jn3BO;g8lMEcbNE48?}N17
z2ZIB8^1<LBSS!vS3=WC^2ZJX`c}it_FsO41-hUA9KN$PCQflD82L5Y;2laeS;8sx+
z><2ybtqC5-{!8py<zA!rJN@&dKZRWfe$@yYHLy{mTowc03X~Rlp8JS$F+K|J2VMS0
zl#A0{i$_%QbHXq9x4~a&^m!!sud2l(!52yY68P8Pm-*}8VtWnkk)RQ~32X*iz^8fg
z>)<!QZ-US8*Kc9BVYh>w;IpK6VLxXi((oNdDs9YbJD&_{Rpw8^$tT6LQmFN(<fHlE
zQ}U5e%p2b-d=%e3itir9caKu*NA;fC;8A?{D873%u<stlcaP$`NAcaG`0g=$_ZYr=
z4BtJ5?;gW<kKwh)@X=#<<S{(54`1x#o9sS3vQNK#B-p3l8ux=9)A#8OPC1DEq<GjT
zk2w9WRL*_!h*Q1@eo5ur7yLE$m-*{gRMUNd{jx8pC%qB$dgi{M8M_7i8c#mWuk4+D
zfpueF@J;X;Qoe=V%9CxRw1b`Cv;4IS`#EFGJEQi+yfbPaU)=WLwS9PPpS-40#rEoL
z`|-toe6b&2?8g`T@x^|8u^(UT#~1tY#eRITA7AXp7oXN|7lTjhw??<#19;~E-Z_AG
z4&a>wc;`Uio^=2p9SGdB4k$<cidJ+0uN_d1PIrqs5V&U@z>f#;;{n>(XDIV$DD!8?
z_cOuY>B-Lo|6TYvwR@b}J<gMl^W@{y?s01OIJJA6+C5I~9;bGXQ@h8h-9hSdkh&bC
zE(fX0LF#glx*Vh~2dT?J>T-~}9HcG>smnp?a*(<lq%H@k%R%b$gipu}p705o!4t}*
zOZX_bA2ef6C>N(&d7jXFgg)z1_%>lJZM&AXT}#`R7OD-aSAlNZwc_EN&~3X`Y}j_&
zuBC0)(za`9+qJaq+Q4nQmbP6RxNX-4ZrioA?ONJ)tu)7PaNDk>ZPx~F+qHq)c5UFc
zT^qP<*V49YY1_4d+jec>wp|;zZPx~F+qHq)c5UFcT^qP<*9LCewSn7qEp5A&wp~lx
zuBC0)(za`9+qJaqL$GlO9uA3zbZ|&K7_GX8Xb*?PgKewsA==L&RQC|7dkED%gz6p=
z59joZRrip1=n}ej9})vYLaXi}F<`Xn9ufmatL`D{en@q<ZPh)by8EwI-9xIiZL97f
z)!Jy)J)~OOw(1_Dj)$n@AyoHC)vhaeQneG(CZD8DK1rK=Qf=~_(mirLNt=99ZE{HV
zA<{puw)CW0qn~lldQ$J#d-Q(e$Cdth`1w4{d>&>#PtW>1J?kmBeF|=$Qtm^+Q_9`A
zAG8`grQDrjO?Zm(KSlY!ppwi7U!Zq<fgbS%+J7DItmB<^_^S?o)#0x?%2S8G>L^tm
zrK-bUb@;0ef7RiyI{a0Kzv}Q;9sa7rUv>Da4u93*uR8oyhrjCZR~`PU!(Vmys}6tF
z;jcRURfoUo@K+uFs>5G()VGfM*5R+e3cjlK?Jr7^7KM%mzbKtCIvV_v(uah<W`yT2
z!Sk2&j8gQ>Q1E5m@D;H%6nsT23Gv-ml$UJfH54?c?{@_aVq;$TW$<sor@_AizX5&|
z{O{nmz-NuInBSoOW&9PP?{r%fy3CD~xsfubRg(E2t&#{;2IJd=zB6k`=(;pfmnQ1c
zL|uHV)KJh&37aWlvpAnuic8fjwv8@Nvsj&1o&PWO(68!kLj7t{_+`*4^i>q*t9pae
zUAwR9J+{9Ix^`dH+nn;OQDxA3REBi$HJJPwOnwa}zXp?EgUP3<_0!b)X%z2i@_HHu
zo`!+1^UT+I=IcE3b)NY;&wQO{zNuUmgKsJqq26zNoA6uw_FMe+Tm1H0{PtV?_FMec
zH}9MaTIJJu;cwW6w^n#-ReM%C?6tyPE9|wxUMuXi%A0yd-ZcIS=yfgMgL5wEP#NZh
zj?g-kuh9|Ovy|;w%JwW}dzP|2OWB^KY~6ZhDCpKR!k}Axb_f075xt>1@Xq<}U=;gB
zY_I-x2UkeB3VJQBJGcS<t5NUQ+w^|p=fE%dx3RBaTWPyv9pH1|0Qg<MIX1`}PV)RI
zY_C#w$4+DaJ@yFpD9?{!kCT2Dn{viHW9p8bC;bBUzkw^@D!2x&gTDYbc>b5RL&sg+
z;jcR-yiGiJht}%uuoU}t=N|sHp7f0XX`%m*!}kKn4l+&;di8uy;QwFf35Kv;ub#kl
z=?Tt&Iq6AHFy`L|)BM#dr9Ht6@A3ZIo?w<IUjgU%>kmQKt|z#_lm83bE2uretNiLB
z_9f7JbbI7A=W-RiM#^>G`5Mps2>dblI(UO8e}cUL-sJgP*#9UVdV-(wo<&mr3HzTZ
z&l0#y`WxWC^0t4&UNx#!t31R2J;VUM4MFUwRU1F+x5fT5PyU7Tjd^_UiPe&Fh`)M<
z-V=L@l>Y+$73dhgCuZgBiTw>vx|j9DJlF1td9K|P^M3E1nCIF(G4J>8i8&JMiM3!m
z=IM$3H_*z~6Z<>T9o6*29Le;=dcf!T>$gEX9`nk4k6N;8cMKcv$Btvaz>_C<+yBJ&
zf3oz%PP!$;PVuYL;0T!G8Cpo}EN_?q^Ptz^dt%<*-4pXVd{3;1{R4hQTZ+w){xV#7
z)x9T1`-xq^rp?5>m%ArMJBj)KQ+i^rfeXCn7Wh+pJch4h|IBayH|hVvlm7>M340m)
z=h)VSp4bX?@p?{A%<DNlv0wTPVF~Ebswez+elqkJ)D!;S{%z=Wt)9^9JU!vtz}tAz
z<6}?gsHrC`bG^d1WB(Sv{SQ3(+s-BY9qc%NeTSaR&^I&m!3=#cquw{Kbn93q=9ZSB
z<z#3l8Cpn&wvmasRb*mr51E+#n2Fhg8TrL%&B?^R4^Dzso=nUvWn$(h6Eiaz)m^AM
z8m-kCDU8u$L?(1Co+ssbQhfgWP~h|Dg{X8dD%~4crF&87UR1g_u=@1|R_R_;x>x<(
z&$xEIsB~{&kMyF_y{L3AD%~5iO827Dy)mnFFDl&|vr6~ItkS(Pt8_0a-5ax-^{U1C
zZQsMTvh~KS(!DXObZ^Wm-5WE*y)mnFFI@G;C?|~dqSC!;jef=|-K*AOv`Y8JtkS(P
zt8}kgj?pUJ3x~a^bT2C1i%R#R(!Hp3Z)lb7MWuaK|4`tw`h{@V2Zw!d*awGwaM%Zj
zeQ?+ZhkbC^2Zw!d*awF`^Iva+!#+6dgTp>J?1RHTIP8PNJ~-@y!#+6dgTp>J?1RHT
zM!G&Y?1RHTIP8PNJ~-@y!#+6dgTp>J?1RHTIP8PNJ~-@y!#+6dgTp>J?1RHTIP8PN
zJ~-@y!#+6dgTp>J^t}c{f$udC!eKug_QPR69QMOuKOFYMVLu%9!(l%h_QPR69QMPZ
z??=!(;jkYL`{A%34*TJ-9}fHBupbWl;jkYL`{A%34*TJ-9}fHBupbWl;jkYL`{A%3
z4*TJ-9}fHBupbWl;jkYL`{A%34*TJ-9}fHBupbWl;jkYL`{A%34*TJ-9}Wl5p8@n|
z0R0(2e+I<Zd@uk%1E|n|cu)#jG=LTjphW{{(EwUBfEEp)MFVKjfNJMoS&;@*JEL`J
zK)Tc=^cXRqnmWZjZUA)}K%E9qrvcT=>DH(LG-?2i8bFZ-P^1AgY9K6E419$6=LnI{
z5!Fs9L_SA|e2x(L90{xyM^tP7)qCxZsMhC%|A0Ls?;i<XR*pv$&)9wy`!aY9w1OQ`
zykY!V$pPU%VgEC4SmIYdcREqT5u%7AiX!y9_*9ND#|%eePx?u*>Xg6XuZ`Gg>?Z7H
zY|p8WC?4<|zJ~1?$`M5ZPU$4CBj5|9pCJ8zVh>~63rFDp2;;&Ljnt~Oyx{aAwnyh9
zv6m^8J#vJx_y}Y15ys*p8jGF&zj^b&VE-TNCG2JFpJUr=M;JYiX!Nx0(esE#Pum_b
zk7&dc1M;Bi68;C$e+Tp^c_e&?{^}b^YK0zu2i4QNgpO(k)yJJ;Js+fx52}wl{R%1e
z(ICCs_mAjF^=sqjoKC+Uq+buxuLsqyo&Fp+0DjkRqhAlIU;DQnUk25$)55<8M|p-a
z(3b~k?Su5?LD(LowGYzT2kF;?wD!RmC5*k!J3WpJ(#{9ff0c{+uX3cF532v#_J};F
z{;MbHzrICfKJYCnLbdQkp?jHcLNR(YKdP3dbo%d6`r}c0;!)bbQM`YYK6q5V_LG;v
ztDt+|G4-h-q1OkFF`qrA_H6qrdghqeGky>Jd!tIOU#ZOVL6-iQWj>OnS7y<iEWI*I
zuguabv-HX=T9ieLvVrF#S^0NJ==n%Ca15DcK9W@rt(EQhNH%x{^n4^6IG)S~o{wbJ
zf73$GN3wxq%PjMeY~cAwHt>8T8#vC)s?9hT&quO>=Ofv`^O0=e`AAkuX!Lv}8+bmF
zRlD+&o{wY$&quPsO`i9BBpY}>l9fLAJ&sYc(g)j~k7NVSN3wzEBiY~$(DRXO@Nd|j
zk7SvTWSNg-nU7>qk}OJ+Wj>N+K9WVBv&=`b%tx|lOIF&VT$qn!WB-MBdOnhk{WbVy
zmzMcRHuksJo{wbF_AK*}EDE1xK9WV}v&=`bsC}0CNEXe{G9SstJRiw2AIUNw$;O`N
zot}?mW1f#>nU7@Er&M3&BiYyx>7I{d89TBu&quP1AlaDbBU$DnS@k~u%JY$|MpC2a
zBUz24wml!os>d0v16lfARx0N=c&y1v<!pOCl8w=pn2%(oc;?FUku39(ta_+z+6)?)
zMFX>FV3zqvHs<+AHs<+AHs<+Amib7Q`AC+rEF1HDB+H1Fjd?zjWn9a~JRix%9Q|gQ
zk7PBbyB400WTgYjo%u*M^n4`Cd?d?!B#WYEnU7>q)GYInthB;UdOngxU9-$bvdl-a
zjFMSttn!t5C>Q1<+0aUxmC~kzq2N0uKMICoKUKdQLV1SJoa6M_<Mhqr^v&a_?s3%S
zIB~*p+Tn3@<~VV}aoW;xTG4UZ&v9DLaoWsre0>}*A4ivtqnyW4r{gH+aXfe&-yKJz
zj-#B%;r2MJ9*584#0kgI&*Q`i$B7e;Q;Xwo)&d5O6DPcYroDisy?~~@fTq2GroDis
zy?~~@Ae~<fUO>}cK+}d{V;DAuVPhCJhGAnEHilti7&eAsV;DAuVPhCJhGAnEHilti
z7&eAsV;DAuVPhCJhGAnEHilti7&eAsV;DAuVPhCJhGAnEHilti7&eAsV;DAuVdFGx
zoQ93l8etcM)6(a8VL!HKcBiG)#v$-H=t$$Vbld6Pr+1oo`*h%_?=)<j)`;w9CPD8q
zIxS5$E*W9|G|ZotYUx)}EvNri&@ty}JaQV3oQ`Ek`5*lCyWmOZi>FTGsnap9Wt~=x
z?e|a;I6NJjB7FvYnZG*nJgwesbaZ!Gz1#Q`@Fvf^0eU8Qn%Mg^QTJ&WJ{@}eJso<q
zJxvQaO$#}#-shAu|5oF*F;2=mWRLJwZiKILBjPz7jELJV;SjdD9TBTeclk#&-ubUq
zq!IBZ<O|&hU+6}}n^T?y{e6D~mPX)Vgj$bC<@7eGoS*dAH=_C)uY#`c2z42uE+c9)
zLrU>HXhe0<Z&epPuUgoChwL--f;04jGxUNp^nx?A|1-4zGqn6OwEQ!){4=!tGqn6O
zwEQ!){4=!tGqm|LwDvQ^CufLH&d|=!(9X}$&d<=!&(Olp(8ABq!q3pc&(Olp(86;>
zAUPtC91%#4lIMs(a$>$V$cgzbq2~oTYLuf!IU<l85lD^*Bu502BLc}0f#irla)Bd|
zT;K>K7dQgR5rO20KypMNIU<l85lD^*Bu502BLc}0f#irlazr3GB9I&rNKUN!osK|q
zL?F4q5lD^*Bo{aW$q|9%0!JV@B9L6*2qYIc0?849<cL6WL?AgLkQ@<6PV-;C%@Ig0
za0HSg0?849<cL6WL?AgLkQ@<6jtC@&uX98oIU<l85lD^*Bu502BLd0A9D(GBKytK=
z91%z^<_ILmifE43k|P4i(PnZ)AURr2jtC@2`^gc3<Y+}XB9I&rNR9|3M+A~10?EZ3
zf#irlazr3GB9I&rNR9|3$BJl<)|ev#$<ZcrL?AgLkQ@<6jtC@21d<~H$q|9%h(K~g
zAUPtC9EzPI0?DD<IU<l85lD^*B&WV<P8@;ch(K~gAUU;pr#k}45rO2?XXQ;IkQ@<6
zjtC@21d<~H$q|9%h(L1mmmCpDj$V@^0?E;Lazr3GB9I&rNR9|3M+A~10?849<cL6W
zL?AgLkeqs)N<svZQ@^wA715k}pGvFVXY~9oM+A~10?EDEABjM6L?AgLkQ@<6jtFFw
z-a1M@9aTSF3`Xgvqx92J`spbBbX5J+fA#!*R6X>Z(DV0E_01un=kKHHeYQP+A5||i
zUIRVz8ddKwdj3AD-eKGG_fho@|H||CQQG_{ZGM#b`>0yGo}q=0s)g%GwPdIKjo+Zw
zYdekY`TM9^uhTt$A64tM?fLtt+O5&^_fh8WqcP9lN7VwI?)m$uTA*#u-$&8LQM7Rs
zZ5&m*Qms+QQReTXw53tz@1tnuC@p7{mNQDr8D;)Hs<z=b{|j&S{C!ky!?}3=KB~51
z`<F(1J<9xj6km@re;>uaqw=p9kZ1KP=I^8Osek3Da+LY|7}3QT(Z!gei}_$oJ~j4(
zM^uY3`PV6qF2(|nfMdZ6prea1qKmP>{{=9{m^h}m!s(Ns<BBojiZSAfG2)6b;)*fi
ziZSAfF~t@76%oZ45yco|<yh>0kp5lJ5yhAy3gh2{jwr?yQ5YRXjEQHXqlhu$hcPki
z6vq!^#1CUJ&j-h1Z-D>Cdse}9BctsYqwN@x!x)jn7?Hymk;9lG2fcyFVN6Ue2IGue
z<BU+_YWed@@yf$EvDP>v?>K5aPUJa`#*U+?<7nwPDmspSj-#C8DBd_)H%`1XPD>jn
zY8t1#jiY1ZDA+iW=Qyov9EBN2TgFk9apIzJTFyA*@;Kx2IOFm-<MKE<FizxomKn!c
zW*ldE<}A;gBmErd=SV+Cx^E{O3Vb`EP;DtK^f%&s;21T}s&8KH#I{%U^J*vlt5<~b
z8e5I-`+1F?M$f<Utor6z_06;Dn-_cft=frlQ9CjE8*!dh-#n|nc~*V%tPbU4jvVqD
z9sIWMVf*VtUhT)}BiR1>kk?4zbbo!w!*gCd+xEI>UfkOD%3GdQ-#n|nc_Pm|tG;>S
z&pfNXd9m&1-B0tZ`sUS^lp@B?3H^;YFWzkX>qDMZBi}GM6!?ZgAsiOqumFbzI4r<n
z0S*grSb)O<92VfP0EY!QEWn}f@6$WsumFbzI4r<n0S*grSb)O<92VfP0EY!QEWlww
z<LtcNW)2H*SWq8K%QlAvI4r<n0S*grSb)O<92VfP0EY!QEWlv_4hwKtfWrbD7T~Y|
zhXpt+z+nLn3vgI~!$~x45>1;Fhl{}^nl>pWZM!v2qG^+8+9aAbDNXZVt!a~J+9W(r
zqG^-#;z_aXXFOw?)L3TpjA;^On?%_rQMO5xZ4zahWX3c}ub)KUCegP^^ldWc8PlZL
zHd@~%#jtJ9Z6}#2Op06Eo^edl_b1W1NwjVft(&CpPoj8}DBdKBH;Lj+O7Z*#&zL4*
zeiF_nVS7?M>&@uiB)T_=?oFb5ljz<gx;M#;X%gL=ME8oYU4-o-Y!_j>2-`*2F2Z&Z
zwu`V`gzX}17h$^y+eO$e!gdk1i?CgU?ILU!VY>+1Mc6LFb`iFVuw8`hB5W67y9nDw
z*e=3$5w?r4U4-o-Y!_j>2-`*2F2Z&Zwu`V`gzX}17h$^y+eO$e!gdk1i?CgU?ILU!
zVY>+1Mc6LFb`iFVuw8`hB5W67y9nD;(uc)hO8OvFzczYD*>v!aS{HgrzUUH`%9}6A
zBeKQYIiW|xm&Bg!SFyd4{E{Lr<4?hV0+;*@`-om*AJI$fBYH_}>uqA&_*p+Gw*BPa
zV5h-mum$wK+?Nz78Hd4_dEWoQ^pav5qt_W;QamG63}bv7Smq}cu{h;-z;`HRhPuyC
z_ZjLwL)~8{{bkZ$CjDj7XNfasi7;o0FlUJ{XHm#mBFtH0%UPnwS)#;Q;=@@Y!&zd&
zS>nK1qP|(;y;+oP7EPOt6~y*ztO$B^m?esvC4QSFa+@V)n?=WFiPmO`(`JdvW{JvP
z!Gq^1^LfgAo-&`O%;zcddCGjAGM}f+=PC1f%6y(OpQp^{Df4;Ce4a9&r_ARm^LfgA
zo-&_Djn7l&^OX5KWj;@t&r{~}l=(bmK2Mp?Q|4D;{#BTNmAUq-8i^KzS2YqDuZxXW
zRdU-mz<)L3qgV0KtIPpk)hOfiQ=r$4U)4C`l(XOj=#}ADRa&Qeb@x?`9k$oNUx2?f
zG8=l8+0d&RDV$OY{<iQEWxhn2FHz=8l=%{6zC@WXQRYjO`I5#^{faVQqRf{l^CilB
zi85b`xy+X+^CilBNj&>kF7qYIe2Fq&qRf{l^CgXOe#T|KM42y9=1Y|M5@o)m5p6NJ
zLchL3zrI4hzCypgLchL3zrI4hzM?jx=hbG6?$=k;T8!@3SLoMQ=+{^1*H`G*SLoMQ
z=+{^1*H`G*SJbZbTeT~r`}GyIE2I1M75eoR>7n23etm_0eT9B~g?@d7etm_0eMOq4
zC+XK$=+{@IY3G8gj38GTL9VJ^^TAcs$mm(mRdoI;I)7DVbBgDWSM@gIJA~Kp={0<M
z4WC}ar`Pc5HGFyvpI*bK*YN2ze0mL^Uc;x?@aZ*tdJUgm!>8Bq={0<M4WC}ar`Pc5
zHGFyvpI*bK*YN2ze0mL^Uc;x?@aZ*tdYztrot}Q3o_<|kn-8wj)34LhuhY}7)6=ih
z)34LhuhY}7)6=ih)34LhuhY}7)6=ih)34LhuhY}7)6=ih)34LhuhY}7)6=ih)34Lh
zuhY}7)6=ih(_e$(*I@WHczX@rUMKx^(qAY2b<%GrJssRox)6`tkVm>?UzNvi;E@}u
z>5%Ljr2nha^#(n!Hy96!jT<qqKHXsT=>}^`H}KRAc}j1Sr;Mlh?Fi_ectc)u`dPnU
zJQ%IgH{jt09=stooNgt#q4gQ#3UBa#h2M}Ljlc9W`0)mQydgj8&GMu1w}lJTbb*>K
zP}2o!x<E}AsObVVU7)55YJ2B`1!}rLO&6%?0ySNrrVG?`ftoH*(*<g}Kus4EZ~G0d
z=>j!fpr#Adbb*>KP}2o!x<E}AsObVVU7)55YO#KgYq~&97pUn1HC>>l3)FOhnsQ5K
zz%7}<O=@~mHC>c#wZBPCZ>pxYt@bzRW!$G3aG$2o-yCn!%Wl%kZc>Yz^s<|(g?>dZ
zyGhA!(#vjA@|*OsoAk1q^s<}uvYV9oCS|@!FS|)EyGbv*Mf<!(`@BV&Z&Bu3l=&8A
zzD1dDQRZ8e`4%nt7A^S}Wxhq3Z&Bu3l=&8AzD1dDQRZ8e`4(lqMVW6==3A8c7G=Ig
znQu|%Ta@`0Wxhq3Z&Bu-Qs$ph=ATlMpHh;ak^VE%e@6Px-b~jU=7XQ<4fDYwBgG;k
z#UdlcA|u5jBgG;kg~mhiyvRtg7<i;uWTaSRq*!F6SY)JFWTaSRq*!F6SY)JFWTaSR
zq*!F6SY)JFWTaSRq*!F6SY)JFWTaSRq*!F6SY)JFWTaSRq*!F6SY)JFWTaSRq*!F6
zSY)JFqOUE{*Ou_+lDyd!EYa7N@a7VIZHd0NL|<E?uPxEnmgs9s^tC1W+7f+j2`?|v
z*OusOOZ2rR`q~m6U!t!q(btyfYfJRCCHmSD-e01xE#dto`q~nGZHd0NL|<E?uPxCA
zmS_V@^tC1W+7f+jnVK$B(`9P9Oih=m=`uB4rl!l(beWniQ`2Q?x=c-%sp&E`U8bhX
z)O4AeE>qKGYPw8Km#OJ8HC?8r%hYt4nl4k*Woo)iO_!<ZGBsVMrpwfHnVK$B(`9P9
zOih=m=`uB4rlvoqRsWn;{c~FN&uP^^r&a%)R{aKJ<r`|Z^T8X8m2ars+V*<U8;q52
zFjoHmB)xxpTvvVOKXb>{)$4j>D$Bv91cVTZ5JCu{kh-p$_4@1A($HUDN?Jq;Z8!V<
zvb)(dA-2>X*+h0Gwk#{|w|#xL5J$2}f@~``L~-m&!^BPkC?UZy(DF+)f)rV{Q&@v6
z%OlTdZtm>!y!q#Oo!6N=_uTuO=RD_g&OP^@B7J3%zOqPPS){Kl(pMJgD~t4%Mf%F3
z?onsZJsRCd6uHNu?#^kirz+A{7U?UC^p!>3m-6W=i}aO6`pP1G<r4AC67kFu@yrtO
z%o6d;67kFu@yrtO%o6d;67kFu@k~i)*qtu%T&$$?D9!9*iTU=DM$`8x$Irz|Y0qwz
zm~|{M>saEsSc&IiC7z3wcrI4bmH0efnNvbhC7z3w(ta*h;<;EU?K!TJuGU9-WlkyW
zXB;Il?|+>m?Ugwt)q-=pGN&X>8oe^7gfdHMugoc_c8q>5R!VziPDxtzkzSco;<;EU
z?U~pT&&5h<ugoc_HhmsH7b~ewo%YI{lGrnPWlo9bVkK$bXY+Hh63@j-JQpkRT&%=%
zv69%<zr?ojE}xC(VkKr`OSF*^&&5hSH7Kb@d}N=`$#bz1&&5hS7b`JmTavnb9!Dl6
zT2?98McQu)l$gscNp(&SlJ7SKO2H86M?kL(FG-Eg_sX0S&&5hS7c0?1OFS1V1zwp`
z;<;E!ZC3ZobForD?FU|&Q(~65Bvt!tUT0pCww?By0wuL^|H~_LN^0XqM-C;mai_g9
zrzHIwy)vi7d~!)`!DsNwoRV6E(;mx|crI4bOo;RST&%=%u@cY4N@_LEM>9O#C~0oQ
z|Mi;!CAB7_Bd!w9#Y*xG)i}?^N<0@UF>75?i}R5S9O;!gC1$WoYJE<7X1FA`@%4LU
zPDyTK^vawP&&5hS7c1dBC7h?kvyzh9tj@r*l9F1k(~js$I8uq{CMC5*-51ZrO3a6s
z)Vh77SLT$|#+~*vl#*KO?sS<xw@jZ~rq3<Y=a%Vn%k;TrwV=!CGJS4YEyZb%&dO4_
z(WA36eQudPw@jZ~rq3<Y=a%Vn%k;Tr`rI;oZkax}OrKkpqI5R;+%kP`nLf8npIfHS
zEz{?g>2u5Uxn=s?GJS5DKDSJtTc*!l=I)lcuVucJwX82!jHj3RUdnRneJXJ|^&#+P
zaI0#EJ+g%#A^khxNBQ;t20sS=5&0h{eLLwtCjBR159k^GWxf=;oZ3ZtH|V#Ims5K{
zk4%?S{|J5#{5<$5xE~w_{j7PJFNH3r4v{_#9s$Qd&kwVIx6n_%*uPu&WztWBe(J~m
z-9kTEVE=BRXT{mSTj-~s%c;|#=Wmx&FMuA8ET^V8@+HzQllGTFms78hew8D?N%{<F
zx4z}nS<>Gk?fGZ+1Q&XR1ABrC-E*-gxX|lo*b`jnCoIb;Yi~LAZ=lEQ%PB|f%lZ<F
z(O(K(PC0sC);F?@o?Tf^*MNSXaXDQFdR~Pc#)Y0;VV`l~8qy6ei?7+R=eW{dX|tSu
z8~6^e32X;Dz)r9W>;^v!`b(k9d?|D}{hv7VN61H4X>>(PS*E2d^QF*beVIi6;!B~+
zd`pKN&y{nh|I3#`m-$lYa>ic@UDg+|bj^GzbUE{G(*9EDGG7W^&fG*!D>?5a?JtEc
z^QF+`OgriKlkYEuF7u_(WqlFL=?{|MMfyXe{iV?5%*~{40XKjf!A;<1a0^JA;#)xM
z!><4SE_d;J{QCQ(|A6!#lBRuSXkQuHSBCbLp?&eC(B;f0II@R-eUkJYr2mxkr$~RA
z^q-ObbJBl7`d1wOKjeG{{BPi0pr67o^QBPj`JVctwDx=ly;iwGTvWkHw7<FYiHNkz
zIccw6j`5rr&xtuQ#&cpkC&qJPJSWySi!SSU^Ao46jTp~~Q`SbTuk-m=drq7(CvnQ0
z#3^$Ur_4#5GAD7$o)f3+IdRIK6XQ8Co)f3+IdRIK6XQ8CUxkYCoH%9AiTNs2tgj(C
zZO@7MDpZ`Z=frqUjOWBDdrq9P=fo*{PMosm#QH9u(Vi3Yb>bM$iBtBRIAza?Qxl*)
zCr;%-drqA4bIcgeiSe8`WzUK6oH%9AiSe8`WzUII_MA9n&x!GzIAza?Q}&!VWzUII
z_M8~ciBtBRIAza?`8sio=fwIhpY!cGacUa0=fo*LbC2<y7|)6EoH%9AiSe8m&x!Gz
z7|)6EoEXoE@tl~i6UTT?oVMr0X|G+6@tinaPuiXnr|mg0o)f2UAZ^cy@tinq&x!du
zam?3=W4=xtr|mg$+MW~ZyL?7_PMo&q#CT4O=fr7yPMk(pcutJx#CT4O=frqUjOWC7
zPOPu+>8kLY7|)6EoEXoE@thdXiSe8`W6z24oEXoEGxnS~W6y~*_M8~ciSe8`W6y~*
z_M8~ciSe8m&xtekoH%38i8J<`7|)3__MA9l&xtekoLFDsGum@veTC0Ro5FMA%ty(w
z=foL%PMopl#2I@|%ooYx4DAcgiSe8m&x!Gz7|)6EoS3f@#~FK0oU!M`e6K9d*mL5H
zJtxlCbK;CWC+6$KF<&Q+^%Xwn*mGiih0kcuiS-pe<2}MR@timDoHykp<I3^-5pUuo
zZ{j&`;yG{PId7^4$I}U(li)cCM<#eqg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-to
zcus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPe
zg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocuqo`li)cCaZZBgBzR7O=OlPeg6AZ7
zPJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-to#5oC`li)cC
zo|E7?37(VSISHPV;5iANli)cCo|E7?37(VSISHPV;5iANli)c?+Mbi(ISHPV;5i9#
zPJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O
z=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-to
zcus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ}ISHPV;5iANli)cCo|E7?
z37(VSISHPV;5iANli)cCo|E7?37(VSISHPV;5iANli)cCo|E7?37(VSISHPV;5iAN
zQ^j+tcup11sp2_RoTQ59RPmfDo>R5w1SuW4Tc{Zxp}vSNd=F_wn@YbAlzS_!SW&pO
zIxPH8;77pU0p-ui*H?&z9|Ql0{Ew5qo%A1*{u9dWA^mCorLPd{U-}BMa2Ker5G$>(
z5DWDcV&Ptn{73L};OD_d!TsPc_(jSZ1vPh}{~iYQR-n>j;8UR9;8TvC;|TQ?V&Rv;
zr@?;$HM^yJJ>?N<?UwK>;B(+9?&374^@sXZYfXjv3bAmCW3<LhX}!}b)K`dwn$r-z
z%GG|8^cm9n3bFFflGgi2O6ysqP%HC=djCkM)#F0VatJlcA=I3hP%HL@TCp$G%%o7y
zzJ)&pHA|`Vc~EZ@Dt!UG2<j<JkdpHl^|cnEzCtY2tiDhyI)s|r7ivX^a1H4O(rZcI
zKw4iR*01^su~1(j7V0a+LVbl;sIL$UJHaln8~iY+-e14o3MvLrT3;a+qBnVw%hgz3
zh~DHyI<xewW29u`Cwv}xk<*{_@$w=aFE4UhUm*@s@*@4}uMi9M6=LDLNb4)aO23=5
zzCx_DzCtX#i5z`}Sn2nYZX>O)5GzMtAr`)$w7x>D^an_HlKvp+F47+&-A(#t(zk#c
zz>VN0a5K0C<lg<gP@Vas<oqt_-y{9|r2l~QACmqUNV}64`Cqg<d6Cn9!jYdK-9!45
zr0*d8r=&kcnpP<<@;$<#ze23^uQ=3~zLfq9_}@T%g;+WI3b9aMAr8{^BB91yLd8Eq
z#XmwjOxj)~)K{d08gmKlMM3H}jA_m72yX)K0}p~nz|){c5IW|^y5>MLx<aj|QjX>)
zot_}A5sK2!lYYTzt!2_NnnQE?@0HF_Vulhkl$c4o#Ee#v8C_yVYr~8#F++(NO3YAV
zh7vQBn9)4vbdaIMjOI3#ro;>-W+-t5C9a^v6_mJw5?4^-3QAl-i7O~^1tqSa#1)jd
zf)ZCy;tEP!L5V9UaRnu=pu`oFSR+5bFR1Yzf5P7cH-ei|Yn8KA_f;c5-!1$I_&eZ7
zRgX3Jc@2JEqZrc1*w1SeLpp6guTczXw4c`~hICmEgS$Y@NGoRm)Qq&!k5ld!Im0NW
z9|8}9=DbEOZF~yUcRZ9n27U?rGWaz3PoUn1(lL{u-oIA*E8ugWUAji`q0uf~gG<-Q
zrF}h9l=2ekmq}~pS^2M!{w8O54g40UIcNR)FW~n;J*`mAG<Xi20e=Gi8zs(ybKphL
zu3Lla*5JA|xNeR7R%esb8XLeHK)Y)V?ph;vbz0xm6lynQp>_@x+G%TW+8Ug;Mlqgq
z?6fuh-n;M?j@;l{&==^9+6P&P66CaEULNbx(Lh>zTq^zN;GN)q2mh8M@0ZSN^aVU)
zKRNnJq0%{W^wzM_yTCo5`|+CeK92nVIMOY#CjAfK{{kNa4{;58(xhMY?wgQWPP?zH
z(fqdasSC|-JN>U51M`~S_VGUle*ylIvNV&g{AC!3!NjQkP(09s)Tjs1G3r5dRq8u*
z9{P@&;4aeJ_;ow@VD++o-9f%1mYTq^N{wd1jeiH808y!)SvX(Mzl8dVk?=>p7eAp8
z+RbYGoI>axyhd~8KHj}{O<<R+(fqk{^c+ff&FE(eLalNU>RlV5d&3$%M=-7-=dGlF
z9n?E|%D<6(?MAKiJAJ3>4V``$Y3)X>^t(xGH)^F@z?;ZvCH-E~ZKU5vx}Eg<Nq3O`
z0O?NBA0*vH`a`6<N#9KR7OrXosIO|PM1ApFxEb66ZUsLI{vP-TAikuY&d2Mkn?lC`
zHHxu~p9233q&DfrYBKJ{YUssk{4IT@-HX-Gi`CGJ)nx9qDl+$h+d=KVs@}_v8sexS
zjvA)ysA0;E8sexSjvC^qValy3)Tn$)=m<H)QPm5QZ$}Mr)DTAvanuk;4RO>EM-3Gl
zyIebJh@*yzjh(imh8l6Z6gz6D5x3Ef8fwICw4;VNYN!#nk30t2QA5SOMmuV#5x3E8
zEyPhn#l243QA3Tmjds)!M-6e*5JwGh)DTAvQ+Cu)aj(m@qlP$YsIj)sU`Gu#zBalQ
zhd64e_||DVYKWtTif^5EyABoK8ttf|M$<++YN!#k(T*D8s3DFT;;12x8sexSjv8vD
ztn;Mps3DFT;;12x8sexSjvC^qA&wg2s3DFT;;12x8sey-b{0}C;HV*v8sexSjvC^q
zA&wg2s3DFTrtPSqzA|dGqlWsX=(Ny|8sey-zay%&9W_kbQ9~RxOxsaIeMi)2M-9_<
z)G%#F4RO>kZAT5$cGNI!M-Bb#UT8-Ranuk;4RO>EM-6e*5JwI5#L!3DQ9~RxOxsaI
zJrj3XcGM6@4K=H(R-kz-A&wg2s3DFT;;12x8sexSjv5Ab)G)B4hJhV5#8Jb*jvC^q
zA&wg2sG*)MIv<tds3DFT;;12x8sexSjvC^qA&wg2s3DFT;;12x8sexSjvC^qA&wg2
zs3DFT;;12x8tNIPu0hWzjds)!M-4T;&|ToDA&wg2sG;UMoNq@BHP_*^9W~VW!Z~)-
zP~!`y?Wm#VI-Itnh8kZuZAT3?zHr)(8fvb?X*+7Dxell8sG;UMoVKHen(HvyQ9~Rx
z#8E@dbvVb48fs)=w4;Wa*)ZZuIBJNahB#`7qlP$YsL_Fsw4;VNYKWtTIBJNahB#`7
zqlP$Yh@*x$YM8O3hTi)%s7-mCRh#mtsy5}ZQmtkijM@o8s99p+Z>p@?l<%cB<=&xI
za{@l*AHmOoTFIcCN5TEzFgU^)4uA*2FMyA8o>w{M40smQ>H?kTb?~R)dGLZ!<6@&$
zU<%iOYeDx5wTkME@ALW7nj05>0Ms)$r9GEYoAz8vt#(7uU8G${wcblY=oyvT^k-Cq
zwfg3;QQxQ+ZsXVO{MtwQZ@}H0=OD*C&aX#Edyb-3t8t9_4w6u7EregIeoAO(uGPrG
zzs_==U)|R-=@?9mK?-!=TC35tjt~B`OVrvGryuayf_~CFIVK10B4+>`1c$(V;8B;Z
zQH;;<EO-*sH<Xm)nU-3;5#ti|4JG08<i9}vi<J0P^0}Ab>!e=>Uje_*G44TXwU)zY
zTL2fqH~E#j(>pIZ#;Y%cj=F2T21DrCj9QJPbUhkLIei=WyWsDGe+YgI{5bf>;3q)O
zKh$b|&-iH&_A;=S`7h=$^Z$bX75wku{{a6IyqD{_58Mv^y{;!B_K1i*B4Uq-*drqL
zh=@HRVvmT}BO>;Qh&>`=kBHbqBXgZIVl)>Kdql(@5wS-^>=6-rM8qBuu}4Jg5fOVt
z#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS-^>=9|s&DY@ABO>;Qh&>`=kBHbKBKC-g
zJtAU{h}a_{_K1i*B4Uq-*drqLh=@HRVvmT}BO>;Qh&>`=kBHbKBKC-gJtAU{h}a_{
z_K1i*B4Uq-*drqLh=@HRVvmT}BO>;Qh&>`=kBHbKBKC-gJtAU{h}a_{_K1i*B4Uq-
z*drqLh=@HRVvmT}BO>;Qh&>`=kBHbKBKC-gJtATc?WJR#5PL+#9ucueMC=g}dql(@
z5wS-^>=6-rM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS-^>=6-r
zM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS-^>=6-rM8qBuu}4Jg
z5fOVt#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS-^>=6-rM8qBuu}4Jg5fOVt#2yi`
zM?~xq5qm_$9ucueMC=g}dql(@5wS-^>=6-rM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$
z9ucueMC=g}dql(@5wS-^>=6-rM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$9ucueMC=g}
zdql(@5wS-^>=6-rM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS-^
z>=6-rM8qBuu}4Jg5fOVt#2yi`M?~xq5qm_$9ucueMC=g}dql(@5wS;>*dt5qktO!X
z5_@EcJ+j0eSz?bYu}7BJBTMX&CHBbbN$7Bp)ss-8V~?z!gc==tWK)hkvMI+N*_30C
zY|61mHs#nOtET`y#<53MGyg`%9$8|KtY+_>cI=T&xsT2gdt`|{vcw+Qv}2E~W)!s}
z1+hn#*dt5qktO!XrX71^i9NE!9$8|KEU`zH*dt5qktO!X5_@EcJ+j0e*|cMiY}&C$
zHtpCWn|ADx)x4$4b?lMV?4{F=J+j0eSz?bYu}7BJBTMX&CHBY?dt}qUx-Z8bS?%;>
zbnl!c_Q-0d2B+P7W{Ewr#2#5<k1VlAR`1yQ7{?yjz_CX*aO{x{9D8H~#~#_hu}4-j
zsJcR8k1VlAR;yK=@7N<t?2#q*$P#;Gi9NEKS@kiFJ+fM@>QWqgWQjepfn$$s;MgM@
zIQGZ}jy<x(9$8|Ktk#bD430gr0e462ktO!X5_@EcJ+j0eSz?bYu}7BJBde#7Izz^>
zM>gZwBb#yTk<B>v$ZCe)=-4BhaqN*L_Q(=@WHpEH9LFA6Vvj7bM>gZwBb#yTk<B>v
z$YvaSWHXLEvKhx7*^Fb4tY(t6(~0yjE!?ItT9Y&&^gbHF$5YxhK&br!f{zD&e)Mt8
z=T8N<D}T4pGf}sz-!c9<cqjN7o$Yq@KF)W!w@YLCSNgAX&fC==4GZsA)Ox%3*APAc
zJ_tJIyq&)3cJ)m@M*E=%2SDwIqO|ry5xU-QSKnm(d+;B?|DRv~7wOND)_y2DW<U5C
z`NO0~jJhvfr|!$Bb%Q~V-Ws@1sMWkeKP~N%hZwb=ozQW9kDSElQB03KWL&rr^!TNR
zXPQ0o5Fg`bnmyjnPUvTvJ@OEvpK12s6+JvL?2%VE$4?1+cs|&}^S&OQ^!4zJuSZ^?
zU*#1>Ke_9XR~Y@Yt_QE^!7F;?1G*}Fpa&o5;VD~BTC19suT{;$#7KMW2}0jX;F-oA
zp0D-re5yzK)S0DEqn}3gNS{VOhw9-8RFCxOw4XZlNS{VOY3h+ajaFR`s_Q{@J*e)J
zemf)hq<9vpbfexk5AKk<#)W>abcfV6E%bTrP*h{oDjlJ<eMkDUr0-Kb-hq1WNcWQ8
zN4}MOM|#kxTGrWA%SLPaFH*PZ`P5&eJ^_9*^%<q_0RI&H6!@Ys-Qr`?t>ABvQvu&J
z1~)rD_%Qfs@Xw5y&-&NQ-;w?Y;hie+Gr~`RF7ZxEyfftz?@YPGJ5w(4PL*hE1zqBu
zTH9!JiFc|*<A=ddgMVhE#5+}@)Bhm63x@B4;k#h?E*QQWhVO>qyXEtjgS!>QO$+rE
z3!zpF3Xg%~;BoL-ew`rgXD)ZApC|ny_%-k)j(G*tias6l1MsSmTDY59xI5V9;}xMf
z|9<cRa(0r=fsd2(Bx!xcLPt)xTz^+VsIOQEPjSriq`4A*S3&u1O?NAnGwK@!!tayT
z8bYOKz@LDAR(^Nz2FDb^>*SQd3izhc-&GKXU>&FxgUZobL7~>|2(>a$_;zw`RGK}%
zgx2$4DjuE|{s6pcgcEk}QhGZ%-!bZJ#v6tAs2<0Kkx})f9MzQ3PcZLM|7(1SoF9XB
ziF;Jz%2$mW9{_iXy?fN38jo^}Yxy3r>SO$r^B!^QU-bnfq3ib^^^(RHIfk;tq>q2o
zsQzwP_!e-TkK`HUy}IVz!M(a>q2CD-dS2q*^iOo=d;KntP;co99VguDx6Fcjb<H|n
z*KBm(aj)Nn5qfs?-ry1N3DENl_tLZ98+?WTJ_nxWSNH7q`Ykh|R;UWULB7{!-0SyE
zgnCO?c!~7S!4hZiZ1cTA4B8>@&D8kUOfBeHg?s7K@1-CAtlyssKC9@+Xf=LTaglM>
zsHn!+5AFg7z(H^b+y_1jo&>)NejR)nd<C>}KC1}CxBxDKiBY2r<0{a7#AkJ##v6p&
zR3rBZ-LGwviiU+pK+hv><C?cgOU{1@w3fDU7u!@vN~?Bsq-w`_4>=F`NX2R6Lig9(
z0{3y-f)Q{G^lF@Kip`wwcx)R=+eSRLjd*OEl;&g1+cqi9X)~}*ZP{t_uubup(_Uk<
zO$s!cjcxv(wr~!7lYFzWEt3K3T%zCj6TXGCIoYOmsxzR~?J%<)X0~grIvs4+DAhOv
zTDRNL?RJe=o$n_U+tKZIjb5Ge3(y+g4oll%X}d<F`V}Q_XB@g+<51^V)!R|^c8y7$
z-UIFht@G^~nHsJ0?HZpt{ZF80(zZ+U&Up^B+P8}_m;QCoYTxen4TV1-=clBvfOekk
z8kric`R#!<za7nQR~)Of#;W>Nqg3N+wa4w!lJTwNc=l|&#;VgnFYNWgUN5@pMOVFy
z5qi;8FS_bQSG}x!=tWn(=&BdSdSR>=UG>VZhJ#*o)r+or(N!<H>eW}IRIVJ%$5>ar
z=&Bc8^`fg@bk&QldeK!cy6Qz&z38eJUG<`?UUb!qu6of`FS_bQSH1E&mt|e`qN`r{
z-hE12SH0+}m$uf6u6of`AI$W@Odq=HLsxz1st-TxLsxz1st;ZDp{qW0)rYS7@Wwt^
z>Vu^|bk&Eh`p{J$y6Qt$edwwWUG<@>KFxJZ2YvWwAG+#8SAFQJ4_)=)rG4nC4_)<%
zw_*Luy6Qt$eYj{Jy6Qt$eVYC7nXRin&3G8Ct3Gtqhpzh2RUf+QLsxz1st;ZDp{qW0
z)rX_@p{u_V!<U1<61SIwzajlMr0*wsxu5>@etOUQi74)uS}q6oOD#r62=@~q+^_#m
z2lwm0)4>D!?|s60qhg*Z;W4?^1Dd&V+R?=W^wAH{M?avMDE&*N=y;W4+~(uysUJ{u
zq2m=@_?UC#&wxKM%8iZge;-hUpd;ziA5d)Iw0rgkrI5=)$G{KLOFk%7IQ<jQz2t*Z
zg>x=|OGYWd=xF)D;0Yh2+H`snbPxET>drY|1-}lu*LzU4=6v^h52}uw)_YjO7)*@x
zcMsCvJ*YZzj^4u(t{3*he?R>9tGz3S=&@g|-sz`w=6<5bezEHGanR9YzZiCoqsM-t
z$9{j6OX;tHjvo8{RW6~U$9~m<(a~c+b=^;0_Y*z#6Fv45J@(5nbRIO&j|Tb!_sji(
zqsM-Eh0*ofk2d<zMnBPGzg)t<awSBM{X~!bM34PMkNrfC{i<c3)BQrf<^YY39{Y(N
z`vXUh{eh#$et(rqSOFb9_7gq!6Fv5$$$m81PxRPN^w>}I*iZD>FNNp}2q<I+3fX}|
zcA$_QC}an5)D9G~1BL96SLk0TWCse_fkJkmkR2#wM_`5QKp{I&$PTq`|H}&5fkJkm
zkR2#w2MXDNLUyPX>qr!`1BL8BAv;jW4iw^@C3gqjSyHIz=(6yToMfj|ai4IU^aS`7
ze%1So%J&M}o#}6q*4JE>cFWo+4LI!{c_+@f6Sv%{yLOKI-<|%NtI)mhPR$|vY*+c0
zzUCTuUrSwylw)*{yi-w`j**IVJyMa*uL#XKJNR`MY4^)JHRI%b_s%;t@8q<-bZ0O`
zdLQVXdZ)kUD%96pg;x7c+;yjBqMUZ$y_4Q&C;iS&^*hed*Ib3Kkbaf4=LvU8b-pS`
zI6Ikz-YM1jYJURSb$2Qb^qK9wI~5H&ZNJ*7St+OO!#nA-b~69G6Yt&0{PRv6c&D_d
zvZOtgr6^JV!iRU_z&oWw|9Yc-eTY{75Uu_p9P%L?@*y1ZA=>6cw9SX`#)ojlhj6@y
z@VXqT$f1fHs>q>=9ID8nik$pmILIlMzAUsVa;PGQDsn1!Tsc-n4prn(MGjTuP(=<^
z<WNNpRpd}b4prn(Mb6*&4RWX=hbnTYB8Mt+s3M0da;PGQDsq8Uk)v15p^6-;$f1fH
zs>q>=oaQ8bq*aka6**LqLlrqxkwX<ZRFOj!IaHBD6**LqLlrsowo^KfRgps#IaHBD
z6**LqLlrst;vA~Tp^6-;$f1fHs>q>=9ID8niX5uQp^6-;$f1fHs>q>=9ID8niX5uQ
zp^Ar5#lxuLVN~%js(2VxJd7$HMimdEiic6f!>Hn6RI!UQ?BWc&IKwW^u!}S7;tabu
z!!FLSi!<!v47)gkcaI$pynC#WGwkLJyE%iN{W_mBD0)?m?B)!+Im2$wFu)lGIKu!v
z+5kP;06p3OJ=y?0+JIC#9SqQ;4fs2gO1noJphp{^M;o9=8=yxUP{iwF+@lTX+Klee
z26Sygu5Ey88=yxU&=or0^C1KDXan?U1N3ME^k@V0Xan?U1A%+A0eZ9ndb9z0v;lgw
z0eZ9ndb9z0v;nC|S1Sg5{_m4^k2XM$Hb9RyK#w*+k2XM$Hb9RyK#w*+k2auqSpT9&
z8=yxUphp{^M;o9=8xX@Pg&u8y9&JEu>pMR5XnW|<_Ryp4p-0<8kG6*%Z4W)#9(uGr
z^k{qN(e}`z?V(58LyxwH9&Haj+8%neJ@jaM=+XAjqwP_9QMvSJd+5>j(4+04N83Y>
zwuc^V4?Wr*dbB<CXnW|<22sc$3K>KpgD7MWg$$yQK@>8GLIzRDAPN~oA%iGn5QPk)
zkU<nOh(ZQY$RG+CL?MGHWDtc6qL4upGKfM3QOF<)8AKt2C}a?Y45E-h6f%fH22sc$
z3K>KpgD7MWg$$yQK@>8GLIzRDAPN~I<{3mGgD7MWg$$yQK@>8GLIzRDAPN~oA%iGn
z5QPk)kU<nOh(ZQY$RG+CL?MGHWG@QYi$eCIki95mFACX<LiVDNy(nZa3fYT7_M(uz
zC}b}R*^5H<qL95PWG@QYi$eCIki95mFACX<LiVDNy(nZa3fYT7_M(uzC}b}R*^5Hh
z13F+2=wJwi455%A6f%TDhET{53K>EnLnvejg$$vPArvx%LWWSt5DFPWAwwu+2!#xx
z5O$gl*lAk0O|5bWg$$vPArvx%LWWSt5DFPWAwwu+2!#xxkRcQ@ghGZ;$Pfw{LLoya
zWC(=}p^zaIGK4~gP{<Gp8A2gLC}aqQ455%A6f%TDhET{53K>EnLnvejg$$vPArvx%
zLWWSt5DIyO_V@_x@ew@#5pgmdJc8#xLaTX%R`Up+{|KJ{2%i54p1+S-yM4^s?Mt81
zfA=v{v5)v+AG3D*n6=xdeqX<;$2WS`Zl8L2qi5~*sZTe0)@~pD_&)maee~n|=)w0%
zUH)|*^sL=J^~FZdC+uU^ZXdID`=l%9{2F+J@N@nmdhj`a5k2@EzkZHiKTjL^JZ<Fj
zDF5>)-#c-S2i}QWC>>4<kAR*lepHGwzC_NCLC@?xsxv5GXE1uM_)%$QO6a-bN2L=V
z<C&I6r569{x#CBq8UO0J;zy+x=ez)VuJ}=D#^|}?M^)EC)$g#-bH$IUPIbK6&a@&V
z&lT_2H4AC)`_<lumG)fme%kwf)yufjo-5wZe8_%XvyRs_8~@Vh2|TN|pV^Q7%ysO?
z2lngA^)Fqs(R0Q7HNRo>IB37F+4-I;-mkhddiHF;;x41dMEg~P&iAN!f8Y_vez}Ct
z;CZwCatWj7iudCZ`*Df=sxO^c^=0&o*<;=VNLX)_KkOFz+8&c9IPH=0V{!whJsN#X
z+V-zM0IwRo2aqreZX;(q=%=fX(Yha_{XRx(eN3%YXOsT@-*cefD11!q)acRcW3<7?
zXoHV2Yw;Mf7LTb7>c46=I#R9A=^K?EMtj3(Z<zWT#-E4r=V9t=7=PB6EOk}G`13F-
z9Y&?Y)XOmbJd8gNQy0Vd^DzEAj6V;<|FHPidEkE-e;&r4hw<lO{CODWhhcsge;&r4
zhw<kTImU1>;x8!)J?a_Jp7U)&&k~HNF2;pN$npC55!Hxuto9LHVg#2M@i)+v<FV?9
zb|i56Ea`87uCEb|Q2eid=FI;BewSar2Yw%PosOh`NO~IlSN?U5^p8N#CXJ+D2mg)p
z{FHos{Y?4iNqe3ANZRY<N79$TH#qX&N&lSx{%@}HGC98>$7{St<d#0qBI#=!QzU&I
zEE|KsXA3-+J`$_|YyB^|tMM+ME%+ZC=_ef{fuF{Xs3#JK@?Ia)N6ugK>)(?0v;Gm>
zbwpz;pTQnGqOq0JcG?k*t(>;sj%aM<v|V=u*B#N=$~k_rKO*N)E$Ay}PJaRPoY+Y4
zMbNW+Bl^mj@hOfx3VxX!&-;x8$3Z*!h(>2Vv;BNTqcf-Vtuvv$VkCH;^jEpBuY)h~
zUytQS<QqPl$MPd`52x)OBl@zL(;mH!&=N=VWi#iX2Wi_Zp#il}^X8TLBWj_>pYks|
z&q(m^AoZwkn)wXwQ${q_^O@bVjA*RqwELG4jrE*fBAvJteZfrs(ihB(HO{BKjHuQ7
zSN9qtYWq(6S@{S(&Imouh}^(Ac7qXp!OUlH4>h8(q4U?78I2H~emiKdIG}bnCG`B~
z0lAsc<M#vdG^ahQb0F>cv;)$)(e8SHG5Z1OQ^%+`H)g@R{Ht{39M9DpU_5?+k@x||
z;0G9YA7GSyfbsPKaqi<iXL5jX@c~A}2N(+<VElW4k?#TBosML*dw|jI0Xg1Oa8QnC
zjEw44jiZ`FIH<nWY0qaKq;EZ_zSU{>tp|xE4$1?SmisAR?q_rldypRXAU*6s^{~!A
z#*rS=9i)dns2<k;Er8FH?;iG`qB5W1tEAn}9wh2GNN;;kit;h;a}N?@93-+jsM^$-
ziLVZ-PMux{x)=Te_xJ_w@e5q-7r5Flpn)%-0d}qr9w#PY|9YhzJ9+>5DWUJ$yV#El
zeb?+|FZ`dW-xfY74`*L{q1!wA+6&#r+1Fm^nCfwOV0U|^-4Y*%jmOnHIPIR=JKY;!
zcDeM|kE`7|?OywFG2ma_I@tAI=oaB!@0HITvD3ZM*6`!RAx}t|mxCvyN#hLoI_Mer
zC!|c{FO2d%;|@??GFN&JsPDxo{deFA@Si}>!#_cf_Jpp@>7RmEK+gs|AvGF3zxsqU
zY0QF-37>%fC!|d0|GMx=V&Er<fuAJeeUgaxNuvEHiT0l)s(+HG{z)|OB(?uV?+6f#
z()W#0o1^q`qtxaowK+;{j#8VW)aEEr@hG)9N^Oqf;iJ^%D84;PZI0sAqtxaowK+<h
zJW6ejQk$dH<|wr}N^Oo(o1@g`D786CZH`i#qtxaoE;mYTj#8VW)aEGsj8dDU)aD^-
z^ANRph}t|Phq)XaA~HEdZ62aF4^f+ksLez26CFcs9+ICp?b<vfKQX#C4-uanqBajv
zn}?{)L-H2?>e@U+Z62aF4^f+ksLexM?IEuA5Vd)T+B{5M9HtfyQwxU~j~r$Uco-)+
z4F882(;bHS!!Ums<`2XCVVFM*^M~R5Fq|J|9CsMUILv77u&#ePI4sVGg?_4jn9<x}
z-I4R%b`Hb#Vc0$_KXFcCWXy7yG0S1@=rDJ582%4?kEh@WK7Ry<KZ3&_!Qqc^FGs}x
zw2twN{SjtgkKpG=@be@1`4Rm5i1_z0CqU1lAK@;JaQ#P6%Mo;PgeyOS&mY0(kKpr1
z@cAQL`4Qay2yTA_pFe`nkHP;K{Exx^82pdH{}|Ui2LEI5KL-C}@IMCsWAHx)|6}k!
z2LEI5KL-C}T=^LMk8%BD@IMCsWAH!5U5vs182pdH{}}v_aTjCoKL-C}@IMCsWAHx)
z|LkQSu#3IWJ?vBP{}lJaF80bX|LjmNbbtC3{67W%>^rX<^Zyk5KSh7~6nDX%^2+}P
zzuI-5;>y`6Ug<03_<6)r@c$H7&W`W_d%+96mf$J)KMMax;r}T7ABF#;@PCwRJ_`Rw
z;r}T7ABF#;@P8EkkHY^^_&*B&N8$e{{2%4YkHY^^_&*B&N8$e{{2%2mj>7*@_&*B&
zN8$e{cX1T{kHY^^_&*B&N8$e{{2xRA$I$;V_&)~!$GDec=>Hh}A4C7g;Qtu>AA|p6
z=>Hh}AA|p6@XucJ0lUl#&Hpj<&;IgCJI*-<|Hsh(G5BYf`QRA(KZgE~!T&M%{}R2x
zmzZbx5_j|^?&!;m^}ftl@5_wfzRU>DJG>7E-r;>(=<(FkjHlS=U1^V}o@PAd-QIUA
z?eUa%dpCZ?|Du-J?Okcd4^K0m@}BQbJ7)Ht?>@7~Q|$RJ^myv&w8vB4^WEt2l=po1
zkseQZ&v&E8Q{MC4X^*G8=eu(}o?@SOp~q9~^Dgvw%KN+<J)ZIo??#WOo=$r_<-Ohg
zUyrA}!@F}lp7IXwPJ2A%9p0Vxc*^^{JMHn*(`k>Vyu-WB#(2s*ygTjjly`VHdOYPF
z-hHIUQ{LO%X^*G8x4Vz=c*=Xb`&W;rytlitpB#^;*w0<)@f7>H3q77<KX;+WQ|#w1
zbj0PI+@0g`)YFWoyq~+%9#65KyU^n)@8|9u$GuN8o_ad)c*?uFJ7*m9c#2)!g&t3_
ztGm$SDRy-idOY<s<0<xVSK8w#@8RzMdOYPl+@1D#%6qsw?eUcNaCh3{DevL#e|bFR
zJ=~2bf$`MSjHkSZyV>)2%6qu`Umj1fhr5t^WIV<0?aJ|Zirw3V9#64*yU^n)c5fGY
zJmtOGRU+dl_G(wU)@Nos<-OW<JmV?v)$X)oIq%hO^mxj9wfj6CPqA0K(BrA68Bcky
zcBeg_@?P!3!8q-1oOU-(yBlXzHBPiM&Zugfm}gvSzZ{H9?MBD0<I<|pqbhwbN7tY)
z-+<Pk-Xit+(cw4|(KzF*apEF9L-T*7BBSG?acRcrxM*B8YxFp4TnszySZJJBXk5H0
zO%yav6g18_Yg~8gd`Gk6jI*AR+k7f`Ms6caAJp|c!#L}iv{x!VqjA>n2*0L!d`9Ce
z=lodAJcFY?lfK}zJWBtSM;RaRk&1`!6Z#7_&uE;be<>pMkrO_fVo|5_<QKr_!57GX
zku!Ll^^AHApUqLzGt%dj(BAuu^y##Fz-QEh_!vh}&#1p}+VRpeioI2qYF}k30(bh?
zNP89HGm2NogX6mQ`-EPfd0h83Ec6P8<GL@UbzjQYeHs7K`GIFUk2BkOoY~Ifx-TE;
zdCud3J@z>3xQ+*&;XF>?cbw}#&XphMnvZj}$GOhqx<Z{_*JkvL<+G}VY2gvj<J@PN
zJ${x^#<Pqvo@IXcS@Ee~8F4(zh~ru2gr8;H@hszxXPNaqL7#GhKIH_nWG8gL+Ruae
z!xL%Gbe+(>JIC{fCzwAxLGN>d-sc4KhbMHu`c?O9w4a>NojUE&)(PFI(T;IK_vo}+
z{R!p|PcVOYg89P}x_AA`e8>sf?+NkX9ItvhAs#LVCy7r^(sP}p=Q>Gza*{eaiC3S*
zflm^XoFpbWNlbE*nB*i*dy<&sBr(ZJYUCs}auUZoiPxQ^MotoeoFoD{Nd$6|Iyy=0
zagx~MBz|%dKRHS4F(H50tr;t;YeN2@G*>>M9(h=4ufUm5U+nY*Xq`-OM-$9#PUyb$
zU-iO1=3AiWkSF9Y{;y{>C+LMI)C>EV?}1*CJ0bt^kv}9o4QhV}<#^_KLcOrj>sTge
zxf7~!m!<t3gs%4q^~gTPGn^CZk&W8lLFm>!p?=xvOQ8GZ3H8g)(f$s?pL3qe<ots4
zFS(wp;3D}&aEY^BCtWtm4|RU|p>YN1RYMc<L*rdOoBCxR>3(^FHaMZ)**RWEG$FV2
zk$vR+HTbvSgP?oo33;iHbjzKf<xZfM3AwBD2gu(;dXV&9(nF*l0o`9u$a{VK=Q*?A
zMx0PjZG3`X-BVAfr*@8=a{|YkP#^6ywXZo(r#<I6ArJT2Jkv5ECwJO&o)dWEgq*~j
zJO{d!O{kSQ$FralQm@f&JV7iyA#d>+JffVC!#M3WIN|*rgpTMY)Ki$Ne<6*2q<QC~
z8TH!!7dla|?X>oH5W4+NFbg`Nr!cB<_1*s0FF}u3C)DrwNY8~%sP}Q&Gd~mRgPitU
z=!6`=*Y7u>CgcD{_vRDc-$59FH9itIm{5z;f7O2(?Z6Z2#f+;t($9A$)SDaE_`bZq
zgU~Ze6YAr9q#b@jJ)P5DRW+ghZg((AZ$3$HK1pvrNpC($Z$3$HK1pvrNpC)>mU20m
zq&J_WH=m?8pQJaRq&J@=s+^=ZpQJaRq&J_WH=m?8pQJaRq&J_WH=m?8pQJaRq&J_W
zH=m?8pQJaRq&J_WH=m?8pQJaRq&J_WH=m?8pQJa><3)K~D31%}85iUk5#$*W<mE!+
zK^|Yt<3f4H0{QeA@;w&FGZx5;nPH_J@8#t@&Ud_*Pdon4i!0|l{?8Nt=f#_I9RKHu
z|MTL|Ij@6`{PXe|m+r_vPvoDM!#M58KTph`m$ytS{d4~1$UjfypBMi=+b=nTBmX>+
zf1b!cPvoB`^3N0b=T#%SgFJqcSB>a+;`}^*k|)m36X)lN^Yg^{dE)#$aeiKLzOIB`
zCa-$*89a}gS8Y0N_sFYGowj@ARkKdpJ@WKEdDXIW9OvhW^Yg^{dE)#$v3;J{K2L0)
zC#uiOF?_tE`aF)2mri^hJ4Rk=aoV%8dAWhnF??P=;Pk7YBlbKId!C3rPsE-lV$ZAX
z`$&)4@<i-;y>agx$L;yRF<zeNJs)`NmX{`7q9cU7-n(~>c9#&kkH{0x=ZWX@^r3mF
z*T>rv^3t%=_Jq8Y>~!LP5y|I?<nwCp&WZf1+Pl+P(vIHq^tO4T_dL;ip6ESKd(W#C
z_+Op@%d0Io?dUyE^!^pKi1FYnY7s)|`LfWF$yd~hg;I#}r4XZ6f_+6?2~~>GtEURI
zsRC`PK$|MirV6yF0&S{5n<~(z3bd&LZK^<<DyV0l3JSET0&S{5n<~(z3bd&LZK^<<
zD$u41w5bAZsz946(54EssRC`Pz-YQan<~(z3bd&LZK^<<D$u41w5bAZs=#QvK$|Mi
zrV6yF0;A~yZK^<<D$u41w5bAZsz946(54EssRC`PK$|MirV6yF0&S{5n<~(z3bd&L
zZK^<<D$u41w5bAZsz946(54EssRC`PK$|MirV6yF0&S{5n<~(z3bd&LZK^<<D$u41
zw5bAZsz946(54EssRC`PK$|MirV6yF0&S{5n<~(z3XFmaw5bAZsz946(54EssRC`P
zK$|MirV6yF0&S{5n<~(z3bd&LZK^<<D$u41w5bAZsz946(54EssRC`PK$|MirV6yF
z0&S{5n<~(z3bd&LZK^<<D$u41M6d<gRDm{CpiLEMQw7>ofi_j3O%-TU1=>`BHuW5B
z>N(ofbF``FXj9M8rk<lsJx7~*jyCliZR$DN)N{0{Q?#Q~%z&Mu)tsW$oTAm7QlvT^
zoI=&76oo2{x=!&N<P^_APNAPuDCZQKIfYtIp_5bS<dkAC|JM=MDQfwY;wz_L0PUZr
zsOwXVE>Eeh{i{cprx>Z7qE1i2|0$S11?Q(=`xH!`g2_|xc1lslba0wj;xtjjX`+bJ
zL=mTTN0;@hX9iBI-3f^kP7@)Vmj0dN@&0LP-stiEX{prc@&0M))97*5X<eJqWB=1c
z3#W+|P7^Jh))gwBnBg=r!)dPeG*^3?$l)}R!}HX_^UOm&&oR$)%nOVeUtrAm0wci}
z7zw_}@h@`xiyZ$V$A6XMzsm7n<@m31{FL&if+^(-8QV^!kBFry%`NN}`dR7}BV6q#
zOupa5nSv|r+Dgunb97FfLFY93d9GIRlg@!&F*QYvD@yg5scZFb>Jj9=pjS*yQTtPx
zo%R{b=al9doHnadnon@r+)goWonqWN#kh4!GYtOK+)inftuzcwX{_zEXPKrLaZjOy
zmvryL!ArV#A$RwZ#$VG)`@UY%C|jue(yzKNqZRuSSN>AqapFrF1sJW^mvlYGWiU3X
z^l_obo-a}2%VKppc$v9^mzgVgS!_7R?`OR%9)!Ab<6DH^pw_-Yt$l-9`v$f43g>x+
z^Sr`&Ug12iaGqB<&nukg70&Z2=XsU$yvliA<veF->1Sx;XK3SR)W)ZSGdyKDqgqy)
z)_sPj3}<N9XK2@FXxC?G*Jo(gXK2@FXwheA(Pwzda7Oj$^L!2Te9;+3MrRlko#83N
z8P%!tJ!UyWTRuZuKBGEyPGV%Fe}<9%8EW<nb$W)@eFi^#O|5%6culR_=%+ldsdXED
zFR!U}8~v2$HMMS|pYpt>)@|Ga`hAwy)Vhs+%J!OCx6ya;nsjKi7rllHy~dTlrk3uU
zE1;k9yr!0J^p(G+mTt^~e#-NjTK9BtmezNc)^}Dd_cOs+YW6I(aF*70R?3`GzOVnR
zl&Lgr?JRBWtj67!mE#t7R(jAe!9(QaNIy*a5%3uQwcgH3!#<B!Q=FBOeFm?oI4eCn
z?WYfCX@h6E>$9}Mv)ubx-1saEoW+gL!oykG=2_S{OG`Y<y`N>i>#XWa=VaFFtZL2a
z^}=s)U*DpXZ*l%_afWa4-*4k)-^R_pO^tt>8vhP@{tkNn4to9$dj2lQf0yIG%kkgk
z`0sK2_c;E09REFz{~^c!kmG;I@jvAFX^x-fczttJoJ@24IpyCMoKwC~ZaFOUe8M@^
znseNC&Z*X%;~9W+xXL;1@f@ylPG{4RI-BtxAFsO8k*d3KVGewh{1I>r^gQi3{O6on
zy8r9G@|<dLx6t1YJg3=3AHy}M?wqz_&#CU5wr<bS?#|Kf&Z)kf?{;^NcYDwAZtpqO
zo%5~RbG+MoPBo|!;pd!c&}n<=IeDp$#MyoXV?TniAHmp<U~C4)W?*av#%5q_2F7M!
zYzD?=U~C4)W?*av#%5q_2F7M!YzD?=U~C4)W_TNVhPR<-0y8$l%=Qe7&A`|UjLpE<
z42;dd*bI!#z}O6o&A`|UjLpE<42;dd*bI!#z}O6o&A`|UjLpE<42;dd*bI!#z}O6o
z&A`}?VeH2+_G1|PF^s)V{_EtwPX6oUvoCzWzVHG2!VCSz>n!o!Eb-o~7*>u(K+{6M
ze>$6finM#KS&fE_$3efXGn=*>%&IP?gzkT5S!X+o|IeyMe9SALM`yEX_q?-2lCwmT
zvqX}!8dK=M#FMkEw4bHFn5BoBrH7hjE$(daq|cz*F?xo4mOg8iK5I7c>Zw`Pi+_EQ
zw0n)&;0*X}&||<^dW~5{^8VF6Kdb27=oP%PthAqHrTr``?PpnOKg&w{S=E=0VU_PJ
zt9)nis9D@;R#CTq^%!$j^<{iJIUaAGr*_U$JLj4EJuk&7Uy*~+bGGNDUZ*`*e_m09
zka|2%eVu1c^1PJke9zUN4;&SomkynF%yVAaGkTuzy!7VuCDJ9*%U}#T+Bwf${ds2R
z&P#R9@m&3RDeZDFheGC1$Q%lpLm_i0WDbSQX}mlg%%PAu6f&2#LgrA&91593A#*5X
z4u#C2kU11G$5>+yh0LLlITSL7LgrA&91593A#*5X4u#C2kU11GheGC1$Q%lpLm_i0
zWDbSQp^!NgGDlo7heGBw`qN!7qM1V>b0}mEh0LLlITSL7LgrA&91593A#*5X4u#C2
zkU11GheGC1$Q%lpLm_i0WDbSQF?zayLN1_?3n=6Q3b}wnE})PLDC7bPxqw10ppXkF
z<N^x0fI=>ykP9f}0t&f+LN1_?3n=6Q3b}wnE)W%8AS%8<RD40cbUC<yLN1_?3n=6Q
z3b}wnE)oY`Bo4et9C#6DzDO-!#EmZ!2VSJsE)oY`40eg_i^PE!i32YZ2VNu&yht2)
zkvQ-oHFXhpy-0ms#9c4qt`~9Fi`3Ue-HXrZIPfBI;6>uVi`2+PJoX}S;6>uVi+Jos
z-1Q=H;6>uVOT>YfhyyPX2VP3Qu5(`EUM>*_ULp>>L>zdDIPem2;3eX~OB&_rc;diI
z#DSNH121tGm$?2*f#bkS#6Op~@=L^lmxu!|X~gGW9S2_G$}bTIULp>>q*0#oi38uD
zg}y-xeS=o>2Ce1|TE`o-jyGrpZ_o<fK#gyp#(!t+;?Gds&rsdZ(9+M)($C=MXYeym
zDf5&vj}Oe_1M~R6JU%dw56t5O^Z39#J}{3D%;N*|_`p0qFpom!@qu}KU>+Zs#|P%|
zfqCv|o;#Yy2j=mCd3<0VMa^@k^W5n?J}{3D%;N*|_`p02%)`JuJ}{3D%%iS(bTy9;
z%;N*|_`p26n#Tv`@qu}KU>+Zs#|P%|fq8sj9v_&;2j)@TJU%dw56r{-Jj~DI1M~R6
zJU%dw56t5OSE!LI)W{Wl;0iu)1s}MA4_v_quHXY#@PRAT-4*KY3O;ZJAGm@KT)_vf
z-~(6ifh+jH6@1_dK5zvexPlK{!3VD316S~YEBL?_eBcT`a0MT@f)6a9kOdU7fI=2f
z$N~ykKp_h#WC4XNppXR=vVcMsP{;xbSwJBRC}aVJETE7D6taLq7Es6n3RyrQ3n*j(
zg)E?u1r)M?LKaZS0t#6`AqyyE0fj7}kOdU7fI=2f$N~ykKp_h#WC4XNppXR=vVcMs
zP{;xbSwJBRC}aVJETE7D6taLq7Es6n3RyrQ3n*j(g)E?u1r)M?LKaZS0t&f`Law5a
zt0?3u3b~3xuA-2uDC8;%xr#!rqL8a7<SGieibAfUkgF)<Dhj!ZLaw5at0?3u3b~3x
zuA-2uDC8;%xr#!rqL8a7<SGieibAfUkVO=-h(Z=o$RY|^L?MePWD$idqL4)tvWP+!
zQOF_+Swta=C}a_ZETWJ_6tajy7E#C|3Ry%Uizs9fg)E|wMHI4#LKacTA_`eVA&V$v
z5rr(GkVO=-h(Z=o$RY|^L?MePWD$idqL4)tvWP+!QOF_+Swta=C}a_ZETWJ_6tajy
z7E#C|3Ry%Uizs9fg)E|wMHI4#LKacTA_`eVA=gmIH576Ug<L}+*HFkc6mkuPTtgw(
zP{=hDat(!CLm}5t$Tbvl4TW4oA=gmIH576Ug<L}+*HFkc6mkuPTtgw(P{=hDat(!C
zLm}5t$TbvFL?J~KQbZv|6jDSXMHEs*Aw?8YL?J~KQbZv|6jDSXMHEs*Aw?8YL?J~K
zQbZv|6jDSXMHEs*Aw?8YL?J~KQbZv|6jDSXMHEs*Aw?8YL?J~KQbZv|6jDSXMHEs*
zAw?8YL?J~KQbZv|6jDSXMHEs*Aw?8YL?J~KQbZv|6jDSXMHEs*Aw?8YL?J~KQbZv|
z6jDSXODJRsg)E_vB^0uRLY7d-5(-&DAxkJ^356`7kR=qdghG~3$Px-!LLo~iWC?{V
zp^zmMvV=mGP{<MrSwbO8C}atRETNDk6taXumQcubDP(tWT?!E@^1Lkc+KlT`#eKqY
z(i5QPrmm;`<&*1*NT-C~B<;11*NO42O9M`O#_xLCBf;xwM|#(F*T$cN{vOVC;=Sv9
z`Q*AZ<A3?fC)cGMU5S)qyvxTc)>Vm8k*-H7(vgaIo#WZU>%lJ4o-@3z=-2t4IlQhI
z*lEX&*A)pn?Ju8PCx*PPXJIbO-^01C*x31=UA(Rc*=f%)UKiU&&(&O4Y;5$J&+Cei
zo%Wi~>r$P#lIna_j+U=Wb-qro54kSY89f_$T~V~p>^aHnilv=)M0#BjwbPDEudBX<
zim3H3qSNb&tDW{-<#lOKWl4J~OVPFdMbvtosP(#Z=wENtuO(W2iB?}y+nf$csu!b6
zEYUVgw9S(EbdKj~OFFahMqwFMlu<<)Rg_Uh8C8@~MOpqZ9F#Rqxh%9Q%BZ4@D#|K%
zTsb~-8C8@~MHy9;QAHV5lu<>Q@8OhDMHy9;QAHV5lu<<)Rg_Uh8C8@~MHy9;QAHV5
zlu<>Q5kwhPlu<<)Rg_Uh8C8@~MHy9;QAHV5lu<<)Rg_Uh8C8@~MHy9;QAHV5lu<<)
zRg_Uh8C8@~MHy9;QAHV5lu<<)Rg_Uh8C8@~MHy9;QAHV5lu<<)Rg_Uh8C8@~MHy9;
zQAHV5lu<<)Rg_W1GOAcc70ak%8C5K!ie*%>j4GB<#WJc`MitAbqJk<asG@=@DyX7@
zDk`X=f+{MgqJk<asG@=@DyX7@Dk`X=f+{MgqJk<asG@=@DyX7@Dk`X=f+{MgqJk<a
zsG@=@DyX7@Dk`X=f+{MgqJk<asG@=@DyX7@Dk`X=f+{MgqJk<asG@=@DyX7@Dk`X=
zf+{MgqJk<asG@=@DyX7@Dk`X=f+{MgqJk<asG@=@DyX7@Dk`X=f+{MgqJk<asG@=@
zDyX7@Dk`X=f+{MgqJk<asG@=@DyX7@Dk`WVMinuth*3q1Dq>U-qly?+#Hb=h6)~!a
zQHA$?-W^m~)#=@zm1YK`iZ-ffqlz}FXrs!^MpfFF){%Z=y()!_3(v|=s;ug)>Pmbb
zuj;JQlUCFJ!tq|!SxtLYUN!AG^Qx}aM|xFfHSHC8RVm8<@~Y0N)`1x9##QyjF2$=l
zt5TYCJVRJbd&N#wsxx|3XO&f*RrS$6(yKbFX|L+6rr+Rruj;I(y{fY+mHIqh=~tCX
zo%X8Es@OAnRcBQzLyTV4S=IUwr@gAP%Bs#Pt2(Q!>hw<8`WJexO3ykQt2(R9_EcHb
zS!Gpc6@^z-BR;;5v;8&bRh?Bm_c!+YYNdRi=ONM$gPtj>suehYfV5Y2R+%-bsuegr
zM7~#bR@D}aUe#F*ysERRH6%u_>Z}s6RC)iR8aQ&OvZ}MH7)JN2^(4-56j2Sls<WyV
z<g<BIXH_l8X|L+6vZ}MHn8*L}s?MsOe;GX=TMbZ%TA9z_Rh`wq&vdHHSyk26d<L)T
ztg5X!?b+HYt2(Q+yQ*|+uDq(Vs#Pe)AAo3vmRO}FR%wY<wM3uCGrd(-byiu`S!Gpc
zl~tWpX2z;&r#^ClBfYA#$}Cw`?bK;MxvnZU^SyXgXH~J8(W^SET7_cts?I8LT9r7h
zO1rMAUF!_A>#Ewd)2lhst2(Q+@v2&)?u%8ORp#8PYUw`Gt2(P{?@l{5sH(N@&Uo+j
zVWFNG2^CRfQfg~cLe1n0e?a<QN$VXA<-87RC5F;ki6PWG8kv+=bqe*4hHwR_cQlmN
zYBb?pK2rMhk$MwZs5Kixt=SN2&4y5GHiTNUA=H`;q2AFDYMq8q?`R0Gf_g_IlM)+7
zy>~2J<0EyaPU{^F;f>14aCaH*F2mhr{N`6CV@DDms*VfwB@Ln8{1T3nqjjE2YZZY|
zz9f_{2^HlE^(76VR;CHHR#2#@PpGI*_|F_KcT!p_KZRQPDb&hOp)@Ac%1@!z5DNd5
ze`)2X(t7hts5ifaT0JO~BMG(sQz%CgYW=5h4%GTjrM3Q3C@&J~%`f54`LEW0Dy=t$
zgnIK!_)F4SRjBkLX}$TSbdj{){8CzPeq}P$W`^3#P@5Tfk^V((W>lLxn^&(1?{>Lf
zy(Zjd4pqxOvX30S`K7ep{1WQTFQHsWs5ifaavq`H{1VD}gnIK!s1>0?z4;}S^9bcR
zLcRGV)QV7{zN8`4n_oh``6YaUW4;LL%`fE~0re#frS;~Q@XO?Aji}OEBPx{t2=(Td
zQ2ry-n_oh$Di_Lag!+<(P;MiX+X%I4RH#vaP@@2$Mgc;N0)%oKA=;4J_-tAUEYzD{
zLiAv_Q5p@%ZOofikP7wYmr!qh3FS7ze+Q{YuWD0{X5fW-^Ghh75o*LF)JjpI-ux2E
zXM}Q<jGBS}<+W|X8t2<pg!+<(F!J$o6{oeHQ@EO6?FkvVigVWRtKR%l`UdjfO1{3N
zp`2eQt+k^{>&>ss3bnf_VZ9MQS>YH@Y5U0v$9O`G2Zb6B3N;cGYVC*6ezHP(GiE`J
z`;@kOtZ?Ke)c8)g2h^BOX{`wnYSbpwcui>cSm6jtsBxB1;~k;KR+$x!k%Ssa3GE&$
z91#h%_Csj*Scyxl^g0Bk?FK7xgO&KeO2rS((W-3W1*d5XE4|iE=?CRPD^dGObiNXW
zuSDA`QT0kxy;41+|7#ttM1d>S>pA@bsI_)VYpt?SZ*mF0LB7`7Dg7#Gjk1-tDpsP0
zl_+7QYG3)(=1Pt6^(%F^QhmX6#`{)Z7TViuR2N2jdyVeMXos&+jR<k?8hpD3-}WBU
z&bM#Zh<T%Zy9VE`QA=@J&q;-PLMpU}d*^7QJ={A-8}<Av<DH|8cJdmowuY;%!Ov^(
z^N_j-sfCbQ2vrNynb5OOLd_>+Lii6oo20aTCWQGA=0lhdVLpWU5Y9t54?TmV<2A+?
za!y^p(=SWUp<@Z*_sP-NS!uH!!gdJTp=XMelNi;qjH^JmrjR=d;Xm|KuuLud*TR1-
z{MW+2cf<6r=D!yHYvI2Z{%hgC7XEADzZU*$;lCFCYvI2Z{%hgC7XEADzZU*$;lCFC
zYvI2Z{=F0BbjEv78r`4P!v8AGWesOmX)a5snZt3R_H-6LB^|C(?`gE7uF?$QeL{T!
zM))H5HSi^l|7V?fmD-Mfb?>%{x?80dq#VtC>HM1eGHxU1uY8Q^)W2%gqEM?Ag^z>w
z{8gGE)Rm|mIbSPqgjz!-%!36`yG1L<e!fa`hCbfC`6|`B(e=Jc_3pImeN}LVw4HpF
z>fQOS_f_(0r)R*QfbNA?;nk}&f9SOP&{dj0G`<O16{|Fhs2m)4mF5ziwhyoJjH1xY
zukyU2(EP8`jH0ent#vAsh5s!4XNfVgaG2HjWjd3EN$+Lmw3*Cme4#XaX5lkS|LA?k
z^eg;iVZ%F%ImZlmH!-8{+B=9D-3MhAuNt*}QW%52qb&E5<u2GqOgV~0g}&xGuDOnD
zu0u0*Xr>O$)S;O=G*gFW>d;IbnyFK}))_RbJTA0m>bT!J?zE0Ot>aGXxW_u~u@24D
z1=dU*nyEuGb!esz&D6m|9h#|wjXE?_2PbuCrcN`=Dm}1f>R_o3&D6nF9h#|wu{tzU
z2XA#~rVjS%&`cd1)}fg?G*hSk-RHDs>fp8x&D5cpIy6&<X6kT~Iy6%U&vj^~4z}yi
zOdXo3Lo;<~rVh>2!T)ObUk(4O;czt^u0}JfVRAK0u7=6gXl6Bhu7=OmaJ3qiR>RL~
z*jNn@t6^X@_r99DUd{ck=Dt>=nbl}!HJVw?9j)eGR&y7tb^ZGO9hzCqHNS=4_AOrZ
zmw5|!_ZIH!*K{wJGry*L5$Xz!T49x`=N{|1$9gnYkH+fJSUno6M`QJ9tR9Wkqp^B4
zR*%N&;in#c>S3lHX6j+49!~1vq#ljcqp^B4R*%N&(O5kitB1FGG*%CL^=Paf4(ria
zJsPV=WA(6FkH+fZwjPbu!*D$stB2=$G*%DW^=Paf&g;=wJsPV=WA$jPp1P<<WA$jP
z9*xzbv3hEx9*xygFZF1wp4zELWA)TRJsPX0F6z-(J@vH){@1|&8aP}7hilN-8kk%I
zlWSmd4H{bmpKIWA4P32(r8V%g1~%5f!x|V^!@aNJuGetCYq+m9XlxA{TZ6{da7Syn
zmo?nQ8Z@>BjjiFD8@T2MuDJotG@zLVG}C})8qiDwnrT2Y4QQqT%`~8y2JW|k`)%M(
z8@SU3?zDk>Y~UUn&`blGX+Sd#Xr=+pG@zLVcxXT~4Y1LGW*Xq60nId^nFch|080&M
zrU9-R&`bl2HK3UWcxym24Y1dMW*XqI0nId^nFch|fMy!twgJsFpqU0V(|~3gV7LLz
zG{AEMnrVRT1~k)vW*X2;1Da_-GY#;+7XH`5|5`X)3x{jb%vzXS3zKVMaxI$CKJD^~
zweYzXuGYfRTKHKD8*AZVEex#X-q&*1Yq{UG+}Bz(vlh*)MKf!;qqW@2TJB;knpulx
z)^g1^Xhbufxj`cup%ijicwD{A4N{2F(c=xC9Tj>Eb%SbL$EcQ#Iq-3gnE>@pf%5fE
zfzUGyH>i$`=g4t1euHYnc+vS{+ZYPpD)x*Xzr0oKT^9Ptw~9BT)--0`Dz5aaxH3LL
z&S~&9@Df-8wO&!jXuV?Qtzy7f3pyHkD|NR{C64PGA08*JQ+v^S8fq^_k6hNl!#eTc
z9P_Y_n0%euh;x2Sj>kvqbX7WouFANLoCm<2U=B1(>(mPLU)8VE6Qn&RTBlZE)OvWK
zd0Qv_`^XnaQ@WJzeDk?ZYBy>ns?g)jbz;?MR@X_-LbzQAx9d>vI&`~Eiq)A_`_q~A
zD0V%HU5{edquBK*c0Gz+k7C!O*!3uOJ&IkAV%MYC^(b~did~Ol*Q40=D0V%HU5{ed
zquBK*c0Gz+k7C!O*!3uOJ&IkAV%MYC^(b~dihUc`^ES@>HqQJu&iOX}`*!--x6{wQ
zo!0tx>iS0A>E+Cgx>KR9-{^k!9m>B?s2ND%P2%JosrP}}X;kSCk-iz!PNT}vPNTw&
z;3my!yu&+<3jY!O9Qb)qE9#ZM9~=g?E3tAswtYv+_4tm|S@7H7>)=np^PtuBj<gl~
z4(~K7Tm!BJwJWi5ZUS%d^?0XI;YRQy9HW_7<!B~W=uz`Kywj*qZv+VS)K&QBKGHjl
z3V#>;eee&#kAWWt{}}uP_(||j!B2y~I?ug6f95_=^Y%*ry-Il}{J#_a-wFTkg#SkP
zZ-oCw_-};&M(^~RX@vhq@ARs)`EP{(M)+?`ng2%kZ-oEGl=*M;POn1q-w6MW-sx3o
z^WO;njqu+H|BWg0-<UH0jVbfrm@@y3Df8b5|Bdk92>*@V=~emWzY+c$z0<4G=D!jC
z8`I{$F>U@E;lC078{xkZ{u|-H5&j$DzY+c$Gv>e1JG~0ce`Ch{H)hO#W5)b9X3T%1
zcX}0?|Hh2@Z_JqgM)+^^POnOv|98RvyWsy_@c%COZ-W0O_-}&$CiriH|0eivg8wG?
zZ-W0O_-}&$CiriH|0eivg8wG?Z-W0O_-}&$CiriH|0eivg8wG?Z-W0O_-}&$CiriH
z|0eivg8wG?Z-W0O_-}&$CiriH|0eivg8wG?Z-W0O_-}&$CiriH|0eivg8wG?Z-W0O
z_-}&$CiriH|0eivg8wG?Z-W0O_-}&$Cis6h{J$Ii-wprohW}>xZ-)P7_-}^)X83Q0
z|7Q4ahW}>xZ-)P7_-}^)X83Q0|7Q4ahW}>xZ-)P7_-}^)X83Q0|7Q4ahW}>xZ-)P7
z_-}^)X83Q0|7Q4ahW}>xZ-)P7_-}^)X83Q0|7Q4ahW}>xZ-)P7_-}^)X83Q0|7Q4a
zhW}>xZ-)P7_-}^)X83Q0|7Q4ahW}>xZ-)P7_-}^)_rU*q;Qu}F{~q{nf&UixZ-M_7
z_-}##7Wi+0{}%Xff&UixZ-M_7_-}##7Wi+0{}%Xff&UixZ-M_7_-}##7Wi+0{}%Xf
zf&UixZ-M_7_-}##7Wi+0{}%Xff&UixZ-M_7_-}##7Wi+0{}%Xff&UixZ-M_7_-}##
z7Wi+0{}%Xff&UixZ-M_7_-}##7Wi+0{}%Xff&UixZ-M_7_`eDMZ-W1u;QuE0Z-xI>
z_-}>(R`_p)|5o^Kh5uIgZ-xI>_-}>(R`_p)|5o^Kh5uIgZ-xI>_-}>(R`_p)|5o^K
zh5uIgZ-xI>_-}>(R`_p)|5o^Kh5uIgZ-xI>_-}>(R`_p)|5o^Kh5uIgZ-xI>_-}>(
zR`_p)|5o^Kh5uIgZ-xI>_-}>(R`_p)|5o^Kh5uIgZ-xI>_-}>(R``D}{J$6e-wXfm
zh5t7AZ-f6f_-}*%Hu!IY|2Ft<ga0=8Z-f6f_-}*%Hu!IY|2Ft<ga0=8Z-f6f_-}*%
zHu!IY|2Ft<ga0=8Z-f6f_-}*%Hu!IY|2Ft<ga0=8Z-f6f_-}*%Hu!IY|2Ft<ga0=8
zZ-f6f_-}*%Hu!IY|2Ft<ga0=8Z-f6f_-}*%Hu!IY|2Ft<ga0=8Z-f6f_-}*%_rd@B
z;QxK_|33I{hyQl?Z-@VO_-}{*cKC0H|91FqhyQl?Z-@VO_-}{*cKC0H|91FqhyQl?
zZ-@VO_-}{*cKC0H|91FqhyQl?Z-@VO_-}{*cKC0H|91FqhyQl?Z-@VO_-}{*cKC0H
z|91FqhyQl?Z-@VO_-}{*cKC0H|91FqhyQl?Z-@VO_-}{*cKC0H|91FqhyQl?Z-@VO
z_<ukAzaReJ5C89n{|@-?fd3Bo?|}af`0s%K4*2hY{|@-?fd3Bo?|}af`0s%K4*2hY
z{|@-?fd3Bo?|}af`0s%K4*2hY{|@-?fd3Bo?|}af`0s%K4*2hY{|@-?fd3Bo?|}af
z`0s%K4*2hY{|@-?fd3Bo?|}af`0s%K4*2hY{|@-?fd3Bo?|}af`0s%K4*2hY{|@-?
zfd3Bo?|}ag!2bu}{{!&<0r>BP|4#Vtg#S+X?}YzO`0s@OPWbPH|4#Vtg#S+X?}YzO
z`0s@OPWbPH|4#Vtg#S+X?}YzO`0s@OPWbPH|4#Vtg#S+X?}YzO`0s@OPWbPH|4#Vt
zg#S+X?}YzO`0s@OPWbPH|4#Vtg#S+X?}YzO`0s@OPWbPH|4#Vtg#S+X?}YzO`0s@O
zPWbPH|4#Vtg#S+X{~-K-5dJ?1{~v_^F8J?)|1S9Ng8we~?}Gm>`0s-MF8J?)|1S9N
zg8we~?}Gm>`0s-MF8J?)|1S9Ng8we~?}Gm>`0s-MF8J?)|1S9Ng8we~?}Gm>`0s-M
zF8J?)|1S9Ng8we~?}Gm>`0s-MF8J?)|1S9Ng8we~?}Gm>`0s-MF8J?)|1S9Ng8we~
z?}Gm>`0s-MF8J?)|1S9Ng8vV}|A*lJL-7A0`0s}QZuswp|8Ds2hW~E(?}q<w`0s}Q
zZuswp|8Ds2hW~E(?}q<w`0s}QZuswp|8Ds2hW~E(?}q<w`0s}QZuswp|8Ds2hW~E(
z?}q<w`0s}QZuswp|8Ds2hW~E(?}q<w`0s}QZuswp|8Ds2hW~E(?}q<w`0s}QZuswp
z|8Ds2hW~E(?}q<w`0s}QZuswp|8Drd8UAmE|C{0eX88Ybsw4G3Gq>>TE&O^*$|LJr
zQg?tJU*D4Y6!>Y)7u}NbT-+_`-vBo`Cw(ip8LW`+`L|mr<rYf0CG%P3{03!hpsWp)
zwSlrWP}YW&%i2I$8&WQ717&TXtPN?GwSlrWq+QmAw9DF%c3B%JYXfC%pse4dtc{el
zk+L>Y)<(+ONLd>xYa?ZCq^ymUwUM$mQr1Sw+DKU&DQhETZKSM?l=WMbwTZGeQPw8P
z+C*8KC~FgCZKAAAl(mVnHc{3l%GyL(n<#4&Wo@FYO_a5XvVNPgZl$bSDeG3sx|OnS
zrL0>i>sHFTm9lQ7tXnDTR?51SvTmiUTPf>S%DR=ZZl$dMKv|n9YcpkSrmW4BwVARu
zQ`Tn6+DuuSDQh!jZKkZvl(m_%HdEGS%Gyj>n<?u*Qq~sA+Co`dC~FI4ZK13!l(mJj
zwouj<%GyF%TPSM_Wo@CXEtIu|vbIpx7Rvg+C~GTaZKbTOl(m(zwo=ws%Gyd<TPbTR
zWo@Obt(3KuvbIvzR?6B+Sz9S<D`nl5^7Dn;QhvU0Tk1X1>TU9|DdBHQ!?(%DjK4*`
z6@FXlw?WUD-<HxkUg0iqH#h+90reJ-e*HS>mq4!|x=p^M^UIfvxA++Ol995~zx98r
z`||L%inIGWGuQH-1e}G0Bq)I_B(Zbl-4GV9i5Eq26eYnp#<DHja%9O@BWGhx0tpbP
z!xG9)fDj<;WhqdWLfI)$%33H(3Y308Df?RJ@11i;vVpc=pFYp`$1i#O&U?2xbI&_-
z?#$eg1Rp5u2>8{wO1({}C%sZuy)~#Oy&_9`rL1}bQja$v^?ao|Urd2L0CpPefv_`R
zXTcr}I~O(|c0Q~Jwg@(+@+ZAgmcDP0>=2c_0nuqdbQ%zy21KU;(P=<*8W5cZM5h7K
zX+U%u5S<1@rvcGvKy(@qod!gw0nuqhbQ%$zMntC((P>0<8WEjFM5mFSH6MsZM5obE
z(P>0<8WEjFLq(_2P|;~LRCF5YS)<NZ(P=bPbQ%p6okm2b5z%QxbQ%$zMntC((P?BV
zI*o`<BU907WGXt1h)yG-(}?IaB07zTP9vhzi0CvTI*md_r%|ZrGzt}+Mxmn9C{%PB
zg^Et2P|;}=DmslqMW<1y=rjryokn_^5H6zAi0CvTI!%a96Qa|E=rkcZO^8ktqSJ)v
zG$A@oh)xrt(}d_WAv#TnP7|Wjgy=LOI!%a<7t!$|I$lJ_i|BX}9WSEeMRdG~ju+AK
zB063~$BXEA5gjk0<3)75h>jQ0@gh22M8}Khco7{hqT@w$yoin$(eWZWUPQ->=y(ww
zFQVf`bi9a;7t!$|I$lJ_i|BX}9WSEeMRdG~ju+AKB063~$BXEA5gjk0<3)75h>jQ0
z@gh22M8}Kh_`sVFy!pVJ54`!nn-9GCz?%=e`M{eGy!pVJ54`!nn-9GCz?%=e`M{eG
zy!pVJ54`!nn-9GCz?%=e`M{eGy!pVJ54`!nn-9GCz?%=e`M{eGy!pVJ54`!nn-9GC
zz?%=e`M{eGy!pVJ54`!nn-9GCz?%=e`M{eGy!pVJ54<&lw`TCx4Bnc-TQhiT25-&a
ztr@&EgSTez)(qa7!CNzUYX)!4;H??FHG{Wi@YW38n!#H$cxwi4&ETyWyfuTjX7JVw
z-kQN%Gk9wTZ_VJX8N4-vw`TCx4Bnc-TQhiT25-&atr@&EgSTez)(qa7!CNzUYX)!4
z;H??FHG{Wi@YW38n!%eNy!pYKAH4a&n;*RS!J8kv`N5kXy!pYKAH4a&n;*RS!J8kv
z`N5kXy!pYKAH4a&n;*RS!J8kv`N5kXy!pYKAH4a&n;*RS!J8kv`N5kXy!pYKAH4a&
zn;*RS!J8kv`N5kXy!pYKAH4a&n;*RS!J8kv`N5kXy!pYKAH4a&TL8QTz*_*k1;ASX
zyam8p0K5gjTL8QTz*_*k1;ASXyam8p0K5gjTL8QTz*_*k1;ASXyam8p0K5gjTL8QT
zz*_*k1;ASXyam8p0K5gjTL8QTz*_*k1;ASXyam8p0K5gjTL8QTz*_*k1;ASXyam8p
z0K5gjTL8QTz*_*k1;E=%quy95RvIf{k21Q+Z-G4;wiWh%W!VgM4x0sAhCScHey1!i
zR{MDg>?+tcWyOFxD$azzooovbTY%VND8v>ZwipVr#ZZVXhC*xsVha#km_lq}3bBPL
z#1<g70I`KD#1^g)TY%UC#1^3tTY=aL#8x1-0<jf{tw3xAVk;0^f!GSfRv@+lu@#7|
zKx_qKD-c_O*b2l}AhrRq4Tx<(Yy)B&5Zi#*2E;ZXwgIsXh;2Y@17aHx+kn^x#5N$d
z0kI8;Z9r@XVmlDqf!Gejb|AI`u^ou*Kx_wMI}qD}*bc;YAhrXs9f<8fYzJaH5Zi$m
zq!#y*2vUnv_8{up1gSMCOW)Z@mOf)nR(*mgNUcd(wH`i5?MT^&U>{MI+67sv`IHaU
zd}UXvJyi3RJpgtZ?18W|U}wP|3_BM#A9g;h2eyc8H!;&qb_J}eZ{1*~8_aZrnQk!C
zP0Y|yVn$h2-@3s}H<;-rW@ryFqwFf!Hf6y~H!-99?PPm_*bBs7#G)67y+G^*VlNPT
zf!GVgULf`Yu@{KFK<ou#FA#ev7L-2_dx6*s#6BSQ0kIE=eL(C3VjmFufY=AbJ|Ol1
zu@8uSK<ooz9}xS1*ayTuAoc;V4~P*UMt~RrVg!g0AVz=~0b&G*5g<l@7y)7gh!G%0
zfEWQ{1c(tJMt~RrVibr`AVz^01!5G4Q6NTv7zJV!h*2O$ffxm16o^qEMu8XwVibr`
zAVz^0qZ)pSh*1q!cDh0DW2l}he<sz^80OYum{p5mRxM`K(CWLGQ3tyab`fj?&R;@f
zv6#^eyA=EV@Rz|4z+X;d!<exWzFLV9qc)`wH^ZI`dkX9p*sZW?)ldwxb}`J_#V~6Z
z!>nBlvvx7e+Qp13fORD-ee#s9x(b%Q1(f`&VXuLuZ|tN!dtk4FrO&0(o*Q6qgS{R0
z4%lD9-U)j*tXdf!Gt`>5n4wmn#SFEIK1K?l?&vo-=OOs&^CK~Os;d2u!dL5>V#ed}
z)#|30@g#h;#wljdFOQH_D{W$i`qWs=pwFn1rO&96Ri7G*8T1)dvh;~&vh+I<WM6|-
zD|2GT8?b79PRvlB2#8^pGG@F5|83ZJV82miW-eIud8-)9g;gu5VoZH9G=}-i7*n4N
zjbT<Z#`55+wLLL54!&9`7h@A)r>H2iX|Qv#Cm(h`tOvFTwgh$o@;My#NZ4w{6+?Yv
zsBf4fjWN_W)}V4GMWu5{QI%bx@*!PS{!ywt{1}xFZ-?KZj*{NeQ888RA=OpB8~!x-
z)8QWoe+KMK?3o3BHvEI(&w)P|{yg~k@C)G2hi}36z%PVf1iu)5DQr3HA+QTzkA$s)
z#l2&uHzpdeN3A!Di6;1J)l*C?hOgE>#W4396KHps0gef@JIn*e#B!XeRzt<aO89E#
zHYQr&tJ&0;XoZhfDcazJLjewj!(kVg?1t@y?SqZLM#&BsY1AhfFtT9PjMe~ptpiY)
z0iLe*qaQfHv*D|?vNp8Hh8Ed4(}ot=&>|aJWJ8N=Xps#qvY|z`p|r?0RNb%*rA4-(
zw8(}Q*@oi8Hk20GhT_CFlor{B(jpsLWYheEx=Lx04K1?i`L2AWMK(R(l~r0~;|+oh
zEwZ6SHnhlw7TM4u8(L&Ti)=$_k!>g~vY|z`p|r?`7TJc<BHK_}WJ8N=Lurw1C@r#~
zMYf@|$TpM~*@n_0+fZ6$8%m38Lurw1C@r#~MK-j^h8Ee-A{$y{Q=deYUulsIEwZ6S
zHr{dA&>|aeI&5f>jrSckw8(}Q+0Y^zT4Y0uY-o`UEwZ6SHnhlw7TJc<A{$y{<6Vgj
zEwZ6SHnhmbdlTDGT4Wnai)?6-&6F0|&>|aeRcvUH4K1>vMK-j^h8Ed)&tgN1Y^Jox
zh8EdOX^{;rvYFB%n<*`_nbIPgDJ`;@(juEFEwX9eiAqBAPRc4RvZ?<@yg`d>Xps#q
zvY|ybw8(}Q+0Y^zT4Y0uY-o`UEwZ6SHdpP4R+6ebp+&SV628(Rn?^utztSR`#zD$g
zT4W2QMK+Cwl&`eNrZJK7l@{4FGE%<MBAdoX%2!%s(<n*#N{eh7D=A-Tkxe5e<tr_+
zh0-EhC@r#u(jr?ZEwY8uB3mdevW3zj8(L&Ti)_4mvY|yb-ay&VA{+0aY-o`UEwZ6S
zHnhlw7TM4uTPQ8Ep+&Y(T4Y0uY@xKsh8EcZtrA*f<BgRKEwZ6SwoqDR3#CQ2P+DXQ
zrA4+-T4W2QMR90R99k47g}IUTsM+;66ebQWibIRy(4sg+@J1n_MG{&hai)Y8NobLT
z7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgW
zXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4
zgceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#
zNobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?
zk%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT
z7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceC?k%SgWXpw{#NobLT7D;H4gceEkizKv2
zLW?A{NJ5Jwv`9jWB(z9EizKv2LW?A{NJ5Jwv`9jWB(z9EizKv2LW?A{NJ5Jwv`9jW
zB(z9EizKv2LW?A{NJ5Jwv`9jWB(z9EizKv2LW?A{NJ5Jwv`9jWB(z9EizKv2LW?A{
zNJ5Jwv`9jWB(z9EizKv2LW?A{NJ5Jwv`9jWB(z9EixSYH1hgmtElNO(5>S`~v?u{B
zN<fPe(4sTxs$*%)mZdD6qii<WA!yW)LBCx>z8b*|A)g^qDw}*Yf*XQT4MC}fpj1Of
z8IAIWNUvJS*5S;Bu!~?DV3&~E50PFeyA*r;@Rz|4z+VnT)sq~;JDnlC(;31$oguu_
z86q81WuxD*CA%5+WLWx^A=<MAmcC_(d^Nrsf{qPA$A+L|L(s7y=-3c+Y>0GBoqr|D
zzYF#%*xj&K!(Ib>EzaBndmZfcus6Wc_X|-z>T}{lq+`nd6828myJ3HYySoRLe!GFr
zxexY!l=eZK^BZ721pi_9^u0rL=A-b{C~t_=OzlylydhFE<*QNN5UH8+)hKU>)J*x$
z!afK40_;n$^!<T!l)kZwEPa0<S=F-|A~jRK8s!a<nkoNJ@ZW;3MtMV|W@`U8s^p|*
z%4Wdk!m3f;5UClR12r2WHB-L&?933Unex>rZ-~@P`4e!}L|D~_86q`P_8?WS*i6{D
zIGPVTAJzj~1X}{D)`Sd^zEKS!eN*;G*lM7lev-aXErq@fk-jPP24JbR97F6oW$8O=
z=vq#{f=bqeRinZosNWE&AKfphA6-l8N4Y`$hDiO?o(^@C)Q@~pKRQb4r+hd3Y4E4R
zKM?*5*qPWf3;t~Q2g9EOe=hua@blppz@HD_g71M}2)_t^G5k{a<*<jqE`U7}whFce
zwqD&ksh=vX8Wj$a`YB(H3WrGjl&?mGLr}jVQa`mveJ*B*)KB^9(=kJ&e#%!pu_01F
z<*T095UHQ?RZnb))KB@UCpJXtr+hUk93u5ozQbV`nCyn_h3$ilz(!%!s-7XLi3ii%
zQyOfRvZQIsW*Y|^>fa=GxWV8VMg^sg&x}mka(r%>MwRx3F~O+QzG;jyR%t)Y$T3!H
z-(}<)Yqd{fPvd0mXBcCR7qy>lOg7%revVPVT-whizgYXDj5(~sps%_zGpSs0c82zu
zu`l~x``pOjW3(@f0=}R2O=B{z(|($<A5Z4vGA8j2dVjjHi=V6g3}ZH}XmYT!jdIbh
z{T!oJoUi>{@;}r5C}Wwqq$b=GPJ}mvy4+pCM9|$C8(1F?_w****SZTWkCjixGta#+
z7VC+G+|{x8Kr9|igk#YH-#{qp_6MV~Di-PT6nLydJ(d3IL)C7zH(%{eo#R$p%R_NV
zSGv{7|KhZ;bO+suc(5zfAB?Yd$GVfq!DyGeKe*oA5pu^vJz<#$#i_{QsJk;1PXsCL
z8;pl#SGZG^O%_zj&QP=~6dzgQ-b7;Hkooi1u3cLY)Q3CiehNBc{qz6bvBdg;P*+HX
zd!khSg5E@bq$y0fOTr%nMxr<5t{ez<QlgK{b0_b$u)rFbH_j@E#e3#QoIK?GruypI
z#s1oSI@72z!bT7MCFpO15i+_AH~j@^J4jxq5i<si^+p_L_0nFqaV`B78kXUqKUzx-
z&tuG^y$k8=808kBeB4Gg`Ej~hS(RUyyr@xN_-J2<Jh$Pe{ZT_wD~ZuHU6f-1ay^u6
zB^|9c4o#h%JU2ge_D}P1r;aTrggE8wV7gN|C$IU>atl)qZt#%6J#<m7{j?pYHtVJ`
zca#0$J*)ds463u%Q`!M0;$#)al2}mXa##+7gHG&GY&+Y1#vq-c&g~-Gnc__nH<h$k
zov$!dKL3hi6{iHTe26ih{;$RV0z&xV)hf0sJ_U$!Kb`sCUYDSIRWVhiQk?ft2_60m
zkY_(dw+VNn$}VxHo9=V?J`!}Esxy_8Pms#vZ2j;WRl|N9*Fq}2^)JgkoL2$vwTJF8
z@`G|n+S5euGpdbRV=>jZTGVKjr(tmVqksSCra1qTe_{{gOfZwBF&9f`87z}!v22#Z
za@i<0nvG%muzgt`8_UMA@oWOyk4<Eg*#2xXo5H5D1DKmlW78RZ-j30yz1S=^n;p#N
zu(@m=%Vz~_KC_sI6|y2$%t{!oOl9S)f*ryRWeeD0>~MAjJCaqhDpt*ESS_n#3)v!8
z&l*@GYhqrunEBWe*36bNKU>BEY&l!OR<fg53p<*%vQ?~&9mCpLkae(5*2O}soAt0>
z7G`~HHH)x*7G*Iuz-$(0k|o$6Tf^3}b!<J`z>a0dvE$hZ>_m1F+sHPt&Fo}$3fscA
zvQyb<>~yw`ox#pzKVw5|J3EV=&CX%xvK{O^_H%YVyMSHDE@Bt6OW39CGPaXl&aPlr
zvR&*dwwqneu3^`*J?uJmJ-dP3$Zldcvs>6N*sbg~c00R+(eGHZyV%|ASL_~kFT0Q3
z&wkAwU=K3-MM?HBdxSm89%GNQC)kthx9lnQG<$~qjy=nM&z@t?vlrNl>?QUx`vZH0
z(XWEB*Vyaq4fZD6%l^dPVsEo|*q_<EjDG!uy~o~XAF#i&582<?M~r?^f_=(9W1q7x
z*q7`p_BH#4earsNzGL6Be{h2{&N+SGAW!2ip3XCPCePy8JcsA<QG7HX!}sC)@;pA4
zkK^O{1il}i$S3jr`D8wYPvr-2H=o9*^8@)od<LJ%XYtwmU_OV><@0zxFW~dJ#XY=`
z7x7|V!b^D>FXt8f5Pm3Mzz^ex^CS3?ypmV(YF@)@c^zNK7x8-Dz#DlJ_wvQu$CvPC
zzLfj<G9KW|`3k<0AH`ev(VX6w^EQ4AZ|6bY!8>^u5Akl^!+Uv{_wm&{!uxrY$M^uZ
zd7Mk0;DdY(U(46=^?U<AmLJED=O^$J`AK{u-^4fblldup3*X95<)`t}`8IwAKa>BA
z5Ap5%EPggWho8%L@bmc3`T6_;ej&ezU(7Gzm-5T_PJTJRf?vsZ@vHc5el@>_U(5IK
z>-hEj27V*IiQmj`;lJRw^4sV)<nN&0lD?DQ#qXxyYrTix%kSg&^I!7^_=EHtoe$Bk
zT|UAe<&W{l>DL{fq+c6+ia*Vt;lJb0^5664`1AY){v!SA-plk$bg$5_x&4v9#$V@e
z&~KjYrQgDOi@#034)kaKF8>SvAO0SHpMSvr%0J|P;~(*l`6v8S{u%$Ae?i}F{uTe4
zf5X4!f9K!v@9FzU4Z-LuCk1``UYc;xH>PEXOp!(3f0ZNXdyeSafX0Y@#J(a=jHPeF
z7_YvWK}-~r#QtJ3eRh5-eSX_5ritm|Kyi?mA!dqMVzxL~%n@_NJdrO7#C%~1k0=yH
zqF9uOQc)(#MTIy-94Z!w!^Gj@2yvvS6jh>H)QDP9Cl-oDqFyx6s>UYa6^n&WED_CO
zsql+sA|RHF6}0l>C|Z$mv}hHpM4LE9w9^~?4$&#PM2Oy&_t3lSu;>%3MMU(AD7|AD
zpqa_IkRl-l#Tv0ztP|_S263!7P8=^z5GRV0#7416Y!)YrQ^XdrRh%kL6Q_%9;tX-7
z_!;$|w~MpH+2R~=uGk^Y6F(Q{iwnes;v#XexI|nkE)zS&<>Cr)rPw8|61&CK;u>+S
z*dwkJ*NYp(jp8P8v$#e4Lfk5D6Ss>y#4p92;x2Kw_?5Uv+$-)A_lsYP2gHNoH{v1j
zuy{l~DjpM$izmdB;<w@{@w9kG{7yV8elMOA&x;qti{d5mviO5|MZ7BhC|(n<i#NoZ
zVz2m<cuTx3-VuKm?~1>O{}Jzr_r(X|ui``TH}R49SbQQr6`zUE#TVjB@s;>md?UUU
ze;410@5Mh%!(=8mg=v~;rprt>Gt5jg%gi=&%v^JnIocd!?qlw2=9y#7aprh)g1MhL
z(VS%NZ%#I+m{ZLIOt(4BoNgXy9%RliXPUFj+2+CK9CNNY&&)Rq%=xBeddxzz$SgKX
z%u=(=EH^96L(D_X1?FMq;pP$Mk!Gb?WmcOtX02IgE;JXJ^=5<FXf~N%bFt|&mzd4w
zQqylPGXv&wbA`FmJj!e_k2YJ)Rc4!cjM;7m%?`8E>@q`Ux7lO%nqjlgTx~|oelu#u
z%mLFj<EAtd=AgO8Tx+f~*P9#6W6k5t<INMy6U~#%jpinEvw5<4in+zyYMyGIW}a?t
zGtV&3G=F9encK~?%(KmN%yZ2h=6UAN&GXF*%nQwn%!|!S%uCJ7%$?@t<`w3Z<}ULp
zbGLc5d5w9kxyQUNy&xJ(bcMRj=wKu=CK`*XPI)-m6AvW@<Iyxpz1ff}w5~G}?9Z?V
zV~J2#M<gpc*x#W#`aMxsS1b|<#?uEvaq2H8GK2l(N$SaG<77!WMM9Ya!FVVd33Vs3
z;9>BQ5mX)guv~2pL<VIV_0ao+uHN+ny`iX!@(9Pe(qtqkd(91@cud5iA(2=cOH1^|
zL&RTfFm85-*Mx)&uS=7mHKAx)NR4RBXgC_8ydtq^rVRCm;hB+;lxZP*Fc?Xv`w9{)
z-AYKRVFV8*e*9cdt1k#f694<NJ-Z_w>|7m6sQb$7AQ#2W(R*=^*)#|VhdaaZ&cXgH
z3?w8CM?z^m@!*=!f72hxRJn%~qUZ?5v#<rEEFdMqk*<&mVh7!(iXy_7<%F**wl-?2
zAY~}xBXl&Qb1+VU>0B??hoY2qY;`C~*`~`7hFBS0VH$zSu*^)27_(#Xu5RL0(VW{e
z7>-0j{V_0*6^ZqPJA)CbP3eQtuw_-&WDSqvGGl9~TBv(>b%iJfR3#|rl+U2drm)IE
zL_D60@Fus?f}Mkj5bqyU^(RQ24fKw3YKFQCH8@P~40TZ%g4t9(l2_$W5&MaaLAt}x
zs8kspmgqdH264JLo!s7Fq}zeiJ7rF?UMR9$m57t866MIQbmG_@39WNgg6Yi4BtvPH
zapIF#)@D@eBDrdvi))>WYlkn+tW92(RgZI2b<3*9dCDDKKYXs*&aF?LueL;OqSv(;
z@GhSN;d3B-!<V^yPWgPvD>M2BBZ=@pWWCFWTIvcomj;|m1H+eQ29npfj>5sTWxcU@
zG^-~R@26(n5s@wxiZvlu(784^e65RS4X6TU29sH&1wl(Nl+l@_g`%%64mlTxhA+;f
zP&(Dk6?V=EJLl;3qj=8@C(jWfq9N+g5OYqCIj6^lvvkFr^2Cx?xw^t@!d)R(%pqaW
zxp2_AaB%p-%)!(Z>v52Dhe*g=pWK~Z*&pnT$D-*$Cv{a)i&LB+Nw19cQ1x1!9&}Py
zH8OE^IzZLKK-rzczFFNBOPHNxT-BXH%G}lIBsEUbmE4NQf(cg_!3PuRwYnTMm!it!
zs&&c{LXuTWnFWdZXd)|=a?@*d=|Z}6wNAz%B-smxOO)L+?7J2^Irktj7pk)MkjYsH
z<#teVdPZzyFB-l&yLZ?(7m>!8y-L685g%2pT{J;ORVTaNxev7~J?!{d^?-EFf}36M
zl-xPX@kiCCZcy#cpe-f)VOM>F+UDWD?1teoWcLmGIgKL<owND}8%nC85vup$PFIr?
z#0Zj{rjh4GMr^p696BRN%qB%tgp8}nsdN!1S?uH%b#hxgB7>ahhz-|bC%32*oM><$
zCKK@(JtakLv`2)ZJ?TDO1!B4i_?$q+kmUM$2ctc~_+Wn|IGD(djojkCS{@6zmO3S&
z2Meif&e9R!Iq?x2uBA>%;!fgsu98Ty{lj!-(<4tk?^Juu@atxuL6dP%YM0-+Tq4O?
zHUc0gF=E5D%sDTC#9XGTOoEIn;I#QcB<TTt?}Pf@1J1n<B1sD<^+}^i!)Q-#VC0?W
z4vySP59kIl=%m>zhVLMI?Fj#<5&rsNKl7-hEVx=6RyH8XYDrbetPLsG)#BXQ1|(_J
zQ|Xbe?nsPEnT4l_b1jq;ZhEEj3`q}a(R3sn$FdzIgP-Fc!CwwNY^g(~8~<=w(;RSz
zt~Ah;nJSv8m~uHJq=Dd^kvyd(V$qn)P2McFvMM73y+OE{L3;L6-y|H&sU47Ex-sm|
zs7*M>bL&ZruuC<_93S=0NU^XZCotlIEMI@9$2oDIFkSKkyfomMRiQ*MZDEk^5S@*p
zisE#QX|~WIdPoN8xkX-v0#$fvjlqF|AT{Ftj;<j04)Vo=d}Wv#4@$w8gvHX{SeifF
z(;pPef`jS0L}E#ASX9&B5*c=&Dl5jQJd>qTd5_j7C--FqQ>5gCM%-Bj7097V-50#E
zgU<2frP!H<>&*^2J*`LGWLj4!k_e{jyr@S^x2O)%taKu1s?5?><MybRPPgY2w5pm%
z2l={idQ9KrKv=|kV=n5p_Xj;`NJN5eRTn`F&~0|oAC)LArectza!!_P^p8rKqqB7a
zs1ITz3m3!940eaZ9?L2$N_r)plvkMYhL0BK>MKf06tk(VQni&jzbxgIr@V@!S8Aoa
z6jo^x%TrvEJnBj1;z{M=N##<Q%B3)sOJOn>tFSnkOJOR%!qU{fRL+H|oC{Mq7o~D8
zO66RX%DE`TMNtZ)D1}j!!YE2%6s0hVQW(W4jN%kVaSEe2g;AWs80Muog;AWsC{AG%
zr!Y!Wr7BHbQJT7<G<8L3>WZ>dsmfAiDNB{5ELE1WRL*6ooXb)<m!)zpOXXai%DFss
zzvU^6@)SmS3Zp!QQJ%smPhpg&Fv?RH6)B906h=h~qauY-k;14*VN|3rDpD9_!?`3e
zsHNyS<gt=RJysIKV<j;>RuaQwB{4i!62oI9F+5iCK0H<m!;``oE^|q8pH)%rTH$ny
z*E-1xJX~CBkz}q&%0cGZq~|)yIdQ#{&^tLAwYx(7D#6`Q^S8=#hljs3h{(k30A>W>
zVRSZXc*>w7C_}l<5$aaQ={+2c%$&&wb&+$3^1*efL+UD5SFnf1Dw$3~r?@(3Vk4Bu
z2t^`cQZ|`QLrCh)52{HDml}a4LM|Hc#-d#q&|=0yVPNQpEr4X|L3BqXqno-)YVII2
znjCYc(XMExbF<|Y#U7f#kV=_r2jem9E%g-YCPbdDQl*}vlETc?i_kPY_A=G9L_bYY
zbY;>A0&^O@IT#f?zRXtB9@@{r%t!J74U!Y#V5BSD-JMp0=fyxg)-~9f$drTh3{fRc
z!-zYb-o2`!dPX?fO(XfldU6tKTo%cuhe$lO4pSu=>S?a#OfpqJ8eWc`J;6qLB({ON
zpCR?IsjIR)IxWoYq?gOYbtgI($$og>7<4>FbV{;E`1_3T<Lc2E%2BgENqTeCe9!O(
z5s=)-rum<wp9?lpTc9Pmm7^vsk{ha|g_dRM6eXwaLcLw2(_)>L=(JR)WjZa_X@yQJ
zby}s;y4t!rq;+-GI;~Nu<*5U%Rak}nR#6S`DFr^I!12@;)vEI;MLwQdr@WNnd{14m
zlV4$75!H1W4#w7n@!+Re;0`D)PV=c@Yg!C806VBGN>b$HXcaj*Qd(s8#$u~g$T~ui
z*jk)btj{X89K7NZr~Jhwdb?C_mpb=RT<Y9MaVbh+6_<iXO2H$gxIaq4Bc<SxQt(JA
zc%&3OQtI$jT$;oKFSH-LSjA-;zf9woY5X#cU#9WPG=7=JFVpyC8ox~AmudVmjbEnm
z%QSwO#xK+O<r=?S<Ckmva*bcE@yj)SxyCQoxaAtRT;rB&+;WXuu5rsXZn?&-&^Q$u
zhq}P3eic_}oC=Loq3^Ro<5g(93XNBx@hUW4g~qGUcoiD2Qr~B#zRyaHU#amcHGZYW
zuhjUJ8oyHGS8Du9jbEwpD>Z(l#;?@)l^VZF<5y|?Dve*I@vAg`mBz2q_*ELeO5;~)
z{3?xKrSWxpEUwb{RT{slE*rd7TdE7{a9pj+P_4^Qt;<lY%TTS$P_4^Qt;<lY%TTS$
zP_4^Qt;<lYIjGiUsIJx6b;H;-ng^{L#acItYjhcEbQx-N85}*aifeQkYIGTDbQx-N
z8ESMHYIGTDbQx+i4>dXtwHm)xb5N@}sMYwj8oyTK*J=)GHGZweuhsaq8oyTK*J}J)
zjbE$rYc;;s&*D0bU#IcwG=81NuhaN-8oy5C*J=DZjbEqn>omTj*H&?z#;?=(j-Fd3
zS`SOKYL+<94chPEmsk#diRIvzSPp)P<=~fC4t|N{;Fnkqeu?GamsrmImuS5$u^jvo
z%ens&kHde7$GQI!k8}Se9^iXwopwqoj#G-`lqQd(e6)@7QHt_Wit<s4@==QNQHt_W
zit<s4@=*$YC`I`wMfp6nPCKPk<2&t?wl%)fPH9`?JMEOVHNMkMX<Oqv?Uc4PzSB-=
zTjM+Jl(sc~HTdz=I&G9veg94yrEPuxP8+3degD;Es;$v>d9tmMU!nI^j@YNm;j~pc
zN0*~o^H8nJ;j~jvt<z2^)#Y&7DQ)X=IPH|Sbvc}NO4~XPPCKP-9S5hK(zcF+(@tqy
z<2&utQ|q)-N_8BZc1qhi4o*9zZ5;=vozk|BgVRoFTgSm^r?jo_-)X0`t?%Dyr?jo_
z-)X0wTBn^-s_)lnm$a?#*J+out?$=qmxY#oE)-dHdBf9J7=%z~v17zO3_H}meTUCe
z{g@w}hWRYDZxlMFshph6R3^DNn!MgQn7VXKvTv)7t3kp($sHZ^_L24ls(-wvsXBu?
z@&yC*$~0Z|X$xY~rFKw4FTN<rK<}QMbk)m6N*!EvocgxvIJ&jUL626QpgOaZ^6qZ+
zI4blMS{cid6RipDr1hvOJ9@+nzS_=mrtg)Tp=R%uGiKzZz1qR*UCxUsm-A98d&CQ=
z%+$*$mos^vu4n9B&MbYpo|?}Zo{s1B4Vh}j3==}8@^X|(4j=V^*D6U4WUUg^46E2_
z$&@Brwyq)7l?JW6r4_aG%~AAw(pZI?Lkq^n(;rt`;##sMZIQ2SmQie!8Y~h_MCrOQ
z2KV}!+{XB&KChcr_!^WC{Tpdh*G1XeKe=u;uB*ZonY7Y2!^o!dM;ZIj%HavdB<#<k
z61Zq}at@VZw6U)-&e+e`Umr;`(&=*>xm4OQMjn-WB9&oEB-|4;Zic-B_MQk;8skCO
z$6%k1#5yC!^RTbP)X_I#{{s7ws$|Aju-_}oOsT?|1-mcoBq=Qqn+`h%wvcQgI|TMf
z*gCRBtO<50?8=17tqrytHVS^!dS|r)d)TJKA89kNM_F3JMO^(fO~%TJn6hdmpo-mp
znhwW#IOb{}LoSZxw6@%ZJV&Nk#Qs!cCar2LH4dj0<BMs<W1GHeiB31@bdOFS(dmae
z{me<(7@dySX`xdG*&@1+F-F?(`W)I$GaBf>VZ1^AnX#AtbK@=gFN}BSze!sKRF~!%
zKQo4m?Z#QO2K@u$L*pak6XP>lRoFx8121P+&<d=VX*JS9I-Aj&pKEb<lZ>o?wn|8y
zLv@YnI(g1HKVC<4G93|gP9B{zj?QGX-e?m=SG6?q>3T+G!qs%nSUP7s)%N|U_D-Uj
zJ(-R$LOufsbOoJ3SI~9(3iAHl6{8GOtzu$sHjS>}>>xIS0!V8tRlch2QYqBx{jr2J
z-Iz_^Tp?&3sgJ(LLZwagNhogA(|22N+E+}rNukpb^-p<DeK5wg(e_yEHO4KsHjP{A
z%AB)h(UvcBSvudjX<Rk!I)XFi$+j|GX>&&jJ}J$xg08H&E?RoJsf;sor{8L}=8f1h
z`HHD0O*R(bzmJw6ODwMr(URa0RVw;#O&gJ!Irf0?@^dbI_{m!~KD_9U@6G%8=-nUP
z<lebypH<c-vBBEJJ9Y}S)^SYvjF-OoDtObSpKX74=It-GykO;~iptWcP=1tA1WZ>R
z5BNP3tZ^>d$jTc<3)92&CL=n}T_5c%@XWOiRtH4h^yC5evT%RM?N88Z9eU&A_J`tY
zXsNn%S65n7C*)dXR;h>jx$0lbgj{;OlzNH_i%Kd=Dq5`8{}8m;Ds({S{%@eFq_m1Z
z-@UNV+IZQ>n`CK**m$O4Z9I){+-N*>`zK4s-E-=e_JhYa96i7Btkql3`m|)(%98h<
zEp6-YE^RKhA3U~u%4v_iHs_(ftS`#`aDL*fFV4R4=G)ht_wlt2owW-KR%f5RxN+_o
zAFgcJ_I&!=ljeQ3Y0t_(JXQ5+{;vmLKl8dre>Ua9NK?j+sjt8Kx1PQ62kRfaw0*(e
zKixO}%FcD+vB%z!&jnSYD>pu5ZG6Bgc4bg~NJ~p+%$#k_v<^ycTWrgI`ojRRPB~CO
zlb2z7(-KvmK(KO%ktunM{lnyzVHK&Z1I&5W9BcN@nL7{KGF@NT8ISzny7>ty^E-nD
zwBH)9E}EgT$g#4Lpd!N>rS^|j`%S@JzqY2T?R`wD6T9-PeLSOyR#XAkGJmCqKJf9w
zsw6fsW-NKQ@v(zWdgJZfgC2Z+(k++s%Xe?e&)Ga~V_DXwQS)wYnGn4F<+Sflef8tB
z&boE^q$78~fA)Rl6*mu-CJs5@_jcLc7o7IQj;bj)-}UIuGgrL%%?n*-Rmo!ZY|#}H
z9`o**_2?&iw>0r`@8)%n{N4ZN`)|6ozP9VUOWShJ|I=0X-M{IS-?Z<2<A&KUKYCST
z*DH_ifAqcAS7f|UKK=5dZSzmR@cnzzryWsKnVEijX!1e#EPAfyr1vj>=5c=8*k_hK
zI{wO&TEAX@_^SBvr%t$ZUiB4E_@6%hurKBua;NWH<Es9w&8xm{^MAJAtt&<k{N~%w
zZ`iSO)P&a`8h=vz<D=(Bx0oNl|Jk}(&!#>6Ve!#zchwhuQbeuqA^OYLt#9G|6L-9E
z=F+<AFJJ9nl<V2`Bg(9e+eWm6mP*e!D^F3Jk(aZA=5RytsJl8i5b}(*_Eo#n^RjCO
z;~l~18ntFB8IP<y*RtN=+C<1R#oAw;mYp}&+2O9HS?X{%P1CA*Th9U36eoV;^<mY3
zWwQP1W?Mupm8R>G%~ov|C7bR4iB@c4(?_zRn(HPu+ORgUEUs$QwNLzF*KeP4-;{Oy
zY1eNZ{OGpDAHVUy==*zu_g>jG`ITRN{Y24qCtIhjJmHL2SHD(z>FE2P{b1cEYj>Xz
zTX6q5H|5^l`&s1NC+=OEf8C<PKELCIRmbelFZ*Wx>Z!ZFyz;``lOE%HPi$KH)~NOm
zj+}hLUAeCx@#t-DY`yoG4Sk*halyvCYZkhn_Q>27`A@AYF50p01^eFhdhh%_e}3!1
z)6bamn{Cs!cHg^s<%-zg{R{TY+`8(CG2<3ocJh169>|J5^!>vPuicft&(EhH_v+!Z
zo}IexgUdXRfBfg^6JLGk)`is<PC91i)a`G#eg5HbA0K~R2OIj_oBjIlrZ2x{$5S_+
zy5`0Y@6P@7ZSNm;e%rhA#<7Rqy7hryX~lTe+W7K+sTiv6IEs;Bxu|t>W>}SK-vQ<!
zR=HKWvv_CWmgJ|8exe&rT^U(bsw<%)s-{kv@$V#rxk%F>AyhMWO|&K?>$k|uAqk<1
zR-W(4FDV)se|jbf(&>iPU%$8V!J5gQ)7D=w_q_WzUC&;e-1OAVr>~5@k#X>qZI3;1
zPTsrb(%io-oHgGlzxnOQ&sluo^V2)VeR)LLG~a;dq>s0iZ@u*|fBCub{WF2{79aHc
zYiBLqaN{q7m7mUe`rXI>(DvG|=ALr+?U&sChrKKQao=qZpYZuJIhTI)^Y7<Acj(gn
z_b;FI<q-|mCiCy~7t-xGv~=d)Uli=O_o&eapK|^5cUyl{V(XX@&G_FvMa!%bB7|CK
zK{YK)mF^<<lEDso&EZ}Wrx!Ny^*?N}?#e;6WQ<;};E7scl@!v;y=2o=oAgfHd7^H-
z<3B8c7J=-%@xzbQ_@GR<7l&vl8DH%=)T(fbSh$Q<>q+&|x<MIo2NQ1fWRd!VaU&l|
z^Wy_S_w3GttqLk#fx1}a%}V8-ywU1d7xfnCDW*CL^roaDzfg4*{<r3TU(b}=+V{|E
ziRBZH>wdg#OYRFFUw^f|`Dfcs`-&DXk8|CffAX{)Z$EqSlBREeKmFcUKKVt-p;L!`
zllkr6^9ow-Kkc}~4xKUei%(Y`d+}%N_D8brJn8BCW+j3>v%G!pe6TUNa{ZNWP8hTA
zxLG&v^%kEvccHuHuGhN{>OTD`-`xj1T>jXy?R(>2Oza-)yQ{wUnez3yd#r0-o!7qT
z(wFv(W!G+gsr)RfBJVtL$Z<z5yW@s8=kLGykJs$8^l*ObOLM=QcE{DNSB}oUcK4Vi
zqlyc>S3muD+l=SWxaZU8aR=YSR{h<xwdI8~PU%^B>cpM*mwfcz+$*QOyZwvJ?_BfO
z_H}K?wr~D!MfR%7+|Fg~FIG?co74O^u~&(ym+%<)aZ?^pP0VeEtsX1n%5LAXh;8|*
zmZeV+)^clh^6Adm_{sk=ew_o-nv*({TT>_f>vJjAKkO$^BkxaM%W}-1b<E|fb{=gV
zWv#FR<1?vN_k`y6guAKtdVrO#JHzJKp?98}wB`CUf42HJ&z#iv{G$El9XqkWnlb)B
z-Fu;Rz_A~8U)D(MQ#q-p7zxjKYitsidMmmsCB%Ozk{*@m0VZ{$Eb2z>oW2Fsoof3}
z1aY7<SOfu79b)PpO}E^;rdpFdldSz{2i5(3Q00rNQvz4w6nPYVq+smNf4BOYnFEhq
ze#E&4WaK|oa?!5Kr+)GyHBtJvP5k<`b6>8!A{f4T+%@YSwI12N;Do9#54z*+&2j>*
z;~#VJ<$wBS<NWu3{Y1^X@i&*;5g6m%96j&sw=Zn&yRFRg$E)(+Kf`!*itk--;oYZv
zwfMeodIF)3`tIBCL|6HwF=N)%uJL@jWrG;q{@|^vF8N|x_nJ-nAGLS$JNMRKRlfY4
z*DKeKS~=R<l$J;Rm~XZIb-(pd&-y3EjqhLLkDWSk(&itP*!urgerTjZqE%K{F|4b!
z&cG^9>FV!(sH>{dQIIq8a=oPA^if{Y#zaCU`(o*Nt`)Hk`pkoeYJ@s5YwS2LEqGHO
z4R+HcSC0}ujHeE_7O3Odc_sK@bui+tuW=`}GT-f0E6QZ7JK^?|SxX;%a4!!=!t~K=
z>dCp+6ngeUFW$@^J9?SQn?5G(eB4?lk;T72{<p)Ub8B|)2p<>7{oSkM&nzrCy{YKB
zHuvRCFU{Fn{?hqZ9r@A3`t0db{k{jQcR#W1+U0+XE^=LyHm+i7=b;DfyZx^7pLrsq
z<oNho3s-!%{>jrD-aT?4zohfT8&7)Xp_^X*_RGire%i|~?b`Wj<|kKta_rxp8hqf(
z(2}m{m)v{&JvZFh_}i7WqrA@^)#Od8-DXm|6KS|h4J;4ioF5EL(oeE#)S&~+!z_AS
z?JV0_vZW|F?vb5EG&E6<m;9eJ-D-bz@*r9;a&bGk{7^bc2a=NVZ>3Yo;XmmJ32QKU
zISuZVH2-IVyCafUS^S^gQ7|0*p)CI3jzV$k0L9CJCe@CU{<+lb<H~d%5mi($8s?c}
zs3Hx|OYCo=k7!Ug@kebO!@I?Qp1$>sp2~3({`C6~PZ;&|gBQHmdGANJpYu*%ykqa@
zzh6-P;WdY49CP==jhl`+y0QMVDeiAZpOg8!DHE61Ot|9IPrp6$k{iFwEqQ%G&h<6t
zw%5+N==+OeO^4o6+%qs{%RgEwT3g<VY`U)GxKQJF=l9<}?%eu|PaPO@-(k0O?6~dK
z+n#^rFPBtqKjHi1@7i_t`_WIPpZ>_&Qt#<4+5R-ob8~0kv~=&88&==Gw&vcP8$Me#
zW8Pa&oo*f8C@x<A#O}p6W<U7bgVM7fICs+*V?Mrn`yCfu_;TxlypP}GuKi|t7n~L=
zI{mpVum8`=qQS%7KPUXBn%H6^^2`gTys~`vg}aY<vT0iH_D|aH-uoBVs)}iOg@5&I
z5<Mh~ot!ai<CFj2${ru{6G0!Ir`kDSjTuoRay)9DVPb05C{uWHMjSRt=Z33Kwr3Pg
zPz-O6vkn}-(Dcyr@9VOPTMo(dZzy_n^y)<wIp<pGPdAOMX*B*bH=cBS@yF4lD~Hxu
zt-PbK<mhMDWM=Jde0ovFt0fy&pY#6z%$#v^N71-TcRYAo;Q0BM{`M@fc;jQ+*8JnN
zzNvq{>aJ~<Tz2JG;jLF>Y<aKjnOm0UoH6@^_qKkqrRMErgU?(zzh{r{J9p0KA56RP
z<7@vo`8MAnFW>XU;emPg9m4)GGg9NbW9Wjlv)$t^SMsxo9XnijmuC};(5_w;`kw!j
zX|sPaSvMjotEhXCoMfaJWT!UL8HFHqB+WCL9%;0q&noehme7mhmY;;+<6W1Xvv+&;
zbFWk$8+r1Yzn=BR_D|b?8iMU-<!zhPaoAsY&CrhPFL-*wp72GF9C6s)`@XR2#g?31
zuU|4XW7dl8n_e=jo;c;?d$(QKe@<-9=dw+1c<-hB%6E3W`_f}G>&$ig-~PgLo9<lw
z`SQ;ee!KhlFJ3(Ej!*X8k<or<<(^~m(>~hsb$e~`m#lfz@-dG+^uU`Z{@Pub{=hqF
NJ^r4-t1mN*{|BJyceVfk

diff --git a/selfdrive/assets/fonts/opensans_regular.ttf b/selfdrive/assets/fonts/opensans_regular.ttf
deleted file mode 100644
index 2e31d02424ed50b9e05c19b5d82500699a6edbb0..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 217276
zcmbTf2|!d;8#jK=y?0h-UqJ+B7zac|gaHvZMg(MWK}2Ir5qGrQx75sqaKQyv+|A6$
z$ZRw<GqbF$%*@R8-ZHbS-puy$Rk(b=b7w};x4!rL|G~q#%eiNH_UAdzy%I_YG2@Rw
zI_3;4=)KdF6Giy0`Gi<!^v=o6BXRsQgwJS;R?)qS`wtAu&}ZNr_etm80|#a661zW#
z^M!=)ulFCAocd^|ou>(*M{&Pm)Wi`}_P_AQO+pNZaDUmTSu-5^zTtZaY2AqXyT?u$
zH}RnnM~sA6x)Gu{G;YN7Da1-#=r0`i4dd>gGj>MjEk%U1xlU;Ep~^8MMsvqTO+o)?
zPdZiNg7$6Ibezw?d7H|KGamRZz1!!6aCly~^}aFFCY2_t9wM}KAE8G&-9LHMhy=^O
zejy}k7seYral`{tWW6{wp5Kh;9g{{(9FxB?`zOMyza~U3pE7y+46fHt_Y>Z5m5{i^
zDbvPG>GfP4<{$Ypo>377I~wuXJ+rU39j@>82T>_;fsoVbDJxk0LE_sV+}zsqfoivM
zBu-U?V^{Hm=aj3O_TtjMn_I<ss@+mgfqT+l{xNoiZy+_qMg|iZo-~kTG8B*M$aTWw
zE-xIRYjB6iw#q!X9uuhf^JFajMagktayc&(I8OMIa6fs8<6d;kut-vR4(vs6p}9#O
zBU;GA%2iyMgV0CVJt1Fq1eF85pCu=yD;7YL6&Kmer;}<~BJl|8NtL{gRLVXgQ|T#E
z&6Sf9l<vX=G8p$N>7OKvTTe<kC)v#XOf0xI7Uej~Xq0l4M3icjnZff))DxukPLhRV
zc0QZc{A3cTNFj4%2COuhoR(?GeAx%&v@jjTiSr9M|CXHQ8Ze%#xkC6J*W<})MJ72d
zSE6(!^M&)l`d8c=O(qBvi3!gg6J7-sRFX(xCs7LXu==%F$8J)OIonZtgux_*uWN1;
zcGBe-uUz<+`1x~WI_l}dd@`LoLZXC`Bpze>IXT(Q$(z>-9_iSxm`eQYy6}P2-p`)l
zbMX9mtn&hi!M!~K=s})I>_Q6qP!f(mK}vWf;8;noq0VRP55XSCCr}t{=Ap!}Hdy~W
z%q?BMmyG5<AbI=^Qi6Mx4EF4rK$>sx6UhSU+8ZQ=dxJQowfs)}vhHLmgEu`-+_>I{
zCnOus7t6boB9sm&tpIzE1a}7eyNbNAS!B47@W5~pEWkrI2^S5`&FonA21yR#f#ITM
z!Mv*3Im1QEBH`jP`n&=7F}VLtk$+CgC0qax3>TpS9DE8~Jc;^Ql&iuiGW8Z77%o~C
zMrZ7t;i6>$E*P#EPT0EH`2SU7?QDDogTJjAjRNOv{j8SY!{*80^na-tJu{m6#~QTG
z)&rU+s4ZMW^H*5s8o;`pwDtxPjrwf~2Xc}gto`8UQb7Y61&`qVT0DE2(W>A^0lxrd
zj|FRAunt_W!u@0t#o3!186Mf#ch|D%gx<Qw_zf^+cx_oLMw0o8<-i4aknusVt_aqP
z8DBEq_{SPNEAh=;HKQBMY0v*_&G=p7ImYh{&q2OtyvO*zWzE%Mo;%5_GRQwh1B~Vw
z-G$b6Yp%zsMquS2O+xKvvH*NGnXV^poGa1Cw>W2VB$Ck)<2&Kk=J)0Eo8RX*H-9Z(
z)cm!q8t16FBhBASyarh(B%rK^Y+y8lxiLA%#%4H`@OJ_7D=6n6)AHFpNj5^>3Cl?#
zlXGl+@{xcmWSqR5Oq6GnVm#lCT^BAxCY>ci7)~L}_6irl2e>AaW8D!%E$ksv*?s<V
ziAVgxaY^Rwm1rif`BwpQ1TvDK%~XbK=%EPI_55dO&*a@{jE_ELCvaZgd{r(dd*sPd
zA1Y}q#(TKWuCX=BE}}iwEQ<o|fF2~;W%2|xtC)<n?h3Z~2J5>{BH3Ccz64yDZjhdx
zO?0d;`AOimo)pR>$Qf1yJR{p3fL92PAy`RrjKK<hhF~RQ?Q2PcGMk)M=HPe{G088W
zcB80CcjZ{rcIXHun@&Mjt%7Wy2zaa~35>sGmx%zl<;YCnRTS`)A2>9~E(Ooo+OOkU
zP^a+6@f?#kM*&Od0~v>VpOfv17~)qX;h9>JAWy)x;~3{>k}0pp@l?<klO>P?Y;0Vg
zF6ozmF1pJ2Tz-%k6n3;l8)*)V=GnLz;6pqU;)lCyi9T3cLP}uONQEzKZlps=gjAs8
zS<Rgd6uvufFF+qz$UL3{PV>lS)lM>+*$2EEHo|1+*2$!pzYLwD7U%HsWFlZS5+z3-
zNwx|{NtS#wSp^)<Rze=h(}|nWDrju1ygTWQ;t19gfLCTu#LFPVfV)08t^~cfWqZhM
z-b6IPewhssC=FyX;1(s7o#Zn~{t@VOLZ_lEg8qv~v7mHCNkGX&@u0Y{e!{G}Pz{=t
z%s2|V7v@O3Oz2iLILoZ1zz^D&vckq;FoGUa3)SGmqr}AcmDvU%eIhRrFQU(xyoYR7
z%p_5)V4d^97t`f#=*1EOd$VyMAx&D;5vb91Q&)+`8C^441AQs&(50)Or^gbzOh@dB
zA%M+gj587QtRiYfIbiC<`6*(Nxrjz_2Ir?h2YX2t=rlr-4U9k8*o>E9n?PTXP_5cW
z<|{E4#+Wb5Cesxnbop%57a<SXxZqiy>A8!LH8U}<o#Z;?-9?m3itkB+qF$n3#y^ba
zlYt8hWDV1ij24qYizduV(n+9s4)YKg|4KYmi0ebqj_E9>JHE&BF07-97=)`NL3SN$
zO@>}t6j-xzIo5U+=S&{PU@bu%4S8sg_>9Ruw!TpPJM6!~Bwqdz_!E36TTU9Vj_r*9
zp*LB5TG)^N4w3G%JmLw}Og=F=!+0HYVYa1TR*!zyqaP-Nui^Yp%qbH!>x=Po*T5Xv
zvmqJ?)gk@Da4X^UBiP4t$XM9fQXLvA1Q($J@cAAx3v|F};8q>dy+K^w!YSkylO0UX
zNxJW@IyA?SY>-3VNirvhA3UcNN}!K+61ilveoLyDoQHj0rAS2GmGqNOAjNP>`oU%>
zR(t}QKSvD82+({#%nx{w@Ub88NrJosUo!n71OG^}@t<t1!1bgMoc{mTA-Miu>S2I;
z;XmDHID>AV7p!+M`f6$8+;u+UuJhYAQHa0)M}4<V6Osr2tCr|GWZSf?fh$68egio&
z6*ZvF>c&bGNU~d{lI|fXC=smiNhA%n#B}a=k_6eF0NO4WYT>i|jsFH&6D1!)hBCWD
zvemwYF1xF6pnnt@%ClV8<~IVz%}?R@H<WL2J{aW%0rHCb2KErz!^;hn(_{-dD#=**
zzXTpK(Ll>Si28N1kjP0M$tMNmA##SCqwzGAj-aFH0=kYqO8xX_+RR0A8QgL14em7e
zIrke+d7fACdfvq^=WF<t{APX&|0w??-@w1azsG+lXodblu`pB^E-Vphg|)&<!pp)t
z!a12annq_uS4Y1Q{Z{lZ(Z5CiC#J6>%wcszJ7OJij*bqGql=@PBgZktF~_mMvB&X*
zW1myzG&^lhhcnh0=j`AtkL6<JvHDn3Y^&Jl*u>cU*oxRO?ze6VVsmp-b2HZCz&Z-a
zF7h^cm$s!II+BjYI(E@#u#OvCxU`Pfv5t?i4svT94@>J<jdg70AHzDH;?H9pM9^U!
z1B78hg|JLmBdo(ZP73FQccV#kkLZQbyQ1HWJ`??G^zT>)ahM%;heKLNsv|SFju}|T
zV_3&icdg^z;5v*g)-f9EAXrCZb93`$zHjs8=2y5g&94xGI;r`UW<Pm}93&%}3m6`o
z>%?mDVR2S-W%H=!k<G)%xaORucZt2}T+=&5)$~r&+2;Q=ofQ|03!wA1imjTq5F%>C
zu%=2;C0;@KSX6yo_I3E>xnIvG<m>sDbzjfBto<tc(odJJUHb9Tzb{?7^yQ_`E`56G
z!lg5p-n_Ks(yU8}6kQ6x6n07V)ub=QFK>SN`<HKi>HaeI%T`}Td};bp|0RF%+l%jB
zJo~TluxtBs10^bBQw{ta3mx35Pux2Ce>q@rCib&0Q2ou{P>a90b;qSycbxt6NlD-q
zzm5FBZzn(UJIGJ`PVx)?2>FfQMGI&lZ3B;`l5VFv=uY|w-No<WAE%GeJ@j!}PoLn%
zbNA6d>0kU_J`cPxlWWbd;?lTuZWveY?S1bMU)iA2fh7Zq`}gbHr>L+Xzjt14POt2q
z-mD(oyLIi7**T+AdP>LS4oU6X#>ctaxMH0#;TEGouhWL9RZ4|iCh#03?Hztvk?ZH(
z4rAU3SFUSBeo}i!Zg^!*Qu|z2UWMN=!r@0H#JTcu2bWwU{EiBTKMvK17MCmhUbGy0
zS4(f8rT11#YH)NT-PjN=hyQGj%W;$r8Bm7fRXHx7!~dgn+*djl;-nKTPMl6WA<c@-
z){*Pan^jqpTY)*!17Yf3u3lr*N$tr2br=rAaO7|6nsR`)?Lnmju5E6Y0~}Fm*|1n?
z?ugO;;sIs3Igw7MFR6WjU*|$kxJ7zNUHav{{0gZ{$9SyDPgXb%w12r~<xv9}S&^t2
z?HWB|XqlfMfoE&@+?txDeq*9P!Ik4rnEQ1&U^K?x-j$Q<Ph`ComE0Pq==PA*FLN7Q
zj+#FRmgD;ID%R2B%81|<x!dpuVK@C;FF!3QbF!bvJYc1!CeP)_tEs3NakP2iNSDLl
zsyU$1)J(|*xJhxDpW^zl6_NhDl|H|rqLOyORHdcol@$5S1MV&JbM8Dx<p=-+|FT@p
z&XG>ztv2Z3?{C9p=>^~b!cHdx!-}I`G7=~Lg#*e0=MFM5@*wdhC;I$c1-tWd=#F&|
zyR$HK=hovDF5tFkU|9{qAqAsdxq$eJ5&nfEL0uCVVq6Bl?$1c4tHxw>WF}*dXzReF
z3r3H3_+@c^IeV(*1E5LvNDck~CAvQY)sK-FAkJuVWV+A|>nGQhTM_&>t1=uTIsoYW
z!~h|bmifIofS7kgkVtY5bWFw*BPxKf@eHp6%KXW$DSnG9J3vLaz^0WueqfpONZ@L&
z-_pyEXngP~e{wFK1?lJ3FiK-nV12m;ls!*8&0ii!b3{JtA!)>ygUfzfFHl)rZcW+f
zvHqBf$kE`tv5vAxr{C)XhJCKGF+N6ifKbAh7!E&J7HFlktZ1OCXuyy%VAbi9?ywuI
zJHefMS2wP*$UrwBK)=$hbd+(CyblcxxZudcfh)Tk{`wVeC5iz6m##9x&F<zXqmd-k
z8q@G6IC9721lzImJ37S)@9vc!>P^m0(NC}ZNGDia`blcf;kF|<FdkPjpysoC>=win
zZYx2bz1Xz?EW;VmJIY*RTs~K&!|yFFV<2MSk)Rv|h6M8fR*Fi?TAsB47QjTDxGh00
z2uy!o;w>05;QD(@=OI{wX70RQ5W4NCQM!r-)-X)Cf*m5*<1X+MM#A3CMl2hg&luVT
z+3PTXr6q>0IpFm&X0Gf4YOHY;jIMDFEbAt<hCG=cIhT!XB1N>QG&`w1L|gU&7hN{s
zfR`>CIHc@(nCy;arDX>>%Jr(q_8n-0du7i%2=Pi+Id+v@WKA6Gg!NQ{6Q$HX@_8>I
z3#Ge)bU`{Fb(9k6TA&fGQ8MZ%7r17S+8v0K2J*s5A9Yj+-0_Bb5O7TyxVBKb=3_qx
z2!p6sE%Pe9DzApqa*+oxYs?H+j={=QQSz*YYH8#FJcT*p@=?0*fXW*gXt5A2yuQGU
z2cZfMJ!nYTvl@cOq`w#_oBe=X!YjcU&^Nh`(Tq?Y^i|eW_!zSh8&HFPFjrkYfF@TD
zOhm5nt6gKV{b8<bc0G$-&k9_Zv+D|1wx8N49$yH)EA~_TExotQ36^xUIvrVK_>p1C
z2cc49_$JA_Mdi$Q406!uK{5IKpqOZ?hcWw1G~c%<E~ZbBC#ERR9TS&k807Y}85Ch|
zj!_8BF><~+rm(;hQ-FJBk7<yM@`D5qp602Z&*Goq`QCXEF+b!{mnU{mYft1Lo5woH
zNcDpZ9{nJ_zQ3M}(Vx?EdVRB=lSAJRq8>76GFd>LAwLnpK<GjnmC>Vg&4JQ^iHSu=
z70pl)s^WY7beZ2hkp1-z7~+>N^OHeC?kzh&>1to~s#PRAs>q)@u*~m>@)h|<<G>Jg
zz(%rt)2AmUmQSBCGm-twNSr=HItcxdPQ%Lyd{YatlYZFovXhyzBeJu&)Z$0TCl<06
zHY)c1TK*L+><XSTH*RSDQLJwMxA-Kkgp0>pJpBLR5aAs5vw|!lpOej`maK-Cvy3dF
zdhGtOpP1n905Y32(|PnNH-W3-_H&=`R=y`coS(th0R_JZt%Q4p=Y^ZHJlSKiQ}Q(V
zTKOCDn~F$9j$*Xp1!Yg=Lgi<w2-P4}jq0dcsm@g2uil`3RedQeCTwun_OMSh?KN{W
zZ)<+mw$T=8Yqc+Fujov=PP+cOX}a~gCv|V?+vw-$4;d7OQo{ygTjN;c2IG4sgDKv$
z!1TQ7hPl7_G4qF(ww6lE<CeFrc583zLhC;3HJjX4WUI#S5j(XHv_ES9BfM4k#_%%{
zy(2b6oQwD|;*VAfT5W7~w$&$*=EzZziz81){?gjqI=A)xtsigwdF$Vzlu^-9^P*Np
z?TFeR^-|RNsL!JlqcfuOqkYj6q92T26}=P0dom^>rd>?em_9MXVkX5bjM?vqaI|xD
zb@XwRJ0?30IK!Q7ot>Te&NAnC=iFFXtTEOZn-beIwj_2`?2Opz*iEs`F1;(pmF&uL
z^><ac>f31Av~JVBO}93E+YD=SsLiQ1AGW#D<}bIxZFa}FJG#B@0qzm*Y3?fb2KOHK
zVfX9qcjCIl6~)~fcYoZ2ajW8X#x=wpiF+gNqqy(luE(q5BjVe|ca85Ie@}d6{G9mH
zZDZSd+UB$!)OKv!*=?7#UEg+R+h^Lo-uAt=U$p%xfh1@W><N7mh9yi&n3GVQP?u1j
za4_LS!u57Z?RvE9*KSC=G3{oxTheY*yDt*s6FVp7C;Ae{C(cV;nfO!t@$KifuW7%r
z{iE#<wtuz#`|ZDO|3{K6$(R(C)FG)yQbAH_(wL-~Ne4R!9jqPP9XfT$>u^tpaUJG#
zsOhl1!_ys}?{KQahaJA{a6MU>+$uRSxodKt<YCE^k{?QbJo$RZ*(tV^_>|5m1u4Fi
z(J7NtHm96S`6#71H72z*bzbVB)GHpDr=MrIXPoB&PmO20=V{MNo_9T$JwJGUOEaal
zN{dZvmzJ8gB5i%zwzQLJr_;`-%hPq~sp(zPr>4(IUzGk``p=!Zbz0MDcc(+0UhDLJ
zr>{Hxk)g=AFXP?L^3LNrpUO04_Q|Zzd@u9UF73Odbs65}tuF6%HFO=?b#K=nyScj!
z>vpWWq5JUe&v!r5{a@X$c5m#V?Ge*sa*u^Q-s<sQk57AC?eTloz^wYLZ?gXMD!duq
zEbkKUYHywQqW9aL?Rzfod9vqw*)+Rbc20Jm?9%L^*`u@X&z_O}Z1xM;uV(+=E3wzT
zy*BpxEXS2IBIlW0eeU4g^4w#2*1WX52lF1zd#ksr_r1OE>%Fb_`Fu-$LH>aJnfdec
ztMeQ34;GjUA`AKyR23X5_^B|haDL&@B4yE-q9==v^>Oz}?^D%hMW6M39`EyXUwPlM
zz7>6^^j+BZK;IAhHucl>i|&`)&)cu0-{^ib`z`6Wt)IW&(SD!y`>VgTe^mc2{m1v;
z+W%1hUyFwn&n>PQ&}KmU0civ788C0a(gC{$Tqp@ISyFO+;G}`?m$on6Rr-5r<DjBJ
zBL~eHv}Vu~gVlq33?4Oj)8PGs-@7OEo{{%lE^A-bqpY}We%bP}jb+EnF8es2)93Zg
z^gZWm9MX5lq#+mXjsNH0p;L#xJ@oUT-weBd*c0Vp<*mz;$}`Jz%kL>)S^jGIh4Rb8
zy~8&R|FR;bqDw`uiar%{E4EZLRJ>4ersA^^{YGpV@#Dy@Be#tdM`ev#IO@aE?MK&+
z{(a2&F<*{dIj-Zl&f~n}c8vS8GP!bG<($eD<LP+q_=V$to3P`)uJ@h4zsvpe?|*3`
zKhZO>V&amC`zEcK965Q><cm{MrYxTF(bQg3=S@8{O+IbVw7t`APFGAfPcNRna{AdB
zh8blu_RY95GkWH*nY(9xJ}YY0^jWXZ&Yu1J>{GMPKfpbZ_CU7>CO`1>1Ha7aIA`jd
z{d2C)?KpS(+?VEs&FeL9?!50FEPC+d{G|Em^YiB4Gk@Rw#)onqTKdr23#<zUEvQ@Y
z>B8uRlNY|Y@YKQ&7hYL-eUWOBaZ$vgc8j_!TCwQUMOPO!E!Hn~F7_<WS-fWPr;C4B
ze6vbh6<yV_s%KR})qtu|RWquVRBfu-TXnSRt*XzeeykE7HazTnxX;70A71|Owuhg1
z_~64Q9)7FZP(8SML-qFRKbMSNa(Zd}(nU+(UzWIR&a&5*o0pGW?qB{>O;Sxw&AOVM
zH4QaKYF??iQ1f-opDUCrTCHfmqQ{Ej6(d*7Sh0M?jup?WIJx4&if>l@wNkY*a%IxW
z?3II8j$Aou<${%KRzAA&z{*!wez5Y}mH$~4wkm2>@~WPz2Ctg1YTl}qt2VFNv&z5f
z_^Pw3zF771YHqb<b=>OCs|!~TT|H@a)#^>F_pUy=`t<5gR{wkT&00-u>)N)pX|>+k
zKDEPYC)F;ft*zZv>#sdo`(Ewk+TUuM*MzOHuW_wOTa&wH@S3q}rmd-8b7^hV+6il4
zS$kt$>biOB&aV4oefavW>vPsut$%v`wGI6?tl#j(hASIY8;u($ZJfLD&pNJ7S2wk8
zQQg|Q-E{}+-l+Sy?)$nMn>3rEHg(vPwW)B^y_?2unzL!qruCb)ZF+js;Y}}YdS}z8
z(5f8EZxPhc<2+Fi>vIAx;{;woNOEejhbDWHJt-Z{PNOpe<s@Iw_*^A7r)jC|$c@5E
z;R>GK+<ciXm!8&<M6ZQcsW?H<8z|Lq8hL-8#>Vj^D=X1xBAMaIMib36dOSw-NnN~$
zPxGYOtQNT|Hjd_v_nf=*K$k3UW?BwiFSu?TT9%jX?VZJDSk2dS{@@H_yjsF51YS_8
z<eY*>=bp2vtY362^@}*B6NP5A9iPA@CR8TKjx_zu8CYR`AxB8~6MaR(n%LqUq>O28
z6)Y;FMx!$6bzy?qY_`~<q7{PNE>LV)h0A1ei(KvGTiN+=b-2T+6f{~*KVNIAjUfi3
zp`S0pYV5D2{f$&>)EZ@WGq0ABWKWjIlnLK<*f1<N(MZ^ugS9kOyT^$8n6b&8DHZ7`
zH8pSr(BYj{timjnbOcRNJiJt_6sP<L*)&o-Te`edJYTY`SiC`Fa>O5KV#$gUno_!?
zlqws)p~>0edA>^Aw@56Z`&n5;OBc{XVjor(i2G<Ma9-8CT+ql(h_uF$Br?{U9&dC<
z*#)7UMJsa>5+O6HWF3;-TDi8bkC(U6wbS+SMYT(8ZE4-tXK!Z#a4a$#R-7!Y*OZyc
zR%?{j8vJXbSR-4%1cU&REOLd_l^z=xpKh~xjB#=4X`M3CJyx4t5f^Wa<`ikDI#G+w
zZj{Rf&D+l{n(|(+fuH!!K7QtjMMs}X+qiYd_QD3=!cUq$A2NB=SbB2V0sD6sT`}9;
z$@FN?eaou$nvNWj<yLhK6Z@qOpEoAo*It|#%`5s0O`uhVVK7@sCHCQyWM_y9nRZUB
zJcZ<X+h9LNZEM>)Hnu}sbw`6d)x&FJ61Dj4m?G~O9^sBqm=z#6{ANkZWy=EX1=hz-
zz$+G;C)H?h#mZ$8VPj<=axBG@+9^FP?(XZ<MSm?ExM$D6Li*O04J)^8T(@>RtuHJs
zEiNuCEu?3*Y*@Wz<GR(4h+^Xh>-j{1YiOXQv}A9?*WX{ec=^h;#?PL5@`<OPdi?RH
zE`NXRi_2Gj;2k##LEgaZ)aI+Q3$W(Hu)=gQz}wMm!@h*8U1EpCB$qBOBFd)fl;P17
z_&jEPe3GuCESZmp<J+}!B%2(nLZ3q*S&1YZ3r)6Xf=n3?-?37Lo=(9vnNu^Uj<Z^9
zZXmJ)7g#hnTR}Tv3{F8^@p6gHcjn)-Xw105zRBBuc|<IlJhc5b@%a^p26b=q+B3V4
zE!#mib?#-~o3orIe)IgS-|Ig5QCOclzpQA%z`i3YZtmDh_vZM<_MEx=#^N`}4j(xo
zvu^Jb8}B<jOq|o>iBaNL8^q5KP8j+=fj10^L9--@VL@6ZFUUA1Db5Du4`Z*OfC$J2
z_C$$zoO9v{Eotr5D6mnD?E-yRJbNswg?KR=Oc@?IR%)`l;<%D+>vpeMyJ5wy^;@|V
zs-o}gKPjgE{<GNW#RmF1>$N+2)r5K#)aaM!^lBa%2zT^K4V=Q&$&{YP#d~ZfPP1*@
zt`!^BuG!7H75^i4*?XLx`T2MH&dF!Q6!bcnTOjD*wdqJlZzQrCsY0t(g{kxgK~1%s
zMx#|jekpZ?WWAPpi#8eZ*vj2@nHh33-t5kh@!Z-(y1JEEb$y?Im;YCBX%t<WD7T0+
zCm)FskCoF2VqH1Si#alxB9W7lN^)695MBjEwe^~@FRhZvG+JJvR22J&UP+ZCd02q)
zTZnncF{8@}`DOHQtLS!d^a^n--MWIe*NB5@Lk&enD#;SB(~0C75)6!oWkdx5N|Gg9
zVZv@Z#5`b=LCf{6MyAh??5VwGA1(eht&*k=#j~aK6E2IJ3VJsl=7<b=43NGO!oZ8^
zPHQRsfqt@iGcHS-iu{V%hkL{1*fZ0r`2IeX4P+joiwucb0~%>__slLmvok%tCiKe9
z?bS06nux*^CfsKdU74Tbu-nb^oGFA#02kcMeb#ibo>7v-h8!7-+`A-+3+;fK1!);_
zB991HS&Mus1+Opi@eu(&lO_>TVg}9?%NY$OPpXMZe~r==A?c?-ul{-M_iKMOUaH$u
zzj0&zo;vPx>>br$e{ULnh)xq964!|*#m}+t*A>5R@gimokDNP$S*uAKuL0@0N*bmS
zR0;)E$!R#I4;D8;4M{o_BFyPBre(<Gig@bb&g@oN)7~$mRVxM4;u+Qs`=-%E^f($?
z)D7tw0iACTrwTJM>!{Ew(x5K#85A_UkB@cC#K&!^fsUQ&v<HL(lY)wPCKs(1$OfxZ
za5rYrMgA$BS3h*`W24L7y7tb$w|^+U%>7(Ts}62nGjQheZvCh3y>M`a`18Bs8;BH8
zf;=iA5;KS=y}WHAiCLi_ye(EMZ=1l|ZFXCc&u&+{-O)upw?b_!@~Lk_nHeIO6=5q5
za0f8Q6p{_o5u8D#<S-hXuJl_%8`EX;<*)5n<8KhZ5dWBQ^4{SeRnU22`I>c4y}ACO
ziiU}$Lw;EN!BwGr<-usB?a;dOmt5_4Ca2H@s;=F%<i5FSc~g21K&mZA5&^vlvJ=3E
ziFETun`A2FDJ!snDdWu+Dl^IY_*8m@$;2z<{4M;1IEzi0Y0`iZCGi%;i4!<;LEZ`z
zK6#`mlRM)7L|mp;c5EkR&|=X~i`Vj>Hzv?4wTCLQnq~oh)qr0VXrdMA;*HVs5f-Jz
z&I_$034n!=kktwtTIF(0kq_w<Axs8AcN=V}g4IG?v632xels{@74c?fx^&`_zNISh
zqWIV1ym!a=Ulo@Re`Ih5_fgYx?&<veZ{D~piv4#bdFpr2)Tj(@-xjgJ&LA@rvq}b5
zZKMs!@w!?W!<;Ze<VHTutqIdb_4S46bQa!XFY;L;cqJ?nsN*1&vAJbR#zzRPk~%gJ
zXR6%_isN`skm6jiL>5xUa_B7EOxmC3Pwm-v)DPD+nn~AAUH;Gem&HHn536^qTRWuA
zSG=B^iXG>t%(W5XXX5MouD$)Wc#{r#^VuiY))y|$8+Wjh(Iar02zbg#jMqSANL7bm
z<hedDnh3*Th!4O86w=U2X%tu9c$q)j)F6x6QhnnbBp7TGAwgPwEa^b{dK2vWI7@pz
zN~PlEMvGpa+)-{!a3na2d<h8}qG{FFr->l0zCIZ4EukP0_igG9l8R($D;SM4MVy}I
zmaHy5WSBrd(^v+LfKKP~-~9KI^#|+3&;Q*>Q)?dhVfGW7Hr8){W#basW&Y|}kJQdy
zD?4*+&;17r2E8!v$R}ry-(1=6@RUbhyjlOil9h8uZ0haZ#*ceo^w5X1yVVRGGn?Ud
z0#?UlhMl-cPj76bF;<ON4g}yfUKb6_T68+jVhIOo6`Z24kGqrXOu%hR#8S{2$PNP1
z?2=52^fX9In<=me@GY}U;ske7<&2!-u|NM2rpY)m?Uk>a-`#le0nt*sea-rNx0IEv
z=kprtEw!z{q@IEIeE06xRJld`jCMS_XU*e<3-iVw9Lr`dX%1vHF-r<E+yJ&9#Aer-
z`}=f;TS_D->==78%4?}hjBs@B(kip&wbU*A3rm+W6~jrouo`12Asb>rNm{K;rLvgA
z4E=p!21zl7)Ri>KE%nHJslX7o6{U4H2I<oMw!Y+kV#DMGbosB)<)46FtzMNtWK;mT
zLhmvkjTs7VnodEaLPBE}f3opcUiT}lA4xB66jzBzJ>ke~dQyl$79;Z-+j*@DWJq#&
z@k5Xm``|bg`}CAT6AuG(GGTkmJ!2}FqRi%ZH<t6e`60`fi{q9r|F0RzDAcP$Dd%s`
z$V{avRr31AUofRCx}4_GnHxptNO1_8Q6%y#GC^OF@MJQ*QBKG*h1pD6>xB5Wcq_)x
zCc3|`jm@Ag@EL-pt;8sjR~oXCpb3~O5;AK;N(#zQ4w2Z>Uv=h>T-Lj4UjMogU0;0X
zrT63eJT#`~!CU@or<t2dr_U%EJK3GGbky;u3MP-5G<e!@r}$COspZI=<~;dP*&$fw
zS@1k!T^%~<x+*M@gd|vW9c12~;hj4R-Ic~L{3gbv@^Oi`ok}=ak^%^^0|-G<1{R4A
z;zR7fq@A6&S|lCDA?HBgtV|kaSmiDUfpO8snJSnl?wid_Bg>DL?W!C+D@@sT<Jh_<
zufCkKFE^t4-f0`epAK9UkL;(}H2J-+UjAL&C{F&6uB7B6+W)zmf4+Loq{|<)cs=*Y
z>Z^+@2i!CAtpDxi2%Ff>cJQNphpA!x^Wu}2#B<`&!PTX-mX4(Yt-E+wd{*2e(o8C|
z90KO>BV!qd3Rtw6-e^u2rlc}PS-hYSkR-ts_`+m59n38vz})f#43^tu#XM-pRp$32
zM~Fh8$nj{!k)|Vu_Ho&@T$VVd!RfLk?4#$!WZCf>Iot$#YViDu>0(!mg7>t96Oi1<
z7KImF;Egj2QEGiegib9ebg&1M`fz=Cp-->Z5nV)~PiG?bLLZ*{FOl0qK1r&_>40{G
zT_G4Pf(uT2K<BuO#^BLuq?)*>uyzIQEB<v&<Qi!Bp`HGhZ_tzj&p!8p?8yG(i=T{8
zXNsS__AfqX>XLaAo7OgczI@%Xg^XL~Lz<qGbVVGZE;@@!$J@hAq`+qq!sLLL`PTd-
zZ4JVX1<r{lg#I*B8&4|SZNBR-;`dbhpDnL#z9_yZKKdlh`uNJe{Cb&3d`bLXyd=Jn
zu`!b_qvOA#rAJHG^<$g{h{?(TG1%)&9_j=Y@`6ofnYPd;;{{!zk6|ff{M`!7fc6kW
za^Nj80t?gQKp*04u~xi~zDx(vxrZ>;H-DX@9ce1}y;vtMk{uD3h)>XH8hdjJj83c>
z<MP)rZWyy!<Z3k)h>{{6BUcsppuRXxR^a1!3J#~YCvdmT!X^QqL@NCC#`An~(>$)c
zX*X9bJF-bksB5~?Vk8ww^|peqKzSwQ)nRuH#7zI73}M6=GA6OQ;0SbjL#TUn-t_&Z
zAm(J<B{_vvSd<YQr;Ahyt)oa}0W2?>Mq@1SX#|<Qz$d$n#Jg8PorsJuHV)xYVrj<R
zMkn8g{xaj|o#G*J^>eiB+kd~6{rYp_AL9GeNy9g<6`$wCrc8GnT|q~GP4788xUN)u
z1xaKdi|@GTD}lAkVk9Vgyb&r$ait*0h)k<d@&!JnQl^&kuu-Kj2poqNTqsE)ws;t&
z9{lylVj3F7h6bK%;QUR+@U_=*lNba_K}3V45i-23WmJuqya>_|;gAV(q0lGi)i^5*
zAQ90d=0qT-6ap~gEqD?c#(3xvh0)FpZW8zH<G6kMM!JLs_sEg%n}c11HdlxXXeCC`
zk|?h>OsUlARXhQOkk|lmGOfh=;sbU>r*ur(BG;66>fLwLxQ3U-1(9nl4@`w4S9aoj
zkotu0rCCGYF__4>Fg1e<r<AE$!sNE;g^9YTLIMW_lkokUO+RdDXy7)TZaT!BTGsR`
zK$6IP&{W-m;$*NNbx_0tY<YMDm~N1i*>t7(GI8&;o^D_Sd*kb^foJ8IC^3Ut!<C3w
z!b(QK&SIr%BQJ+%p(BX!WqDXs5=0u(#sRhAq%ND4xe=J52Q}OX$`^|UrEUi$^qi7j
z5F2z#Q6n>KeZR3>cI0NE0N<A1zx%|EUxU=bA}t2e!E04PQBu7gg4}2d;}v=(PZc3b
z`LA(Z!GSSs9G3xV$$F*nlG3o_Wj;#D>9|LPGanynJc$9jL{fJa-<wGuNIlt!zw@RG
zd@6z07x?(wEOX1|pb$7r;jzChy=mDAafkRC6MD3Q=D=GXd2@QxFTY*?>(}3!;8i~=
zP6Cfq(lK<oI7Qqgek7hnE^Rw_)+yrIfD{xMeW`$<G;b?4;0`zwvqcRWR;%R-g{jb|
z;2GpwN{N6x3@B^?+ycluXwc7e36<h`@yfmiI*)796t?B7w@#csA!xq%sR?jsid^^T
z+SL*iM7&D`DClA9q<P_V+dwb88Zv~}Dzp&=KCPfILwvw3&wBlqdvuF|pbHRhg6dKH
zJygDWhYtNqyqximkoi_znJw1QLhgUU=N#apfz_Pvb!#c*G%BMaOs!U6kHBVEX~CL>
zKCKq9IV&*7hp||Srv<E9xaf>lC74O@608Op=I;)H4RV&QMP>>WKc%Zqi#x@0-yhoh
z)Qg{U6-~QjN8ULnelfObGFP##ws!48&@A&rI7r|&40_RK81vy~nc$AoMDsQqq_9ok
zp;20p5&_ae;)ewb1eYV^^1{i8mpmy+o5GA@4yD~@6FBj^pT)+NL*B1!*w?*w-P_NI
z=RbWe{qR#uH+QaHe&uOeee&a8d*a$Jn%-wbNm{|1k3RWk@rFJ##`PI7Af*HW8w#o-
z!VthufvAm%ATfmJl?WLLkO>0M6kJQO$RrJmvRR$niUu)7$QM&&F`FcPa|}Eafqsm{
z?KK*xT7htl$*AN7EjkLaOCVwv0<nd0iX;x<UqLR)BE<K^>-fFc@a8MezbQM?*zbn;
z6?HW7`y2C~d+pRw{wU^)9{~~#QH@sKFsS7)_!9z;7m>2qW{4zp06P!x=ArO1GX%|Z
zO~34I`uz|s?h@OkOCVy_*zd8eyB|ewu!I$T&|3tHSw*NLTUm8FnJU}})u58d#KU%2
zFk>doBsmL2K>DC}GwVG#h}k1MwO9PannrCM#jo~?^A3I6(H5Cb<%g)bqtl#z<q&_N
z=j)b-cQksitT`vPKKBeir*XlyS69EyS2HX?H3@Z?M;LK=O@dqokuPT=Utl6XV2w%>
zVdNoA12e$b_$SnzgncvR5WOOHJx=eVlMahrxvHl5TqAd^=|!$rQy<npgW5dwuOtqy
z9&u`!f>%MSPzBF)Y!GtHvH<MRDaapDx$bnyQ89d<7;%jIjQgx{QPXKInO}<DkmW2e
zX{=&#IhZU8q7bN{4wDHG2Rv2YVHw>vSP++!ViHavtI^CWn+*I*jo10;YGL!1>YL-y
zZ$0AJlhLmNv((99cL6Xe1l8pfk!+|H2@65;3EEcNWQ3khix;U=JTAYn>V}i8mIZk}
zM?X9<KL_yL6+bltcE>nZebbl0@F||~h{tJTXk@(Xfas}GMHKPigS$tzV`RjcogNH%
z5kqGjkzHK%A7;Jbo$q+TB|8c69PU+N|4@ndx$x>!a`J7;Gy}RoT?#!oihjOXTqz#p
z;`yzOW4Z5}?64*p#Z&y&=6uZDc$j(16i<7A3kfk87EMR;JH=B~gyN05Pk0mFGE))r
z5h8@C<qP2ow+cnHsSA{v?tzrxO_O>aY<tErt-bI`+RIti+{5Y6D~N3JXN4h*@=0&6
zJ60JM9UT#2Qu46bxUlHnJ}wM_2&+EN2PxPp&nL4%z(N=V;tzix26KkILW4U)ioXWq
znO37444%%sTZ@e^aVkq5oBP=FocY+~xyzsS3^+OBwHHO*wgdIAKQnRrxPragXdi<-
zXVJXU1?^M!zuaV**|24lLNRgrkaEo152-p6yAo#Xtmb%Q)pomHuZiL{yu+y_8mq~u
zHUfE=u-ry0c|KSSx91G{4sWp|5~QS5lN9!ji+3rQMQKrZI@u)w8<6|l{*Qn9<-_|9
zbkn$I*DIAX-fpPd+OVarP8cG7BL0fs5Bis^!fwWr1!MNCc=g+F-?(`G!}l09Ob3Kl
z;7vLkf$yY;_EGWScDWWaGY}JI#<m1ngsxLM%7VTV+n<bcIgBi51~-};dkuj=)gS$L
zCV4Uzr-}z3+qHbnBnx#@4K>sDvG!HAC~@#xA9r1!3HV@CAp`I+0Y2GYXO!GdbULHl
z=x~~>dQ6LIuz3#fs0_S0&&S`M1k*lufJY)aw+nH+z#f6!6CV%wxFlRk(RGH+t*YtY
zeDu@LA6}fTRS5M<#hndXwl%EVwsrjzG>+==+kSWdzVyU@uFih`9oP47Tt4^ShrwBz
z02?zR!(F{G;c9yr&qM0Aj<kp6A*hb;fdF{`l<p2dwe(M<>4iXMvRa+k<7MEI^9cJp
z)8e=Vzlq;c*}vZTxk)Q~e(!;&%XVykc!!SbzS4r1e6TA)JBz=3G5+M6g&X3W{5ShH
z?|6b?EecM8P9B3j7({n08jYF5{=ba3+SFhLH58;mmgh4o^gQDRDOw)bePGbTl)&i_
zq0BdNrDq^g&75DRuAwn^ir?42_8J{=&&<S%obn;m&cD%^$-hz5tvlV|s*ago1KX1)
z@uEdY0c6^d4APTK^7crK=<L?SbeE-=saeLgi)|g_j!<X!YOPP#r|0>UU3>e~vC4LO
zrCw=k*N*G$Yo~9U)!WzBVC&G^XNwHdScq#8y+-IQGc!?gC~sLCj1wdgV-1CF;~A@Z
zq`eciS;4|pf&KH46>@v88OxKlqtnxHB&3{a-Tq%MrzB1&9P-M+m&AXG-+lD`!Wr!{
zy}5(#`}p<2xuUUd<@wW-Hor0Tp&^TB{PyR}hlKp`;jXE@AAMQbc~DYfUG0&VcC8z|
zu9dksz1xs>uD$mkdew51_=e8E&zE~Y-);J=tAF7eGsF)almj}q5%`ZfjS}M8rn1??
zbt;od$n%*Di2AC4BW$9F)+#A-h9hWDV}O8xrvS&ZFqYNG@0`2%=|}48mFkqkGfto8
zPAz%(_=ioeg1Zw2b?$%fOYb(NGs}242xTnZpXXs4ySzpgU#8Sx)GG3QT24<HWxOMK
ztid2Hj3#8ENJ9kDPzKl6AL`t$ZI>=>+jSQ5X+matr_P--GSGMPTG1l)twB7$z1L<A
z3)3o<5v^>7e4ov$(i2c0tQJXfw7O#ua|;L4&~miI;azik^((kNqG*X&Y8iBo(0J1z
z9#;$t4IY4L6kuu~onY_l)atM>rCg9H1)~YptHGdD@`^AkuMb!Z$)I?)X$`XhM-o`6
zWD!BZ1-wy<f|e$h(UGUb9QxU5asK>0dz4&C_fd4VnAEg_lix3nm0KF$$iNpZ7(VG>
zjLj1)6JiQR3Xvemls=<P21E+Lp^em9eg<6PB6(hy)o3&U{VtWs#kX;{wpp#F2tgYG
zNgESkFzewtF**Pt1UI+91Yp&Wr5&LB76fsdGVC5~$2p|Gj5_4*DYLe1sGl->``Y@Y
zk;>$!CQ#a6nR0CQvFEwdRaFO{Z`#i47d~h@Ddg7`4>>k?^h@tCiV0FH=4&A--f&`J
z<Z4mbtQwWU0Ae*5)cSuS);nqS)?65+?%Tzt;W;|>^*0%%9{W%lcYseCG@uDaVoXL!
zh@Y8>7Is>z2(=Az%)lG&5dJN_SnS(y=`4mvZu2-8d!+d5we?>=NHy24P<`Wzdmnr3
z$tNFwte$g=zl#@YDEBnfQKI;cc=Nq~eRkpeCrrxwA<Je;tHyVRypD)4L7`B_n3Sei
zmk>tudTX9fZ&2x#k)-u)F(2gDmX18*SQ&Oq10e)Y00>NLGf~gv6s!vf{QXQxYwDNU
zmEML)pZ@sEwY_!R)`r!OK5FS-QZZQUE>Ei)QY?Nb{>GFxfBD!M_qT6cdF$+FOdnyU
z84|1lR)rzT#<yw}VTf=zTSeOSQPI&ht=X)A<Tq$Zo=^LKQ=5_`g^~=IK+<N{Ee)Cx
zjD5(te)XGW+n-#wZOi=kul@Ytr8%nbs`@bP^w|e5xUal*`P{irRv-uv25+-NL*0Mg
zrXP&Xdm=zbd_3l9z;1{|t5T`e9AY4PEm2z~$q=-5OqngSNoYt3F=@wu$L%TTV$Vsd
zezAVJS=oJ`FjTWu|M8<uhlKny_szg4@Lc)n7^My5K<j|#Dl^~mT=RT3gPd30qMzh|
zfW6aqh1GD|ca0C`>I8LRz;)%PfBnv<bNe4IUA%JgqgxhbeR|@+lU*NQGV6h)(W_rY
zYR;DW+^uap3>@UWw@2on`-_%r%U_yP*t30)&gs3^V2&}(SGm3TK7dV%O;{|*Ofm67
zxLs{Fn0xzlUV~l%L@9!ZYIXLG;2t)ffFIZju(Ft<&hS`SEY)J;Ozlg;BgeNBU)ixE
zuY&dvUn!rdRV>gNX@72IaqhpxMNRWYO<)|o2X<Db^wvU}H-efK8jaelw%RmWtwCu)
zjtsck7REFIv+<byf7^SJG_7RaNzp)8$Z9syK49uc>X(PBJcnnz`G%0+lnDj&0q4DW
zbp3$AC(h&Z9~hbWavVkugO{PEY7MsT@b&^5$`kT`5oLpW>gi-M!$;gDRvf%qtW$=~
zeEXnSflg<Aos&-cavg6ne;U4$+=bp+L)%zXkx|ihn@$U_T~M|%LER{s=!EbLc)=_s
zAm|BW`vZvpY%9cMVl<Uu4h-1|Lkh{K&1uTE(dS+kKiEHEvQinAVmf{3wayl$;CgAF
zc%G~3dj6T=O$!h|7$p`LWgbrFW;U(ZH?vJ0_b*Hevx>(WmC_nxy+#E-kwcLKq=IW1
zW)-klHYGNrfIA%YgqdIEqDRH57papvUJ$G3+T-F`@vY-r3TGFG(mhSzH=U!$#T@j{
zf#2om-^!vMSSD|?3kVd!EZ0UVq1CfeZ&?k@;cl@u&`dzlW@K;&f9`KqY6o69C?@2+
zu&hsEM$S_O-2vd*4~KjH;vT%|cz&C)TJ!RDwj%h<{6viS-#&A1pG;4cy?spEwR8w1
zrFY9`<|j6OgBbKV?%Sq=+_0(q;6;lXkD*_d`-QNbgg<LUt5#t^s9s^=p{e<(X!ETk
zu)wwfWK%%jxv>Rrg)PVIpmc0R8eyJT<yLq<R-2W6HgoEUcOQCS@r;j;T)B8rGj=Gq
zl55yXlPi6zxS<s^b=$rb@{{5xAH{3pKZ35lCK|YTA>EBQ8$50VRzQ#;-OWP2^x7)8
zNq;qB&iR-#%M^+N%~`E7waJ8S_^2qIE<(mf$5`XBA1gf@n6qR=Nj$@*8=uZpF`GTC
zYDCf%!P#eU>Wi0;UYNCb?n7r!Or9}mDwh@i5sg17U$K9S_|AxXxm7+yJ-0lCl?)wA
z6Q(_YBrD{aam7LcUkWa0<2Ca7@CcKp*vFgn_;^yWPfn5(i6Q*8<kte*4>0VZZ_=3^
zhtM084%_2|T8fLKCFu(~jb4*8)t5aoxzoZ<V^`-tlwUN2JKd|(rircNT1R>_>n1rJ
zj&No@ZWdR-cQ1#fBjqw9kr^JD-T?a0NV&`g9$N<i^1CCK8ARwZTcoTCHigevD)XFf
z-Lf)0dECC67iE2x_V#Awd$Fn$kl&w4dp|wA(Ke-)N7NSPo1o-dM@7guvs#PS?zBRf
zLO}LID903paoZ>gQHhj5%gg~c%bR76DRX8d$CN)aetq?slXT_MqSYxW)f4yae&mT&
ztAFk!fAbv&HQu0&J@)P4o%WTU3!l7yrYmNJ)HWeUb{bgE_r`^rRa$K;n~@8%nPt&2
zn(&D5em+%11X8>VeSGF{B13}Eoe3v*q$UNZ__k()_-4DHsL~N>KuQ$|nrk@G(0yy|
zy!o_V9MZFpkGy&F?CY<8DLY+S-S@$j;wK9}AHA&o)>X;BUtB=D9fWM<$UG_+?7}Ws
z*zt%#X<L(6Y{#}uh_PDT3PfU%r!L9A!06_*jQ9*YaAD7|E0FP`uq)!3bWp@+#ASr6
z62R+d;nMP@m5UdQT|RtCVPVzK<zp8t8NGC9b>X5NGiL1EHEqTY?!w&rRt~K$D5xG<
zGj&$gINa=w<7M|fIAzx(Q>X35M~R^E06(_>f^SrMJD7BeurPxLIbAAVW6@a^_HeaM
zr_jrh&qd5uy*b9r>CJkxhFawsmKnt4B{Id~{7L!W%vY7fCtFGo+f0r!IN}$U0-{aq
z7jeLRI&Z&NLFMABw7dA~9`QBW4TXqf4ssW{j~c}V4GYBIsRk9kMa8v{1}vs*;NX$N
z?8C+h68-~Xfz2c!8Za`8)=F-eBq5lLXuK|J8~<Y1Xui(Z$)k`p-5vRNajC>CZx`J;
zA|e{ujV^hQEGyr&Q|lzTQ{{~B?Q>dHhTc9E#7<C%5{QpGjeK*+i)9?lVk{CZgO?fU
z1X7l68!d6LT7X5no!OT0a`}qE{R&IZohpB1MEc03eP+y<xAj<EN#T}%zyImNey@})
zS=I6W>8qDyuY353l;!K6&l$ug3|{VTJ9*HY6;bh3@sVA<-AXfZHr+R5Rl<OEE4TFA
z;7;n(yF-^QiD^TojqE$VySaGsz$uyL(STpNOvhK^YcyeyO3_{{RbwKi@CZa4R3O1S
zUqfi&R3ayu`LF>8Gd<lMmyr?YPN(zJ-R_JGw>w=nHLXL3wA7T8)L_k`4Wp5to)g&L
zC!OF+#mC!ueR52UMWwgPGCCsz$)wlBXgGp*4>^rVV~R|4nLUxnYzb)Kz`F-6NJ+wH
zNJKCLONt#xyB1X1L>5fQ#uQw!Z2(-8;7M)6@{y&q5q|#sr3<PC&+j-U@0E8ye`(>Y
zF84QXdXtvF#mXz<?sw0LyI&o@pC;|wPuo4SU;N0wU;OYH!L@(u-rY$LT3Y||@%cZy
z&GLvxrDw$5Z=DkB-#tf%y#BO!;pzP}!5@5#@p&F^;ik&o058Q5><-)Ik!nh9%&v7f
zTdUQk2pbXzc#hYaVzAWrhrI^&k$C@>8U@)hW|tx(u=HI>NtEDkbR*S8igj|9@S!V*
zPu}|Y%nhR}6Q@-#UM?0-IX!a9INn)0V$|5N<K;qpwWp%<_&H*?<D(Cy2m*`WmEh}S
z4frmi9NSh2UNbL;uol8pDnTnps<=j`WSPe;rV<oI)J_r8atEpsI(Rk<iO&`ruy<BA
zQ@liDW{P{cc)BT9+$}!Zn{JA{eJJTcd^Zs(t$1T067OUq?krcxgkm3j@Z?*2?^v-U
z7KDW5jc@YyreA1v4Z-(wg1OQ7Rugm>QZzy|r37^2Kvl!Mo_ITfk1nV{Sz49GWS3`j
z))>%QXV#gNX1yuK#6j+xIg{CB{znR92)He?*t!G4LvsFHF1!e#FuQnZs}rw6{10N|
zF5F){V(_pD^x&Yr*Y=)Ux`E2-x81z>Kgo@|G0<Dob6N4cXmKVTDemOwEf!DxFM^}Z
zH{`H4<?F$5e;?Nu<TroE3o@1kpnwJZQ0^LdlKJgUuTBf8hg|Mf2KCD}o-tmlw_Co6
z1eq3Kdq#{cwa$XWix(d$Sy#IF@bsAjil<L488}^7zxc@Es?yrhLsccyrVcEfI*s8E
zd8NqFdzFiWJ%a5p4oNUg%nMB63b|F#*WoP2r7(lQbV$cX0KpJrrw&O1+>)=L4dhDP
zopp`PX(zX;Y0p((iL*E>ZDekC)#iuS`_}KLN4dhvD}zV$>6DWjms&P?@s#3CHIHLV
zCzmOW=|c21R*(Ev-W08tw{e?>nJ1dLK4uzbjx=*-v$B;lMyo_rK@vlF0cu!?GBA^t
z!W_Jq=KAjpYi@c;j{oT1%`?`|yYTJI+2ckP_sX8qIX7!%`LZ3tx5eY^$-5WUcAl5B
zd+mMwbGqjwx`rfmnhi_0<(`WQJ6^&<$mH95F6=cF2t9?1F7G(m@mBl&-pRtRJ^Veb
zJx`=zbu1o|10TRf(!H%@YPHfp@FJMff^7k--V&+hSY&|(EhQD!V!tay>jr6~6zUSb
z7YvPHJcJGwpL(QzSu6GAZ|cg_>iT**U%c_+`;y!E#L&`R;>&V2`c$z|sDPEOC-K;0
zl);gdh4BU>a&36M44H6&*U18znL*xS%;YjkV$RUX;}j~UeK5U8>Bnb2{f<i#8|D80
z6!RX_jhj>u(f?+y4_(d=VS3A}#(tO<I}QDPNUaQpLg7Y*XceToxku-~ix1p|?A+Y!
z;F}L_L_ZIK3Qf#%FzUh}B3QP%&WN34e3Sd_)Rt0MLUqs^lazFZM`5Ffw$yo&lDhUE
z(0^jtq>Mx2#Ss%!6O?T`C8iq>PLIbt`*4Nyl8o&jW0#S`dpl|k<SXxxlW6AmWlE+A
z{PmD!5`0Ucq_$da>$J2NHgGp^z3v@iOB!AQZq0@!IRQ<=w6)u7VlTO2`!516CDR{P
z71JND4Qt7<pwEz2w8>hSiQI{&>efBEchly_o5Xu7#}6Gke%w%D@}B38J^I+;BfIC~
zXWpz?7_k@{VsB7GfHT8X*ka@roLVLSJN*D4A(w<^U}s;d_`TxZnKVYcG?SKzPzs@A
zP9u)*O^4I+TycEl?L)|iA`r@Xz$>1!b5+1i9PBbe6<jwys_8kRdKNFIz`#sTXR@RN
z+OjuSSX<cptnF85OJ?x>&{lDfGq9$tWh=xToRBVYWafW})cztA5$kngu-C*uuUN51
zoXwZQV~QeeSx&do678a`^{rhNA)y_K!j4u{6yEN0^!LRXj9~>nqwBT}h*<CNa#+2=
zU1&*TFl$eGjf}Z)_5d<^a4a1+y@h|p^(z`Nr+dW1bBpUnc0Kj_iH}`gU#BrW56$V?
zBRhk+T%NfbN+%Tc?L2yFT*svq#~Sj+`%03_W(<p=iA!_wQmGfK#E;CNm=4+6hOLhD
zYJP>55aqL+K^8|6)BmQ$EK(h45&jP?Xc2J*T14I1A~`e)?h1d~hdb1QOduI(p+3ZO
zZKO_a&qN+*Llm@_WRgYLkr08YMZl>ZyLJ7%?crt^u`jQo2ARw%v#88+Bmo(aE}}-J
zhe2&nQ+x{FM0K~500JH+z6iqd>tO7&>@enYAheBrbcB$Y!yy&6aVB5XWNH#G`?+KM
z>89gcRMTZH=VmEAF-uCT4JJ?0_qfB1isnP2B0m*#jsvI_WG=_y>mkj798L-DNXnMr
z{+t96stv(R%JOW{Vivxz%P>Q&|ImUKHQx-hXmw``2GzhQ6NpKIDo35SpxO=Q=3r@@
z_JNs*&)zi?mZyl9=Fv-_#jNHLcg}=S3HRvj7PLtG?XH=yQ6?+cOagsOXja@g6L3*7
zXfYpn)Id_*<4rYMkzT09e@B5pSa<|j0{Of~y&_BTjN+W)q5`@>p%7FmL!nQ_3)VZb
zZP_*~xT>W?9z-Zhf&&iWemfnIfGk@Gxb-+>`BD<@ysca5K{|jwc)00}Z}C=B^$Bid
zAPtvWUdL?`my3HiZ&PEPs1D#zmZe}+ox&i8^{l^Z)l#0G1eeqRY{?v{1s4&*(A_O&
zQFWk206~m`SgzmgKEPdv0xjb1?1Rli8U=T^{%s!&`hj^&ARnLw<F2Ft9YE_;Q-h!p
zHbYNDcvT97GF4QgRg#F1wvi;0WW>{eoZeR<?xN)tNHg0rhL(%FM$-|(=21A^HHr=w
zA00(2XvG+D2lL|QH@}KZy+6U9k=PLfkJ@7F(E?tcRwKw|(#w?0gtA3DBec!}pWdXz
zcK{7qfkz6ToTZ;h$$PJZE2WLn7EZI2@Xk;gh-t9g#z3rtH^ft$^wyxA#vwl-kmLBn
zhA|J^e-QJ^Ilp7X0~208G^wd#y8pN9jqzi+9TWD3(j7;y>c91MI+0~OmM<;d@Rqod
z8n!m}DPd`k;*G8RGX+R|1ZJd+G6^%CgV@cJ;ErwZpzOT6#VmY@RN~>te`o>h&JVP3
z+}VQRE-=ajd@-Bhj-&Ab+%fKhTQg6Z3HS`sWEQ^IDve{3nt-<;O@uiTZ&}%%i5Bmy
z%8f7tY<4ZuG*w_9txBsxyj;rDltM9V3qH8*7O*w&Rv@#sAQ&CO?NrS<NY%V_w4vc6
z8bNK1H})b~^R2ge!{uutqQ1@KT+_d6_iU`ew4}_K?Z{l{$aG{vJ6V*A*fkmwWo#!)
zNi~_;b?6Y6=j%Y)S*3lq;KoRcIAbW<Dp8^(kgUT3ol;045Eo&QkU$y$lqDj^4wlj@
z8FfNLEk2>vyWh&OuRMGFzO3!}9}S$epdz<-k$2ew@oN3QzIf-7@axj)dA*#DcA1{x
zJI3sKDtBvq@{ywZ@=E5FW=%-X9Fkr<=;F;j!oh<t>;TNA{3N*(c*()y<fIpJQlU5F
zj6vMreSa3*7ToXf5BF)&$I^X#1|Xn!rRQazhx(@_FaFK*vJ0X6WWrZO;^;0?2TWfE
zW>6h!L5u$iv}hY>0lq{FIon4|AZes48R7M`BW;Ww5x^2UW`>8ybPOZ1Zrvl3;*;`x
z5h+4SZ(rv&@kT+=#m3vxl{#gf&!WSIUNFgoMIi899_j3k%`6a%v^yi&*BN&tUfJ2}
zq%1eagqJ}A`(21+-F6gNN*0T0BVDHax_ETP>@|<26}~ZY@#6{UPfdFHyQW@B+U4FI
zrGqz)5iiakaB9h8&+oslZ0+8i$M*0q&RG%0DHhV?N1s&&lC=`j?-^cJA^!2jed0`4
zJd$d@UofFz({SIDTSqCB6S>s-o!j>^zQ$fF%Zmcs@&Y=WqGs2zqlSDoT+a_+{IG<P
z)*+1DeScOz>3*AkxKE3K4^TwH9rq=S2Kt|XybUI!I|lHDFX-Y+C3KWDgWqrjYfT)0
z8Nw!zh5C3BdN#F1i&@Q%KnrcKMf0<0G3a&+=xU@Du|7<p7FW?CMw&-plnLT<Xu%{-
zL|`V6C-|y@FcP_a>@BlGZ=zGKY26z6!x1)}(QJ^b;@hfX@_b>u%^0E6!v<6Fb_?a(
z+}e_5(cWZ8@Be<C5wFpb^fYYl+cV<gWe8NqXV|3hwTWl^9N3k_UjNO%zQ7ARihq4I
zTA6uP{H5Ugq2;;T$6o7mZu8@N4{aBpd1m)Bk8&RITk$=r{pt#p&k;U+Y1{qPJyK>C
z6xG}}yH=bgez(3s-2B9Irx|YjkdHYMw*jJ5PD>DK08FAoaAml~dVzcFlQC|8U&39h
zf4V;l{~-Wy8~YFUX_3@F7k|fnX?&@FTJp=^JTKuSF#ZGtsu^tr#7R1Mxso&@O0pM6
zEFa$E4Y#S)2JFL9wx?n?<KqZO49BJs!gGu}kz!)J9j23vUFoI779Mawa0UXlmHf%3
z{arhyb?NF!>mI7PRW&u@cip;Yb;<N*alZ!-FoWsM$Ayu?(xARC!W+CXtt}QcDC7=h
zAA$6Wpt3jcPNdVZY`=e2_AJ2}%09S(A-%;VQHIPSDS5dpO;Y-uq)d>lQ%a|mFG4cN
z)*1hYvF`wks>=R;_m$~=CNt@iNk}7vkc1FI4ZXz>AR?g&2uMdnKtM!9j0i}t0s=yW
z7?DM!$+{v~kVQmv712dj(Y0e)7fI&j`<?q{CJE|(e_~8B^XArb&pq{b%4dyUSohZg
zcA?+B2nX4iujcfc@$^0|E~Lk-(#4yQ;DOMPk~t+yHvRVOc=6GKf4sMQY;ZyTWugr3
zN9Q{~MBDk(oHD%OoxAn@*)#b25z4vceb&##-%n}sdA_q+`;!9NS!>Q8AU@80!F&Y6
z`3PofE%^BZIEy@r1$Gm!kSug6_9yA$JPrpUDx0Oa1ZSMZYm|(Mh^O>QKAgWM;iip)
zO*shwrv&_%hnuFS_;^ALg`cH{!dQ~vjb%f+R!{oi`j7wk=RAvSK)4g@y>}DBSXj<F
z=}<*~^*!WRA>d|b@@<{f0)wEoY&|sY=$Xtf-(UwmxDcKVpRYEXN#LTyTe2ea1+!5c
zx<fc?Tqk9>g)|>glV;F{b~lc}6a4OFxBZ8o7VTog`@98xVWfppA&bjHqCG5CX)Rof
zv{3pvZy`0jD}vfpaVjUY7NBbmkaqApV5Hg=kSIg7&(Z6s3Pe-_DP2C#B{1lDB!K~4
zf=gf#ISw2|TE=$~w+T4NYz!S7CMn$GEiFJ2tkGIX4UhSj7Fa*dgIHwDS_`=t8y^EA
zLgM~t49XQeL1WM(-@gn?^}j|@BAnFPNNzleoelF~CAcKeLWI*n(o}}<l|YOH`X~{G
z@D{{~H30Ka7U?_~MK5|nY%5tX3fNv!;2Yz%myjk1i~SnBqeY5c1ck>6>B89J!c?8h
zCL|_C#du>JIyoaVHYyqzRJ|&q>`uQk#|apJr_<=hp@!c&nMV@GHQYR!4#5F^!YX2P
zC`yoYeogOh5>=d5z&(xmQTb7jfB!VP*sK<_SE{yd{lgIBL4B4iI(l?bZE8c5F{p;?
z_?*(Yehx|}{T!<qp;NkdTnbS-mkHQykO^?FM7RrYfm6EHLaE@;TCg<QFSJ0EuC-8F
z%Ug&G)1B4=?S|Gue^ja}pfN=34B8loYN!RG8dwBq6cNehjM|klQnfbtshFurOzLPE
zQPkQe`Rn5m7xg>q2WTWTYG0F4b1KtDU80RTB3+YK+>ujRb3Uei!dKe7n}=KAamu`f
zzIZ~%`n^SCmde8O)><GQp|wzoTY#^9e3KUV%4sc>zRg?c+O!2aZ(0le#j#ookrT_u
zz|R}CKr83xD<}1fw4t`AELg1#_%@0dP7PM*meGstIJb~`hCfHA%+Kc!wE`{o6E<jl
zM{GY_qS05QW!Ojg6MnXo_LWr0EXuIJKjlm4gl^bd%8OgTv1%6_9@%2in+;}%3q}_o
zjAULDoL-c{=l0=?SsX5;V1@h|<R%XRx{<ONGMmvU;u@nHF&P1T^K--VVN(iN0VQoB
z7xv9JDJ%AjJgZKXU%r8VD{9YEeyp6kLVf(Jub?l&HozmO6NQT6Jg*1Qy;dWRy~}8p
z{YgG=EJE1aW{bI3g~LKV;2ewOjkQ=}y^;~al@?kJ5i^H^3jR<jxh2jTMj;w6z9_>2
z_h2aAdjEDD>MC|p?HrD}-i}z-_k&-`mlqyCzVLK81zx`!91i&$Dwy~dw+L}77aNE~
zJWf;LvsAwdPu$PtJT6<~iN`oa05&hA_kotghdEEs+PF;(YHfsh0%-wa9_I;K8@H*?
zX>I7kZ6xA}$2nKf+9*|j)7l7gh5EnaiME`!wKht_T7VpGqg?Gu*~uUlv?1u&fC)sG
z1!`Beh*NZl_Ns$k1wVidkxqivUw@&j@w`d*2MrE}XDJ*#jasBy96H$;xTQ4|JuUa9
z_SA*41C*)ttrxPzz5G<{f@U@aaqVdW^{y9g!wrG{DaTnH$4^7HM(b+Gni@XK6tyn)
zCvG4XhMw4|tyu#fRNGTtGv?5e+7^q1rM%ArcpWk4c)gTnEEds$<N89J+!H?VoZ=X(
z8Sx_$6BUDEvx`<mhjL0ryBrEl1Pw;a``l$iQGnt2b1CP%I)=S;M%`F>@SsKRsU`-u
zvKuqhx%l;3)eNkK#-GXhid&H+i~75o(u43cR=<V522b=4JrN6_GMscPUg9?VGiv(~
ze?}WLhg{mV3bj4EgU<|~qZzCJ<}>C!Do4USifvg!{nNOg84|~}`x(0_?g)R9>BP2J
z6TGhv-``pbw3gH#_?{>S??#XGxxKi@`AF$?)-~7`t4TR6glJ$DIu-{IHzW%dq^HSt
zn^7+#(@|#t4!l7C?ggADaJ_NwBezjCtSuK`^PLE7f`JO)Zj>87u^Uo|GrOtl#3ih*
z{k`L)#9+_;b1$kLkS$(chq0t%EM|(Y2%)%%R)a-Az>)!02jqt`l=f4|+ZpML65S|N
zmiNXGRR!}B?~)B(+WSJ)w4R5mq){X9SrP0kmiL}9M@ph~#%jP$OgosX?GF>R9c;?0
z`CY}ePhs|4x@j7;Pwbz9d`7JWPMZh@qxA%BcIWpiK1cgH_z(KS?OLVv7d{P|w%gDj
zE5Wsd{vxs{T(2_4Kc))<gi4GV*mEEa>~K7%0PNTqbs>!i*?Db?;~iG3&EWC)e4<T?
zjdPi7QFaOVAdNr<8lqvzd`MqV<-++OEX74;I!b`ozz3u=W7_l@G;vbhE1^7i+fyew
z4#B+X@>%u9_Bwd*YD?FDDs{X$<ka8kG;+W7aL`fP;zYOI?$F1@i4KHn@?<TC+u^i3
zwD|K-W(szc42zAOZrW&gyeS24h9c4VE#T2fse=nUbXp!tX)v`uH0|sg%XykgjWjos
z*)VX(-`=fTu?4kmHLE@6;(4^^knG;zdmu(Eza&+S;aq$mtuVWdYjtA8nnd!+%bbU6
zEtG~NaWUd|(^??OPHUkQ*B+!Y%}5g-1E)K!g+a`NF_6_Di;Fm<Tk<wIC1`C70)`Mh
z(SlzCBqd-Rx-XGs??EKepyHO%I=kDQAXuFVIwdJ!cfnq77tCe|3TDZO{B?xUA$44G
z32?fFk1CIM3uky~KuBR*F1gqc<j!FU@_gLKM!q%{$}}u=rs=*63gd^X$JD3Ta8^8i
zsALPiAf^W|iMQ2t|4prD?7#Qiafb&eNRt3k@TgD2E|IqZYv&SS6$Ip2iMVxOuhRRG
zO_~T<Emyd`INNWqiC%ANPE=HUszJ`n&&n`o!1|2b6H&35Teei3W=Ax@;gR=&%+kg-
zP8V6Nnix1k)=ede+b%VH83GV%YT9g^tU?MkY?{gj_40yF7nWW@c%tr`#pgP;d*#71
z-v`qTtnbL3cMRE78`$*B)0>~%Q?*|1wQ#jXOnSug&3$u_oNIu0rp26l@0qLq_g@p$
zIk0A?Cy7NDFTa1`llMRTaQF7@yRo<6J0YF4K;t`M?~^|);esDa>3sKZCmIxHf6Vzn
z#Ht0p1MemA9kf9FWdZS*QMgTz<AGQ4DSmJK5WY7W_XobC>7Rgs4BbNyH|Y<$VLjEY
z0_TZPJ;x;AG}|UL=8z=OGTa8w{orGUiH*kmHE$teSHGnNctyX~xL^LCw7~jp<Sj%j
z?~}kyfQx|nVGNKm=7nT(yiQpscpW{{>%#kd-naHxQvbQuW2-;wv1BvvQ8VmfMO|2D
zU>u-jNGG(;F|^KpB+4U$1h3wqz4|b{>cXxL<twB~G9~pNYrRFhPLz4_0l%H`Il7(4
zaNdo82Hf7@mb?Y<Ze$Vg+ZH8KjTW1zIGiS%9k4}uyIr!lbfN^nDFS}w=0b4HoW}lC
zjfHDi3*3iF0lDm|hPlAnsBcxPZ%8@p`o@i_V?}VJxN8M^4(G(g3nj1#y5r(31~Dqe
zV6y2F5^Y|$w^v21$!zLX;WL|c&SJM6HT)<|n&0=a=fWdsboMX`+$5<ytro^%9#`Fv
zF2iMc(RX`?q)E-yH&?6(r_8Wy_2MkgLYspPR~Nx1N@+9o!lGY3q4m{#cH~Xv{x+=b
zbZvbjoSR$pxD3xNc5L8(`EEvZa^3>x{aOpR39Gdh!dif4Q{=o~YvHyS-a>R(_SVKg
zx~bMesjy6IAz}g3#z4GZYoQdIigOgzw1p2MEtCmc(E{1ov_TN>*DRAuB5jnx{z6Y^
z!=NW_@n5n*!qreKnu^=d3R%XrkqnxkwG#3&Q7f>e0eM3k3%3Hm#7X_bmNriAt$mWe
z{tJH{rfq!*r|@>f16V(TdZyWBgwK-?ha`pb09;q}1fjRn6PghbZR1~Kk0`jnr&=2k
z3&Sl|Rn`wm6k3SbG_)2-S?)l6Am{AI(A*RGFlg?$Gi6P(>&Ty(Ep*j-iJV0|Ax-5Y
z9f2pntsqCC7k7A{v=&Hn;w?ZT?*2zDaE*&vfXpmh(dK$f8zf(9ZIsl1r?nBGw_8TR
zN*--QEhIld7QPJ6ES#~$HbfCxbpSK#Spj?t9_xpg7!rDUifcp0IC5Rt-J`~4-O*=s
zg}jw5PF<2Xe;$S?oC5#!DQATwp?h(&*u+GO!4+>XiAo?j!DKP@tbmg45FEH^0YKO&
zTbLW>;Ff55yc@}hJY${w6F$9`=D`yIJTO4_DDK(u&fEU^&s~Razuy}*zQdR@7OQ@}
zUG=z^xyGYtdA|<JP94lD?vga|f%S{(3XeXIC}8|kJo;+H1V_Ve-V)x=)=ou^)_H)c
zuQ#L!nJ|JFlRcu4AQ@Zbq}f`C#%M&K7(KS=WLtE!Em<<e%Lc+=Ax9Rh3_NWeo)r>r
z8zf8m1BqbVcY$<cj>^v{C>xTcn;`n&b9YC=GTrcTg@V)DNE0TAp8W@c+pG4Ao=NlW
z8oMCwU`&p!mGLi|a>x75ChhGy{bJYr{H`5}3W}8tOWM|^v(@T!`GeMvjk|YNT^n|w
z-Rf4A(Q3K8r2YElj+Q&K)&CTA=ulMHu_L0Wx&0fnH^RoA1K)2i;qKzXY**Jd9a?2Z
zMVXs5)3p-XB)Igw`yjHrb5W0cr`Zyf*{i|=#EqmRIBt?0_EflUyrw8w$kF0KLmSA^
zXOU8PI?u^N6+>2`h}e&OsKNjRp)v%C^5C{G8i($W;5ZsbBLWaVvOMgAmXo|pj@tbY
z6T^TVF^A?X8TCxB!t!^<T{sg)>|oXN$B&ykcigxKrgq`W)w)=B$<h3N<n&DJ{#$wj
zpvS}WS|=^c%5RG3p>!NG=f1nf%$zf_ZO4vn@eR(UMVxUC^%$K=VKyR5i9<EmxVdMY
zpZmSq6AUmqctYwCKKVQ*hPSaL^h6AAL()QWz+Jc(jkj?ePk?to>_7|I;T9%AYG{yC
zAT{WStK!v0QVL!@h7U6fuvqrPUu#27rcp0A>}L5P8>MT+hVnIV&WH+;LKT%l2tp~y
zml^M?@=jeaXULMr5So4cv4=97FL~HkxcJf5ziSbp^$5{@NHRBVF`poa@}u-<4qz|L
zGV|Vv4-cEubydqM-}r^PK;M}Uw~y(*?vBg{X&G5I#<)Zo18E&G=*X|fFFcQcpB>!g
zEL$8B+^dXPif2>t>}utjHXn<`=VPF19pT_};u~q{`H3RMQ0D7&;^5_5jT3a4eQqB&
z$~3|BjC^V7;@q~e#oZo!0(}d+6p^DEn1NLTn-cKcu{aT+{Kj#?yTZ5#%8W2D0diud
zV?5cqB|OR&IWaCIrtm0RV-!uINkIIc5ww&II=z4H*l`a`(T;WNF3Q0%b7qZcOngj8
zg#`{SMo4eSt`(4WVML6yNXcIzu9Mr!hYSy%`bVf3nESzz%?rD9I6t`e{oQ+fKhiqY
zb)siwLD#9Y<_3)Wy7CDuz|D&7#;E8RC!iN`4_Kmj;P~HpCX~j}_%<ZB1SC7Qla!mt
z+De|Rf&Kd==jGeRSZ5AvIk>cUQf@2zUDg@$<<#ud4jtz%#gF!#<}SrGBYcS-4{NAE
zl*?gL+(y|GWtAUtH;^MwX^k+&)W~mNHk;-@p89ON(QI7qxLEpal>Aex<2|A}pKcY?
z{V(n4C(Wu3eK>S8!QI@4Wx;Iv(<u15xB|;j*VNpx@~^!=8|dr%U5OyEIOI1iMpbtM
zblxPY=7NQZiv#KyfJUM%27F10F51=5;)Iz!9idQoeR?A|dgHt&QRw3TYhZ4E*|pYb
znYo22X|36z@NdeJeUEy&z0gr^-LiE{Ee(qQ)T9}BL`}Hin_+qYtx%KdH<HK96}GsA
zV%uR4h3N<!>ODv%vvei_UY!N}6TuJpC*VKVY<Tp9@*<u{2M+rNt<~Q>^EsrK?);e+
zs7s)=^Y2^Q`5g8Ek@u8`#AS>vs68RZH|}W(Z>0k>HSNh7eg-}1@~IUzyL01KSlB06
z{}r^FwIo$D2rua8cJ*zX0?Uh%$U;F7B$44CVd!EVuu}M&bYP&`;_p<v)qtI<kfbBY
zvVc4ys5!uEC73ZX2@wbjb`n;I6sL3}IKNssy!qy5P?yjed^7S?YE8@tx6bXVI`W<2
zeJ;)M-XMu-y%UBgdWV4&?2OxVU`x?rG=MlEN)A9Vdu0MG<S3T{!Zaetg#=s}&J{#N
zYj|{;NP#heC#E9gQL~;TH34;GpHarTbouwtjyHcHXvhE5O8M(M{|?;oL-p^h6>9-x
zhn84g%%B`cmb?Huvg~U!;#P7Uw~{l=N{}yNaX8wYL9m!nkO*1uBo;wq<jYB7Bcm$?
zX77CY;$ijh9o|4M_2^;I@fT@F-Oy!c2v1XMoA5i)7Y=b~^~ma}BfBZqtT*~fMPG!q
zZ3e1Bf=MrlIs<U%w52m4-vv?LE?G~|fWKQh&Q!2uR8t7sTW|`Q>M;YQWp%TpLv<-q
z?+uc?v3BmJP3SqaPv|)hJ#(s2sD6o_GL0AtUI>a2pxhLm8p42W*c&b-6Y&HTOLfp$
zEq7D=Hz}PXw0aZxjPiNAeKDiqc*}x(8;HnY=b~AM996|?(;H;K)L|Nc@r~HgC_X*R
zZHP+q3jhX==^!9C5QU@>HA^}hME?8VRliieLYyvUt=udIuLQSjqTazQxRpUiRtEfy
ze}uV*Swh3Xs=|(;+<@F319>=0C@aoP_r!`;YgUXcQLjh6ffm^oM{ILP^S%|y&7zz2
ztq`Lf_@bOE9371plI+gq_l9wDUm!nHa0KR2v?j7EQ&9GZQY>*nwaL$SQ`S)Hv@A&z
zee=c3H9eoLU9w&c9>}c8KA@^=D(jx@RugmP%G<}<)f64R@XxoRm9vK)yYW<&8hrTb
z)km1TbNh{Dbv-VhI`-~+M_#)`vx781h=rJ4d%o7V?v$Uf)(I3NW70d3xx=EOQM3bQ
zVgQC>Go6T#@)B4pu>wMrXrha7qkl*VN=YVU0z}3Dfr{i>44?keVPewa>g)sctM;FN
zFRnV_;`sxs)Zp{k?B#j?-OWBz11HW%W9zoQ{t|xo@A>b1qOCHF>lg3@KQhXaBx`~@
z+U<?en*gem6mS5@+9Ah!bw&e_IAi#+qUFu!V8CHYAW?^x;sH?yI5bWGECD4&Kp6#X
zD1B85e1G$~L&3vr%EldR3~NUquiH1W$-%=%_Wh<5sP)0C>I;u7*)*GtJj>d!QR*J`
zjq_^N{hO9N%1ZxP$3(0rXykuK@P{diNBM_!<{u!_l1-sOXC{mD8#-vK>_JRl$I25(
zsuf#@rP`s0ld0tI!&*r1zsYsgobdbH*3aL6M0+3G3ynHrec8+J32I-vC(6~+*nd0`
zv5S-4V+OxT*6<c?M+^KO(Z+y8AuZzM4MfJ8VK44g+{|cCkCNqt<OI8v)gs!So{{0T
zxLknSaXCn9?pe{y(qJU!dJt}rNLWe8UlfiUp&&+I2yur%P)I}rQbb5*BiIt1ShjD&
zrhV##wM+i-{V!MN?rdX;&Ri4~U!D+X*=0b5%i8{#Ij26dUwcC>d+)tvsM=s*E|ytd
zKD=$$U++`<+-sT>J7DnO0hkA^)?R4#Zp8SO6lX-kH<B(T0w+sJb|}rW9C0bIaNAOB
zDQ3ZpAQ`iUNr+oHa_`{c0m?+9xe&pF<lr86C>p3c1a0uU)*O}4$$=**_Bx!@D6akZ
zH}wrRSH1E5)E)h+f}d~SHe%=CXP<ldFZT?8au))^-#Mawly7LRuD)>9pBDT~*ZS(O
z%WL-3EzM2cux;D!C)O^VPsq?F%)|x{vI{w<4!g`084$xpBeMaV1YR8;QL1qr3@)WL
zDkX8emrf$^UUZ`9IaHjbcCNWT(rr*Ov%aoTC$}n4J)>CKy>f@((Qocfd}5I}wf5oz
z>c?0$if$c+NO<xVv@cFdjdw_XuNN-KcqOZaLr9ilbTRN2#CSPcVx!e+<m%;%6au5W
zHJKkVjLlG}gYmq54IfGjEWhv7-FN@>!QS^gHQ@Hqlb?C_FY5JgKU1&&OB_9a#oK>7
zxOUfmX>aLMcRjo*yK`ly7X7>Snm%mikGsE7Z`^qIFHBKqK6IpS!KEFmo+V{b;HL=m
zn~M4=S+XO=mtbaYpF@|H?nxC>k;iFA=~~e&rKVbAV-b28>#%~Fo4`i#6dF#;kvj(~
z8-<v9o)f5Hi;#v<&~%njo`86EoqA^Nn)0f#OFwz{$7v6bnf&Q1qxX#MJo4fGH(5t<
z(TY<;$E4@1>$h*+n8lgq_=UrlY!75FX&%3;hQ>Zqoi4$<4B5L?akM@r(e1VY3OokV
zw=*RX*rzyd5Ine9y73vK1*Z^Joj?`Xw8Q`?D&dp>B+%&s2gK_isGmOGenHLp#}-yC
zn7;DtiT3xL`6)yFQK?+9=n$ZuuT+hh-6z#Qb=dmdJ14j87~AaftM|Th>e@%RP8$4-
z9(es5p`>XLX%?diiUMM9JCnmWB1?vjOCvl#LL-Vqmo&mi1A+e~;!7lywAwznm5E>W
z)n$Pbxo|W0DNgq~96Df%LcffS^8zK!?){q=JLyH-ixG&KMj*)F673e=$w)Q_r_IL2
zweno<fXn4Zb)bMK%6)&idHuKl{PN39)wO%8E;v`-@XXE)CUJ>*lVnjRsk7Nywt{VB
zkExSuufiFXufC)HUCBh@f-jK+;>S919*nbU7l7i<Y<ip1VTZ+m^B2xp8suy(pqq#O
z1FOKvO8eZAIxfyXF>l9exp&>o3FA1r)!u!Q8TZQp-06tAz@2`R?)3Vfur@uROC}@U
zInKbMBnbT}(O86NZ=&B1x1<hTG7deZ5i-9wwG6-9Rw)b!8o)&;pxyBL0Iv{X!7$7b
zc$AG@YL}STEw^1!_s+xS4r#+CyPK!P1zL6NJ1Ajmxz`v!M3oD7-QKgAb&0dX!<*_X
zx%sBK(Itb}q3fgWyAb3upXQtHjWN&RatQv%(Xng-D(nFtjVvcNAZKt)Crx6e?Qw#8
zafB>qK2^o5xg0ylVff2aRp+lB2Y}PTZr^u$p8b^#Kp7JGDpq_(=*;92g~&14{)Bk9
z#gZWq7^gljKfV>j`d$^SS~=1(Q`2C$OA{O^AXLrPs_7QDz>E_YC3!4S4B?MJ=MSGH
zI`ee$bzt&=C_Kg?ck-pd2M@fTcV}h!6P0bcZ7t|JbLE?FY=7v|vZ{w>b{CK5Km6&!
zXP&PXe>(U?*_e*aTnW>Lc3FQ{ueGfUJH{lxd0_dw>6YS4v$p41RxB=Cb?3|}*l+Hg
zhR01uniXalgZ=&mbVWH#2`01N4UAZ`Rq^^<MynlgiXgHm1?+)5wsdD{Jfac%;+~?E
z<bqHz8tjlMAV7IRTC1$`%W6v1CoAQW_w#4D7Dorg3w1rE<9)k75$w>n5O+cqjwhiN
zI)G#a^vNh-+r>idNl4U5NI1nM>M+Ie2<wKvwc=`|P==TQ4_?=j;(0kcxPhabpgLMu
zc}%_V)eH9<40~(8zFemUwr`ww<f%=o5T^d4`j3$v-%~Hkek2F_)eF1MUr_gtf9Ie7
zfC{g1%Uu{(lF+i)XG87UD1Dri9FSeEXmd2;zM~yxZKr884PrUAH_RltIR_(1qtq$F
zRSdx>F@O7&JJv16R<`MuKW+5iPchGp{@dFWJbdqgYSC2rNLg~y<e^<R-Pv<pUPexu
zD-{)^5?Px-^osnCLK4(r?3EQ<t5tCf$~5Zr7QrmX#aetuM4}@=3aciER!bwqP&@{W
zjV!|g@M$5#hRcRJ(m`qRsQK5n;L;Pz*w5;XgLQwa-ucwC`@8(}O;)$<$A?*xDt3C}
z8TG%fUU=;=vmJkjR>)QVrL-0!aSJVq5#)%_EGH~ZqSKB3-9RkqiSoQ*fhVG1(Nzb)
zJ+dB#P-5WUER@!&W#@9n#HCDc^<uU9!8*D36TuBvtoj9Z7YbS|?Ax9C<MJh^QXtJ+
z+(=<WEk3)9jvGKEX(Kek;K-3q>`XY*9<?taS|R23%YRpG-~7zZ_~fc)@v7>%$xN_+
z9(d){_q7jy`q-*}EJwW(Pyok<R7yYr<j3ezoMMubqN6PWaz221E~hke0J{=bhCRu`
za4~?*@hgg}Y5atQ)rc^WI-4Pa0cqzt$ag#igaC1LdMBh6VhB#aGcH!^)L+got{A{3
zRINYs(PKCEu(=P6?^F81>wri2$P7i_&N6~SXMOqrGOffZFTJc@zIjlsU1d<y<n&{g
z@4q*=#_=uq_qRAxWpXKKx2QM(l~;+1PShv+0!p+Y3Z;kRoEWe(PG{%vn_!UIna07U
zxGy-RxJpmF+YMwW@XH4NjUh;cp9JQ9uuW;F7OPpOLu&cUtp;|^&hF5D=8E<k)C~vO
zJ2h!Nvr^-7<<hKS_oyqy(RFod{Jg$~MfTZGvBkj&Qg?RZt}^o?C+({0Q7R!5#v(?|
z?{zbP!P#Y#$?lfo;$sE9$IgJp2@%TSwR3TlC>manaA<i%ePmcb;-mR4Y_bBm8OzOg
z-{+Kuo;VwuTGd&F*tZ*X27awNbX4cMInn;*-|zosuX_C#^;`9AhnmJdGO}b8ukZ&i
zpZdtEY$h%M-Tee;E*+ywG)ZZ0H=se29FmlgndWo~@jAN~@PR!mQUs7XFHX!s9|4gY
z-hR!)rzArsr`oO>h?=I?Y8;9eWd$h^u7{5Oa`<dv_nPiS_fH-<ap$BFlkYF=QPZX9
z?BS2Q8@m9%THVUn=B@SHPJXy@0V`C`Jhc47lN*`5ZH@ZdwmS76hsoY!Bu$MnK{QPb
zo(qsO*A}&uhOl>e27iX@YQm%<?TLnL5q?LIK1g>2>5BobPe$?)G;NRcK~38$hY=6j
zpq4$O-7(4uu1|)npky<oCvw9YC;pahaIH22J-`zzq=&THP!>JsG2bd(xpkpuahlg=
z17>WTN3=Tu9p?q?fY)nBjGGH3ja-sli;N4|_L^M5jpEUiaC97KC54-l$k2nDSwIg)
zJlgqDZ3>5to3MDfy0}_BARSS=vE}DJIqmUoa6fR*;)iAg<EZY1I`VG^SH64^v()B5
zt1z0+VYV=odz(U;2ABbCUh-$KLqt;yolbIkEs9f)iIw2<lu%g915*SPFqk1=@M+Kv
z8=|>LCrp;f=HS8=LfSz%s!N|Hb^Vw6bE0@Lm}z3>-*%nZ`7cyu+QsIw((exT+Nb2-
z{BeW&JxZ;h#MUE7yuOpI9<pvAM$IE@5Q(FsNF4lqt2OffV3P>fKSCSX*jEwle5Fsp
zPQ@Y<y%%u);^JgKL^3OonWIzsR76Lcy<W`OE17{TV0OuIjgSTYEQSrGPzWhP1e9C|
z?xho;q6k+Yk|(WCQNIJ%Jf^NKDlc0$xkqtc=T=>^3cGg^tLBOAf+b5{Kk~}Q<5~6F
zA1i*fcktKRxiKqaJKcSgz0Cd<Tot@++49F9!054$`f`lkiShR>PNTqMyUS(4H3~dZ
z;zT+sduB%nE&M_TmyF2$a1}C5LvC`>a+c4P0c`@{M!aHGlYy73*VS6}NN@pexWzSd
z#iC&8lGDddUgm>ssA#1Pa_IuP0bQ_Z(P?l~g)#w^n01Qcvf6R$y6p~>C*pCug4H4E
ztRYKrPSc1wJ|?1dvMV&Af6>BLox4=MV7a=0$o^MVmKL0NG58Dn^}!IyYqTz3BhM-!
z_29hD7Ita0?g___#DUgt=tts-ztR(88zB^Rp+$#a24~d8+~R8{9Ta6U;0~m^w5TZ!
z@DQpWqPRE;W<Fg>4N?`2oA4#5>=%727B%O9+NoOnp&D?n3#d|+5+Aa?Hux#DeU<Sx
zq$Mvnc#=ynqR^kL7f_MG=tb0l5p}lE?eFT!H7+=SF6j_zTM1r4T1|xh<OOOF+gL7*
z43>O$@~8Xie*NL)=MG#x&#FIqM*(O_dc}UV{NeRa+)twel{I)xw7)e!2XPOK)`r!g
z^6G&80`6fm8KtxxCYy!9j%Ly;iYLnCfFT~X@np9}$2kbLnJACnh-51d$A5;#ObZ6u
zg9?ga<0K*ASn0c~&ai97mdh4#^)a|HUU0p=l-5vPEc%!ve!=o@el9QmDOmA!Xv7Vk
z80;U;x$Xo;=tN~<zs_ovY$l_D*#xKF1(6R$Yq0M&v(tsTFz^&mNiZ$08>ZFJ=(NRz
zT!A6t{}3oJLY4xE+mkPgMZ3jzF9%-{2c8Zd-yMAE4e`48da#3dTKf*##B0Gg`o>85
zg4POPRnMT6iq|SM`%)~r%;wnJXw*=Qjy9#G`TJI+$tG|d)9<)zBfX3Z#*qrm4N#B~
zTN?zlPz;3}b7bd{zXI<3tNN!$UAg=9vsbTtbm839T}!7OoK-%qw(@GdJZjaUXhY1Q
z)#tAD-`+BB!-_{AU%B>?$q(iAy|>?OuVLh8af%0G4eju?MB7Bst}_}@#le9v8H*MC
z#qQF<J^@6k{E&(h7HPFjbyMajg1YGlqnKLC*{5s<srB(4PGjBK;{d6;c=fP+8YR?H
z&wNtLv;KI0{8Szcol1%}!%eJV5z(mxU0%b8OhR_C7uDNkR7sa*Gl)*q%YX@MT!|>W
zkNimT&ExwhUwb<^9Gq<Jso-4NArus&eQSr-g?jj=(YhP0M@ufe;4(>`C>LA<F3EtZ
zjs`a)*8m;)1{&7<J$mr|^w5<JRO^6zsaj3-cO0?l!M^R=v@hu2aYS3mrTDL_0ky||
z5v=`=55x*~R6AS0^Lj;mhIqe;FG_o!IFqPj)A*f8YZCD(Y0q=SAsu|bbTYt;8@xW4
zCFgyZrB^`xK9@l>%BV?UHCP2_s4ifL0C66|`XZ?)AU4v4a1yx58b56!OPyXmV$`%H
zU4w6&U<YDshIli(`;eMlUb)YcSd}$yncSuBWNuEmS1PFe`lagr7){8>gwfCBqr25h
zLwxrrMrRiCiepevP>=wa6ym#rfwMr3@rK0fMyv#JphRn6AR6bb*;#v#81I(gR}s#O
z`B!5--U#io*KBYiDISjgC<PJhio#s*UUK&jyg#(Z4az&PPqb(yw67UJo%!+`)$3oM
zbpA^9!j+@{vaebkUXcFs3u2Gp`MLL@ocCKA#p(%n#Y}Y-WJWVW*(83Ch>`(CsX{1J
znzGP9v!RPbyNxj={oLQms>LDruSUB>_(j6+DHI!~Guplwwo#k{v(0Kn0*wrGx@04|
z;uY0HKEx0QZlsiGN0sD&(7NHb6ep@G_NozkSJ&)n=<Md_w2s96>2~*_PpW8#y9zkT
zGQ4TB4jAP;1HgzX3J^k2qYY;!EPY@x|M0GYYzwbd6G$1wrv`shd!bzW&0l~D=c@Zp
z-HZF4Kl`aB9BmA)I;X}iTmBf_N4#pS&V;d;aB6*sXHJq(70Qm93m&>VV{mwphkzhv
zFW9^p^=j!Jq8ppG7e5=353M+thp1ewoYGKK5BJiU>K|wzG^}6$`(pJAZ(f!+RwFO~
zLplHU$E#N?UphZXoKnNt0dvE6TtvZ?%VdLp)a}tDQv!HZxWF-t@S^;V$f%|s-v}V=
z1Ss1+B_JPHf2>tws&N6CSxntAmc^#L^tSpFt3G>$MsQJ0V!q0SptX*;X_n%q;kE3e
zqhO)(+9f$I-Uk7~=d&ml48h`7Ajm6CD?c}8W-OWG!~z8ukp*<>z4=Lkn;eS*yI8ZU
zcg?q#SkW$Zom&0b)<HFQLDBaZg1O>3FHGq9C9BF0sK-B1A5*6kt&d7(0p{3rjRA96
zID`BP$|5133Z!nTFXFc95caGyO8z8AJoz~-@Y`Ep5|vOW0YeTK9;C?grYx6l6YfGD
z`yg@2!3nJ+kkljuLjR@uEG*L()o0Bp`c%!v`T*?Z2jd!CyW{&Wzy9u<e}8oy^)0un
zGm!CoyH=PLFodP*bc97vAVeO*ASe*xJjM@yy<CcYwQ4jUWwDqMA+M9nvJWn^z7-@N
zia<#xFfxk>DvK0w{2jyzHj*4B&A6QCB$J9GkT1?x7oA~ScCNvKy4jlQ&yKvz=6@oN
z32qk`=AYkw`r^&L;u!JdgHNcRfQ$0zO`s6y2>$@1n}eM%haKDp3lR7~tSiZkm32wY
zQY>aW%s*z7GJ$OcrP92B)g-ehKa4z5v$442cDM?g75Zd7qBFUZf~Wv?I3>x6I`eqZ
z;hOW_7cB83zq)7r>eYHnr_+<)`j>k1>n~N{siPq1Hzg}(B~^*5k&3f6uVdPpcFBQX
z-zy)b-u$;(55V6sAFw5CX6Ffo>Tl|IIK5=gFM-v<CJ@dsYEA<s1oZ*zdK_M}oD`7b
z-SM#I$H$v37I-Hub~B1@QPGMJJ%l()BMC|4XD}aXQj(6?OA;Z+H2Rs>M$Vi+efgrR
zAF2uLD%-TUa;tg~ehj~V{sK5EW41gf6-=J)Ho702zPSp<cCliBx>4Lx)=fQ&v{N1}
zEfGp8k0BCKomQ`t8BCd4$*u6M0s7>MfYe=eRf+4Q<8?jp8Bxeom&g<F+y9WAQ8CLN
zmYw0sq51y*WoME)NOn$v>?}{%85DO6esmL3y|$^RezmTiqAnpgJJEEQeGM+sOKS5^
zwP-cT2V_5?9DN<d*I;%sxce1kwsOfCB<(bz!V(fgtW+-33{?n4brHX0H|eby*q=+z
zO{8W*ZWniNX0IJq+pr&BQ4=?-{=c#7s7=UD$vuPLiSFQc!E<6(@O}QBPk&=9-4P40
z5SGnk@?wfscml2VfFW83qh@j-8E#8^vOgKVujFK}$qNGUdQEULnHpo9gneI)XaqZx
z#A|_t5V5JGL<B^P8{-4WQ(wdi>u!5+eEaG%fBop(gZKUC!|xUyd1=*J^~@%5QO&OS
z=9MK+K6<pskh=8lP5XLn8hqD?zfpz@QS=zTyQsQipo<W7<19Lh-3Am_*=n~$p%6MO
znfS-!!W$$Ep2@<TdOeqz3kw;vjS>Vn4LJX#qy!I~2O;)3TqIT19u>Dg@^Ia7bb{UE
z{pl>wWZ%W+>BKf2x$VlvZC9c3Snw#9m`ymrNK@9MD5+>tOnSj!m-V!XT6$)K^nn!$
zYdrZ*Dd(`7E())zmMS_8KcLDc_6fgzgZ3TuKS@{7zJp|DCP;P^ijrJTyF|_yy`>il
z+-Nxje;_kMWDZ$NK)TY^z3P#;QJZJCN%F?ed@My=Bpp|`sv}>u%-69m*bmxVlpIi|
z2hmb7l1`_%5Y3=Cyit18Krl;AyUr2CE7~-gPgs7V+Z{0Td~LDB6p#iv2g0oQl|PGR
zUR>*Gr(Rp8UMujdJInl8J4VbFFV-HHmbTj*>?<C9v|rsEkZGT3jds`!n{^@#J_>^;
zNHJM040vcctTU2(QOetF*P-H(wz4@R!aRYv6ODv%X-iXj*<f*eRaI~c)>bWGXKRn5
zK7os8!QblrqP^~owdPT1C^!S@(O?wewg;>YEi%7yB3=c8wj^;FX&Ta|y+OEQYN<di
z(G0BasCtDHKZwiV=!fH->4ct~17t$5B7X_5xJ&#^LF_A2ba0gD!aT0ApM-aV(w}S9
ztySs{X%ewI>G%`qiRaiL!$&6!N6W~<gblqXJo`>q850qYlI}9b+hsY*qCgT*ND{CL
zab62jL+lnuJj%U*`{}$&V|%(L_ebQmhUhYnK*`w1RBSC!3b+^99bO+qcEynji@Sn!
zdUf{=^;71r-(JfSYcCym<=7EvzPk41=f%|DP#RZl#y)nlmcRVQ(mYgz$EUt`{gsbg
zQn~Z|n`~iv-G28+m=Q&QqV5l7G>os+0dVtAuvT1OK^+Mbv_=z7ywxDvVJd?ES&Cv>
zxfJdWhzy*QK}1`DD)C8G-P|g%XVsI$sp0zWB^|5l1$x_x9<$Mdi*#O{$z)_sqtoM-
zP<Rr^(0Z4h=u8u6(Ri5NiN?6|3QG}DTv*r3!>T4$RZV<h#%_3#)q7rP+l{>sio4#s
zea%|7Rikd*bUq*GD+Wa{GFdiq{Y!)!1_~IQtLQJJeKl|le!jvg1b#|a*%y0ncBx|5
zs#Z$JYL99Y;<u+-sRx(VG!~@!TN#NPFei}4BAV=!`wzE|F-jj^HZmGD?kUn&BXy7Z
ztJ=2rW~tWWk-9#?8w?-{b$z5GBq4#Ol?2So0`38wMR2(cR#`TfP&ZS68xTy>Y({F5
z*=|6IB?4|}Dq%$IRajRtO9COA>n-FHBgsO{W<{TVaOGn)Rox}ZV#x#BP$j*Hxy8j>
zo~+u7!%$Z@VvxF#&HzraG8ZE;aj6Fy3)L-@-4?UiZIFD?mM8&rJTV^FR}6^m2#@7Y
zG?s?ZplmPr8OA~m12&jtT{!dpd9|oYPN}M@{RDv-hIwnn#ZPY8vyV6d*msS(@!0Tk
ztPSxMlESEhJ9HL1G$kmFdKBctioo7%u<KFtlr9Qdl;7(tP*nJO<U8S>Am0{sKalOd
zd=ZilD}H48qIK{Xp50ZWbvk^+u-idtMc_IMaJR<_-JuT{jWC0`L})9t4R*8NjBCB2
zz^{OV1R1gMt^mBLvEITh6x>8Xx(a#z(h+6DT@Y;WGqXD^AGZImCWsfAj(t1t-k4Lk
zy9{_gCiRM^Xsxf=@nb7$cC=X@o1$KZi|uEX*9Jsfdp^cT8q0v<?B8iD<W#kQ`SS83
zW|T(a;Xe|17ophEO3_l$D4Se;;TwSDYB8NyCsc2W2WnExP?xXPfBODSn|igXiUmA%
z=RZbL!}n`;ZePD<=gu{V3HVukkD32V7lm5zc`cINZzB2o(z_pii2X#QyMzLdkT5x|
zJ3-kt;OC1b*&AgANr?sox*7}+tPOT^<l-P%`c_>fUsF|ptj})}4>>uKzkHRoUs(Cp
zi|pT3>No1I%)`v;#h=*u_?`1M)PR{BW~DE)d%-KYWXX}<AXy@RX%dV*jqof%10LK&
zR3kNA7+>5j0d)-R9)~_PHAV!;P)25ALI89Z3-}>q1fx`t-<{(IwpT*H?G7YJ0Ccz&
z(}AbqVa5L(?k9vf(Fo<?k5GT$U(4y=x?SNS6kFZ4m%x9JSQi5SSqjvLrJibOAPV1I
zyafZO?(kN^e!zJ`)&w$Q**QM%**|ib%pR7>=)SE6WyKKX!+Rs4p1UN+#@WGo>~_B$
zluzMZI&eW07{(p=|D*gc;(#7x4_tvrrD1XI4cH0XwF9>o<*uB%yV@aU2H!VUKeK$}
zeIAHF4rrRqlVVonKfQ0o%P*ojGsX`49M2xpQI0$Q-h~;Uk}U2!s6NOm`4-I7&-e6a
zyaQk8t=OP=CR8C7pScZpq)0NNt}Ey<3bEJ7`!;%nxH!ER-VKjUPV@_?^$foO3M2wf
z)^2f9j-ej1e3;+-2_xqBCq>aAM1(wV4U#1BWSpub>A)`+&#L{@ajKf};<If-Vr3co
zcER>9zhhCv3)O?t@!(ChQ%J_Fs~dJZm^9~zy4_p{iXkr>+-ay}?RFTvaKczP#EBhT
zirMW3CyDg@D23SL|MaqP_bnf=cJ2{^lF#`yGHr!RXVp@5lxnJ}VK=L;GtWbtfdSNh
zGX}{e!k$z|KDb|F+SnNnxHirXR{1NwQ^dtBoa*33$7!1llLc(&p0F2N%XfyRK(ZKV
z3b+^XzJ_B-H@{jb_r#pJBqKAESwUGuvQ(Orb)wyfg14A)!`0u|bjE#NVGCl4n4>PL
z68l!EE335oxAwS7ATr!~Z_s@fl3yhS;*rsyCkto@cKY=OIho`aY7sd&<97uo!`6nR
z{dPPLhsH`LOj(MSP$@(aNJd3IhAbn*Ev$tL(T>+6@(|tH#K9n!kT%Y~ucFe{C~Vw?
zXgscIzPZp1MT)rJA(HX$gEgfg-yG<#Gx^#@V$N@EVKzIUwU83_I5uqoK1swZ^EM)g
zc3K;hZ{AKjS&Y!+D0V(4l5fsi;iqq?_Ka{It<W=he49fVP>nO+QPE+YHWpKOEKM`t
zfg)T#S{sWm%%KJ{WQ&S3Agv%1Q$)H8)pX*ksfE}Ml!miQn>OKPJgNVmPwM%TSmn@@
z$en`k4OJWJ)Lf~w{v!I&3-QIUSi@Ki`?yXF)sKRzhOa!@x&r<smDcT-2GX~hyKMO~
zqNo_@B<l{VoL+DpW(rCyQ`!&D+N7G8>1`;GMW1T%j%ho;YpQh8JCs>~m~!hU6=pCh
zdVEqN81(3a4J8E;<OTNFF$ME_CMk!#W7YrO%Mv~$dg-j*U{i(faq{e#i8hL!p;3q+
zX^Gm3jKb?nNfXlxucUUJpFK6&2IQifBU$`7IP66lzj%m$(k{dnTV%$iV8I|+(1KP;
zjY6DQI*OKJNP*Cd*amysdGiz7TZ11o%<Than2B04kvTSQ-9fDztxy@AE-UJNQ0uQ#
z$rs*wXtn|V6KfWkwwP{<9@Tb1Y*%Z;0(gh1zs?)WT92TWh*5tN4+-DHgARLRZCfGf
z2ov<hR%>tl(fU_juvoO8Mq_Wi;6!;1WL7X?KF;n^j=R;ZIA9b-gM`XvdN?d3aw`go
zVuqE%fc#$>>0L0Swj>pgL@D~oha3u}!k<{0RMebQ3KS_{N|lzXJ91Cws)tw!ey~x}
zm;TzDvd&+f$aboCCWiXng1)1KS;g%v`Y4ACElu$_QDetuHtO7r=@h+;P+)^W1W(cl
zMvvL-v>}q#WwcrK_)<{docu!?B3MzQT7`UgjmC&k(qEBpZM0G0@rDPD7XbP=T74?_
z^<1@z4b94;|KksOEsK5W-<v=RVZvTiZDDc#y@~7r^^wHAe)SsWvzz@Qj+8zF&kkiR
z!-e<9S<Aa;OqqD!%t@2)6~CSP-~;pLELu$ax2gU!WxwzfJcV%JKniohat&rEIAzL~
z)KjH2V|#cMjJR#0Lr4KVg<-|51czd31+ajaEPrZhR)?srCZEI5t9N{Uen#gQ$(meL
zl-=EmFJH9I7p-@pPA00G^EC@?9%*#p-K2A_ec{lOYt89^9D{OcNV7r&Xr4C}!b)TG
zq(*Nwu20nH<!=X#ICN;lAoktPt?Qp=Z8z-^C)T~cPRbH@3>q=4qGA}mwd=`sPqV@e
z&(yXZpuIMLeY5LHdVIq(vIvI(P)GJwfAQt_SJ;{Bmv188p-y~u-!soWyJyd{UwrYy
zC+y6(pEUga{Xg+Ht?3e}ifLJk$aU5J77yTz>tHV?Zh`uFqMuhsiY+$Dq69C3K@Y3E
zR&kQY3S$|5S0_(wR2vVipvIDz5N<_6M7bdTzLij6B{AWTt0;viK*G#G0kHdG$7Obs
zMybvPds>OtQLFQapop@BB1#~8L_%;n#)gP1>*lVMD&Zic&of~vQU^|<&Xh|?D|QMl
z(wAIDk6X6;;iN~AsdI=Eh+N3Lk)|mT`KZ+(mXwy=JM6wuHdDXV47mtwcX_Xg^H6hT
z^N?{j)pGPQ22u`1Z#jj2#ToFd!8l=dh>Biuxq;fDFRc&^HfKo%iWAsSzsy=vVbUp7
zT@;dqP{dQ2U`Z$IMFS@xE<&Mo!1krGFcf5m1kt0cwfgs}0|z8$aJ|?)c!Dik1YO6p
zNY2_A{Awdc0?&)w8}*@5g?oyNtwyIaIWg93j}q;%@kyxNneK>Bh%c?MCRmaJNvIqf
zum}8s&Vl{`nKYP$fKTvwN-BK6uOmx?jOZ|$CKDQKh?!ux;d<#&7%BgPzXQL7D$5cI
z5~B0P1825(*tB-ugKReymsW@K3bS=@zlndSF<Z8{SLLGPi>ej{c#+vwKd0dL^HgP4
z61E_klqza@g#a?3Mimz($Hyn6`5YdUbQfJlpE*I7)gmsrUxmY6S|P=m9X6Z8949F#
zL*Kk#MWQYt8nS-{+<TfHOpEWMdEp<gDsl@Xh*s;IPJ5`<IRVCc5caJV90?>fgfS_l
z$%D-urcGV6ZCj@?pM26<T}?V@@g4+z3Tkj?>o<?p92q#vCND^Q>~VI!tjFIjE>e5l
zHc;C5+1EkTBe@v-e)X=^9Py!Z$Xl8w%qZ@h;6r{_Eb2w*W1Bf;Q>;&yo?%9GPHBZ9
z8na3$tq>FKiT=c#L@1!qiP4Gf<Yb|wB3bXYp%`#zo)H@R)9nj$IhI68$oeP(yo*FF
z3ljD%y`T{PrwB^WkQAq$?9bHTFQUlKt6fshR&U+B=GpJmD=n)wiQ=Z+>8#mzXZG}}
zLI&s5MMcHgiw?ckbwd{hoc~45Ta+z=%evX<WrK0DSJdBtm;5Al)(#(Gme8ZPS!!HT
zbBD=;40uy>F;3SaJ0(%)(nou(>Cskv5nrNn6XMypf$<fgLz)N3kh5jZr8(Sz0)r#@
zRZ_8$^a5s(k{qSwH7b72f7!x)>y}kNvu;JT8g=l%frG)fst%uccEXUrfU-|N9y1gk
zR^leLo1QvyY}@vu$G3j}{Wq8YvUBeXDR=w7|0Xal6*3ciozhm^N%6Rk5Q&`<8*4Wv
zcqOmVBB!RM*sU=p#o`t%qDAL-gXvN&Qf(3qSfTt5;;><eb0)GY&>>E|FkJ6I)Pwlk
zm<WR1n~4kdyY4h>eqzIpQKL%l-B3BJ^6lpb?qArg6BDMtUv==seLtsoXGEp3pB{f|
z=i|rJclxT=Cd`+!UL8C|?Y9&xf=6tg!darK41~3CXK}6(5)QLkg?MkW!;zKY74%qt
zzdJR?oZ*&Y4DJ|rOokyNvu{O)3n5cX&)vx(hcX=_c#h~lx-^?c($TI25Ng#JPqQ)H
zNaNd5DhNc$Z@d&NF*r89Dpnh8o5Z@EYnSb!Z#5ZLV*mcbh7TMp0tr<8bV?l#Pi?#Z
zJTCRBJM#3=mv%h;;!E4^ojq&j%zN$$CRJ8qUsA<u$`Z^|4@seaG3prF5%=lzc;K_s
zF-eJu^?8x)<V08_1#SV%*#pZj1kuxZd64b2lfgFzl0nm1fzpUKBUgt>DL(M&e7BoS
zzlA9hn=$`_=)WiqIb+bxdFk}oLko3=i{dr$?n#q^o5h?(>Ok>A@Pe2V%wfBi1~1Z$
zR|fkl@~shpG#fXaD2%WFL|z8#gbyC**2S@Y3^3YaiIP!h*XqgfclL{Zzcbzd0VyYs
zNGWGTQR4yf^bIYKJ<sdH<w57U4W&;2p9}P_cZzej{kY`uU)FE>xw7uH+^T_#j|}KN
z=F-}{r-wW@FJ&!Lwmn<F{0TL<N8MV`bK;`RCm#@(v8aNsvk<vgFZ2Q@{u!%E^$N*{
zf_jCu6tP+?jS9XXm=DR47z6fG0MQyxC&6ZEz@0=-!*YY4#nP<c3$O;vLb|{C5aK3n
z4Ns$OxOTO+;bjog#EurN?HS>=TQock%Me5u?P>B8QQK3gZLxFiEp78vrKra@VBO^v
z5!3X3n6w0sUdn84PVQA<lg;L6IU1JtXhf(qP6OhB3AfrIk?Vkp%-||6uobVbkb)6#
zV)2KI<w0Yih2|Lxa=|m|x6jqQ^w_^Qj$V@`t6y|l)hg%7zVCh*+;wNw{oa^|%Es*(
zH%_WjZ>j}foq1&+%ilSo-%z%`Mc^r4s`_p1>#LZwVf2(oZay^oVay^O2N-xCklZXn
zMzPzdm}Et^A)1*f2!uxwLC~)zT7YCV*Gq0Iijji=fg>J(myw;XVi#(Ui-C?AYMppN
zRl846N^c$*FC(qHP8EN9i)6wxszV8&AI-Cez$p~AgQuP1eUb2Zt7ngKyGXz(&#9}c
zmWQYgz4gY=`l=g4(Nc-(kUv376mJ%*N8KI4AewYI#E96`U@<UoN&xzuRhl$=4NZc;
zBud0N!Oe1U-2t&%aJN*gIwnh7rTi%y>+0%OklsH*T*2!xOF~q!5fOTFq_hkz1ho~2
zLd_Ve5QC>v>wl6@=r$qH4w^okE=GxrHB>1YCg&WSCrzwWz`6<o$mJ2IFI2xe!~)-l
z;!>Mrs|=Pa2-KE@Ic%+xEmPcC0MY!YapSjS2|{X&MQ)h`5yh!9y6qX12n)6kmcluI
zV=f6!!nKNYjqUSGiYN+1q|p!(hpF5YKf`cjDA~_EG-7j?4x5K8-n)14i}M~hwq#e`
zg055B<W22eGIq4Mv+LBt{As;P#*P!uFFrQuz6mp)d*aa-E`RX6`qHqmqeo1<W6&fv
zclemmBPW;NJ`w9+0SfsI=${^}15oiqmlggehZ%|i@s<$V<MLe;U7h4s(E=|EP?BXq
z{}#EO4(xflZ~Knz4(mLQrQV-!UOn)VyVCo!;%AeHmyKbS@D=*O%W_C6&9KKwb}6@2
zdSYU9Sw%#CNo-!+yjfXAT=QZ(R9w8F^XqbSv?(sshb==zTohAJazXjd8F4yGh>dof
z<8BN`^y%1t-ts~tx~GNXskF!!)zap0WRX%R{mJXBtj)rrDeJo3Gvu~m*#!@^8MnFH
z^dWtQ<rY0uFlj@N`v&&7Gq-S2{@5)&X7?|@T@;FoHcX384a9UU+Bh{KH8F;5=w7gX
zYEp7SY}djK(~<zqL?>y2P$g%gD!5xf9*)8sX0y>`L;M{x0AmU+?6L}z!L9?6xenp0
zVp)X?a4tFdr@23q#O~J{D+gT2f$fRH-`qZuut{u_(h-FI4J%)$W{d911yh+%tzN`F
z2!6GA0Xw;rIhHbi(HBeA>r2&Zh2Y6r_3BHo>mkhqoErp->ea><U@5`9uJP@LX99ox
z4EA<9cu_~?6nK$QNGe8UM#Qj7CbLm5@*?PvaT@If<-@TQqcokp+MAtLJM=~=@Kfq3
z<lbKqKM%$S1L9R4a>F&&1hgCvjEFR$5BRzs^@k60&6Qq<6cu^BKfR7Mz6^A&mjQ5Q
z6@VoNUxm#iKcpuTz6E<tBLj$7V((+srme<dGw#02yv=e@zO-`pgn>iGY+sMoxVL~R
z0}%G4)od`>;P`9|3rVx0jc|uTkO^tUk#%SL9^Fd&ASXAb(sTPAa$T)MJ%QFx|N5Lb
z3nz?_zy5dqYj?V7uX#w$Q2AQnGXq@tCwk)3Gk~}|y?$}z)5eDYZum#lvuDKT>-U<+
z6b@C(i;ow$@=tcfrx(eWM4;OJ*{31&r4aUEzPK=<Kv!kED|fig(D7uhyW`)A=&nI!
z@$I}$a}@U1hV^w?oRFE^e#xfQ5pTS|;bc)Vl;Aeh>?8*UjvP67@W_z^;V?M8eH&}P
zeY-5|t=jW!_3l0U)WUB+VXyrgJ$X<!{g8439%v6`M|c!?dnGV&Q2{q%iej{T{2tNc
zk!*Uul!P0OOFfMYHejjvkHj*-_yF}6e*_9z7uqDfUOcp5wK|P$TDCy_37U6eqIs|6
zdF!olxJJ&MdbFP<Jv-a^D`=>_SST)4s^JmJDvokU@kj}dm1KXS8<zIC=tL`)F%&!#
zW{bQ-&GinpLUE~@uNmAW-Hl_ZZ^L@8K2TlNcUflJ<!$bqHg$YaiNAe-{h%)Pbdo2m
zoWJ}@zi)AJ+MtTkAx=Xk+cDt_3-QcMtotskyH7}=%9wGk0Bo6volI?(h+rb5D~W(Z
zj*bc#B&w9Htp%zaVlzToEJzcz$Mbx|vO{5$S~OXj5*{J0mCVbR`{uSDv|@wFkTB!+
z1?#F-Y<`Y)A8^-@!MEQtNjk-pdi%Yu%~e_L*FCsu_q%tExU2uLq3tUkpz~IQ{UTe8
z4z~tuxa9B98$>Bl;CmAq2u4AM@+h_owOEV9!Riit>c)K|>wdz$nU6WH#T=s$NtcZ%
z>13}p&7CF1>-Cc2fPCIEM{y)2nKR=u#mvkYQy>MrisyCYj3DJH)P*La)AfY;=|giQ
z7yyp{A%#gY9k;6+x)Z{0C>Vf^ePH9d1A87{^HiVP`xb30C?7nue8hnG-aTu&_v=1j
zd8zWo><JH-^xZyV=|lJRxUXf)5#7f>7#!cBPoEB*`^TG-%h?YdigJ1d+KevhfZa;L
zOtwP8rCMj8-B@Q5tZa%?N@<p0GnvgEyUlMygd)lf`VCTqhDJ2emNeRRgznZPH}H12
za7mH?W#oq^B5wWYy+OITBN+0TQts=rc=Nu;HXTrp4!HC7JIZI?4d>iX^>#Q?d*-)Z
zv-q(+Zw<Ti4!qTA^t}Q`SFSG7pH#jFw>HC8<%7iK2Yr$LmxEa1LZQ9TS?C7T)j^0O
znk?KWJb-E=H;OB}6nE?Z=tRhy<)uS<&z^kGsCjoUd9+9O%#74#K)dnz9@V+p$1S{j
zRNLsnoXM?Q^iJ_7#Y@goOU&cTOhWUnLkB!M{J!CtU3zvJJ8RaI9vvTEFu333*^|@q
zQgfrMLRZ$M)9{W{thss8WXtd=lP6CZF0t$u3Gp$}ZkOFs)V82?Ac=xmNqh?ZYxoWN
zGwe6KI5rUQ3DP#Kv^h@a0qhma8d~Oj$7${F@F5Ac6@Fg(8SVj;3yWJyR4UQ{5O?XM
zdO@ffM7B84GpA{yYYLRWHw*nvKl4Ms7trhY4jF)(8Y9R@+z<|&62ck-0vXWAK%Xg*
zkN^VkDrY&bC~vb?Q-2etzoOVqO%3*8PJo=);77N~N2cOm?W@dD*J}E7@fGHn!<;ww
zPRBo;iZ`CBT)42Za^ZuIsWU6_k6o>qdQZz19a~Nvd47J^md%>ywC|gnI+TrU9iJ65
zc)>*ZW!7r?$&=I7cTWBWC*P}6r@pFQpdNJU^yxSEBELpt_M7dePGwc-yDxQ9m%|)$
znLRjxIr^;Lx^?xMC%3G9?X}aRyA8_iikq{0!GH=jCK)o(XIrvT`>Hoh;|+t^8ui{g
z?;`2BTs^6;#@#3hglp8YIEI;hsqny~U|Lp-j6{zuInicIOqN94<vH4BV^8@W=C(3Q
z3LSNxyH0%0N2i4r7J64y<m}@eNtJ5q%IgM8-?Zp*cb}K`^grHf;Eti4JLUE+Zy(pI
zXV*TxyY=p&^VAKlyF=Pno0Hcici@9VDz~(4ez2@vPC>sm-S6q!Uj43f?>?Q1`=AyO
z$p_*c<kt>W?kQ3CK?;HAI)auS@&dxM2q^?S!UW6S6(HthBWrkkaZ#M!XKtO^((lg_
zv&B@i-lZ#S>#_B!5CSa&y(+R=+FSZtqUMXIrKhEmk&)Z8B7-Rj4HzQ7x9Z`QFz?qW
z87z?y8z^C;kjFpKousXg9_%C^ucxOq(~M$*J3lHl4dDuSLzV~2>Zi!doa3-JONwb@
z4-C3<$OyaRD>g^IqMq4tc<(z*XueW?BmT(z5u=$~Ds9<CeG1p>kfQnXd^st0<LvYi
zBT^PW((b%?Pv;im#1o5GJ*}QoKUlQrA`|ZHw*qx;up)%=cM7~equ7IlN0$eAIs*Rh
zaw(?1kyH>^`a;vfY+NqVt@(|HOC84!Dp}FI6}Js<*D52{pV5Bs1LOQPYRYl(987?P
zQ(D<8b!~UneS3TGGciZ1q&;xKS}+GvormL&r6Zj#5J*h7nyiVE4!C1(pz|1_%m8ns
zAf#q-0&D;du+1<u0m<W_JQ%yeqtciQx3(0thCoixE!q{7o}z;hBE+>(!7IeR)5Xl=
zZ&a$EJ)wMXbJm;3KIv}guAcAQb;_&}Q+7=rF>C5{&zIM)Gd%!a>T0ildHAsO_9Lo#
z_x`;r7o0dTZ_U2v)E~&Aat5-%4E-!f@2zkZliz+Ts^5Y7BGn8Li=aD8^huT_{sc_u
z^h5-wSqQ$*bA35_E9zwoV<^Lbwnqlvm(DfRk`#vtZ_w-N71(^<MXn60wR=co7_Rn0
zi^dluF&6d)Xbf22SqNn-fTU{1-O>neI7+gU?)!hj8x{)|0B`vIapNAG7KRa5_m93G
zc*C=1<Ff5gL}1sVut}aEo>yLj?oK_~Y)C7&z!DN2BbpJLm~;AL@|u$<1iA^s-=?-k
z{y#wnMR{<uvI9Ni|C%``w^aT2cXR!z{t<=U<jNQ4c}i=FW<TArcV>ad?TC#Bb_&)6
zI*0BebdGePkBF6x=pH4?)UZyXJM{<e_ow$UT4YP=#&QpDfaC+O&hB)^!|-I*$;l}m
zl&CTKksgmCH2_%+Cm2!K37kWXPc`PklZ&XLe3Gw|Sdb5c9zxkUY7Z}uDk>+Cl>9mn
z!*;UKtQ+g`LSDPL!?uLQ6Gqj}0><jE|M`j6lc)5eP;HtIEZxRW^gj7qIuI?@f2eOG
z<s^%xBWvaYjT}*7N{oCxEZO*wYvaOdL|OE}aEY==CQ}m5h{+)#UMd`6_-7->qKgHD
z<kK+p#-?9hAb0KO51=~krKS1pVh`E<bI13p`|I}Sp5OM=^UrP7O5;Ax#OJ6k?h1RC
zyQcZJKA-mZv5S{4U!)jAMwKCS^Rdpn(y)Svdb7uAb|%D|m@N*e@it!rPQ>dW5mJ*E
zG~p{Myrg`Ag%Fk|?qjDC)2^rgMO&a|J@CYCppxu+)qj8eD6G$~8#>)H&3pK0OmGF3
z?`!4{O8e`29yxvT1ftq8BH(-|8|0rrLEVd!S-jP5N79|%gao2Qe-w%sdL@t5kYJBN
z7*mYbgFq&30?U7$+yZpT(eUWH<6qeS5FQW25!`uv`<*FZHC$9gW(G<@JykWZ??HRg
zffY-mjjdmte)dhI2((97;QL~yx#owq_>TY0R#&rj;O#G85YK|P>jue}f*(V%LB!2X
znEmSOgI4*Hx`DqkyY>-!r7lLkRL_9Nt!D#k$tTZ(2KlHuQ@0XQB+j|0C|0Qcg4>MR
z2{}0Cq<e9(3nRvKQxNn@0l3LziAhptR+%PR2A6j0(<v#f2NRSJmM70RV9U$O%G8ZD
zq3!nS4pppQKr-r!Iza$r1ceWTjB#9yqDbfDv|#)8%`@7y%V^&Ir=m7(iV6!0>8ye`
z0vCmlS28%~>sJ3E<8f2gaHP>$$mRn%62n3531NcvgfsjEj}hhEQ;QMpc7%9mLlrFW
z0Ilw}mfs?D`<V0ANG#<N<Q1-lK9Ea3tz>WW^c+AXq{n%cynMkQgR}0)$Z+do<QA#!
zRLXuta&rjz2&<OUI023}9*Y>dx+$a*6XzRFLBuZZ&cecq{CA#V0P8bYfwH^9$m|{u
zZup!r^;-Runn8xLeUs}2{Qmjo2YP0Y=&*Lr`InZBuO9!zOK<N{ax(pE%8(!VoVr3C
zot>Z8l0C`hutDtpvNirp)T{ax`HBZi*cr931a(hZA>}heyTf%9y`F$O9GAD%rT|wa
z4idc!>F-`3V9G?#AOv5L7MF*K=yVeBmfe)C-Nr5D3yr|!q%<kr<ayzJbz#k~Ni7ZT
zzE9MkxL>x(@Z9FAQ<o1f2(UA;`RXGG*X}douLV!DX6*gC`c*BCvKLUVa)YYB#)b|D
z$3irkTn8RNSR}v}H2`vq*}VYWv%_c|4}@L7-N=F=76xYnQjJ8x4m1*=-|&M64Fb;K
zrp|cH{R4dffqL8#56MYGvxvZ0_*mx}wo4s(M$A?J3p|Sn>Phy^`>(us{G-G2O%(n3
zVjTpkvG05&kFU#Gy6W+H#93*aTNOmNAmSFer?3XP?Pf1*6=o}<ZY8S?xJWW$Z-FG>
z5Nvic0;9t@hF}j!K5Y~)5FR3r7zhWxlfRvU-?h;Dy=;iO7kNN0A{`*`%{Nt)Sy;JM
z?!8=nO+ANXfD_BF)Sc79IAQq*{RZI8OhTL~Dk8Z(y66Op5)D-(kQ|3h-8fn2@*!_m
z^7%Xvvt5k=cp$QA2*r)z2s9$T1&2qX=mspQOGqWJY?`w2Gquhy{w>%Mg~a~5<<(99
zR8OjV4C*dQlTBnZSgZFB_a3`V1LpZb{TBiA+yi9yG9(<YfoZW+9KNO%-~|wg39h>p
zvCIKpqctW5wtYp>Ig+9w<|U_Cv6NOvjBEtc_1cYoz+2-6*6HoKC=Th>G*CWtFvH?C
z9Y}sAm1H3jDBlcP2lp#S;+)$+)R5<VqyA#ng5{%`^~!)PZSo!;_w+LkF*^8#ao_Ha
zbH+^bFw+elFQ5O-uN3sWyL!cm7rm)#$@YeS3i){mW3zQ}9PBF=$%?=*Hv`lHc!&Wt
zaSf7L;+|L@j7A=+NDv858yu8QcrUOvDJ+nl2DEc&)4Hwe)hh?Z3ERcHj|7Lal7Vd#
zql?Ar;9&YDPq)<h{Hn2Ib`y=liXl^02#o+(;EK*<(OFUX5&<+QH~<thWWbt`R3`GQ
zvOgRGYRm9Z;MhyZfB@?f_p%E$=Vxr3d9H?C2rzqA+hk)rWq+`*R3CjKdmwwt<CBKd
z2*Aztz+s2wJQlX|RGZ0U79|&G&Y(Bz<KmI#MzrUNw%BZDhedMhB{TV@DFGC82#Z)q
zX6LeCh?$00B}9JO>WEk!ow8)*mbL0<$62y^Cy4GU(`^^Wp9qd;oo2^d+$jVr6#gcf
z6Q^Oddb5JTIo&2;thg0)9;}udCmNZd0PeOaIu@ggMy7*4HqIbh2sth~%AMov>=d1d
z;IkuPRVUiOCTYZUa$pnsqain}BDfGgG;SYmeSJXg$=<GhXU3*!7ium5CANx<d~Jfk
zlvIJzDzu_V+6#YURrA@onaOuvqIE@_wz41V>W9S&F-u9z?g%6%COAZ<*ELH?WC6cF
z0Ab0M0Opu1CL~1rC5IuJFD*ade2`5f)X?HaF+g*=QzT%R@^z;CY$?SJoLg3)1Q-BW
zhtA$IHgC!Pr77LVRm4@t4!f&MQsuG7a_(9`TOB9895gYYzb{dpy57rnqZI6!>7&wu
zUB#Ev@0^ZM^VgnwqK}^auw=7ZM6-aYRG}45f)%T@xH*W)k?fE5C(<<Zsm=T>IVlN9
z(oUNz5!o6kB0Nq>cFcn>c*8s}nMR^^!$hP%n1`gzLtdutzhioz+$U?6B)2OsF>N;Y
z8`w6zvU+iJt3K22Q2!z&1rMPdOz(;64t=Y#i4eET?&uXC{8co?7LQc-v$Bp8`{x<h
zsENzflVLi44g1jyI>zYYf<Qt-BEm)-VtOiyN~AlI<5Hp%jhPuKtQk~xAivn+13)K8
z7oop4ll)S&!+_!+5h`k^e%+u!(6qEKFor+bC6qwYsEhBFzN0$g{>|gEAKUx5zvsj|
zqibSDj_n$#JXl%SRvieinh#X?Qp5XY)Ae4pmG*1GT^Ygd;)#qqr(nNcKH4tCp1;DL
z71B)UlpxKI&-Cu%cK>^(fHJ3<_QXtc5U0kci(C|%ZsSAqf0^$eY-ZEx>T=cnL#Fp>
z#kX{DU(*&-zw*K~Y-vs^ZpbRJ0MK56@UCvx=ax=X?`36!d&UQEh=#b%!~Y*^?*blG
zb+rMXea>8xliQrhodn1|gg`<jfgzI#ggbJH7zhPKR76lzE}{Y=MMOjtMXR79A|j?3
zsa1<g@h*x2A|hH!74Np%T5DU|T1gK7yWTT1Nl^R!|MUFz>Ff67%)YMup0(HBdo3B&
zCB3lIEjMOoVqjmxmuRrv=<4q|qK(zAZx|1c6@#-!jx+}chlP9R_U)CLFmC)A8DplN
zky=|*B?h0$3hZ}Q^lli|9mn*>Ozqy?7w+8~F%5dVOt75k^TFwluaF)oa1D{0<#MCI
z*)`X|cyxTH)naq>1hx%pUkS)LfKJ?(DQ1XZ)QaNevca*R`Ea|u)7}Nl=cT3nB~nuK
zW!Zm@nJisykLR18O+A0fl9Bh0ny_{F#TQ@vo88C1c;iXC!SUxb_nCQ<cRXKvW!19j
ztER7N2=vP;?=!#O6ED5cy5}J7y#Dc~8`cH`UQcODwcEXX_0Lzv$K7;`N~EW!;E2mF
z&mFq7Ca3PkMU#^knoXlJpIg6fcel8#CvJP|-FP>o2&dcaWyT73qc&1o)zFw(HXxzG
z=gUhllH&#i8p34>qec%OG(>a5oR%`A=a9-F=++^FO0Y&PgbgjZI#3;ev*E((>cSEu
zZ_uEDF!v1d<rSp%88tOE`t>I%IOhXN59R1(-#h44Y|DZzx^yd!K05m>(nYwpFa4D4
z7=MC6`CCb0tgqo>9XEmc%MBZ`Se8mpI~}cmSKT+Ota47@tJfX<?jIkYb6LN!Qzu{j
z>*b~ClY+mwZu)KaKfg;gZodD{#qa?zX8n}9Ykod`&a$!Vrrh9eOj%%_IVkt0OK|mn
z)PXy97<y*!K2_yzcj@}nEVp~{f-9CAuIJC6cFWFf1x0IuDOb+SsaZR(8LK7OCnWv^
z&K+GzOGd<>DE@l`)Q^tXFpi(^Q4Pgi{d~h}k)fhqz8PjWvBQGFeu{cJh#W+TkZXq-
zLsJ3Vv-dk*zDsoX^QXs#X+Qt-|0K1QC;j(}k4~l<N3Cz+9pwR78*hd;j|<gWdqLZ9
zWvN8_U-s9oUAB!ij>4f~$3wYzMoy&e0RPjOmgUXz`LNK1^BJ7+Ny+S)3C%Av6GjX;
z@PG{i8h6x&@jvSxGi0Fh;E;?AY%F=9+;p;F{86RYaa*>V?H9*y-MV>8l72_Z16>Um
z_M7eFcfYXbIb+JNez{|($h7EtqiGY(Yw&q8QZp@W%v7BF#FeDT>3+;+33})(2&vae
zC^LLqX%=;TT-R7@?|!xY>s_j8bYb4eZFQ68P3?W=KzDG?lPBS!tZnjZ>u<xYxfkvp
zl6nh_cv7OP-qoaKU=^RDGE=gW@R>~Vxm5}bvxuG&D=!~wHb2&EsnN1TbPcu9p8M#>
zvr^+So6aj9b@rsbJ-U}vhH}5d67635+gVp(o!I~CWi{rCxJlF7K7_Qfg|hP2ua%Xz
zah2;BR^D<`DB`o!dB;^x%lgX5JG1aJdB<^{+Fzv7PK)0LTcp?-D_~hENrVgB{EE^n
z+)u3RSBzLN#W~$`bB(+#_`auD!o6eEuqJGYPQ>9+4041U(W9M3vXeorIJ#Ixyav!^
z#Nk-bJqb=T-^bGUIat~HU?@hMJn`Z2Kb&~~_kZ}<HUF`HH>SlUO#JLIyL`m6H;x+<
z96IC5!g>hqR(n1LcQ)MAFTj5x6g2H^WvbGCdr14uhiCUWsjoVj_tX|^b>f_<o6#SO
z?6kOLkYjq1h44;yVW#3cy8P4{kI&N=(%lO;fqSQ!B}rbZpuot*fsR~nrs*#0T~tt#
z1ZBZWNiuS~WqM)#az_>m)QaT-dsp?C3IbO*=nl6uSG+E3#qtfnWxzDQ^EqJjmQwjM
zt_k?;BldUQ7GIMFtJo2k4t;6YEX{z0uJ6hG1J7A!44BvRxdR8D>p5>B{*4}Z+g{XX
z{`@j^lNx}QukLf{rG4y0_PgKOhs*kvOfFMZ-+rqqOQ%dOwU0_G7oEDpb=b8F<J?!9
z(9k<8F(tk{r#Rg}04^ghCq5CI#J!5kQ_A5)$e-fN>yZ-=n>|hqQ9Jlwt>lUn(P(5)
zOG;swgnwcA)@5X7_{B#9zk4uS`HG!4;0)mKM{mS846Ln>Klu4aZ^aF&9oP_m;FGoq
z%hx7``_IX`;TpRwslK{@IC1TAz4%M}!{Pyb%Lf*zlFz?Xc|`+zm)Dlq?|=OG+dX?1
zjOqFIuhn^jdgtZ!=?N<<S=PHEt`3uK1iZ;MH&hG@_AD<~B_qd97#&Uwn$45bb({kC
zB{nsT4iz+n8qS#7E9A<}sDVSOikeQ=BWZD#?|0qaf9Fs@*5RE693Jr*CNCYwBgBe^
zKzTx6a%4d)M$X3wH@?OAi7r92c~8Bwi3!F$oaV2oKyRU^+}o^4w=S7oUKw6~#e&d+
z#j6|Jdrf(yKKRHv&%XW89pQ7!M=sqY_9yHmUDP^m>@VlpZT6>1eYR=o$nqKCJ0E&m
zzxJ<7dKUGZK5&@#wWUSnMK#sF+&S}#`V@V)XXxPC(W+7P6;o4r&tEjrIJM56*{fgQ
za&@1&QZ=iqntsu<9O2X<cJ?mMMcZhz_gmd^&ln!ze-C^(U{7(d)~HQys803f_UhHA
zpkYMPn4tr_=9v=$A-LThFm9;X&=VGH+(3u_cimNN`nsjN<bJbwf#(DvU(ntH#p;9i
z-@&dj<5SW`3-cUq`9q2v8(hQ=fD6C@=~{YAE8wkv_OcNfg-(Njc(0v0)m47yjOpt?
z{{HZuL5q9UP91f{WvXh~f<g0#slM|Tjhb59Yw@6G-u%y5zDetsTv&d|@<j_m3$I$$
zXn*td;vPjk(35FHhJcNdaZ{&PUiQt^zx$m%V?yr|we5GmtG+oq4}|k)d@29nd1y&d
z@1ogO&sp<}%ZpDuFlcnIfoYbNog=>Db@AloU4h$gNm>I=hS&5fsvR&WGgJ8olqD8<
zhYU^bTiW-GsXc<h{8D#(d{RSv%IG94yc^O=U3Jy@)n`oYmfuMxyL}J{94eQcct~Vt
z14Tp^NQZs6F!KNYQA;Nzl2Rz9?H`CC^wiF#&YLIX1@=_sS3O&qKfxFlKBw=<Ywr2%
zl>Ld_e#Opl@r^qdICA&-#-BTe&$pi+a$R-n?AxDx=OM2vXXhOJvopsokJ&(PwlC<{
zuc}gQRhNsH#cZGuvyu|W2s#GbB}P#675?#bcW*~uLDCwEid1s9oJ7ADd)Mj7Ju?i;
z-?@tlbNnfmd|IokJ9?#)d9-U^VB!3ewo=zqO+5n7R`slUHqc{&+F9C4yJ=}zTw>v#
z)9j}1?a@ZI6`yNw6a(t~M+(nUH~yFb6<PtluJE~iP&gMJM^oa>bQ5QdvQuIBOU2PU
zF<6`8{Ki>!bozuAkUIiFu{vSUYW%Q^!7OHs{ueylm`a~t+nQ!SY2W{AHTw5|Z5{Q9
zyV`!y{=)u){Z3~473%j2Uba6{lXp-0MI&l~@17wMB(gL_wMjv&g7^%>z<K?ghzA0g
zMxnPv7eO5tzhyc~Jz^#~XX{lerC({=Z8$k`=JtM7w_f!4Bab}Ne?o0b8r<*sRhlX<
z$h@Wc(24h7x4N~@Q@<CDZ0@Nx*OhJ$zOj`J`7T@v^}toH=}Yp%+>{PaB!=Zl!Nt`i
zGd?jv9CRK6BS?QhoiIvMi-T_dKhtn~i}8P5e`@Jd_Qyk2{vrFrVJiQ(SM65$!|jjX
zP(6mIT6^y>HMC{X4mGRg${nhHnEhhQq85A0jzy@)LD%iZPWLX<1G_Dn$Mku8u)AVs
zM2^JBjag?G3&rwdCG<}39o&jmYdpRCRhRW1pkDHnS627!Gr;vt-$0;$|FVjHRn-H<
zlK-9SbK^btG31Yv&|XAVfG3(nCp_sJ0Z|H^<I{>uN4R>&2c)nd85W-Y%C%(UhO_2h
zv3zd%?4`F(^0{Z$h33!dY0U<mFU9G@4_(LfL!SPOh>NH)i3p#Y0!16UM3GMu>MS3l
z^fXy7VWp%#95!$|sBH1q?%e}NjLXUP`O^mU8q<KhK1N=Lqj}+UvZ*7lM7>L1UAR;~
z9A!oK?gtvi^cs-n_hsjd8v(<A8BU$N<h~uN1Gx(TPusWwc`jB%*EXDSZm;3f3I-*1
z^QJWoxNKa%Ilg)GHE(G2=pkp07(Qs+<O?pCK6m!H(=O}Lr%!QpWkD}vfG^W~=D4|+
zRS(F-@srEujyuyE7oU`7$l&0tH;=6Fk{S9j6P@WOSwBcb1qW+I=+=c)MHnnX{)7Le
zqJQFlVZGtJ`2YTIG9|kH%r)N~9?=+Zk4<>>oQ2*qBmd!^HD~%F1XFN_hvRSK+!xA!
zo~-QhpRTGd|9SdfzmdOIBj0`a>3^T^@~-P}pFU-kFJE}hfBzwgsTa?lt}^<TmsU-?
zc=kEbe;e;bQ_+9h*?s!->i6<R)A-<`*{~1GIIi$6cOQjbEO*FchrUAVuML8|yf{6x
zIB!tMt;+iJ%nkI9Px1|Js4MqY49HIJZdI116jdj~j4o&WW0Te`+v$Y^f(G_0<&M6>
z7aSs4>c-{-6#q;G4H0)}ys(kVy4`?9J&327cuU@J1rw~1Md$ao>Jn1V=y`sPUoT7^
z_4<$#D^FgOJoJS#PpmXr^kL5r8}ay(wm<9lK8$~tTTLT|EgNUdwMwUD4C{GaNul$i
z>u&ks``6hS%t>-|a#pRr(ka=)=S^wb;F~%a|JFay*F8OQ-vw=7>LXqbj|}Xsk#7?G
z732Eu3|M&!ume(=WF~rXL?RXO=F+nA;1{l_FwO6A<J07ak2+YElKqJVu&Sx7+;sT3
z#Ceww0*B5CfZ-jxC}j0Cr?hy24KZ=0O<&s8u<%CwX)CCX)uK~M4|?`LU?KoO&F<an
zU){VlHNI{C9(~xJ9p=5}IrA>QAbv~YlUS4<x$4b{u6^Hs(*75<+$jF_e@^!Il&{}@
zY2!KP+<zz90uLZ=30!SqbkA()ZF=KzOUIL<l+Tym9dUB=^NeJlmBOG}zV!Hl+>~^c
zp6wTRhLKj#8~*7BM%e;vr;B65X!WsQf?I-}s;|bG@O1dt%AL#ajcb4OkornajC-eD
zF=v)3C&ov&&%N<Rqor+>c=gh^Zn>y!nrrm!>$lIIH0?YbBL_2KeJ%d;Wsh%sLz%M|
znJ(40u*VmN(;l(?NXRnI^l~c_t|+2iFW2g*f_5xbQC;>u&J^JsB0RM?n~~5IsB0Eh
zZfaGN?ba9dF>o67cYFROHT;BHwtN3ESKFRF8)YBz?cd8jq{_bjT9Fm;*fI|Lr4mC1
zI{_{&EzOsh30DJ&$=EM-VXw?cPLYFYh!y05CmcA%fzMOuF!K55e(8_b(AkT0jz+_(
z++{OzvMRNYtA-DceRRUk7f(jmjJ*DSch8mWpKrQ%d#h{9%72~w$k~h(X_j3m^dbW8
zXrmj-eAolRtqM3T&hVtCrX`r&dt{{M`VwI<jfbmxj{&z`35nbX5)(hFD7SmN8p83_
zfr&2D3%y--De~di7<SRpAkPLD7P^)$x^&5`4YP0D-HKx}ewE(#eap|rU3%%d6)zun
z-Icgvf9-vfUd)lJyT{u9Vcyd8*yty4eOF|aJ`AC=lwlQD)ja{OHsebD{`8Er;>?1g
z!Z@>cd2vB@UJ63;z_pqy4Xf%DA6%;CXgEd_RcEjfBrA&_R9eQ}4f%9JbyYh7`=BVZ
z9R@xc)O4b)&>y|z@o-{d%bM)ChKDcv!(X3XG;7tU%XVzkH?>xlEuFja!i{NXHr-iZ
z*L!L<PMd&}KmW8Jy?yh9N3)Di_Z%$#(`$)aCbZ7^?=h@T73DY%BakGgmkdPAiqqV2
zrYjllBohz`7%tJ^ybBk@k`UY@D!W--;?z3R&AG)c>LGTfU2*M~s2%o{)=irb%-YsB
zwlCJ#Zq(%#JN!Ku;+u)(!JB0QTmWF+C#SgM&G=DMb<^}FCc?RGB7AE9ukv_lK2lu1
zF%)5-rr9kmTej%GFrKw{tgv&`=PT4_(!%|==6Vk;%+V05Djrusvy+p(I0~8D-GbS~
z%1wasivf#<yXe%)u3E6O(JhA)WpYMby~%RAKi7hqUNvi4t8qsA`O}uF21E<TB4y(8
zk;~Sq74S>BKCvBaaZh`jiIW)nurdEodhXp-%Kn#FG{qN^X?%}fVIAYL(~^@@QgnZ|
zt9xz+Jdz=pkI#qMikOD!8k}O{HBM27#5*G5L{?qVdn-Ja)1|t)KJxYpuUNMF#wVT}
zF{VY|WG6P&DWCFwW}D#+gAW}0@GZ;6&epB=(}}R;AD88%)K14Y=R5RZx-gx`vJ8Jx
zVj{dPXe!-{P<ZM7R38Ieq^J~#Oo~6LAQt7qsUmm{|6r{h(G006VWMJx7Ig-KsUbNE
za9Y3%^@m;CX8dT#iyh(}J{I-@wRG8QJU!8e>B4mgBb}Zc9|u?U$^KLewM<9cHQnz|
zFtpT^WD6%j<;+DqJwA%j5UVz^8_GYY)$s@Q>*88?!Asj_bagH~+Ho#yPve)PZ~IYQ
z{@<SthGFv?V-J<+9PrilIF^@QV}+VR>-=zgsCXX6b4*J<kHf!3dRMv2(f8tSKTmvI
zAU**mXS^F9Mua+XCyDoRx>%2dDL`vr1C1y?A`v3D3{+64M0nXA*NUCnX19NN54QU5
z+TXs55exKJZ*0fC@%D24-S*X#$<?qRi?3|N)REnJ#MDuGf(u)hawb!QbL{juxZRCQ
z_e8t#hXr>T+lXslwc?5UCq<q6+Ed#9t(L_c{7Q@Q0r(Ov_A@S&t{Wz-`~KuazkvX}
zai&M}`Na)7E*i?VXy+o?SWZ)?p|B*RO9e!*)Hetxw0ya`_h9=jedg=-xaIneOW5Ax
zo7Fi-)xP%CZLi|w>tSg*YEXxkGnx=W`68AJVlN|%OR9m0La2hW5M)n!LR@8^UWG`P
zt5SA$qz<@Fpm3f1(BhVs#j8~EQ+8PW<z@TbmFkJ5j%(wkYRn<TS}eY#-BxucWaLG|
zkbX#&GemJNpHEo{$%&>X8HJ~%ds8(88gM1VB^wsL^+}dLUX+W-;fPG<s6l5@j%pU-
z>cZ(1=_Ju9PMpv;uvgw}|NA|yo7}D^p18}Nr@zM@dG&_&mt5FNg6~AsCkNUDPe7P)
zF2wrD^!q$kX11qWP8#CUWu|+xwQTW-27Rs)%BF^!Ot7Ljryn}ZZP5)jbW|682MQ;&
z@J@A0+q_-E?-=;>1be9kui3-Z@z?C-%eQZKPusI+Mf(?L2eZcXQ>*R1?KkVLx%O<=
zd#I-mdo8QbZ%H`Ul7sIF{K|O{r2?OrI9>B5_zkSCaY788CHyY?1<?vQa|OpRI_i+`
zQ*HW2_RjwHuQs*XI9btN9PJyKFgP-+pc81WPa!dhQYPGr!9#PR>GI&}wv=h&l(dHP
zA(+JfSD6@+{4(6bcrW4t+uUw%gEIOTJstka56Uz#o<(`W3Q$py;qZncVTB~z(gHJR
z@rKWG!Wy`ff1DYdFe9RcME@712j23=p)K5N>A7uNYn$ELYUoZhla8oc(pvG{hn*ml
z-q=tMzY_4GYr5mSUUxD|mza+!u)ARYP5e@)q$H=C_-2{uah+Jg@lzTTPp2mMAV}f(
z9~CzsT~%*v*%)(H?daoj?ghn5KfppapJP3^Az!?W!}&Sx6(W!>+-zZ6oyr8PT1K4V
zY>z~=@2=lWQidFlkpD{u<a_4ZkL_&N&;goib9ev#(@q^gesDYfPO<l>;Hy!OgIhry
z;eylp6eaFtqwUAh^>q4Vj*L8nE$X4QOXHoUi(cVWLK?2S?FTyCbg#o+sMBm2eJ!p#
zTHT$e3*GoosLZ4!KfJB==;_0zm@n7F8AyzY$AeP^9)!grQ&Q_h%OUk0YYypeC!!FG
zj;S>ft%iFCh%MAUyw&9!z8oPc&VpuOZ(er83U&1#zv#UJ-fF~2V*B}t_73}X`!&0z
zO7xn4D7Z*+WX1ICz+mM{T`hk)q{Z8<o1W}<b?=dhuFA~x!_lS0MNRg1QEnpcM}B0a
z9Q}sQoP@%hK7*+Qra|4Ex$6AOF8!uu=djT`+COYD=8qlvZ{;~c{YE|T;all;nX$VK
zPR;GoWLV7qge`{mpxrM&wbT7Eb{%_ZHQ0;llVepDmSNduWaJfEFyWW<88bC8P*Q@Z
zgjm?6Vc!<ri>phqGv_|sQfIG<Q(LS`It?y{7JE@xHA{p-*-fC$JD<*K@|?51+@iu(
zjf9Pe++!Tz-hI;*L#H*?4?O#cJ7?c!AHb>qGgN5B^vX%o?CMj08Bj5K`o3R3`O;%^
z&Y3aioQbm+=`By%2PgN)xF>s75f(O+)e?16;qAHYTd*vA)10Gnw|)!n!~eGJ$KTlh
z*gCs;7`AL>5AHSBQCMP4SXR((+=eaj^r`7nnN?Jh>Kza)i^HC=QC60c!C(iz1YA}^
zXb*{l;MiyXk9Nym8_z=E&Knvp(SDtC%}z7LlHgoY;;{;+kMysH4<0^o&FHae_8r%q
zw`{{FSAX~E+2e}`oVoe-*6qdpJvZ;T>(2WwnNc%rXjQ5D$BYO1_t`S<FU#967~kt=
zdpjJ=_RF{_^~j&zd^_H_^W$H=^xWgik2G{kUYjiE$CpF*IxM;uc3i1r>BZE&7D4yA
zS#&R)IdOEaRn)zF_9}^Fg}vxNLyji_x>tOHf@2Gbc$naiFMv9v&X_8nU2e{iTRL`~
zd7025Gxece<r-sGZQHif-Tj_>PA+#M8{xZQuQ3pI93|isXr~gKys>BH7(XIQa;KD-
zY(cU*mjP#l#zpoP&?Qd%u4_9g`lqxS|KL6r&VguQwo1cFR!5mhT3G{53M4A{B20;c
zuR(DGtf#|IC}KtMs~A;<QIO~iJlY*hMPQ9dEq2q+uO_C(<&XSwr`?3b*B7pF?e~6g
z{!LHn7oOZD^FC54zQ&=39<Dfe7uP-U2`R8lc@q*7<eWC#^~9?bXs;+wcrkK3GSWQK
zlBn7=g<zKR-nU+_ZrE*SsdD?>o%T_9XwBZEzo);~wzBSS1c04&cQr19q3lQtQ)Nwy
zcv~Lbm#VwG2os2vxjV&+<Kk}DsHv7aU6;moXeJmfXU~JBORQWJ+o|FC>C*H+t2BF3
zNAo8s|4Ms<x@4uCjfix?ZaLtf#X)}F<ySh`kVm~e(GzdRA)p=hy5R{2x_jLJ(%qvU
zX3=0pC8<`f>TOtWEVdWyQh&7To>iBqc~9DPj{3f;eYxJI?`eMySKr5>^io6$2x6R5
zG{ibK<KuDGBuP^ePA>)DBrVB>@XT;0o|tYHxD>umIHf9I2%L+G?zmvwonj-)GgM=@
zz3MrYukxNjWW@3fEhBLG@4&Nqm7Xac-`c;lXNWd0(F~;hm_ME!Y=1*T0SvN9=mVT`
z_G0alj4)ww@DCGbVB-J>iz3l29SJ{8&SMK0e3)?o7YGf-Zryfrmp$24X&39?L_)4{
zY9ZVu=au_z_!dU98W67qrv~Cs5+b)lKjHCvETQxS-B|-V;ZZt@j!m$LUJ%tuSiG?m
zp?OBOY;I{=V!vQaK<J5gjfnGqW6wHiH3DzC5g!jW>$--X_@o(n3a-&4Vw=qmdn_(N
zW+WM>E!af-JAX4`E4Ckt0QbNHU1GpFgMWG;IMib^#(yuyKSS!F(&IhJkpAR!xcoP;
z!G=li%}7ax5A5Xh#HeQ0wI0qCj74>D)G}um%8EpG0NHen?EnQ$1fV0nLo3)vqTglU
zzCnpwPe@OX%Sf^;pD#m4P15j@1((KU#39lnHUTYvGSqX3qO-Shnm0n44LB%yk@)49
zu-q?3#0jVZ*aYm~x@Obz8y?)bbH~c%x~3LNY`n!+sp)oWQdmEXm{wDUSX|?6M!n>Q
zOQzIIWq5D^)558Hcwf!HNFm5J>@5gNY`9#2#Q02j-6l^(t|^PObdnQv73*cCWp=I-
zcGK|H>yO@geeuH8EiKnxwK!udLLt}-_IN;EC$gqG(J;>L_T8UbH!vQCtbQfpBz)mC
zWa1>bACl|Gp?oY^bU(aL`u(zUK?F?jrHG8PJt&34W-pf&A`xt1Gqei#w<_%wMhm=T
z&xTfLY1^m2@Ob+ky=uu-1%Y<l>vYz-Vvl2anqT7k`s314ld-T*NKTG}YZM6x!Sny8
zm6vbvlp{zIg8=mlB^#TLPuYwm?zwv|fAD#A%S%;bY(x^VlSd5NahE+C`UWD#c?Ltz
z%EN9BPBy{YRFP%H^(glFvU+H)US(DfFO;exMAy`F5_8gU9VImpht(51hmRA7bfoN9
z|Fid{2Wqe}f$PuJLB?jYoXF5}UqiGm0~bRJ;M3SwQlE2s+QI^NcQqboDaur@lkX=h
z_kS)taLeT<u7h#z!PHytHGX~M8=o=npt0tR0fF$Ga>QjDWv{l^kH8hdzx6ENT-pQP
zvd3Me7ux^&uZlk@x>Pl8fuC?q!`in*ZYP;>nCM06>D@8g-KD)U;9?nPR1>|4@OEp#
zB#eD*n2IqkxFi(jrMu9sErY~!)4LQ$OQUU*zV@d(ejM30u@C3hlo(_FX@BLh|DAnH
z+FY1qzJL1g-`f*CJAZZI{WGWBxAlg*lJ)v^X{tw?>%@paW!;>@10UJ{`Q+k#d-HnV
zS(0yjx_!%i56K9Dvt@(|u%<nyp$bllOENQ)jr@Yrj0{}Wm%G#j1$n8NMiQ15B?#jg
zhYjUI@S02OhH!^C91_!nV*`a%c5JL7b6A>HBtz2CuG7a1@|)_6m$4NWFyF(d{M5KT
z_Lr7%&UhtuSJPD0RagG_s10)48$3@$h72Qyb*zk7KJ@-64V4_Ry!;Z3Sw0300dw;U
z;H8rTR~#8QxpLqPTudkHJaAoG>Wm(oasQ9eV=Fm+`nxY2{qf<u^`VyG&iI)<mG#k&
z4B!x#eUE!IhY%XyB#0yK`#|ICL;V&u7|*lb^I%(qWefMa2PmI&r`#XC6$vA>`$I<c
zddqo3+YSW|cgp=y5A9fUy0gJcx!TZ%VsWV04cm@z=Lu(}jv3vHO@aiRYLy6-h>R-{
zC#lw9i{`WiC)5gfDU4VmgU)iuF{20k2vexfSce-r`r1S7tGlT);YSK~=%#B%UVZm7
zuiJmom-TGl4kD8fx|4MK83ZEPXKzpIjx}e}-@j-lquHh_AB@JDigi8H^qJV%MNN~j
zzm=Th%0-kg92mzA4uX`VNQ{A>tZ9DKVCu&WIa$AT@&n{mleTYHpFWMt5L(;3H&)+x
zZpEde*4+Kf^G(yC3VyG9>>e)rGy7kUw_P8;J-g)i>qie~fpInH2e+dqGohFDG{lpg
zg5e}9I|J$vgw4WI^K_-KYY$@X6g&Hx`Ck3>D8RBE`y-KnotU&g2nQ_v<-;sk4_zs(
zQ+>ouTq=}9+*|aGf}z~4Nf;(0swezpeNY|t5f};));^T&)fW57+!=RY70S)XUAVSD
zU%6h^CB|<1ZhO{?<_eEGuKq2x5cxtBVp#7b8aehqQW1<tL-;RjFyPzg_ajn^k%G`A
z*ptfbFr#%*o8&84>>MuRo=nW11A~_RNBd;c)#I0~QR^axt&R4}_KwsZ8>`fR^g`z<
zi_Um!ke`{5pLAF(N+l8pT!*H@!7FMaK{#RoQxX}9qsxAb=ufyt&{>tES`gil>8KD)
z75dTZ&zV1a`Bm+kaRX)6j>EPY+EBmmuzJo3vV+KMxMOI4%D!3UK8C*Ou=Yj7=Kq_u
z4_h15Qli4cDM)MI?%QA8^1tnUZa=kYSR2LO2Un3Me9D?pd*A;u^mTMbw0tEBd}L={
zj5oCMQB=gv$FL(#G%Xsuuq3BWO)WB0qyy@-kq&#O24;>b)e1_rQJ|vHjlnpa(jA36
zO~-VW2^~>lyTn!AwykqyWd?nJ`3KRJMW>e7Xc<xum7b930Sm^%#urtpO(@lg1tzW=
z$h}FKCqG(`&au)uRVboWZ)n-jRjWR^TOw(y^J7udVE^@&K_arSYhEngeXZm~cvMQk
zB}wsni=|C!Tq*)gBZ6i@B33?8kG{@!oNRQ(KFHBg$ybG$R35S5?R0PgcRMH8J{WiJ
zL-?vAaq5V@d;M!$T9f1KM7M9ni<ND-!g+Fx>nSH%v+?Nl?|=Uf88JEAAyGZy)43rJ
z`!;S0Od6_(TbzDG^-F=1E3pfwIEG=K<dD7+!*ulEp(C!0qUaDF82bm26h(5nL{lv5
z%V>&@44oEHvG2Se`99)PhogQoVE-vX)$x7QYUwoqVGc{Q^8WY*<KN2nQM|Cjo-p7G
z`8w*w(O5T54iZa+IcRgWdft98^de>v%Y(60n1?p^pK|xX&_mHkDyM7^-b#MAZ{&9y
zrFs@IZsHF9H`WI5e<1bj6{)9>^;C(`dOF?>q@JUldM2`-InGxcUR-c{dJ42VKX!2-
z!I{avjEwkrJsBZ}Qm`4Gf-S{FY%3+Edax|>bk@4N+F|(#7k{|U*E`SZpRa31z#q)V
zy6)~zKUwtl4e%x~-)^xFw(oRRTK0eUzWrZc+nP7r{l{%7$+H*Q_uAX+h5BDc;_ztl
z$wrm*AN#vD(V}NVi}t`GDV{#CZq1I*f=M5d;&Z#3P?t??|4EQWPlkqYgfK33Xqz1s
zq|_)e2TRDa{!Vl@aTPis6$ZzAcwGJdU+|&X{)e~zsekMKP0P%O&Yik#)9Ou$?R#%=
zO}F2{E&uQA{VMU}i{E%AzwC})1#LMGZN6{2*wWa4UW~K;v5Wx5`Hsjqcf`zL3uK)2
zPh<?Vxqo)Xxhgu&Xr<_5$i>mew7Jm7oVzlmF==s$Mkcu^YGf#B8-z^m%9O_P8H2v+
z&wQ|#EVViH&qzLlV)-zlE%U*?vef2ICzpXvE|{s3OAuU=tu-_hYN_dn$7f`xX2iL>
z<z#0_C~pl%mr&zO!;^?JI1vqBEEcCNf*}+LtqK1Ld7ZQ*oFf&Z4T3disv=m6{%oIm
z@VpP^zINc_57()$+Z&BF#^Cs)FTMH2nOiCX_uO^^?h1Zz&&{Z+mV;Bmh*8?9UM?5v
z6(6Y=h95VYV6M$X*jGgFikyk~@p_44AP9qOYKRXuxuxe+Yv+bPuCRaqw?E(X^y?42
z`nv;5)vN7mje+X0_woZbeqet+a?|AJw{CB}T-moSlkum25zj7+3jK?y@fz-9iJqJq
zoq^D>T{GP?@y6TI-)ejn^=OOT9nFDb#vCxN&qv0rI5uWZ9y0dKLz`RgjG06mMNAvy
z0<S~v=Oq^{;EcR>gt-`c-&iif1vAMvP0q+;r&9Q)qH8YVnOsL`d*sSr2;b-{_}{To
z<nNSrrxcgbA?>kJ<ToN;2rFg6OL)InDOmHn*0RO$Hbp7@Yox{fVs&L~MoQ_QoLmqw
zL1eunmmK8s9ee&c$pt-M>GXWJXwNgsl=Qq4Z%mE<6?;BA+VjkT^<WO@`MO9w`o!wt
z<bj@d^3di!?bM?@)*2_5MHm~W9uu`&BDwVLnhSl*;2<kxU?L{7w5BYU3$0?T%S%q5
zfCC%`D2wGH7OKAN6X6>4EZmAnF1?&wFhigPV5#*K{J-KfzYA_Ils8^H^g;`Y_amAq
zR_L*9?hZ`|b`mk7(ww*77~Fmd42n3K6xo#Emm4RvM*c9@NQ_jNF~qJ)-R8%0eN6v_
zod(mOYvj7NcSYTYY{^co$riurv{>b^#V(^mVj=hLrEKx%kzT>Ol%_tho~yL4ls1E1
z@5SG|#<kiVlvTfdrJO6nbMzZr6|cNfBsvan??(@nXm!rphI87c6whnGEhXC7e7;iO
zi+?M4Jk?wq@xFy`PeF=qDPIzzLdAO$pk0~tFXK%@z*tRBO!2!r&Rf7eWry8H`qwd=
zqnpKYU#Rj|sA_w$nCmZn+Fqc-_8#@zOJc@<O1)t3F(&CV+n<4@a?9PgUN2_+XQeKs
zs0$+h{$yRSh>g}I9n0A0*^mFTE>|kQy(?nGe?n#1pQwwTr5Rt%w!hF9L&KBcEeK^`
ziXC58XS#;{Fn%LU7<dq~z?GVcO%$(|o@U6UU;|-#@r}S<hL|QH6S4~`qS47XSyPmc
z@3NJjSEM4Ff7Pqt=O=Gpt9=2^nSE=Rdp>yise{MW_IKXY7koeFUG?5Ix30fF!b(BL
z9UO%*LS3L0E#~*C5Pn07dKg*Q<}XB8%R<8_D)!`@F*OUfCw&ssEKkcDGc{d|QUS-j
z&qJ-9wr8Pl$^s2XFJX9K1to?ty@SbqWvM4sDvJwW1N!TYpL_``V8QLJf1I_n_3-Yi
z?yp{0cGo*EV{mWrA9?He2l|4OPk*&+9yVsO9(}WETC4uz%^U4+7cY=HgC#v{aCW8u
zXV}kbDC?7&n3vbRTZ!TEl%yJ!{d#CgzHSIm32m%5j{8Ax@fBjW`8sZ?MLN}w(e1FM
zMICV=oJ~iS=`k#NVXYcluITl&3~7OU_i&^*!)0G}$&S~bTe+n?ZtQPYzV*eQ4$r-R
zFwQWvT-N^EZNIp4oBheni?6>C*H)f;{nfJ<E<771Qfw8e%JI$Cf*key$#q-T{`Sqn
zKkc_0fA==zv=MDvi91ET<=mYowO4k}f`W|fRF#B~J(=)%uEtE&^Ypx8UoqTT6yvDi
zn5pn3)}gqGnUKwksr_6tclB97`?7ddb*1tIdPjS4Z|l+hFTMEgrfcUsK4;Q7|Gw^b
z|9WDxn(5Imy=L)(9dAE(;4NK0r0<0PflF7w|G?-8ul(|sr@O^f+ebF8Sh_|Xvdi|p
zcI5Sqx1%K!@Kt>kx@WPp#NWd#g7>qc9(l=Go|4l16daYt>L16>;&O6eN6PWV!6*`U
zy8ZTtEh!FgvjQe)x%1K4J%H0FI2C}J<r;dT<(XIP8+`6t?p!xt<^N;sn(?*G4_>tU
z=!+LDbH^{n0AN54>{a70n1Z|hMFnem72SISoC2g>J@=@L0=@-DFbaj(&*+uitw&*g
zUS3AGLYL1|RNT#t{Z4q^bmJ&L%<F~z{DM@da;cF~=rm(bcYZ)kDWWpL$}AC%9Ve`)
zbGq{hF;;#4$?+qHKHk3O;=LD7I^Vwj{r2Y`+`V__ww-G8>YM5IAvE;zF^#YMa^2I}
zaoNAQ)3&3#-xFYY^1=SvL+b4HXZOg>$w}|wH<CPgJrNJZg)fcEg)m4^{ClM57SQ?<
zQThK@oyFY+J!2K1!mO`!G2HKB?O&+BYaiTrrK(-M_@0gR4;*~q-Ge`0a9_&?)%Ueq
zb~a5Ixn|6!HBZ$h6tA7VnfvGHS?$!9@R;=!dN$P1J*}`?_wG1FjBrLdUbr8FWy;8e
zZFtPoJe<gjZY4)%YfPY_8Pil3HI5A!;D>!I=J1bU7fSlO67A7F%g0T;Zq|r~z~HKe
zJ_E-D^}o$uv|!<mL(jhQx*OKJNA2Nn&(2=oZO}!SS6`|}Paa;o)DhyB-grYktcZR4
zm8T3}@9t7tEg3OYlQWE-Jv^SY+*};9$xSh`({M&FA?*j;(z&+cOC%z-vVWD|)vkB=
zqQ&pFJoEgs2kloooAwr}RclvaJy$1k`pQAQ{s%Tb+&vYKPubeAhQdq@r&u%45AoP+
z>z0!N-)$M*3~y>ynvv>HgzAzQS!vKHK#GWYJE37c5};4$O}HAhj2g6D|DK0VYkB>J
zy|1^I!jycxRjrQp(+h7N+^4Ez=05ZoJc{vzQWj1(_jc>4W|G2$Ou`mNb~lB!W=iBR
zR|32j8(Art={~r}5^9cGci>m<2Sz`9R2(x`*PiSjv3E^qnJZoR;+{k8k711iuQCVQ
z>({Q1PV#;G7e!CFi4MLA^Ewyf*)t<9N7qww<8XFL1DQfyO5}3g<;Jljcci}}!iRr#
zI*USY!I68LywX(2l{+q$<QubfM4q$v!<c@@Z&dT2m;80&&}qN>89vG%AmX>$Wv|e`
znGC-ikE`3&d7rCEPga%QSyF)`?4RO)d(|<KI#~rg2IkC`S|X~Kt|w-DaSw)DT$;-?
z5n|r-$<=GQc^xqyN3{g!ETYU2d}%wKj^a@$A)kEx2?Qmx?XT@)aLJJW&adlsv>f{U
zjaMK3wcV-@9@hR1oSOP@F}i%hsxcqDefYzz_eExc>sv^h*tNU6F|0{&6X8mSzd)bz
z#o?43_)o#ip`f%xH~*=*bm};XD&x%4PP4)13fq;7FaKi4(dYIZlJh)m7p+|e>)2tt
z?8QTG?lrbb>1F7VHJFEK;^SZUd2vJ1=SS(vpNidgoQFwGNrL$+DbgK00MKbmS$c!~
z(5YOkqm7kz%Vk#`YkBU)7x&vcj46mFy&rSVrH06yJNSw|cpb`~kFuvgW=iDDU3y-k
zR#fQDu?n?31et@P#H&at-Hq;9@I!<E=VPWCoxjIa-A?-uq}CKwOOU~msP2Zl?$~Js
zOJH*qI-Pjx?q5=}S;c*<^dmDae)7U~_aAxv_`4r`ap37MU;8yIDmZ6%_}SK7uIUf&
zyKTwvnq`+?d&e!e-gN6N)3=O&|JA!*%!tc=0=nKb#9CV;D^PVEwR+9I(tQcWutYrx
z-4EKn@jajWpuaB?ZC}01=PSjBIDW6$Tf2BZp5ywG&u8FlRA<k}b6iWE_i6e280)<v
z44PM;?P|lS1eU$ndfu`8t;ZX~BX6{zM7-fF=A=yKaU`0DvDo!FS2l*89$U*H7uOKa
zifAr)2dfsWYz)0)WqEo&OI#;@kWXLq&!JBFEcvN?;>N`4v($C`2l+^SGCkkL>a)}(
ztEL~RPn@i$**C`3v37N=*w{N>Uo4-iUAIT_85UcyaZKp775QkTI>!Vn__10!``U1p
zyy!`e64%Y>Yrct5!uomaJJRFEAZ8iu@wn7j&6c^oinK7ZbC08^UW(OhnQK#|W{#U|
zv7+D~x35z^*SNm?Kl8c9b@xx?GbL7^<*|G^eBU@d<%!j2xoc}ApI}E%u|6?7wDEJ-
zr;++}*ae+@qLyec-ig+yz9S!*1>Q59`e>!9QR|D-3SOt@MRq&v+A=TPpF6d}ENg_T
zWqA+%F7L(c+xzhzZUEsuSf1fge2xot3-sV3d#lUOlasJF^Z9N*cP!O1uN+JDY?oM$
zU?=l&faI5uK)*-kl~}4}=HWL|X3yv-J9$(_^H5EvK6CPLrd2c#_lZaz9@X>~b13SR
zgKNH5W+rQaS@#nAQ&-N$x5$9hV>)LP>w$M3MLlFD<j4B+9NOJG@>$~A`-6PMit6u_
z&k`4`8K>og7P)FUGoAV@MMMV2>eID8-8nOz`Yd&A`>}kC?>IA^e6Duwj^xu}gJS=3
zW;*#?9m}US)-H}})Soiv+w(FOn3+2Alkty@mW*@MYck(N>ttsBoinp0+T%QV;FWR5
z$paZxV?T51824p({zr~Gwm<mBB96O?i{*hxGIDx>d5BCIyC_rl*<00Y_lI~s4!@A+
zGx>Zur2TnVF=-2x=WbXcBeDrEVR#PvCuI};kLQk6Q|d_DsXp7i-f3-athE@+nXIE&
zPDM74vyOWAXdRtAL?W1nvDm$wBVgz~VhkiBa3v*zxj?dBLoOm&j)-^IaXa!^@+0}2
z&)Ueh!^vmKPvt|&a_Y0xz3fNpGn10#<g@fA^AXN>^10f*G?LGNF7290$#U|!+T~d3
z484QNI3|=V<RkJTV?xQ283-<~iuE-lYbGTNxyhTZLwFOCl}yPBbn0=>EczEaS8_sJ
z1n29am&bB~rkpJ~>E}rf+Euu<1Q~Wdu+F%5$zhnbhIP>ke=3Jz{O;&6KEbFX2S|?2
zI&?@*N!J{}YOF&i$#FJqVzmIPIeDN4Tb){TZHKU$(+<`2FSf%m{!0$_R*5*^<Uo1H
zoWgT(vH0_Me%DFf_sDb3r-A5UnIB{L{&w_yt>{qN6z93i;cj@^cV}}B<9(5SH{z0`
zCsjtYmGFG;s^$E^FF8L%3&R^RTRXk=bF|KPMoatJ$s@)n^q$Yr!Yr22!Y2ngltjn-
z^c;q1)0`Y)aWGELVc0XwA@==na*)wt9ng;RoE-8xwZpwp+M!DwWVGIM+TpmPL!UZ%
z$Y?PS{C>rcwS%L@cHk?;TJ(su1EYnw1x^m^eXtjDM(<1X0H<t@))RaVZHcG#OL$rz
zqa~Ud-sjE)M{9ay6t|pe$8-GSTE@`|N7~Tp)G+1~pTFd2;g@XXT&I=YqIGogKr5w8
z%+jV)FFSd}&WAbsBJ!n`Jn*HxscT;^vR`!_l~!s;k(pN;s)4gL{p9C}H?YfzP^ZDa
zjSH7%5Md(4b8Q0dH&%Cpt1UTd0IMw4JB8wj1O6p4-LaIt>%5xBi}&PSP-SmEZ{VZF
z&miSG-uuAd^!i7KXZLxX|3*1&3lYWOQO^q8X^^NhaKnUK%Gj@jd!uyIdJ&<zQP>;e
z0A9ivOOcTh;WoRle-QpGGBV-yqdFb`X&;@j;DXD~pV5Co&0|CFnsCN|ofDUw=Q=+2
z><fovhnJ0?(em=y3)1JEC#~Cr)*XwK+PlGzo0*oTNwF#TU+Rw)8*OQ)a*GSu>`eRE
zjPoy_dvT=P_OH)fGHGYcSl96(7oImVlLhabu^|1@^CPWY=J^h-l?cLFK3oOOfhjp7
zIXT}jJ$}<~X7`Ae9_ZX^-U}Af1j_7axrD9g62~FXwGVcz@Jujk2iKNYbjuFz?c5b=
z*_`fYt%}bpDbDsx@StWFp-2AY_2Fz=F)RUys}~=io?e>Mqo7B&6%T7gftHx46&UF+
zW+Tku8<DfrzE@;tATlsc4>|7a9Pc=AX6JYuN$pZ=yKnKRVS{sf^-exJ>B6zaXAB#Z
z)2nylw1f+0bnZt_{~pCXsseKt!tYR3)kTZ!?H&Dz`eJQlzvg)f5}T$KHKcf9sqiCk
zM}yZguT72<sW}mN2k{s?q%<NWsd+|+E0p#b6RLJjUVPpl`>T}M@#E&soE&#?!Up%Z
z7hRZs`8jY)<r-Z(q+!XrpDfSSpnkHvh;$fT$~!V+@ni@`|E}eoIOlT6hyD5K<-t=P
zVtF9`R(c#37)eGNOo4fb=i$oA%1OHx2fr~7tF78fgivEU#U2A0`GHh)se@g$!qa5d
z4z2A|T$C~B#SLAm;#oSYd)c)3yyD_+p2oQLqn&ExNJt_iq)6-6klw8T5>f&)7W{Xo
zH$X=6yIl*nVCeSWy#juKT!^bfc<?~<H`M7z<)Ul7I*G-sah=5CMAsTtLm>JEE^_2z
z&gFJXtd2^nvWF@t57_1G){vmNao7#_T9a^$N&=ubR<){rnKkex!)PVWse%u0UbbcS
z1w#UP1B$D^p0j4j^=HrVU266NU256(m1?233AeluztqGgW1?gh$xZgiaBR`?MUE%n
zw!p&A28PS(XKb=RwA-@QrOr~Fa#{cXHJ9}`a^d7sEZ>nD5Z5qRR3P!EmIz041(fMp
zgnTo>ooV84)uUx)$ES~-8ed|hjGt;CCU?YS7unInNQhTSXO{^M)?f#6qQH1ung99V
z_`m=Ahu{CV-F5G+w`|$6{+3O8C2WbWtNyUirKtY)LHqA-eevfv-}vfF>6^Z&LeMn>
zHxNrO{0f(*v;;&Tf&+<opTgm>h##8hULvom)&xCXZz)2A1s{kTHfZBCwc=*I>Tm0Y
z^;>YcDny=TSg##Ji?X#o4OwzgJ`?BryXE-Iu~U5|S@7yKZmMJ*Gy2g^ikuNy6k&pR
z2{XEL053$D`NpxfCUyIL3;W!>c*^GK(_Z|?zCT>I$NsIZKfhX4F1~2uke|(|A9LA`
z9UB)tbM2q7g{)x7*x<@>U4cDZSl|$FTub%B&q+o>lBZXhD-+v2V{!4-EH3Ubc4~2n
zX^ov~7RUNHVirBk0w+#wWETU+Yj{>#e2$#%*jqL`jIZyz?Xgz-1N&cByma=t$IesB
z>>0QH;*r<y`1yIQmra`Xm+RjB%J8mxqDNfDu3sGaxUkQb$|~&dnd|Sm;gYLsMlKk2
z7B<2W!NlI-n$1!1YeO6I;pkA;5wuk^+(v2|t`ob*<Aecxlwb?Q@cN7*juURAV7_*2
zgu_ZN#4gg!3*AoKR)nl8#7PC$?BhGy1N!s3kJ~pSnq|Z7+8p~9wP?Aq4;P)M|KWql
z)7!U5Pp(E!c6Xf%4@R&o%jQK~TBhO3&C$?l*ym4A&l)#1-RDUhJJs`pF6^*>2XHRQ
zIsZdZMF3kThO03^@B1eekBRo5>qfqH;bVL4wKKL(4(i9+pDxB3kI!HG)V9yu+PAvp
zJ{9O5)OX%vpOGoE2<O0DmAFajfs8rh{jjSXwe)B`8+_4-sfIpos^J6AbzBU^#Bt6Y
zsqXrWwoi>i?XC91Fd?u0{xEXA2)ULq*Bs8wxoCSaq)5J|LmCQltO8h(HJ4?SlqUBW
zKh=br7;*bGc4}IQ?j1iBw^^g}RAlIfG3{}QLk>XsV*yBU88^ePqIPzf!X>Wa_KU6<
zK4JDZ|4K*<K6UxapPhPZ!-q@kwDp^ByW{M8rZnB5{?^u#w!RyLrh4MfzIf|16?c#Q
zp6a)I`)v=6xpw5mPt2D7>5dQ0D;_7Rn#6F%aYD9ex_-jl>V66P;MLl+hKfG@`c?EU
zDd}Zuxt80?(0WyP`qz|K6&Zai`<7J}7WT?D({OXYS6OyiS{cmraJuI^guvxc5=5}@
zzpjo>oQLx5ite;YlS&ybmi{Uot2O3dhB68>WxpsjRkj6#g@!(Q!!@^$nY;MT%mK|y
z&boEp^63S$CWgoQ%g<doLAC6U^DKUL@4;OwJaI>joii`XzqHq^{9gGz`<y*)^2MbW
z6j$`>UX)uDm}Y;a<K#q>ex&_~UfEu$wy$kJivIB9Mk;O+LqCR#dvNd7YB06>o`^NM
z!#xtuf95>bWG$_03-Nvs`zeXoRR@EZ>D`Rpy?gX1N;k^;<d=?|T9luYo6;>M%b$fq
z`dL0dcB1{AH&$?mQ}!aGJ3!7PgcjwH8w~eunT1gX&#VqQn`qH<d-}N6yIflyx$U02
z)O+y>3;uZgZ~r{{;j)CRRbT!09~;KLebucGEq?ky`6q9D^wyE%mlR#_OE~j2Rh+77
z`NhfYUwt)lOYe$@e}PuB6|%-NU=@}%J-87oa>oD_{kvEnBY$snPOHXN?EJl0eE4@S
zE`v-)?;wYmz3H?P^w47dy^<>%um>zYY7xG6hGsp5OTXCak!vaF7bp`VKKpU<>H9Gv
zv2MJ1tE^a!jYxU5VfHo78ps`8E&c`r6YliJRi}D)U1^<yeMi5z;|(>|e&)1w6iU$t
z$|<NwDRb?&@P?e~%4RXJ37vWb@7&?VYRq{D5wIRStsGd+^s#alF7n2Bd!O@$H&WMA
zf5ICRy}{TUjdo;3=ZdywGIX46B9W4Z=22%=NiSdttyXxeV!u06%kEk>&YZ0<9+Vv!
z{?4oQ)$2r(Pkn|GyL(Kn6wh0w2NAvLi&J-L-X|2a&cXd9_sD4I9{H`)=l@r4{QvTs
z)62aFb#=*_S?VDxV&itFm2uJD*$rFcidgSp6>cm?FX3fPdn%x*Gd$O7TJnG*NKMhH
zg}@+m4!2fI3=zXvQMk3?ryd24Jhd7)ia44$=G0z1nLs>?*u>`(nV!USGt-laQ;65G
ztX0J8iK~e>5Z4gzXSv&$!-Fh+JMkf63-Oo49mI$EW-IX#;!fhPh`WeS5}zVIP25e~
zLwtsHdzSbd@p<CQtj}JS@(R<hGQE%K*O=bV91ao>5f2lO5RVeyB_1OlC%#8KLHv+q
zeN6n6_&M==LFFOF5tE21@+)N#Q;F%sO#U^S*qxY9ERxYwCB$+*=}W96RuQX-{fPtk
z=0F(*6(SCk_9{w(8Y!(-lmSH<P?P!BbBQyF7ZaEA&8trx!~4sKKj)K`Eaf^rSw*~_
zxQ4ivxQ=h$$~V_DeH-x(;yuLeY;`NkdX#C7vO2&V-sE$Rg?g9i-}4>zy!wFYKNJ5-
z{F-I`gKvJ%9%v)lf;z&X0)Hm&=u_k!eX7(!KTm$E&*byDOkd8wE+WF(iodSl^VP&P
z#I?j*h))nHrTUvpALeh56aOG>(cfeGeWp(^{Q=V-@%>Mj{*3qypZtUPt)LMv?;9r5
z2}~z4P5CkWe3HQ@-H18FTt4qk>>({RdNQ5IbUxDsOcyd;Of2D(Ql@(`UB+~8rpuY`
z!*pM!E10fix*yY3Ob3{*X1a#y0j$+PVu%<fHV}srhZDyT#}ONe<RycQWK8ChDa2{S
z>BJdCj;6uUG-k<|8ncNP5$6&wCC($x7pX875*HEILt0ESs!2vQ$*86#jB3I*nFf@3
zWRg)$GODS`Y%+0+VJ}b^)zpMhO-*WUYQm_dCiOQpVN_ESMm05IR8td1HF2U;P#D$J
zgi%dR7}eB-QB6%4)zpMhO-&fpMC4aNVN_ESMm05IR8td1H8o*WQ)?v(qnes9s;LR1
znwrR}smWY3HDOd!6Gk;PVN?_LW<g<8QxirtHDOd!6Gk;PVN_ESMm05IR8td1H8o*W
zQxirt5#LdA5JojMVN_F-S!`;;sHP^2YHGr$rY4MPYQm_dCiB|Vgi%dR7}eB-QB6%4
z)zpMhO-&fpB%?ytV_F#1RKlnx8P!z6sHPG|HI*=`sf1BYC5&n+VN_EIqncz?QwgJ*
zN*L8t!l<SaMm3c%s;PugO(l$KDq&QUjA|-jRFjNql2J`Es!2vQ$*86hMm3c%s;Pug
zO`JkU|0rQp#GxY!qnb(>)l|Z$rV>Uql`yKQgi%c;jA|-jR8t9~no1beRKlpH5=J$Z
zFsiA9QB5U`YARt=Q*o5ZsHPG|H5JE#jA|-jR8z6%$*89KGoJ{fno1beRKlpH5=J$Z
zFsiA9QB5+cNk%ovs3sZJB%_*SR8yZT`RKx^rY?+X>cXfd8P(K<QB7SK)zpPiO<fq(
z)P+$^ol;6hHFaTBQx`@xbzxMKjB4t_sHQHAYU;wMrY?+X>cXg|E{tmG!l<S$jB4uN
z3X)MxGOB3^qnd^=s%Z$Lnq*Yd5Joi(VN}x)Ml}s#RMQYfH4R}@lZ<K_!l<SpjA|Of
zsHP!|Y8t|*rXh@K8p5ciA&hDo!l<SpjA|OfsHP!|Y8t|*rXh@K8p5ciA&hDo!l<Sp
zjA|OfsHP!|Y8t|*rXh@K8p5ciA&hDo!l<SpjA|OfsHP!|Y8t|*rXh@K8ssH1s!2vQ
z4PjK%5Joi(VN}x)Ml}s#RFjNql2J`Es%Z$Lnuai{X$Yg5hA^sW2&0;0RMQYfH4S0Z
z1lZVi!<JccY7?+GF+i*#2GOn*Z6L-Ao`O(fiY6^e(WFHw+FHJICvgLDBk?Zc-Na4A
zdzr&#;(f#|#QT}g>wM<`@eSge#1Duc5kDb*Ca98$KBAwPMl6!rsuE&v$zSy$RuKCU
z1H>Alj8uw}kxEf)mm0-<W@8*v)Mdnl%<Xc%vxtAalIbPH)y(HUzH>kS+QRg1rk^1`
z%O}q>x0g;$N6x~}De8Ux^<(DawCj7O+laQHt`X%6m7<?3@9XDFiTb5XUn9BcKWF+{
zzH=S%dOo><cq8#9;yU8PQo7#C^y9?e5TE4pr<j)SPKy3p;&XidJfFY75?|zVwncxL
z=~s!b5#QlE@*PRh|Hfbao%l~;JO9eo8A<Yv!O=A2OOax5OpSDT)5w%^jVz|mAdV%D
zC!R?>i#U<kO#B&fD)DUMIYjoJ!QL}2kUlgnB+emTOuU468F4=AvyixmxE}TKX+eym
zPZbe`Lwsr>@jjw_@qOx9;wwa9LZ1@G^XU)E6ZE{KpJe(erk`W_c}b(ycn7VPw0uo0
z&P|JR)6!&aTAIvF3pH5?l(}hfZd#n17U!nLxoK%KH!V%(rlrZ;v^1HUmL_x4(qwL0
zn#@g0leuYWGB+(v=BA~|+_W^Ao0cYX)6!&aTAIvFOOv^2X)-r0P3EShi40quo46Xq
zw9HLQ$=tNiW2i0Xrln+VTAZ7flDTOqnVXi9xoIhxo0gKfX>o2^oSPQsrln+VTAZ8M
z3t^rzH!US|(^4`wEhTf)QZhF!C3DkKGB+(HbJJ2XH!US|)51u}6PcTq5_z^bH!aRh
zOUc}{Fn02$%uP$l+_aQPuf@4(=`uGh&P|JR)8gE;beWqL=cc90+_ZF=o0cwf)6!*b
zTDr_lOP9H6=`uGhNC@h~xoPP#H!WS}rUhw{=Q1}fUFN36xoPP#H!WS}rlrf=v~-!9
zmd>_tZd$s`O-q-#Y3VXIEnViO#kpzeGB+(<=BA~~+_ZGIj&sxE+_X41EzV7gbJOD7
zv^X~{L*}Ms$lSCHnVXg&bJH?pZd!)SP0NtEX&Ev%Ekov}WysvL44IpjA#>B>+_X41
zEzV8Lkhy6YGB+(l=B8!H+_Vgto0cJS(=udkT9_#dVM})tO=1b&EW)f2gar~P(p7}H
zBPesH2(#u<V2CJRv?9zJ`Rkp;4aAMayNGuaHxXra6k&GA`v-_`5Z@$<&QpZhAt*Xe
z5oQMvvqR8F^b^yFGCL46jyOQ-L&-0q<QGBm<yYVHc^lCdqy!e}Uip<S`ce_(5N~2c
z1jiD`6VD``MVv@%CjN{#m3TJs9HNtt^m7sWxrqH-#C|T;Qc!xaW)X|<elhxUFAz6%
zfgxfYpNE;QCyEwbjP;b@^+cJW#aK@Xibh=w&XF8mX8IN4K0&Yt@<;y&4v=@yKY}bv
z)iKRd)L^EE@mE`!{+`%Iv<1;`f^kxRJ&`y?-iHn;*prw~EF=~aONnK~a$;X%C9#TF
zO~e^{<g<{7lYU6AN6q0`6n`zDOyUe3(;|%}l)4g1T?x2ao`}?yfU5;X>Po=Xf+BAv
zl(!PFv7|-bO2Ec~B5x&>w-U-*3FWPX@>Zfm-b%p6f+A5kWhO{zDWSBKVE)Pzk(Lt7
zUqO+U63kygk(Lt7UqO+U63kyg$)}W3QA(*O#X4P{h*XqPDoQC8rJ6`ZDZWr&0cE^O
zvC5VwA{C{Sic+kyB`s1>N~tKNRFqOGO0l+;=OPuQl!{VHMJc7Clu}VjsVJpXlq!}&
zsVK$TP<|y+QHt3lC{j@hJ_k}NN+}hkl!{Vaq@t8kQA(*O#cD#Hh*Xqf9U&-EQHr&L
zph!h2)(e6n6{T1s2#Qpcg0)ZzrJ@wGNzx(}y`X_FgC;KePZ@eoQ2eWvu@B4GKV|Hn
zGWJgy`=^ZkQ^x)&W6zYaXUf<!Wo&5~+JfBB7C~uC8QW6Ewv@3gWo%0s+fv51l(8*k
zY)cv2QpUEFu`Ok6O9dslf|6W8Nv<HTR#1{FD9II+<O)i11tqzHl3YPauAn4WP?9Ss
z$rY633QBSXCAor<TtP{$pd?pNk}D|56_n%(N^%7yxq^~hK}oKlBv(+9D=5hol;jFZ
zas?&1f|6W8Nv@zIS5T5G@g12CAN3|t=4>TfTFI7HvZa-fZFw#%R0#=}bch(nm{zhM
zD%lT}?1xJBLnZs6lKoK0eyD`@B{^&+-bdU*yr22Ve6M6LRkD{V*-Mq|rAqcvC3~ro
zy;R9ws$?%!vX?5^OO==@$Okh;u(#w7?MtwN*pC<>)({8q&4E$}%qBr$j7rQJ!8W2T
zh*^Wb;v0k>!#7A!*q{=+5c21URB}WrIU<!DkxGt8B}b%^BT~r`spN=MazrXQB9+dF
zKsS)wE+Ae=oI|{rcnR?`;(VzOW|`n3;(F94Kz4%L7qESRGb=!L3Xq)wWTybxDL{4#
zkevdYeF4tC0B2u-voFBe7vSs*kevdYg8|OL0Ow$U>=Yn71;|bTvQvQU6d*eV$W8&W
zQ-E_eKz0g{odRU10NE)(b_$T40%WHEXLNuwI=~qn;EWD%Mh7^f1Dw$T&gcMVbbvED
zz!@Fjj1F){2gptVvQvQU6d*fQYbo}>u^(>{i=d}fvzMybKh@|Td9sQqnr$`uM^N<J
zYV?ob%fwfR`vlqcYPP+aZLdb#@m!CSQuIXP6nTQy3HBuB6AOvO#8P4zv7FeKSV^oR
zRs(A|`ZXN=8jgMqN56)nU&GO_VY_NL`Za7_4M)F*qhG_(ui@y|aP(_9`ZXN=8jgMq
zN56)nU&GO_;po?J^lLc!H5~mK_CO7LpoTqA!_lwd=+|)cYdHEf9Q_)Oeho*zhNEA@
z(XZj?*KqV}IQlgl{Thyb4M)F*qhG_(ui@y|aP(_9`ZXN=8jgMqN56)nU&GN4qTg1-
z+U~=w38METE#Iaf`fwpo_#{Yf43Zmz<i;SL$veZr20>Wk<;_vV(Zn&t2^g24CToNs
ztnu=WtQ3N<#!Fh(3qe@pr9_d0pe9;J5O)9tMfV75(~0M>ZeptsVx$DGCyK2;h>;Q$
zTYZq693&?P$;m--a*&)HBqs;S$wAoj<^2a)|Lw$wh%Lll5_b?~y%vN$U+@v)PU5eK
zyNI%O3&Nf+_%v}haSu_}p+VU51)n3zYA&d~z}AUXKM1S7^yDi{zsmGJre9-Pz7av#
z_T^1ki3DNcm$c}ILD=~vEm~p_)_zGJAs!{l{#_8(enGL~24U?NJV6w#G6<W$JQ3Y8
z2+O~uWknN&{a@0bG5tBy-%HJvhZsjpBFd^Ks8Zw|ew%{IVp=rPph{(0^wOY8XF8L=
z$|iOf8Nlv<pzIC=xjPWV?tqjf^F63!z6X`e_n?yb9>nf|pnRi)Dl8JB1`!*GvPTfa
z9szn4djx{=bqivrK%R?LHmFYWNxPt~%dd2U=pu?{6{Kbrgryy2VLsxwu(TsLegT89
zx66~6@>k4Lq+y-LUol%HoyW9Tr-QIg%X6_#2QhO6OZY^r(?O#b(`8KeW?HP%L8A}T
zVx11cIxRU=GTo2qDy9QWi*-5(>$JQxfa!t65HU<_APyxCC(0@^XmGaj3m$}}TJn)K
zLeOYrT2=}{e$9ghXEDF&L4&iHU-lsE*zzk`I|O0PmNe(GF^y@?Wn((ivYH6OzAf*F
z77>J%ThdM+&SFo_CSF9GOB7pZ5LRx%1^ks*wg-Z{jsY!V5p;ur;B!Ivhyh+tTur=z
zxQ6&L@fG4eK`=8A+>6{W;(}A;3C2{gCo!K`NGv9n5^>WT@01g9KNsmrVimC(Sc`gY
z0$N02*IKaaqrejWRkXEQu&bcxX0_neW5AI_k=t5rG!eH9k%pfV;90~bKA*_+B&M60
zo=lWh)S^$MtX0J8iK~e>5Z4gb^36Mm8;Bc;cM<O<ZX#}DDGw626CWbB5PwPBL426l
zN_>R4llUv*F5;6!v60q-IR$qU_Yj|9iO&+BBR)@jnRVXFcf<x;i=9yU?LMYoWBPTz
zxu59+Odn+W4W<t<{U+0gnLa{1N_>}ijCh>*9`OY61ODnm;zz`fiJuTZC4NTyoG9zi
zT5zUd95IQQOcWWe1!u}%MUrcw)k`{+=`^O(na*T7n<$c53(gc2*{cOl3X1I2f+qzj
zd*De)50jn&A4>j|EAXK_r(A&#k%s(3N+JJ(KjV`r@+&YNeg(#pcg|yarlc`D@K-P%
z{)#yw={%<MnJ!?ukm+Kg=n}QiSme!KOqVe&7Q9-_AbH-0>Ap-?FkQ*CSdVL=&&WGs
zSE+?oBk3BZWi3;S{Ww8cqt#+RPOyPEl*qPYwIVei!zW{z9>?@}rW=_)lWEQ`FrMVY
z`31(4H0Ku>PtxoqFrK8R@>in0)M9lbrHJ-Yi#3j<XE4n^1mnqbrw?cGud|6b|BL5y
ziI)=R0YhYu5ZNO{-7G}*2$4NP(9Pr>VUG~mBSiKHkv&4t%8uc=jB-dkJpzS2LS&B+
zv@&@vtqVableDxh1g%U^*ds*t2$4NPVAMzPMA#z)y-QHoBLuxm-W2u-LGKb2_6R}m
z5)}3bLGKb2_6R}m5)}3b;T(mautx~zC<KK)LO4euDC`k}-X$pP5yCkNL1B*&&QS;o
zdxXdyA+kpZ=P2Zfutx}bm!Pmm2<IpSg*`&hxa1vSj}X}-MD_^b9ECg=_6R}alJo(l
zg*`&hxa7I8M+h31q=h{~(6|JJJwiBNAt>w-g2p8%>=A;-B`E9>g2p8%>=A;-B`E9>
zg2p8%>=DAb3qfIz5ZNO{_6R9qj}Yttg2EmlvPX#Q5h8np$Q~gj>=A;-CGQA(gp{yH
zNC|s{$Q~iGM~LhZB720$9wD+vi0ly}dxXdyA+kq^>=7b+gvcHtvPX#Q5h8np@C`-Z
zl08CXj}X}-1bqpmlRZLYj}X}-MD_?_je}o7UqYRsFG*V1BLsa(o(Ow{$Q~iAdL%9E
z5h8np$Q~iAfaJNbM+o0yNeg>~$Q~iGM~LhZB720OFUenpJwjxU5ZNO{_6T7&U!Dtl
zgvcHtvPTH|lC(nDBLsa((!w4gSU)5!>=7b+gvcHtvPX#Q5h8np$Q~iGM~LhZg1#g<
z2z!Lc9wD+vi0l!9z9i3uJwjxUkRj|5GK4)sI29l$>=DAL06}4oI<Uksp!8B5SVB-Z
zvyN+}I<A%KxK^s;TB(j}r8=&a>bO>_qaCk~>yA3EIO@38sH26dj;n?`t{3XKQmCVa
z3UOtn6iB0B8d12Yj+%2Ftwwd!IqRrx*3oKIM?JF+J%%@_Th>vltfM|zhn|t=qC?hE
zdkljcSL0-utXsq6#xS^1($eZMTODSr!)$dJ+_(wPM-t^EKp5O8C|`syxN$E~&X0w`
zjq+U1kA=aFl9uyhVQ}N4Ksi4a)}$t3Fr<{Yig-OyPS=FNkb-i?Cd}Rrv$w<S?J#>g
z%-#;Ox5Mo1Fc?zGdXTuC_z<y$_)Fpr;=@GQ<qv})1$PpEMchSvk|?{1VKAhi?2U%O
zkb-j3EX<Q;VKAhm<)m2{3@LTq%XeO3`c<a)G5s3Tue0s@nLfbuL8jke`ViA^GJTlo
zBgCV`cZtV{$BFL|PY`8I8U{lOenkA3_zCe-;%CIqiE=V642BexlWAcvq+qiA6%2`%
zQX0cxNJ)!KhQW}M7Rd~QAtfy**1}*&LD6l(U`RnZr4|N53d$+9Fc?x$PN{`?N-c~P
zsN^$<C|XAtoQXaJXG+eLH?Ba#;7oZkMsfyc;vI0N;LjvCaHgbX|1`{*5(Z~VTFzC5
z!I}6gI1^96nUc<9TGq~CaHc#jWV)DG!Y8Fn_hPz?>E2A2Gu?;jzD!pzUCDGmrmL8i
zGYMgErj$~{^Z?>OVu%<fHV}sr*>=wKFgR0k7%M#k&Xn|crW=_)lj*aFoOfh^u)%pp
z9teXo<yW%C41+TzEqZAfoGEExhA=o&(wvpxOi9ZcGYrm@w9|)jHZ=^+6qJ)xVQ{9P
zoTLhaGxuusV2`hWqFL30Jp^lrqUY38&#9-LQ%^moo_bC_^_+U@IrY>Z>Zv)@Q)j5B
zwouQne?7nZ_59-3^IKofuX#Pc<MohFlmf{V6fM1;U(b4eed_t$spl7`p5K~!erxLa
zm8s|VrJi4wdVW*t`8BEMcch+QkU=~THXJ)3U%{u9DX4pi3BVD2K7!9j&>}a27P%3$
z$c>;yZUlHw-W2=Q2o)rT<q70puz`4z&)Wr={|KG=bNxONw;#&1kvLTf)V;(6;AoaU
znx&6s>7!ZtXqG;jrH^LmqgncBmOdJ@?<;LIOCQbBN7J@5T1n}nS^8*}KANSUfzp@Z
zMw%&z(ghQMV_EuGmOhrh8p~fbQkQPj<onf#?}eaf&W+TW8>!PaQeSPPzS>BAwUPR2
zBlXor>Z^^^R~xCXHd0@0q`ulneYKI=W+N<nlCx--jnpk0sarNuw``<t*+|{8k-B9g
zb<0NTmW|*#{0b~5DC@^YFq<IjOzo?Y+D;?2oknUqjnsA;sqHjU+i9e>(}+2X-%`VA
zq;At_u+^BA@?2IxjnrNmskbyzV`-$W(nu|30{e3U`*Q;Oa{~MGEIvPr&(GrXv-rG;
z&v73LquIpKZ{p}TarB!w`b`}DCXRj+N56@q-^9^x;^;SV^qV;PP0YW^$)BS?k)=#z
zDHB=BM3yp<rA%Zg6IsecmNJp0Ok^n&S;|C~GLfZBWGNF_%0!kjk)<?4#+tNd$e5sL
zkIj^#W=*81nNrlu6<IT7shP6WOj&B?`ly-fqh_v;nz=q|=K83a>!W7MTQlXYnex_5
zd26P;HB;W2DR0e`w`R&)Gv%$B^4821P&3y)&0O^~Qv#bQfz6b_W=dc)C9s(i*h~rh
ze@J@&@Vc(M%=hfGxeOOdMu>8QIK2-uke=+e#&rt_H@!Tb2Qj460==bGLZh^ab9;T8
z&bS#l4P%B<ihfolw4GGHqF6c^D#@<w<HyO!uCb3KS3W&D2t`qZJ&J!9>e{9i3`li2
zI@)KS`@Wz4^FH5aX`j8;dcSME>$}!oTC0^7*h&j*r3JRq0$Z8av@)Y<WiHdoET)x~
z*-Fc7rDe9#GFzEbv@)k?rIog-KZ-H+N23+Km3G_8Ore!ILMyX_R%QgPVdQ6+1+)_X
zw-Wic67#nb?YC;o@-vR}TWR^NwER|Dek(1%m6qR1%WtLSx6<-kY5A?R{8n0iD=oj3
zmfuRtZ>8n8((+qr`46LS52J4nqi+wZMsG`flveRkT7^zgR}An`#jZxL3VxKje^gO{
zQefbtiVcpZ9^qGy@T*7o)g%1s5q|Xuzj}mUJ;JXZ;a6?6w>H{a8||%)mexi~Yon#L
z(Tdt=MQyaAHd;{|t*DJw)J7|6qZPH$irQ#JZM32`+Dsd5rj0h!Mw@A)&9u>G+GsOv
zw3#;AOdD;cjW*Lp+i0V0w9z)&Xd7*`hc>+5hVR<&T^qh@!*^}?t_|O{;k!0`*M{%f
z@Le0eYr}VK_^u7#wc)!qeAkBW+VI_@u<bjMr8uyy9dq)+qp<xbY(EOykHYq&u>EmH
z)edP(d#Xd)V)PuOLs5j$`_np7@5Xj(>_~ZkT1U$J(>hY#pVpD`{<IEe3LVT8I+!VR
zFjMGYrqIDmp@W%1hrUbtdB@=$%+5NPopmrf>tJ@)LHyjo?5u;?S%)GGJx@H`5jYa=
zP^4k>_r4B&%`|#{T1Vhr(;fPnX|!r}=&PmEy+5rZ@cy)pbjp8~`sr6vKcgeA4x+ve
z;=K+cy$;1HPIrvgp;*P(3Ob_eAeQSOit8YL>mYLL2%qx%!*<a706X;6vR&uVo99k=
z?u6$~c<zMfPI&H2ndeS;?u6$~c<zMfPI&Hw=T3O;gy&9p?u6$~c<zMfPI&Hw=T3O;
zgy&9p?u6$~c<zMfPI&Hw=T3O;gl8Rk?~=oFCp>q;b0<7^!gD7)cfxZgJa@u#Cp>q;
zb0<7^!gD7)cfxZgJa@u#Cp>q;b0?8=Cp>q;b0<7^!gD7)cfxaLXr4RaxeK1V;JFK)
zyWqJCp1a_=3!b~+xeK1V;JFK)yWqJCp1a_=3!b~+xeK1V;JFK)yWqJCp1a_=3!b~+
zxeK1V;JFK)yWqJCp1a_=3!b~+xeK1V;JFK)yWqJCp1a_=3!b~+xeK1V;JFK)yWqJC
zp1a_=3!b~+xeK1V;JFK)yWqJCp1a_=3!b~+xeK1V;JFK)yWm;>Yp7PC|Mmc_8{P2S
z4bR>1+zrqACdo6_jc$0>oJ{`ehUad0?uO@Xc<zShZg}p7=WclJhUad0?uO@Xc<zSh
zZg}p7=WclJhUad0?uO@Xc<zShZg}p7=WclJhUad0?uO@Xc<zShZg}p7=WclJhUad0
z?uO@Xc<zShZg}p7=WclJhUad0?uO@Xc<zShZg}p7=WclJhUXr5?t$kX+H(&)_rP-x
zJomtJ4?OqKo_pZA2cCQ2xd)zm;JF8$d*HbTo_pZA2cCQ2xd)zm;JF8$d*HbTo_pZA
z2cCQ2xd)zm;JF8$d*HbTo_pZA2cCQ2xd)zm;JF8$d*HbTo_pZA2cCQ2xd)zm;JF8$
zd*HbTo_pZA2cCQ2xd)zm;JF8$d*HbTo_pZA2cCQ2xfh;$;kg%{d*Qhko_pcB7oL0J
zxfh;$;kg%{d*Qhko_pcB7oL0Jxfh;$;kg%{d*Qhko_pcB7oL0Jxfh;$;kg%{d*Qhk
zo_pcB7oL0Jxfh;$;kg%{d*Qhko_pcB7oL0Jxfh;$;kg%{d*Qhko_pcB7oL0Jxfh;$
z;kg%{d*Qhko_pcB7oL0Jxfh;$;kg%{d*S&D>@4kr;XWAdgWEp1?SsQUIP8PNJ~-@y
z!#+6dgTp@9>w~>M*z1G6KG^Gny*}9MgS|f3>w~>M*z1G6KKSXQ?tRp~kGl6!_de?0
zN8S6VdmnZ0qwamwy^p&0QTIOT{zdBeXW+BopM%e(96vvoa%}dTR(;om-i`d6+S0o4
z0r0(~dwt-!)USgbq;!H^U^mzU_JTQ{oX0MLC8OGg-mkV{Z1yv18%FYC$JcZ0_<Anb
zLwXCp@^0kk)Mkt^m>AV&jE?r7BZhn~?JtSXX_e3T^PqPlKc_W4<6FV|!MB0$0DlR5
zC-^S#m%*p}ezh6n)1Y@F_rqI1y!FFdKfLwBTR*(@r_5Wwdg8j!y!C69+bQO)pPh33
z?3C-*Dz{V2TfcgupEPg%?3C+gr(8e0^}|~~y!FFdKfLwBTR*(@!&|@BPW1+M%Jsur
zKfLv;uj&2p)(>y}@YWA+{qWWgZ~g3)>xZ{~c<T?%TR%JH`a|>9&rZ31cFOhZ+mKVt
zTfh36a)Gygc<WbRJD(bWw*hz?fVTm78-TX~cpHGX0eBmLw*hz?fVTm78-TX~cpHGX
z0eBmLw*hz?fVTm78-TX~cpHGX0eBmLw*hz?fVTm78-TX~cpHGX0eBmLw*hz?fVTm7
z8-TX~cpHGX0eBmLw*hz?fVTm78-TX~cpHGX0eBmLw*hz?fVTm78-%w(cpHSbL3kU4
zw?TLtgttL>8-%w(cpHSbL3kU4w?TLtgttL>8-%w(cpHSbL3kU4w?TLtgttL>8-%w(
zcpHSbL3kU4w?TLtgttL>8-%w(cpHSbL3kU4w?TLtgttL>8-%w(cpHSbL3kU4w?TLt
zgttL>8-%w(cpHSbL3kU2w;^~Ng0~@f8-lkXcpHMZA$S{tw;^~Ng0~@f8-lkXcpHMZ
zA$S{tw;^~Ng0~@f8-lkXcpHMZA$S{tw;^~Ng0~@f8-lkXcpHMZA$S{tw;^~Ng0~@f
z8-lkXcpHMZA$S{tw;^~Ng0~@f8-lkXcpHMZA$S{tw;^~Ng0~@f8-}-GcpHYdVR##c
zw_$i2hPPpO8-}-GcpHYdVR##cw_$i2hPPpO8-}-GcpHYdVR##cw_$i2hPPpO8-}-G
zcpHYdVR##cw_$i2hPPpO8-}-GcpHYdVR##cw_$i2hPPpO8-}-GcpHYdVR##cw_$i2
zhPPpO8-}-GcpHYdVR+O3<7y<*f9Zi9Pqo`lx~JVh(!&vW8-X`{OCiPM!U(*Lz}pDC
zjlkOoyp6!y2)vEJ+X%dkz}pDCjlkOoyp6!y2)vEJ+X%dkz}pDCjlkOoyp6!y2)vEJ
z+X%dkz}pDCjlkOoyp6!y2)vEJ+X%dkz}pDCjlkOoyp6!y2)vEJ+X%dkz}pDCy&&G!
zQZI-%<9*`f1#x2R1iQd)um|h~=fNUaGOBh$m0#~s`HkLz^McB6{CUtjzFtuIjc*0-
z2j2$11N2U?7gT<ucY?j3@~@{3QO-k@^AP1cL^%&p&O`E@pK&=4$#+JV^N_q|bU6>n
zYeLF-h;kmHoQEjqA<B7(avl=TdXjP;qMV1svr}BoL*m)!avq|bhbZSE$~j6oM=9qh
z<s7A)qm*-$a*k5YQOY?=IY%kyDCHcboTHR;lyZ(z&QZ!aN;yX<=P2bIrJSRbbChz9
zQqEDzIZ8Q4Dd#BV9HpFNlyi)7j#17r$~i_k$0+9*<s74&W0Z4@a*k2XG0HhcImamH
z808$JoMV)8jB<`q&N0e4MmfhQ=NRQ2qnu-ubBuD1QO+^SnNvA6=T|w6UT4m!w6?v@
zkYm=6W7d#k){tY5L{6*6>bEKHk;tX|%{s>(i5z<*aw+eT$Z0*<>E0ue)2gy<?~%x{
zM<T}_iJZQqI2Z4c$cY)F_ekW#jL~}}a$?5V$CLfw05}K^fy3Yk=sgm-l=n#F^p(Wu
zJrX&6B{6!BL{48xjNT)W)B3j2dn9t~k;rL%+qU;e<g~tR^d5;Edn9t~k;t(}BF7$y
z9D5{k?2*W^M<ORby3F1qk&`!Vdyhm;KDF&V5;<m7IjxY}_8y6x*2!&qk3>$Z<+i;?
zBBwQT+ukFQ)0(-_dn9sNGdFsVL{4kwM(>fxrMyQX#~z6sv$LGOxj5zT!0&)JLGO{s
zae7ZK@E(aAdn9s!_ekWJ$K?X=k;pNd%LU#ekz-Dm3%o}n$ILDlc#lLb@E(a=;5`z#
zz<VTe?2*W^M<T}_iCo}461l*8ByxfGNaWZfkz<cUPG8Ve9(_SGdXGeoJrX(gNaUD5
z=GY^VV~<2m{X);EUl_edBB$PA+j}H(X|Fct^o_u_zwhVNYxGz4NaWOaY<rJHPCdxB
z_ekW_k8FF7L{49koZ>waxzKwga_UpIy+<Oao@Lv6By#Fsw!KFpr(R~;dn9t|Yqq^d
zBBvf_+j}H(`etGD9*La3Ss1-XBByT_M(>fxh2A5PW2T%7y+<O)d^yJ+i5#=$T<AR#
zIp)qe=FYj0e#Z<t7t-&TN9Wihkqf<|o@0+hF7y|)T<AR#xzKwga-sJ~<U)ESdn9tq
zvUBW_$gxKv7kZCGF7zIW9D5{kq4!AS*dvi+kHm}o*Vv2v*Vv2FlabVm#0D=CO}(i8
z?vzfj3+x7az+P}3EP^E?BmRqw_%AZzzZkSQo&Oqpk^dTdQQlXIylnJ;jlC$(8h;Ud
zD|kQnHt-$bFM;m_-v$1%@GrDZwJ!7*=f6n*E6}?XzDD}jNdFq?UrRfEob++h$4MV2
zeS-7}(kDotAbpbbNzx}tpCtV->4!-_O!{Hcr%0b7eTr|>Q+%7A;@k8T-=?SdHa*3+
z=_$TVPw{Pfif_|Xe4C!)+w>IQrl)xS)DPd!x9Owga+F+-lFLzYIZ7@^$>k`y93_{d
z<Z_f;j*`n!ayd#aN6F<Vxf~^zqvUdoT#k{;F>*OZF2~5_7`YrHmt*8|j9iY9%Q12}
zMlQ$5<rujfBbQ_3a*SN^<dP?sJh|k_B~LDSa><iRo?P<ek|&oux#Y<uPcC_K$&*W-
zT=L}dGP%4=E-#bI%jEJhxx7p+FO$p5<nl7Pyi6`HlgrEG@-n%+OfD~z%gf~QGPz8X
z%QU%6lgl)@Oq0trxlEJGG`UQZ%QU%6lgl)@Oq0trxlEJGG`UQZ%Sm!MNiHYJ<s`YB
zB$t!qa*|w5lFLbQIY}-j$>k)uoFtc%<Z_Z+PLj(>aydmVr^w|Lxtt=GQ{-}rTuzb8
zDRMbQE~m)l6uF!tms8|&id;^S%PDd>MJ}h6%bHHN`f;QFYWxY|8FD{E?q|sT47r~n
z_cP>vhTPAP`x$aSL+)qD{S3LEA@?)neumu7koy^OpW{pM9AAp(6lEPx%_+(<I?9^k
zOYxk>FQxFMcuu3(@zgoWc8;>0qip9W+d0a1j<TJjZ09K3Im&j9vYn%B=P27b%65*j
zouh2$DBC&8_D#z6P0IF7%Jxml=Cilomii`T`zB@kCT063Wt&&o+Eeo?o6+&%Jn`W?
z>-O_RiStB>^O_s_8GnbG*WA$P?@;qZar3M>&$H${&zkc*YtHkmInT4^Jg-@ypZE9c
zd7`6v;-YyXqIn{md19M+qMCVDp67{J=80A2iBjf?Pv$k3RCzR)H2VAXeBkfb^O{Q<
zA9OC7GdkVhuje&q6l%_>zluHmO6(aOQOq+U&odU!GYZc${?0T0&NK4PGv>}S+Rii1
z&NIT!Gq%n%s?LZ0emx)h`}Mr$j7ERI*6ElUO>}0P5#OE1cSZOw!haF|i|}8B|04Vs
z;lBv~Mffkme-ZwR@Lz=gBK#NOzX<<D_%FhL5&nztUxfc6{1@TB2>(U+FT#Hj{)_Nm
zg#RM^7vaAM|3&yO!haF|i|}8B|04Vs;lBv~Mffkme-ZwR@Lz=gBK#NOzX<<D_%FhL
z5&nztUxfc6{1@TB2>(U+FT#Hj{)_PcE%^Ty{C^AnzXks#_%FeK3I0p)UxNP<{FmUr
z1pg)YFTsBa{!8#*g8vfym*Bqy|0Vb@!G8(<OYmQU{}TL{;J*a_CHODFe+m9e@Lz)e
z68x9ozXbm!_%FeK3I0p)UxNP<{FmUr1pg)YFTsBa{!8#*g8vfym*Bqy|0Vb@!G8(<
zOYmQU{}TL{;J*a_CHODFe+m9e@V@~63-G@H{|oS6hVwF<mtngM+htfS!)h5;%dlF8
z)iSJ>VYLjOW%w+^XBj@r@L7h>GJKZdvkaeQ_$<R`89vJ}R)&o-Y?NW63>#(GD8oh>
zHp;M3hK(|8lwqR`8)ev7q;`wcZjst8QoBWJw@B?4sof&ATcmc2)NYa5EmFHhYPU%3
z7OCALwOgcii_~tB+AUJMMQXQ5?G~xsBDGtjc8k<*k=iX%yG3fZNbMG>-6FMHq;`wc
zZjst8QoBWJw?yrhsNE8^TcUPL)NYB|Em6BAYPUq~mZ;qlwOgWgOVn<O+AUGLC2F@s
z?UtzB617{Rc1zT5iP|kuyCrJ3MD3QS-4eB1qIOHvZi(70QM)B-w?yrhsNE8^TcUPL
z)NYyDEmON?YPU@7mZ{w`wOgik%hYa}+AUMNWooxf?Ut$CGPPT#cFWXmnc6K=yJc#(
zOzoDb-7>XXrgqEJZkgIGQ@dqqw@mGpsogTQTc&o))NYyDEmON?YPU@7mZ{we5yA=)
z!ir{dYpIo#*M3)0Ui)2<z8U>Za78L-+iSlon&mmg-vn2*s$=xG)D^Aj82wFfg|*)m
zt(Mp>f+eH$O7E9m8T~DFMS5i<FJ^)(%mh~ge@k7_Owhmbx6~EZepgugT?zb6a78+1
zbgZ>PB(swCx6~EQ6OI0sx}tfa@fSgVOI->5O>jl?eWSk#u4s;L^taR%&FhW+Cb%LU
z)BB}kMt@6PVeR)dqO8}5vR>0|9bZnprub@H`0ud)z5ZL^wbTc|-vvJiKF(inWB<K&
zp1(#s_8O7cD!y377pwSU6<@64i&cEFiZ532#VWp7#TTpiVijMk;)_*$v5GHN@x>~>
zSj88sTCG}3t>TMSe6flzR`JCuzF5T<tN3CSU##MbReZ6EFIMrzD!y377pwSU6<@64
zi&cEFiZ532#VWp7)jEvIfG<|@#VWp7#TTpiVijMk;)_*$v5GHN@x>~>xWKM}i;OH6
z8Cfn8U0)=+zDRU^k?8s&(e*{5>x)F!7m2Pf5?x;;y1qzseUa$;A|upAMyQKK*Z-5e
zbh^A+g3dVxz0$HqUTfsFMqX>=wMJfR<h4d#Yvi>?UTfsFMqX>=wMJfR<n=mvT_Ueb
z<aLR9T_Ueb<aLR>E|J$I^14J`m&of9d0ir}OXPKlye^T~CGxsNUYE)13VB^2uPfwr
zg}kni*A?=*LS9$M>k4^YA+Iasb%ngHkk=LRx<X!8$m<GuT_vw;<aLd_u94R@^14P|
z*U0M{d0iu~Yvgr}ysnYgHS)SfUf0O$8hKqKuWRIWn_O;_%WeL8o4;02^$Mz9LDeg$
zdIeRlpz0M=y@IM&Q1uF`UP09>sCoreub}D`RK0?#S5Wl|s$N0WE2w$}Rj;7x6;!=~
zs#j3;3aVZ~)hnoa1y!%0>J?PIf~r?g^$Mz9LDeg$dIeSA(i;9+YAfZr&sOSvp#Oto
ziyh!w>;T_l2ly5{z_-`|zQqpkEp~u!u>*XI9pGE+0N-K<_!c|Bx7Y!`#SZW-c7SiO
z1AL1e;9Kkf-(m;&7CXSV*a5!94)Cqi6-si=82Ag?R^TsaTft9*{=bzic7SiO1AL1e
z;9Kkf-wGe_Uqk=T-4;8*x7Y!`rPWlY`2SY6*a5y3{w_AP4nKnJ|6AE&2l!U#|F_)=
z{eSvf>;T_l2Y40Us_<5Yw<<g5tMFEZw<^3<;jId9Rd}nyTNU1_@K%MlD!f(UtqN~d
zc&ox&72c}wR)x1Jyj9_?3U5_-tHN6~W!|drR)x1Jyj279R)x1Jyj9_?3U5_-tHN6q
z-m36cg|{laRpG4)Z`IJeRpG75&iN|5RpG4)Z&i4!!rQib*`uj#^)h2tzul&1ZPT;1
z=~>$v%bf19ep@4&ZF_TDW7&D3zX5I2@3!f8+w{9_`rS7DZkv9$&8d3ZoT|62GmZVW
zG0>;#ZPP2a>6P2`%58e(HobD2Ub#)L+@@D<(<`^>mD}{nZF=RlMn;uKBct){em|$`
zZ3jECeX8EJ&NMdqKLocmdiqJ9s<*At)9Bu}tx?h#gNae2r2Z-`5?9h9qgNibIaO~P
z1=vObwo!m>6kr<#*hT@iQGjg}U>gP4Mgg`_fNd0DJKXD1ajM>S`2S-6f8dkge+2h~
zPq{oARgF)BUsic)__T&kYxuN=Piy$JhEHqww1!V>__T&kYxuN=Piy$JhEHqww1!V>
z__T&kYxuN=Piy$JhEHpXTh6N_UMZ^K(;7al;nNyEt>M!eKCR)?8a}Pz(;7al;nNyE
zt>M!eKCR)?8a}NB_Gt~D*6?W!pVshc4WHKVX$_y&@M%qvkIIHmYxuN=Piy$JhEHqw
zw1!V>__T&kYxuN=Piy$JhEHqww1!V>__T&kYxuN=Piy$Jrc;zvW}TvJv`=fHeOgnb
zB;N384WHH&DXpb++nL&19iP_mX&s-|@u}_z<r(+WIzFxA(>gw_<I_4mt>e==KCR=^
zIzFxA(>gw_<I_4mt>e==KCR=^IzFxA(>gw_<I_4mt>e==KCR=^IzFxA(>gw_<I_4m
zt>e==KCR=^IzFxA(>gw_<I_4mt>e==KCR=^IzFxA(>gw_<I_4mt>e==KCR=^IzFxA
z(>gw_<I_4mt>e==KCR=^IzFxA(>gw_<I_4mt>e==KCR=^IzFxA(>gw_<I_4mt>e?W
zeX5Je^#6uJ{nwIEGZEo0fSQTO)=WgGnTSv`5us)xLd`^knu!Si-nM5VLjC`pE@M?Y
z5lYX6(m<j9n@RX?Q0+vv+KEtlE|i`NrRPHFxlnp8)Hi*hzUd3~O<y<!>YKjo5%2}x
za0ry1D_wdnRNoh>?+f(}U8t|;LVY(E>N~hlrvwP~?OS-$=yoF185F`s@Xes~Tq)GW
z?L_ttP<k#~eP1X&7fR2C(sQBoTqr#kO3#JTbD{KHsJ<TrZYM(Nxlnp8l%5Nvz(L@4
zBK!cT|9qGILGVN1hrw3xVNkOPJ)<wSLVc?h@;0{<+5ZnHJ(sP%FI3+bs_zTc_l4^F
zLg~3sdM<Q33Gr!&PeXhf;?oeHhVJ`%#y$=4X^2lld>Z1@5TAzlG{mPNJ`M3{=)SMt
z+NYuWzR*4m-S>s|X^2lld>Z1@5TAzlG{mPNJ`M3{h)+X&8sgIspN8)HLFm3Ov`<5P
z8sgK?eP1c|X^2lld>Z1@5TAzlG{mPNJ`M3{h)+X&8sgIspN9A}#HS%X4e@E{z8{46
zG<4sWZJ&nj`$GFPbl(@+ry)KK@o9)pLwp*#@9VGjX^2lld>Z1@5TAzlG{mPNKK(KI
zbY0ghY91Q=m`ZEZ*XrP&l)gy`^-W4>mhO>f&kMDxBh*TZP^&sZt?CH1sw32@j!>&Q
z!Y)v&I<kAfUQj!|m7-N0VG%4D<qN%EzA$Q4M`&fZM?4$f3zAEqRUM^hRY#~*9bpxW
zL9OZp_lSR^R&|8>b|%!SPH>M`5`<dS5o%ROs8t=IRuY8wgId**tyLYNR&|8$1huLo
zTdO)kt?CH1sw32@j_}JWc>}yPz?<&x)swyx#Oda(0p1$mtpVN|;H?4P8sMz~-Wt3D
zqvy?AgI8dL=B)wV8sM$LD=>j?8`1mWtpVN|;H?4P8sM$LD=>P-yfwgE1H3iBTZ7uI
z)6H80yfwgE1H3iBTLZi`z*_^nHNaZ~yfwgEgI8dJ26$_Lw+47?@CuC5&07P!HNaZ~
zy!jrJ^FbrLHNsmXyfwmGBfK@jTO+(R!doM}HNsmXyfwmGBfK@jTO+(R!doM}HNsmX
zyfwmGBfK@jTO+(R!doM}HNsmXyfwmGBfK@jTO+(R!doM}HNsmXyfwmGBfK@jTO+(R
z!doM}HNsmXyfwmGBfK@jTO+(R!doM}HNsmXyfwnxo4pbe+{*}lFC+N9J~2QkzXf{4
zx!3bh;rr#^dp#Q!egymr@N3{WH~~(AhruJ@*TE_9D0mFagVW$i@D%tB@HBV^JP&>g
zTmb(H{A=(P@Kx|N@NdA2;2L-d)ZAa?*Bn-OgBtxU_#N=O#^7K3ufb1&KMnp22s1u0
zK!1f3B9?oJSnl<S0l~eV`3Cp;!~o&H0e=C^f)VIQ=H74zxD(VVVM=jqbFX%A89n;n
z>$$V=0Z?lWvbB3n_!}VQ3Ez+X+o0AQ^jCZo;v>(Um16C>H+%%tnuF|*gD!0o-fzPD
zO?bZv?>D9F{U*HMg!h~9eiPnr@>+!cYVSAsya=Ja-{kWmg!X=u&x;V+`%PZ25Ze1q
zUat_^`%PZ25Ze1qUat_^`%PZ25Ze1qJ}*LO?>G6p2%){-<P{8|z2D>&457W><P{8|
zz2D>&457W><P{8|z2AiQn|xk`Y<s`S=S2ifc)tnnHwE^7Q(*5m`Me0Bz2AiQoA7=U
z-fzPDO?bZv?>FK7CZ87(G==tlQ)uruX?LH|-f!}G5kh;v3GX-I{U*HMg!h~9ev?;D
z^o+gVg!h}gaw6N_Z}Q5C(B5yt`%QSi3GX-I{U*HM6x#buc)!UjCqV}9XYhUo?`QCS
z2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pG
zXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^
zeg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo
z?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JdI^eg^Mn@O}pGXYhUo?`QCS2JhdeaZ~?C
zozfZXLhaKQYL|{sds>8Ux7>3iv^w3FvO3+D(i!YRopCMvEuMT3)EU=G(W%Ztoxv{r
z5UA6eWq%l3r#H)P#nu_@vbC>LX#Kn|WsSPeEAT?M)%&yp@3QF(cA?H-7j}W&U=P>}
z_VIi_H~<cUL*Ott0_qHQy+>!T3v~v&a01jB?6P$RyHIDa3v~v&a0)yM>I`<J=nQtD
z&R`en40fT;U>AM^)EVrubq2doXRr$kpw3{Ituxq#bCg79u*=pN?7|}Ux3EjtI)h#5
zWuDX-?6McJ{~CJ<TW7E<eHr^zY@NZb6rI5?)EVr;HBe`;%hnm}LY=`b^c?m+^#$AC
z#?~3^vi}ZSXRyn@iTz#ds!JaHDEMRGPlEUO8TB1K&n)Ra^&s1gr0WcJ*>A?y8SJv}
z<yTFhc1<fqd!&UrgI%aQuZ7w@E7a~;p?1#-wR={m-Lt}91%Hiq>I`<J=nQtD&R`en
z40a*yQ+-w(GS9kCJ=f_vgI&1IZ)?W1&R`dY;E#aX`>ho1{T4p#ycCb=x9aJ78*{Py
z)Zd-*g#W5IO}6^J{;Furw$5M|>I`<F&R`en40hpLL7l-a`+jVl!7f{8unTntyYL;@
zI)h!d&R`en40ho=v2_N!Y@NX_)EVqToxv{D8SFxx!7kJp>_VNvF4P(9LY=`b)EVr;
z-vs}I>n;s($_KD@2D|Lv!PXh<vOkFZA&_3o?D9S-jQ`q7y3Syi{V+BxG2gsTn&Wi(
zvXsa6$9P6(u*>$U!hKR9+dt&+6EL|C{3Q4(@IQf{2LCg^(i!Z*TQzbSb&^}~R;jU3
zCmpHvSktm-S{6;qqG?$)jeD~6SC7J3G%bs!Wzn=OnwCY=vKj%~^^Dt07EQ~dX<0Na
ztI^Qu*0ij~MBCQ1Y|5IJMbolqS{6;qqG?$)EsLgQ(X=d@mPOODntk{^*0ii<A4Y2$
zw|5DxY24l=w5D-;m(ZG))rjopt!Y^_EsLgQH6lC3nwCY=vS?ZsP0MOT_OGmISu`z+
zre)EzESi=@)3O?o{fsp&i>77Kw5;!yP>MAzi>75YSMoE~v@DvI)!1#@nwHfFZrhrc
z)i~}HYg$&LxovA&R%5ztYg$$#yKQS)7EQ~dX<0NatC8L5*0d~|mPOODXc~8xDczdJ
z&1FJs8uyn8t!Y{Pe~L<ure*d2DYmU?+-@ecrg6ua(3+M-)3S;UY+KW^iV$pD)3Sjz
zEgM+VvS?ZsP0K1DwM;ZEi>77Kv@DvIMbolqTGn5g^`tc|i>77Kv@DvIMbolq8uzT}
z8QLeBmPOODfi*3Qre)EzY}%TZO<U8lXj&Fc%c5ynG%bs!Wzn=OnwCY=vS?ZsP0ONb
zSu`z+re)EzESi>8oFmVoX<0=(wykMdG%bs!Wfl22-I|s~)3Rt<R#A}Ct!Y^_EsLgQ
z(X=d@mPOODXj&Fc%c5ynG%bs!Wmy@^qG{YZr?*+tvS?aXF_LX-8aL1h>BVST7ER+e
zI;C6FvS?aX5tMDmCs{O&`{`s`)3~KhXidwaX<0Nai>75mYg#t6re*d2EJkZuHngT?
zLu*<#w5DZ!V{&jmnsz^$c0ZbSKbjVyX%U(hp=lAC7NKboaax3?MQB=trbTF4gr-Gk
zT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=t
zrbTF4gr-HT;znp%#42utrbVpcMrc}urbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-Gk
zT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=t
zrbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj(*^7NKboaax3?MZ{?lniipH
z5t<gEX%U(hv5p;~X%TT+gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=t
zrbTF4gr-GkT7;%WXj+7(MQB=trbTF4M4T3(X%U(hp=lAC7NKboniipH5t<gEX%U(h
zp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH
z5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5pi0CrbTF4gr-Gk
zS`<1?i_o+PO^eX9h&U}m(;_r2LenBNEke^G;<N}&i-^-AG%Z5YA~Y>R(;_r2LenBN
zEke^GG%Z5YA~Y>R)7~!aS_|GT)iU0vHI}zaC5)Y*{`*^YH>m&qmfZ{LzrSVczrTh0
z@9*I4YAr%}T<?*`jlb^{`PBIH;J*cb5qv9nKdAry)-&$__21vJ^<U~j{g=8>|D_)6
zpqx7>=MKubgL3YmoI9jue#Yh8AvH6)oI9ipMwfF3<=jCzcTmn9lye8=+(9{aP|h7{
zZ+c!W&FFIOP#ZJ4oI5Dz4z(!TF6R!)xr1`<q?|h`=T6GGlXC8)oI5G!PRhBHa_*#@
zJ1OT*%DIzr?xdVMDd$egxs!74q?|h`=T6GGlXC8)oI5G!PRhBHa_*#@J1OT*%DIzr
z?xLK#DCaK9xr=h{qMW-Z=Pt^*i*oLwoVzIJF3P!!a_*v>yC~-_%DIbj?xLK#DCaK9
zxr=h{qMW-Z=Pt^*i*oLwoVzIJF3P!!a=x2#zMFFT_Qv(VH!~XDK7BKz(SG;Mj7Iz2
zcQP97ci+h<q@2D*aV_vIibl6j-=b)A`}8e}M*H2jC>rf|-=b)A`}8e}M*H2jC>q^9
zeb3;U(EZ5w3_8W-^c{jmm(zC$8eLA`A!u|teS4tM<@9ZULdxm;{`5A=>HGeaPC0$w
zpKX`Z_x%}NPT%)ubUA(BpV8&?eSb!mvsvZTnHnmm(W^<#D(!J$mcRPjceA1tqrY@F
zD?V8hdS$ga<u&K#)cZhxacEY2V*C*3mF?!#hp|6`ty^Q1@(^gYo5hLq>IAz$-5R45
z-5Mj*tuewrp6my8Ym8C`LERc7dl(!6y~^FpI%hNMoXxCrHnYyz%sOW?>zvK3b2hWi
z*~~g;GwYnqtaCQA&e_a5XEW=Z&8%}av(DMfI%l&Y5a(V1XTVudx5g;lYv9fDqiwH*
zH_My0y&m4I*u%f|s(7<v58GZFZ&vJK+biVFial(<iv1esb@FCbN}E|JZDyskS+R%H
zy-wb&*u%f_w~}VX9>%`~{|@{PcoY0C=x?dbiam@!2L2>?59l`Btk}bUbxUqm>|xt0
z?ahikY<s=ES+R%hCeSUjS+R%FZLeAJhS6=WIdI!+R=i>SRj|d(ux8uLnr*Y<3jdXM
zrMN=2+P~VT+Q0E(QgmyKY{&V{iX8lmSIC<cImlM;&|g{IZB`$#{crqN^%UD)=WkYj
zv8`KUgkC#sR<E%gVe8fy*<N{QRu8hh16#Mo$li(lPHcY>XjY$cy4PKs)w68>3bwxu
zH7jy3J^=dbK(itT<8OfUDMb!0`TI%v0QPTV{|@%=Vt){u{-wylZ=ioEa<EPRVkNm*
zk%QmnZ%NIH9Bg~Fwpo#bZLiigD{`>yuS?B}9Bjj(A_v=_0QZ5qHAX3)0(EPQ>`x1S
zO*0^!uAcI4BHs{tT<Bc{+zlH18msQVCf_NAwRhi>cs%fZd^-J8Pa3T`yQMj{?S<XU
zjCM<NY@5T~(j1-mBh4{B2)++ASG%P-=Y=|HM5q%FggR+Ns1px_I%!0x+gOCUjYa5n
zE#Cm>9Cgx&P$!KDb<&7XCyfYo(umOOIlGzr>}Kw>o4L<!=03Zb`|M`!vs-f?=k+yk
z9Mnl8N|^)?gGWG}G@|q=P$!MZJ_hDNoiw79lb}u-k^K$uG<XKoZ7fPJfVz!Ewr*n)
z>ZB3jd7jZpBeHeUh)^eu2p6!+)JP|dD8(x|yQMs~m#|;K_DarfDUZ`%1OEoR2(E!T
zX+(e3Nh3m?G$Qos^lmAS@!OzI8j<bQ>D`+37`-~ZTeBXcZes~{OL>gCjYX)FMuhkH
zubTDfoy>Z6OL=TJlK#`!Z^r%^?0fl@P8!iO?)AH+JVxEdBGhdx!gqo?X+*Y88WH{~
z=$^P+a~z}lqi=W=SJEQqNPA<Bvs+r^6y3%W`2I&dqn2!Z*zeJZY+EOd2)$CeTUumW
zCyfNY9a4Xl7AZwqWLqbV2)&BFTUumWCyfYo(ugoiicT7l9bxOF5!r9Y)=49>cVO$J
z5!pIvMEFi@oirj_CyfYo(uhzejR<wph)^eu2zAnk@BvUKjmXwXBf{SRsXMcn-O?hb
zd$oDDW-+$C+Pqt{7~3Dj{t!sNV-~YpTI9cawRyL+$hKFTcT0<GTd{Xbi)?$fdAGF4
zHoa0>WE&2pMYey)p-vi+y${rFEV6adh)}n&2z47v@E)}2J!p|{(mbvdYteg9nD?MX
z??H>+gBJM)!{fmNXwd^`(E~i`Tk~`(F<RtX^VVcri+pRI(fs(<JfpSfft1^ZZ_V>x
ztwp{y&uC73Yo2X$;#>1<TZ?>ao^99Kcjq}rYmx8HGg^y$cb?H&<h%3yWIyP&W#64=
z^xCrT&NF&#*>~qTFKdzS&NEtze0QGFTI9R)jMgIGooBQb`R+WUwa9np8LdUWJI`n>
z^4)nxYmx8Hb1kezzB|uoE%M!YF0-}Bcjwu*7WwWx+twoAo#)b8i+p#UZEKP5&a-VT
z^4)p1twp{&&uA_3-FZf9k?+nkT8n&lp3z$5yYr0JBHx{7v=;g9JfpS9cjp<cMZP=F
zXf5*Hc}8oI@6OXZ(IVfSXWLrjyYp;Yi+p#UZEKP5&NEtze0QGFTI9R)jMkzD0&9`)
z&NEtz9?*J=-(xL$04?%udg2N#@@;y4zvFG+rf1t)^Z;7q+w}A#TJ!)~<lFT03|i#d
z^lZBy`8GX0i5B@bJ=@kI-==5VTIAdGY+H+bo1RmwMGv4wzD>`zwaB;W*|rw>Ha*+c
zBHyNG+gjw?^lV#;e4CzaYmsl$Gg^y$o1W2H<lFR&)*|1gXZ#PYHCp7`^lV#;e4Cza
zYmsl$vu!Q%ZF)}mFgE=TE%I%8PPZ2MHa*+cBHyNG+gkJhTIAdGY+H+bo1SerM2j9!
zTx2G#MZQhXXf5(>dPZxJZ_`^Bz8&=J>Ag}9qvtZdP0#4LjBnF3dM@MJ^o*X%_%=PG
zX9vDb&*&L}Z__h6w)bs%M#uBMP0#39{k>|RM#tyxC6@MWda{WyeVd+bN0q)!&**s4
zx9J%jL;5y7qvJ;3re}1l=-c$x1Ma;Nx^~=qC3Nk6o!W8lm2B6Jd#{A99rs=dT|4f*
z61sNWdnI)3xc5rv+Hvod(6!^<E1_%0y;nllj(e{H?!5}Q_e$v6aqpGTwd39^p=-yz
zS3=j0d#{A99rs=dUAsN_ZV$EFBjtCBYqy8m?ZJ0@sNEiXw};y8!FPM8-5z|mhuZDI
zcYCPa9(=cl+U>!2d#K$We7A?%?ZJ0@sNEiXw+G+t!FPM8-5z|mhuZDIcYCPa9(=cl
z+U>!2d#K$We7A?%wP+7;d(e{7$t^<1+byc8Q8$kWJ<_$PzDAwgBGkz(LY>?q)X6PE
zk3=nuL@h+cEsR7hj6^MrL@kU&E!vIg=dJTCD0~ar-h!&Ppwcbqa|_Dcf+n}1x-IB!
zi`dX_#fH(lTv~!GsFPb{>*N-pPHque8(Xwj)9E_7MW~Zof|j&SZV~<~|0?|xpnG%+
zs?vg<w4fv{Xh;hh(t>)lpc^gX)6ZKgT2P4=^q~c1XbGS4`@?onC%4G{vU1_xG~th{
z<@}~{H~xh1-?NAFLE@7KiBBF>ys;KMD7McFy>s|Mv2A=W>E3buVCvVw4pKV7F0dQy
z0eit5PtIc(!IDwz>HT8Q=pEM&iajHFu><x&cECOu>><5{U%iN31-*0lL9r?nt47c4
z9wd%>P~(nr(fDHgdC)tqAJk}Kd@FcA_%`qz;4gvi1m6YzGWe9=FIJ6DgWfs(5Uuwi
zTJJ-_K0WzRupev}=MM!3#Q#IV)1*A3vON?WbPC>o2=70X{)kfA;J*$2+k%Jmd|TjF
z(H1-bdgj{}Jc<3EvD=k<o8IsA&yfBM_CfFqM%ZYBjW*@79{5(EZlUM7k17}AW8f2@
z%m1iyak^{qs7iib_y_)N@P`_G9u5AhYVm0BN2Gri{A2KQ{Pj<<y@vK^(1qOt_JV!j
zvpo4F@XO#=z~}huSFs1M2f<<RdD2I)UoaAB_zokLHtn^Yj|J^2^T*)iW8zsU)cWJ{
z(OU3v`A8_{jXxoL4BtJ5?;gW<k5TK#^q%(MF?{zJzI!aN?;gW<kKwz=@ZDqh?s0tg
zIKF!v-#w1+9>;f&<F&`}(c^gJaXhjYU+m?Z>|Q*wSHFEU*sI?fp8!3k@6{WevLE|t
z@vv7Oarz&soO|UFr~DE4S(S5d@W<Gn<FB7rP4@=&%if@a^e)irnR|m?>^|^|JozlY
zvUm0d){VWvSHR~;`6_llPY#eW2o8hK^VbpV7mR7|jM|&_&Zxb7aoda6_Tsg@@|sGO
zc3kuXzIXy(Jb^Esz!y*8izo2K6Zql@eDMUncmiKMfiIrG7oX5?*Mm>!w??<#eRyXd
z-r0wD_Tim<cxPYWp0y7j?F-zq_9;jGidM7_ukBNgPIrsi7r1Bb!;ky$<38HhCn@tM
zDf1`E_mjb&>&Z_B|4sNLwR@7<J;{?#^5m1$?n!F*B(-~z+C53_o}_k9QoARq-G1t_
zpStX)F8is=e(JKHy6mSe`>D%*>aw4@?58gKsmp%qvY)!_r!M=c%YN$eluyVEp7IHq
z!Bfg*MEDr^1Zc*dQZ7!n@;s&Y2z}P2@J+&Y+IBl_yPdWzEmRv;uL9k++r`6qq1$%5
z*s$%k-A>zXr){^>w%cjj?Sb2NJ8io?aNBMV+_u|k+wHXNc4>~^;I`dP+inlsw%Y@@
z?e@TJyFGB*Zl`Ux)3)0Kx9#@8ZM!{i+inlsw%Y@@?e@TJyFGB*ZV%kH+XJ`lcG`A3
zZM&Ve-A>zXr){^>w%cjj2Vmm>JRA@Y-N6CzV6^HUpgkNA54Nqk2WUSBP~8Kl?g3Qy
z0IGXHJe=1vR^0>QVMOTOeLxHx7g}`>hykNj_kb8MT6GUl_XDcCZL979)!l!!>K;(7
zZCiB@sMbcS?g7=>wpI54bv!^F51_hFt9B#7)2f}2Hu*Gd@@d-S(`u9FmF|)2Y1-t|
zYLmxhA0YiRYD-V6HToI%tf%#Uy+`jienjb?fuGO7%x7TcGxV&_(6gR_+h^eR8RdRF
zct*J!p8%}}&nS1NSQDP1{LfJSKTt{5f<K^l`~f}U4`}}fdFMgic@Tdc#9s&T*Fnm2
z5Puz{R0k>5LHu<Pe;veM2l3ZI{B;n29mHP;@z+88br63Y#9s&T*FpSs5Pu!SUkCBm
zLHu<Pe;veM2l3ZI{B;n29mHP;@z+88b&&cVq`n97*B=I7(E9ctNs-otjt2ioI%9M+
z_*tbN7yh^ro<9rEpVc!;(KE+`&+&%Oi>2ei=f#o`-+f+r$yQ#+gHHARk)Ts-tO-8{
z{weq@_~+o4!LNY-4g4zjyfK~j8`QsyKO*#<ZtFsqxr;J)QRZ%yWG(1cNrWnc@l8VC
znRQ&~y7W+&9_rFVU3{z5@t~Iy_EN%LalWP$m#SB68(p4WvAU)@|8MG{U(nlx`qjGd
zbD&k|3n<JN^aiK9c3;qYY<~rG?Y^M5Ipuky%AohC4Bf#OVe*SG`9+xgB20b}CZDC&
z&r<7WQM_l#>sc6h76!h=GhgDFFY(Nmc;-ty^Ch17igH;GzM@=&dcW~a!msk%ukzck
z^4qWS+pqH5uku^pymLP2mrvJ(KV=)<`r)l#?OExt*AILBu-6ZJ{jk?BZ|WI&)A%Ex
z*R^~P&iP<SWmpqBLK{-PMn`DRQ?}<R+w+v|dCK-YWqY2ojp~`>!Kj`Q2BYG0G?)aB
z=nbQRcg~LnGuYq6_UhkgaFvv6px5F?gPY(RM!jEe)BBB|20!cHrazBur5#NVfiHlE
z!LR$x=_%fDlIKrhdzErDeH!~OvCm-7@cb<H9O>t<DQDU<rqT2T(l28F3s?cSz$&;6
z#$b)-6WgKVuF>!(of6(7o<~D#^=R0DeXny5e^yWWMu2Xi|Bu7>0>}<>P7lWQ{8-@s
zUl<FHW4m5sf$K6BoCOQgld)jdzYUi7t5-_Lf@R+0{kLPm3QxWUuJYHv0bRSX;37}{
zPi(KCjs>stt4r9ILGRHWlh>TfHSjtqH+bi_dFF4yzXQJm-sH*eV&4L9^ZXs`zZVZ<
z!S{I2Iw}8v{g0Gq1KcG2F8Bs-`xopjqgu7fLkuuR4B*=k#GYEU@l$?V`akmIe{#NQ
zkMCpYc2W-TSI^ML($A3cU%)>E9m9{Mt(;@&KjBIDvaz)1+GA<Ywa3!l?>(0GTzf3-
z{oZ3~M`B~?K5WN4W9dHwt!!iIKPTN$%~;xz%vgF1e38HY1&GJfUYQ?LOLpy!VdMSu
z3GA16@@3xkKd}9uEMw`DZVBmA{OUA#1}yLlEhK%8H_U@Y(ChGHY47eHOM4xDEM3O_
zYkoyrN-vZCDqMNheJoA;NngaK&7{4Tdn`>mN&Ej(#?s#gZ}FZx;P>qDG`>#%BftG$
zr2i97{xkLl_9pfZu&oJW=?Zo6dd^td>p5fT#BT^wphv5*@JIb*=rL$4{NMfC(Cb=b
zq1SoF!Z(5U@TAAbvCvV|SlH-#g>T08?uD`N|KQ1=buQu0VQ2X3Tl8d(zL}#B=IDbt
z^}aQwTgP%~x3nBBCr3NU(L!>xja=HTBA0f1$ffPaT-qMY$uCB0PA>f|Z~?UP<kDs-
zmo`7Sw3*4N?n2ekXsymkVT>Lla-nPSA}KGD;`8T^2R?sZh)R#6(&K?udK{G=N2SLD
ztKWEFl^#c>$JO8cjB7WJN{<Kj$T%uJj!KWC(&K5X^f)R#p0-MlqtfGPtMqu<Dm|XI
zN{^$`<7unexLT~=_6=+++j!b4J)X8okEgBD<7qQIp0-Ml!_|12a>Cd+Dm|{&=x40b
z<7zENtMqu<Dm|XIN{_4M7_HLda5#=ikE7D#sPs50J&sC`hgRuvRN80t9}j$1zYq>5
z;BW#CC*W`b4kzGn0uCqOZ~_h|;BW#CC*aU${_AaUI01(fa5w>n6L2^IhZAr(0f!TC
zI01(fa5w>n6L2`eNH+n86L2^IhZAr(0f!TCI01(fa5w>n6L2^IhZAr(0f!TCI01(f
za5w>n6L2^IhZAr(0f!TCI01(fa5w>nzSrP*;Cl^(a5xEvlW;f*hm&wP35Sz#I0=W7
za5xEvlW;f*hm&yV`w{d`IGlvTNjRK@!$~-tgu_WVoP@(kIGlvTNjRK@!$~-tgu_WV
zoP@(kIGlvTNjRK@!$~-tgu_WVoP@(kIGlvTNjRK@!$~-tgu_WVoP@(kIGlvTNjRK@
z!$~-tgu}z=&tdfEF#2;C{W&bg)`G+Ea~KsmEFP4C79B>54x>ef(W1j>(P6acFj{mN
zEjp~)`Bzq?!>XOpx^!5&G$QmEaac8VihJB))afwlbQpCyta>@!8g&?rI*djgMv)Gq
zNQcp=!(o$R;3LF8M~HlmsCG&r@;O4}bA-s}NMNlvqFVc}-fMS6wLUNWE9_-?|48tv
zay+7V#`f#jSHSC_73_%O4deGy`-K01{g1q1gJ1o?=|mAnh$4<CiqP}oQ#qy`GaN}j
z?I*>mQ~rd%c42p8_h9#8dro~s@qpj(MQqPdjwljv$}o8y0be5hWzzo#_B6J=a0LF3
zFfJU?NUd7S3r;U%dvrdMew9+$BS#pEk1!S=VJtqPvDoSVi#Puh_CI59U~gjo0NY+W
z!svNKqo-|;o<}r#+V+TfL?fmckOx&4jg?OSInblzk?<}0t8XM}7kd1iQcoWdI;xpc
zA9srNe2P9kr9STTtEAXRQ}k}%KcXkquZ^E}I{kWzemzCMo>ISd`U~J;@aujX{d!9M
z+Q0SqGNpdqE&NMxhG!@PeR+!3K1E-ig6%0<`xLExiheysYoAI}!t{4|r^k^g+WD0F
zuX0iURgSdtDfM659+9WifAu8&*SDyw1-?Z^s2091bT9KwC`OOwN7d4lPX9ehe>_T0
zJW3lliuaGw2an3ve)0-<4Rr52rapCC==FhP%x90OJ=^}go;fD=jNbtN(x{T_S1R*b
zkf%T9nUCb@m3cHLPp{0=EA#ZqJiRiH7Uj{ReBk*=Uj98U^n4^AIEKtKAIYnSw#)W>
zBp<v6dOng598cy0&qwm=zuiL5NAiJV%RKXueBk*=KJa`bA2`m;tIaqU&qwls=Og*R
z^O1bu`AA+$X!Lv}A9y~JSG)3)o{!`M&qwmXZJzghBp-M_l9xXCJ&sZH(g)j~kK_Z-
zNAiK^Bl+Mi==n%K_!n%?NAk=^^2|r_%t!JlNggH1Gatz_AIYQ7dFCT|<|BEuB`<AJ
zF3d;r>HoqzJs-)Z{}}w7OUryDpZ-&9&qwlTd!G479)-^{AIYQhdFCT|)IQIAB#-9j
znUCbto{!|2kK~z;<kK(mPR~d3Y0pRU%t!L-Q>riXk$n0%>7I||89VZ6&qwl%Ao;ZC
zBYEZ{dG$X3%JY%DMpC2aBYBOawml!otH&9w19|#gUMlA|c&y1w<!pOCl26l?n2+S8
zc;?FUkv#K}yn3i@+6)?)M+5U{V4nF%KJEEPKJEEPKJEEPp7}_g`AD9zET8s#B+rPJ
zPkTO+XI#stJs-)Z9sTB+kK{F`yB400<fQ}3o%u*U^n4`Gd?e3&B#)xznUCaA)I9T%
zytKkkdOngzUGvOG^2|r_jFNfgBYCNZa$!D_53RI$DQ$OfJosAbZ-e9M@2TG%M|qB;
zIVb3|C+M3e=$j`{-4m$I3F3qkw8InV%n9Oz6SSohw4xKVpA)p46SSEV`1%B1K7lTs
zKsisKPA5>#6L|0hzB_?Noj^HH!0icGJprF5h!akrpC^bDP7o)YpcW^7SPK|9L7eas
zn)VW!_7a-*5}NiBn)VW!_7a-*l5~DOcnM8=2~C@ZjcM4JhK*_1n1+pM*qDZmY1o*C
zjcM4JhK*_1n1+pM*qDZmY1o*CjcM4JhK*_1n1+pM*qDZmY1o*CjcM4JhK*_1n1+pM
z*qDZmY1o*CjcM4JhK<v(aT+#GYlK}7PD`KHgp=5w*`1bF8;^r0Kt~#<rQ1&TKE2b#
z+ouCZeWzjLv_@n<vjBP@&S`0~al;7nr(yoIR7<~-YB~MCf{r;)<B`*N<a9bm%75pt
zUk6V*Up#dhPn}MCE$g&mY`=$+z~SliBI(QEtNhiG=V|qBqocdi>fOfgg133*F6f!y
zX=3lwMBS%h_;l#;_jKsd_B1WzG%e(`dY@Ao{acOK#tbQMk$r}*a%cD|cSbyS2WQ0X
zi10YJxjiFRo$m6V(Rk;-T9M9(Hz8l>&hUlqjCga()1bfapMj+_@NkA&pOMPxZBjWu
z>9OyO>TA3Py1r+q%Ngo&Ms4P}Qalejqq^v~s*9diEo{F<_E~ztS$e@)dcj$G!CBh>
zS=#?uTK-vD{#jc7Sz7*CTK-vD{#jc7Sz7*C+Wc8s`&r_Xv&1K7Y3FBY=Vxi>XKCkW
zY2jyS;b&>#XKCSQY2jyS;RPa)0ue}o2&6#C3q&9VG2b2(#QccR^MV33Do~>W5lDdu
zq(B5xAOa~6ffR^93Pd1<z!69xa0F5a9Dx*wKng@41tO3F5lDduq(B5xAOa~6ffR^9
z3Pd0UB9H<RNP!5XAXfcOM<4|vkV4=Hq(B5x2poYFh(HQ~Bai|SNFi_pQV1M@6o^0y
zL?8tskOC1%fe56a`LEyR2&51=0x1xI6o^0yL?8tskOC1%fe55P1X94)1tO3F5lDdu
zq(B5xAOa~6ffUk?Kng@41=>b|2&9m91X5r{v_NYq5P=kEGX)}$0xhRN1X7^=6o^0y
zw4wqLNP!5XKm<}C0x1xI6w;1B3Pd0UB9H<RNP!5XKm<}?MYKR`ED(VdXp;pZkOC1%
zfe55P1X3UZDG-4ah(HQNAO#|j0ue|7#V!zm6wvJg5lDduq(B5xP~S8sjz9`TAO#|j
zg4(>(9f1^xKnm)!@+J{Tfe55P1X3UZDG-4ah(HQNAO-qMfe55PuPG3L6zDqzB9H<R
zNP!5XKm<}C0x1xI6o^0yL?8tskOC1%K|M|-Ap$9=-`VzxXhFSCrB&}UdVW_R0x1xI
z6n@wri9iZOAO#|j0ue}o2xNxdIzvC5Q9oS|X6UCg^wSyo=?wjJM*Y-(_56KCJ@mZL
z^Y<C`&ErDP-)GeOY<vDbqh4mb4tnM_quyck{C!5f!?x$|GwL1wmFMp>wD}p@{0#H=
z8MSsjLkpi#3)hos$xitbzd^0nb~m=??=xz>PWSwMMy=Pj=kGIWw?@z3XPCdwq&<J1
zQ44gs=kGIWfwnz=pFtaE(8d|GaYpS*wMHRln7_}^mS&j0&!Cwzw451Q&I~PQhWY!9
z+J@i!PrTXl_ZhVf=i>SMjM|3n#E7qFn7_~9>lx<nGx&E#{uKlAtbWD(eTMn_3_hJ<
z{ys}|F-vqYtLS1an3YeBli(56Vpjfjild9!z$4&n@Dk|gVwUJ)Ht>G|%rYj<Dz0$)
z0_eD6mbhY;xMG&LVwSjKmbhY;xMEgug?>duF-t@-%UC&^{_muJ9dtx7tBAt*m!Knx
zSw$2^M-j8)+2|-@miS>-3_Hc~!z}T`Y})g|+4NoTUwF?JxNT&#on^G0C32W0a+oD@
zm?d(URpg*I5IM|>$@O54k!y|-YECVGO(|Y^m?PGjW8|Gfjpv9w=g`<W6m<?QokK<E
z(9b!Pa}LFuL+j><m*!|`b3{#Zw6{5QYz_sRBl4W1b<LqLb7;#Psxn7hG)K#sV_cqN
zT%KcGo?~2|LkH%FJkK%XILD0R9M7ENne(KdC;dF>=SlbNgvSHlPAF7c>K6JNaWQa=
zT4dF?sCHu8tNKN?6aUpKLPd?OM)&=qMo**XUqx1Zi>&$<S@kW7J^fbgM7gM)82yd7
z$f|FVRo^13zC~7tifKm<MU4)A+c&WN^`WTt<8*(0D60LaBpNAf`|Cpyo{Qqyw%0|A
z;?}lT-ioaH7FqQz5_uL`^(_*A7FqQzifupdep+PJx2U$H6ft&Q=x@YD@n+j!ABwCR
z`G&#cfo~WT!eI#xOK@0%!x9{p;IIUTB{(d>VF?aPa9D!F5*+&eKD`qTOK@0%!x9{p
z;IIUTB{(d>VF?aPa9D!F5*(H^&aUZg=CA~ZB{(d>VF?aPa9D!F5*(J`ump!CI4r?o
z2@XqeSc1b69G2j)1cxO!EWu$34oh%Yg2NIVmf&y!O<O?I7R2Ftuz;p5h)LUSjSFbn
z0-CmfrY%U*{8ww*0-Ck}&kJbU0=;-aZ2K9{m=-ja89ifKK-m^hwgr@J0cBf2*%p{F
zEzs*1(6<HjZ2^5-NPEV#AhwOxw*@h5+jH9mW(o`9*0yIH3-tX3v~B^dTR`g;==%#O
z-U5oZfZ{EncneZIzri!61(;ue^99&m5YKuuy0?JtEueb~=-vXlw}9>~Fk@Ok_ZHB-
zGHjP&yA0c9*e=6%8Me!?U54#4Y?ooX4BKVcF2i;iw#%?xhV3$JmtngM+hy1;!*&_A
z%dlOB?J{haVY>|5W!Nsmb{V$Iuw91jGHjP&yA0c9*e=6%8Me!?U54#4Y?ooX4BKVc
zF2i;iw#%?xhV3$JmtngM+hy1;!*&_A%dlOB?J{haVY>|5W!Nsm_M-G*Jy?`J2-UBR
z-chy`{JqwNUXd?GgbniMEAohJ@pfM5(eM?qXZv+*uOz>sh|Bmr@E^bpKf^wvSJ+4N
z3j2s&5!-s3*fxI3Pl|0n`6t-jU@zDQdSC7<ij<7g;Hy0E|M7W6v5nE|46i7j5h{i;
zz6osflZsfJ@^j!@l(J0Sm#O<Qbzi3Luaf>M>93OhD(Nf4nJYw?D@2$pM3^fm<O&hy
z3bEx1(c=nH;tKKM3X$OoG2sev;0jUS3h~|w%C>^0t)xq0dnH{4Jvyuq#jOy(tq{4b
z5VNhIV=F{!E5vClL}e>PWv}7E3zYc+Wxha}FHq(Sl=%W>zCf8TQ05Di`2uCWK$$O4
z<_nbh0%g8HnJ-Z03zYc+Wxha}FQCR3DDwr%e1S4wpv)I2^99O$fihp9%oiy0>oEU1
z%)icD`*n>(>%r?9iHtYI#_KA%?VI2mMtt--K6;%w;OiP?oPG-Qy7B88N1SpFoCm!!
z{JKi(bg%BduCc?m|4Zd{jTgqm$ZY6!W<#%Qq;N_D__M;xl=(7czD$`fQ|8N*`7&j`
zOqnlJ=F1vG^()GJnKECd%$F(iWy*Xx?J{4c%$F(iW%2A^xy+X-^JU6>nKECd%$F(i
zWy*Y+GGC_5mnrjQ%6wTP+In!6etngGeU*NFm41DdetngGeU*NFRc%JktIZhQudk}L
z7~QY0(yy=5udmXtuhOrt(yy=5udmXtuhOrts$J=~YF9@0>#J&4M)&Kh^y{nAL%-Sm
z`YQeUD*gH@{rW2X`YQeUsx(bc(yy=5udhne&Ii{RL9Q`^TvNT)f@`Xg(X*aw==?Qw
z{+i0>6we>8>21ch2(RPQ>-h9KKD~}lujA9}`1CqHy^c?><J0T-^g2Ghj!&=S)9d*3
zIzGLQPp{+C>-h9KKD~}lujA9}`1CqHy^c?><J0T-^g2Ghj!&=S)9d*320i@-J^cnf
z{f4}@7Tlnx-=L@8pr_xUr{AEb-=L@8pr_xUr{AEb-=L@8pr_xUr{AEb-=L@8pr_xU
zr{AEb-=L@8pr_xUr{AEb-=L@8pr_xUr{AEbe;bCs4a47tw{OGScS!#Z>E9v!JEY%K
zdUtSB=|VhmQyv+SeN7&}iAQd#rpIO9B>fGi>kWEdZ!qo`8#mKleY(l&(@oZtZsMt%
z@|4~tPZ>}1+cThh;!SzY>F4}@@nEz{--L&oc<`p!aJrS`rq*YS72e?g3co2o8WTT*
zA8+EvoARUHEI%55R(Ok=-lC?rsOc?gdW)LgqNcZ~=`Ct{OKtCbaEqGWqNcZ~=`Ct{
zi<;h|rnji+Eoyp;n%<(Ow-j&t4X)`eYI=*B-lC?rsOc?gdW)LgqNcZ~=`Ct{i<;h2
zi}ib4(_7T^7B#&^O>a@tTh#OxHRYDffLk(y+tl>7YPv4lYJZ!W-d0U*TkUVt%eYT7
z;66>Ezd7Efm))k9-KG||>1DT73;l{-cAJvlrkCBO<hSW%x9MfK>1DU+Ww$BwZOVL`
zUUr*acAH*yhxU1g_IZag-=WNRDDxf4e1|gMq0DzE^Br399a{1o%6x}1-=WNRDDxf4
ze1|gMq0DzE^Bu~3hce%x%y%gB9m;%%GT))hcPR56%6x}1-=WOkqs-r<%-^FV-=ieo
zC;j`Rf1mX4|1e!|SPQ<dH>?Hgj1=pP6zhx>>x>lZj1=pP6dDi3^ExBNdf<^_osnXl
zkz$>ZVx5s<osnXlkz$>ZVx5s<osnXlkz$>ZVx5s<osnXlkz$>ZVx5s<osnXlkz$>Z
zVx5s<osnXlkz$>ZVx5s<osnXlkz$>ZVx5s<gTA&wU)#W&8}jBzut8tjz?&QNwGH~(
z27PUVzP3SM+n}#)(APHTYa8^n4ZOTTU)!LsZP3>?=xZBze1pEWL0{XTuWiuRHt1^`
zcz=Vwwt@FI=xZDFwGH~(27PUVzP3Rd*q{w;(APHTYa8^nO=`MHO*g6OCN<rprkm7s
zlbUW)(@ko+NliDY=_WPZq^6tHbd#EHQqxUpx=Bqpsp%#)-K3_Q)O3@YZc@`tYPv~H
zH>v3+HQl79o78lZnr>3lO=`MHO*g6OCN<rprkm7slbZg3R{aB7^$%#(KcH3rfL8qj
zTJ>GV%DZZ}Yr$Q{%DZZ}w!L0-m$C9LW941O%Daq}cNr`1GFIMYth~!ud6%*BE@S0g
z)lqLy9gQ9%?o!9Qs-11`r@G5nd6%*BE@S0g)l2D&m3J8{?=n{2WvqOIc;*e_nKy`M
z-XNZNgLvi*;+Z#yXWk&5d4qW74dR(Mh-WH#Lw8W&yI4i<k<IF2h4uD|X4CCT@prLG
z;MJ`PtBw^`9V>hntMFZ{!gsL>-^D5_iQnU$ITcz|h3{gOz~99xd>5+(UgN5$w0_b%
zb1H$qaa6>-e{~7lJ98@Xf>XRRr=m7#^v;|LEwd7MXHG@lG5Wh$CGgIiirT85^v;|L
z-^D6{S7IxC7pnx`nNyKB{T_c8tH`Iey)&mG_Ke<{Q{lT<MQz@1^LMcd-^D6?7pw4H
ztipG(irCh##J2HMejDG#Dy+m-=pz-ri&gk)P?1Oc<THLJ-^D6?7pw4HtiqaYMXk&4
zab!}VXI0W&*#1v}3TwF)wL05hAl?5dP)UCg`_Dk{46mp)I^8>SDts5K@LjAz53TTB
ztdjQ5oC@E?D(bVUFW<!~X}q8I&YTLX#1*w_zs>v1D{9-e{htCA^>P2oJ98@P<3>jg
z74>o3-kDQT`!{-LPKEX4iu!`z;GH=Y^$6RZ%T)L-R?$j`)BRnn!gsL>-^D8GHBP6^
z@O7i2wGsc;|0z&WZ!$XKs_<Q`BHfV3`7T!ByI6%)>xz1upZsT@^v;|LE7%qFKHFXy
zu1IZMe(%hwNNtSXnN#7rScUIm6_lrf@>KX%Qc<7P8~9dIQO~vQh^~SnRrqdFQBPF8
z_%2pqJ-njc?I*o6r=mV?+dFeA>aE?u7Gv%fW9}AX?iOS27Gv%fWA2uE(0Z`Nn7gH(
zV%xK`Ewyl?XJ=cCxm%36Ta39|jJaEkxm%36Ta39|jJaEkxm%36Ta39|YEgO{W9}AX
z?iOS27Gv%fW9}AX?iOS27Gv%fW9}AX?iOS27Gv%fV{Vn&RjF5%ld`Hhx#D<G<-C+?
z>g~$0ntC_*E8uU+JKT{id=UG6;QRUO{|$Z!{5{e?jQtVpR_uqs-v_<IU*)9GYN`vn
z8}xr4S5v*9XQtIuKR5smf<xdiI0E`xbCr`qtEqA932+iT40?T-`@4ny^2Pn#!eiKZ
z&|m$yzgy@p3*6r=^r|@bcMJXXvzjV^UcarTW<k$Ks;TolS;YPpwoeMJrWUZvJo#7H
zi`edc)zlL9E7)Ft=1y>-cQ|k-xX>dPcY+JOe}+53h5o`)O}Xt=Q#U}**{dl>>{Xq_
zV)RL&)s&<6s?NwVdUd55{3z)EXRHQ433^?H8^(oRUE!W_VI%fWJ1<VN;m&c{-f2?}
zn!x`P{I}pcz+VF23BC*bW$;%)pA=f<q|j>cTfF%}(rH%#?TVgKrKeOmDYUASN%SjD
z3axUM4mX}F<q7|mlR~SU6j}{^QfO5tVyVoW6j}{`0ox~qRyirO8fHnkpOgsOCxuoy
zDYP2C1A7PQJ}I=yNugDph-G^h>F>gRH?~g-t%kpX-3;yq9{~R^@ZW*I0n(>93y6Ez
z_1h0ni{Iw2zk~g|*dN5Ee}(j~kp30Yze4&KCxuqShk5e%`PE0UAHi<JeiZv-*dND!
z4Eu5HA9DB!QucwL1V07(D}0rcLUreR>h}WO`3`!o@-}hNHcF!V&7Dp}q+8Chy?Z%E
zb7C|n=E)e%iP4-G&56;RSZ5Zk>v{7Nr`$GTG$&5EZNxgA&wsV%#3^$Ur_4#5GAD7$
zoWv<}5~r*=amtz#r>r?KniHcramtz#r>r?KniF#>RE*}tDQiy5sZg;_L$Ynni8&Q2
zPFZteG$%%L;*>QfPFZu}lr<+#S#x5Y%V)Ia#GFnXqd9TPniHq2IdSSFXw8XJ-vF&S
zamwE@V>Bm5bK;aWCq{GPlr<+tbK;aWCr(*&;*>QfMswnnH78D4bK;aWCr(*&Vl*dC
zS##o)H7DkD;uy_|buORNtvPXO4YcOODSva1(VQ5~iP4-mWzC7voEXiC(VQ5~iP4-G
z&56;RnA3@4G$#(MIdR~<>oJ-W2S0^v&4~kRPK@Tn!Ovh@b7C|n4y-vbrxVAVP8@SO
zaU584;=q~{>s&sgH75?NIWd|Oqd9S4&4~lr6`B*HIWd|Oqd75}6QemXniK03K9vg1
ziP4-G&56;R7|n^%oEXiCLu*cq=EP`D99nbY(3%s6)|?p4iP4-mwC2R2H77=MVl*d4
zbK=mN6NlEEIJD-(XigkjbK=mN6NlEESf}tAtvRty;WN^w(407YKPlFnIJD-(p*1HC
ztvN9#lEoqY3(bkqoEXiC(VQ5~iP4;x(~0BIniGfCoS5^<;?SBCht`}pwC2R2H7DkD
z;+WHkW1Yh16l+ebQ}~S5oLHyu89yzop*b})rzRyit`z@&L=7dWp*b})r-tU#<iX=X
zg61S>PQsH3nv<Y837V6jISHDRpg9Selb|^Xnv<Y837V6jISHDRpg9Selb|^Xnv<Y8
z37V6jISHDRpg9Selb|^Xnv<Y837V6jISHDRpg9Selb|^Xnv<Y837V6jISHDRpg9Se
zlb|^Xnv<Y837V6jISHDR5a%RlPC}fMpg9Selb|^Xnv<Y837V6jISHDRpg9Selb|^X
znv<Y837V6jISHDRpg9Selb|^Xnv<Y837V6jISFx2g61S>PJ-qnXikFWBxp{8<|JrN
zg61S>PJ-qnXikFWBxp{8<|JrNg61S>P7+vi5;P}4a}qQsA<jwAoCM8D(3}L#Nzj}G
z%}LOl1kFj%oCM8D(3}L#Nzj}G%}LOl1kFj%oCM8D(3}L#Nzj}G%}LOl1kFj%oCM8D
z(3}L#Nzj}G%}LOl1kFj%oCM8D(3}L#Nzj}G%}LOl1kFj%oCM8D(3}L#Nzj}G%}LOl
z1kFj%oCM8D(3}L#Nzj}G%}LOlgg7Tba}qQsL30u`CqZ)(G$%oG5;P}4a}qQsL30u`
zCqZ)(G$%oG5;P}4a}qQsL30u`CqZ)(G$%oG5;P}4a}qQsL38S8P94puqd9dnr;d`;
z(VRM(Q%7^^)|_-oPj(Bn!Xwm)=)(K36>Z9XJ1F&*tyod`oAnXlZ-Ebj?*paJO4ljG
z!ViJJNBW1cKZ4zg{Sf*7KK94>l};hnuXGBrunW{F#IpZ?lHNbOs<Te}-Ft1w%C*?R
z388{xYm70CF~%5EE5k6nybRZwDIt@SH_aFsWU%L)9$sFCG?2`XzHOkp5JJivz0NyY
znt*K$kb*X)V6wXlZPie#6m`a58H{!e0Xlln5JI54yLO-Z{`k**eXnP)y}oPR&;5L#
z@AIr@tw&!W7V0a+!hIb1FW{HJFN2SR2f%*ttN0oOHFu%^9s%`MpzI;=8BlNVsYK6l
zg!&4x@ay2S;5R_cZmC>Pd4yWKC42#V5j@RZoB_4|P`_%esZd`b7LIX@)|koGJFP-}
zg;=OL4dHjW+V5eX!`4@bRel~@?;pw5vq+&<<_q=ykx;A0g_`9MYL-K&IWeJD><hJG
zU#OW$p`LvUe+6omQuakqZxqVD1YQR96efr%@)-5C7NNdEEYz&NP%Aown%fs@MTc+^
zb_w=k?Ax&Q6=MCWuMi9M6=I>jLM+r*h=uwJv9K1b1M9(0f$IJB>q<~LfNXt*Scu*f
zi|kipc_DgJEYg{!XB{IY8$aXoC>GiNtdCbL((#H#w)GX_Af{NPU;Pzgp}s;a{2;cz
zLM;13*!l{wY<-1Tcqb+L3bE{uU{_)5E5s_%SBQll!`4@bWq%yI7W)&}b=aT8uE)L$
z`)+U<xEx#ot^!ws+`GRQsxz;pqyc*!b|dy*VK-qngS0!vBL9nar&whBuQ~EF*lpOK
z#a@s7H`p7nX_bmazDGFpSBPc*fkS=iOZNTXW>8-tR*AksEYw$sgScanP-8Bk@*kn{
zAE6^m+_6ZguSf|s<`Oy<1+h;X<C@zM-U)VqhrpxY8Bik#9rFuabD$Yrq1IEWMDvrj
zN3b<Qk^K_(%eJ+aNylgo&Gr{$C-9iSV*-zfxIHGcip*$_39St?+G7Hb2|On7n80HK
zj|t6ljt2=mCN#Gx8;=P*Ch#~9kMr<250CTkI1i8W@Hh{T^YAzikMr<250CTkI1i8W
z@Hh{T^YAzikMr<2503?k=N&<T_xKb33Ah|w5nHU1HM*|?#q&MFzX1OdT&sF4Af6Wx
z&kK}8`WVOa0_Bjl9nTAtLmC~=3zS3J*Q4NWP&3jh=>at(E&ECQew8x};{7mq1T^Ob
ziqghsKz+wU_HpoQ;Mc)t!Eb<iA4<oJf_nd2_6y*Pprdqw@<XGebOBMiKvCM)GlrM5
z*so%1=2_*hVSkS^ybgXJ)SR<^{WtK(pq^H!WE{KzPJq7z{{xSc;1qZnbkr>%>J|`n
z3y8V}inltOBCW9mybW}8Eg-rUD7xC#cQu9D4Oyt2LxqmC1w`5cB5i?kJeN4q7WjMb
z!n-+gnQK8`pf_qCWFbmWq!sguvG$Gz;@aa<_TPf{f&U%+CysnjIxo-{@QmG*=qrV?
zQ<UhfVcEOEy`cN?g7|)p{C_yoEwLc}Meu)tPk@KH20dxguX^`QNG-?RR~Be~+vU`S
z=C^JCJIBDh=C^(PZ@}Mzzr&Yi@>Tve47>xrYgB(I9_T>|)Pv|4^&q+`^&L77eMdpC
z1$#Tc?f@UoU)8TWDR;(F5I9#U&`h}TpTUzLD%CR!m+SeLP+u_;{@nNCClo?QvjRV-
z5V{91(44uCcduO#ILZ}h{@f*c4kf%{^fLvaR=EiEu8q*WVS%0_7#C6UUhF>x^^Ts(
zZ>L<lQOo{-?^L~^?GIvWH)`1*!q#rovMazlDXGN%2zC|rN3pB1KZad{{c-GC>`!28
z=T@EVli2mxcVXYnRV@ScRc#%kFMbPGfvdqa;977U_*WotNj;s9*H<@%&H)OPV;eVs
z8$oK5UaTPDUaWv#tia#Wm+fAxfL^SCUaTO|ZdD{Yz#X7=Usdnrh#C@6Ln3Mzb3_ee
zj;J9KH6)^jMAR_m))Z<~J|=XA91>C03sUZg8WK@MB5FuP4T-2B5j7;DhRTiY*AX=&
zqK3+iZ9Afd8gbi;BWkD-x6u(b)QH>Yh#C@6Lyfq7<Z;juHB{bfbVLm`;x@Xig+$a)
zd9Q6p)KDXCqa$iaL=B0kArUnsqJ~7&Fy@FFD(|&lN7Rsr8fvWVGdQA#8ebdTibEo5
zsQlKpBWg%Q4VB;8cDoLh-x?iJLye}5j;NtV&_+kpkcb)*Q9~kXNJI^Zs38$G)JR$9
zi94c(MAVRo8WK@MB5FuP4T-2B5j7;DhD6kmh#C@6Ln3OZorP2jMAVRo8WK@MB5FuP
z4T-2B5j7;DhH*#KP+u7}I--X9rs%lP5j7;DhW?JIY)8~E?uZ%^QNy?+YN+ps8XZx?
zxFc#9cSH?|sA1d@HH<r=hH*#K(9iCLj;J9KH6)^jMAVRo8WK@MB5J57hCb2}H6)^j
zaYxip&&2J^5j7;DhMHAXE6_Zakcb)*Q9~kXNJI^Zs38$GB%+3aBWf5pqK1JZYDh#4
z14q=5h#C@6Ln3OZXNxXJr9{+_h#C@6Ln3NOL=B0kArUnsqJ~7&kcb)*Q9~kXNJI^Z
zs38$GB%+2y)R2f85>Z1UYN%(Fx&}R?G&-V&MAT5@3*7|~H6)^jMAT4o9WHl74K>$c
z+YvR?_`)TQsG-IewjEJJ&2`vzL=82*u<eK%YJ6ea5jE6YhiymHkcb*;uEVw?YN)vm
zUzH<jsJRZKBWg%Q4K>$c+YvR?$inD|8fs?4NL(VKhD6kmh#C@6Ln3OZ(SeV2L=B0k
zArUnsqJ~7&kcb)*Q9~kXNJI^ZsA0kpHT2%EL1E0}tiqT_RfRE+l?pZ6VAM_!Ld_Bj
z|3tnDW4@QdnD3=fa{@l*U%)ScTFIc2$H4<&KRCb{4uXfkuYgZ-p6_zZIq*EF)df1w
z8{n_Ni{K@r#>Gahz!WY57lZB>3YFCxKkD<xH8(E&IH+fEvOSkl824OCp>{*iUBq2S
zh2Bd-=oyv5`2DKELVa`CsBhE@xAW@`e(l2kM{p14Im9tf^6OD-&ruX=HI7l=K@w`M
zh45SX4MIoeLX9l^>m=v-!+pJt{SNr9F^GZgTMIRs*73pT?NMu2Y(M0)1>M-YI3@+|
zrlbe#1^dAL;4ypGD8^@a9y|r=8%iqiOiQ8Oh_Od~LrM4&<u6nI3Ld{nIrkEL8~au8
zHSi}K;~u0?YdL(j8E_W-J->2ydgn#Qc=d(QS$Cn=U<f^%QK*rWu16y&+xLJCU?bQB
zHiIo-EBG1E^AClZ-!py=guMjpCH@a{nE1cI{~P@8;Qs*s4s7RoI=~&^7j!)lxkp6q
z5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O8ky^y5u>??+#@3Qh{!!6a*v4IBO>>R
z$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Qh{!!6a*s%JZoUTR9uc`mMD7uh
zdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1
z?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3
zxkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDXfGY>gxn({_lU?n
zB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Q
zh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Qh{!!6a*v4I
zBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*
zkBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^M
zJtA_Ch}<J0_lU?nB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0
z_lU?nB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2
z+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_Ch}<J0_lU?nB65$2+#@3Qh{!#X
z<Q_?Kk0iNAlH4On?vW(-NRoRb$vu+f9!YYKB)LaYPeS{Hq@IKtoqHtpB-H5KBN=n<
zk&HR_NXDFdBxBA!k}>BVNj(MdG0r`bn)x?6_ehd^BsF_)+qp+F<~}+}?vW(-NRoRb
z<IX*jno-n_6yzRBa*rgrN0Qtl8F%iHB=<;?dnCy{lH?vqa*rgrN0QtlN$!y(_ehd^
zB;(FKl5yuA$+&ZmWZbz&QuCJf>)a!$*-P8bJ(A=eNpg=Qxkr-RBT4R&B=<;?dnDt3
zxG(1(N$sCybnl!b_eg4|2HWmEljI&ra*rgrN0QtlsdsFBjB}4<;M^k_IQK{f&OMTW
zbB|=;+#{(OR9zvtN0Qtlsnx13ckYoS_ehd^B*{IJ<Q_@Qtoj(|9!afMwHN0eNpg>5
z;M^k_IQK{f&OMTWbB`psN0QtlskNg%gL98$z}=C1B*{IJ<Q_?Kk0iNAlH4On?vW(-
zNa`u1&X92KkxV%ENG6<nBood(lA7T+I`>E>oO>k6J(A=eNzLKA#JNY3+#^ZukxV%E
zNG6<nBood(k_qP?$%J!{WWu>eGU41KshMQ$bRs>B3%6^GRwfMyy^luF64R~$LhTn2
zv;=;B)S~(PvEW{n?-6<?>R$Cb#=iyc1Mk<_?p5#Oa{Ikk8q>exf3I`itNy58_@J`Z
zd%eGg@FDPF&^hP5^iB7wZ}KtP4@KAmYCja&+7CtOdcRkFlkp4S7s3CRU;h{Om$0=T
zijFw|K0$du_JC3MrR&sv8MSUOXwzE*9YU?<75Zsun_`Gj``HPd=eH@67(I$<Qw$jv
zE(bk+Y2%q@n_`HM@iWaf?`J3UGtD-|5Tl=Iwh=4Zcw*S5Sm6>sC2ZsQU>nc-+IZ5}
z#xuS)#R~nZSYh;&yEerNqo3Bb5i8n=6>W+Gx+>y88*!kGr)+I;t!h@eRy7OXHPRm2
zg3$L8c&4$9=WA^|pK6mnb!O?)=%-O_(x=hSq1t!?)h2z~_EV=e>C@;ZO>NSr(W+}h
zb#17w4b^?tZ)XIb70*I>H|l-!V7=5eEcA1w^-|Zk(C1mNtj4HSIznrEef$CJ4%Op&
z)Vn_3NqHCLR`U9IuTizEv#FMi*7l~@J$gR1DfSugv$6YSuLu7I+yK5}j92)WcqRC0
zN^;=ujlo?m4?YEc4%}!=Jm6mw|BU@b;eGOWzwk4lJ>G}M`(pNZU(6owi`nCS@@T9C
z?eRXXZ8X~Bee!7h6!<xCqY;ny$)oKr3b(-U78u?F!&_i@D-3Ui;jN1ESA(s};>Lyg
ziiJ=s28GALVeka_Jim@$`<ctu_)FNYfZqboa?ER>R`ltZpMuwo)WTM3VQaA6$16i~
z`Gep?l<dMzflpHMG`7BCp(97^*WXnT>MIt)(;V{>Hdo^BDyZD8X{&NMqrOof{0X+!
z5Xznae+l|o`PSe~j+p~*QIZ97;O~w8u7WTGi$JXyREgFK3bk%WsFi`j_fvAaZ1(&T
zTF-x{e0W^=Q}DVGPT0Lm_6|yZXw=z^w+pwa9*2dIQT3$~)s)dsFt@4yHJ+v97oelW
zHr2SwRpZ8oz+GZ*oBC7ZF^+L9ZxgFN#!or7iCh1wFCYnBzuVMH8eicUe2GaP|9hkQ
zyMEz&z$HGCXO!)_<~>2Xu36}Jf`p!zXpjF=XKweqJVL#tD|DXF?zhZ>c3rcM*EJj6
zceMLm7@=oJ+k?lzr$Em$w9~V<2QTp77r`_9>YlybZ<z_TLRI)3%DpzD-S3+S^_H&i
z3ifZnw>X1mo7;nTKu5^-M1g-z6oQ^rXs1taryqa7?@t8}C_6G*jSna<GEN$m)fl_M
z-Cz&c3-*Eg!RNtK;5Wf<gRg?GfmY4~%0P@W;4JvAQKJmw0?>WL1G-M*ZNlxUkq)8z
zwe3<-zwjvNd8F-J^LA;;<!3=_X*+kZU3DZ|wWA|dJH~C4Jme#lrwt3;UvCfG$88S=
zz#-79akeWrbGh@e?I>+K`Pg>yvF%ctk1=oCr8L`SV7uC~ZS$~Q`Iv35vDq#K8qLOb
ze@|OD1^%9Lv#~vq0E_I=Z~O`0gKbW>tDWi$Xmtn7?0}ga8mo>6J2Xl)PJq_!4s^Ri
zBUYFD3B?X{yF;T_m;4sAhIhcy4p`cu(Wrh!$vYT_?$9{YC06wgRJ}uEQrmmMeV}!|
zLnBk8b-qL6Q`_GFJ(IRWns>>Ipw+%ZjM@9QL92a--!~Ngl#*XzUjrR^c4%a3wB~mN
z*8C1Mze9PfY>id*t468Dg=&vGq$T5fDe>&t4vkgEgHG7%guPC5)rqb;86$L}t4?&)
ziLN?X`Ot~3I?+`pjCI0TC%WoXyy_1+(N!n9>O@za=&Dm+k&<6UFdt)Gb)u_Ibk&Kj
zI?+`py6Qw%o#?6)U3H?XPIT3Yt~$|GC%WoHSDomp6J2#G*4dYJ)rqb;756%1TUVXv
zs*|?XiLN@)RTs>3!Auvr>Oxmt=&Fl&*oCgT&{Y?@>Oxmt=&B1{brBo8V5tk1y3kb@
zy6Qq#UFfO{U3H<WE_Bs}uDUeWF&=agKfBOX7rN>~S6%3;i&)x)uDZ}wmw4;fzpSe+
zbk#)^?Lt>w=&DPzA3n2n)ukB^qjlAVuDZ}w7rN>~S6%3;3te@gt1fiag|51Ys9osl
z@5S)d;P1ul)!-ko{}KB^vX=+xPamZBe2|RdL8;|x@SxOUbcXOC8N!45?|AT_{yQE#
zr2lpZi;c>8#)QWewI0&Um2GDi579?IL?8W-W}@^jdC~FmV%+ZI>8T%5cA?{yUHF&_
zluv-aG%6Y!-TywM3_(ZIr$40Jz_xq#hoz9KLg&B_(@Q=qRoMO|=w9++slp|fz?()X
z!RT!H;ovDBquR7R3c3e;Sas);Z-U<j-RnK9T64L3y@yptw)GyC@E!17BmLdO^mh-d
zj$ESmu!Kv6-SFQH|J`cuDj|F9R;#!DjLzIm_Sh{}ZJz+0J$8#>mpFUuCVTAmSGi<=
z3v~9_?XPkPojrD|7L3jwyQ%AL>bjfkv779%o9wY$5ku!e1Knt#J8-|;9XNaJR;)0(
ze!I~|H`?eXd+b(}@UL76*<&}^V>j7jH`!x1*<-hA+2?e>(5*Q@qqE0uvd8Yg*<*L$
z?6KQl<r3yVXOG=vkKJUC-Dt8KO?Hz#c9T7JlRb8mJ$6eW`T_z9*@;4SqL7^^WG4#Q
zNglNmh3rHjI~6PRFBGy9h3rHjJ5k6^6tXk0LUy8%ohW3dTDSjYh3rHjJ5k6^6tWYA
z>_j0u)rxf_3fYN5cA}7-C}bxJ@y?Qa0`Dv-RCaV#cvz8SmsHUq9L632U*K20&!}>*
zu-z5^9=5*bD%&k<mo#A8J@PIh=Psh<F5R_D-2d+K*Ib3}g?DKV*=N(&T!s3YYv6q?
zbtO`c(LM4mWo0@>D$?~xMLJR$noD-_>uzlK%eyq=<Z}1UyEN})+p%<4(1*PrbWgp@
zUvm}eYpz18eHYPnmu8}DyYJpb@3V`3XP5dNm*{J*!q>3Bi|u*BT~eK|${EfsW}$aU
zb-vnPf{wboln46Ej=j5-4cd0R+ND`3+m6G#=(Bb)|GbOXyNmhfT}0qr(w=-td-A0$
zQU4+i?;-;4k`Ddr?fUf*TKyxm`bUV6j}RdrAwoVv+kAw!`3SM`5u)NFM7&3cbtzPl
zLKP`gkwO(IRFOgzDaD8WAf;UTs?e%Pp^6l$NXhT8O00?$sz{-V6sky}iWI6yp^6l$
zNTG@psz{-V6sky}iWI6yp^6l$NTG@psz{-V6skxCRz-?lHH9its3L_bQm7(@DpH!0
z^pRFY3RR>~MG94<P(=z=q)<f)Riscw3RR>~MG94<)Z32fJXS>tRiscw3RR>~MG94<
z=!;XRB84has3L_bQm7(@DpIH-g(_00B84has3L_bQm7(@DpIH-g(_00B84g*MHP>t
zibqk!qp0FhRPiXPcobDUiYgvO6_28dM^VLY&aj&^?B)!+Im2$wu$wdN<_x<z!*0&7
zn=|a@4BkC<IPmVVLe8*<Gwk6EdiLvb&Y<j7HL`~@?BNW1I71I-=-~`K^k_ZwXg&03
zJ@jZj^k_X&>3GmXkJjVwOv-kT)<cihLyy)&kJdwv)}xHq$GAu9(X|=fqxI<8gj`z>
z*VaRi)}t$Qx#vTA=+S!U(R%37dg#%5=+S!U(Ru>+Xg&03J@jZj^k_ZwXg&03J@jZj
z^k_X&k*-z@`20V?c8}IWkJdwv)<cihLyy)&kJdwv)<cihLyy*@d|3aYN9&<S>!C;M
zp-1bXN9z&8@<NZ+Lyy)Yw)Gt!dbGXtXnX0=_R^#6rAOOKkG7W{Z7)6AUV5~>^k{qO
z(e~1#?WITCOOLjf9&Il@+Fp9Jz4T~%>CyJ8y~r;;+Fp9Jz4T~%>CyJmqwS?f+e?qO
zmmX~|J=$J+v|bd_i$Z!)NG}TMMIpT?q!)$sqL5w`(u+cRQAjTe=|v&ED5MvK^rDbn
z6w-@AdQnI(3h6~5y(pv?h4iA3UKG-cLV8h1FAC{JA-yQ17lrhqkX{thi$Z!)NG}TM
zMIpT?q!)$sqL5w`(u+cR$$5HFNG}TMMIpT?q!)$sqL5w`(u+cRQAjTe=|v&ED5MvK
z^rDbn6w-@AdQnI(3fYH3_Mwn{C}bZB*@r^*p^$wjWFHFIheGzDkbNj*9}3xrLiVAM
zeJErf3fYH3_Mwn{C}bZB*@r^*p^$wjWFHFIheGzDkbNj*9}3xrLiV8$_J9u913KtK
zA$=&M4~6uhkUkXBheG;LNFNI6Lm_=Aqz{Gkp^!cl(uYF&P)HvN=|drXD1@D+19qAg
zZda@9Lm_=Aqz{Gkp^!cl(uYF&P)HvN=|drXD5MXC^r4VG6w-%6`cOz83h6^3eJG?4
zh4i72J`~c2Li$ih9}4M1A$=&M4~6uhkUkXBheG;LNFNI6Lm_=Aqz{Gkp^!cl(uYDG
zqdh)Gdwh(T|Cl%#4;~}tKSry0j8^j)G5;}Q{$s@a$B6m+nYG)`tlj?jY5jLUGZp*E
zANDhAx1U+N{p$Dit9pE+XYKZ@mp6LWZom3;qi5~*(~s|`AKy<uzMmd^ztrVlr$Nu!
z?N?uH^nAj8X6^PfYqwvza>*Zow+X-GFQNxu@)yyAFY)V_`1Q-QkuTFmzKrs}jPkt`
z_i*5yxP{W;xbP_Gx#GvADC1d5egS%B?{S?$<vN4WbH$HKGh;%}6+bSW_!!T$JTA5P
zSI-qcF3tE?&lNu|wYcPE&~wF)OEX5#6+f=J7OH;xg`O*ZTy?7B)po{}A$hL&fUa3c
zdq1G|-Y?s8#Rq8b2UIV^vOQOPfccOEx@H}(Yc~F!&l7l7?EteM2bk+PKpZ%rE7!kt
z%|_1^AJF`U(c_>4x@MPquK0lJ&gj{*1IoLM9upl<4Z7T;<^zF890wF7d<M^(9Z-}o
zdan2YQQ`nm;(+Q)XI6a~J!AHS_W%+W8x<e+2z_l&C??qUNcjmx1KS>rJ|S)U*Pnvd
zjot%Dm;|>|vIF$f)hB4(Ptbm!ptU}s)~d5f|Nid<&~Fqzp>}HY==BNO;1jgLCz!Q(
zf?10v)CTomwHh6%)@S>6+5Kp*AMN#1U;V`Ae&TaK_0>;&)|V`GRsF>0epK3zO8cpo
ze&TaK@wuP6=qEn+6QBEu&;9V<FaC8N`0pn^_Y<G{iO>DS=YE*)hxvZub3gI9pZGkW
zh|wPm_)AJck9r2Q=X{mWvjhXGi(%nWO1yr4KsDkLt9^hdF+h|U@Hfy@;<4(0b|kQU
z9{c;C>uW$G6#wgAIrG1PKjPOPgFgXXrvveyVUL6V&c7~T{~Yve(m?zT@IN@uuPE2o
z&s2U9+w0^9;$9~|5WfPx$&vqw{Tu%K|8bpHDfulWUgJHWXzBCJV&CAHIqX|t)))jn
zTj06$fnXk3=zl4?8n^gt!T;b$Kj|0<{4{nzJ&`z6?Da8Sl>7s~{u8#J^$!qT2Q;?w
z860B=G`6zsNIRghm2Jn{0gbI}JL(P)bq6%Ia*3bp4=8e|7W9=f+g|}aCpHj#74$6M
zfWC5Oe1;>BfnTS@^L_)t3DA*zK%+CC+3|cpqchw3)|t?;Vjy@4`<vX?x52ag*JJqs
z#SNd$WBCC^58I9&1NyR=ZI50DXo&;*vYAWJgS2gy(12Q~dGpHr0ku%$ulScE&p_~>
zAoZwkn)wXwQwB8F^O@bV3}~!p+x^Rc#(K7IV!vxI`huDMr7xHn3tUcn8BnYDukJMl
z)b?%rS@{4x&Hz2mfTDp*91RBa1v8()J=B24hAv-XW;8;y{eIA~;-K2yn9%c|2NlhX
z9={({OtbA-or7`DryZ2ejgGDd8M7ahK6Q+Gb7K<R;$NjJmw2w`Amj0ajKmKz20zHS
z`yiw2gN&~aigO?DIg^8oiw`m)KFC=3AmiVIjC>F3?sO!h-GhvF4=Un~1&0*zjFC~j
zs&P>BJcrb`+V*_rA^O%s>RWBQZ#_gVaY!*xwxXZP75$9vVGq&69-@amq#oAg$2rnt
zx<mA^ht$LRzZvi)%H6{rQdZ_Od=uOK>>;v_L-e+Xq$nTbKKBqg#vwARL#j=knf&UI
z>eTiU(7o_ixW}(>k6+<xzrxji1r2-!4X|^4@FY12``62M?&SUJ$ArFX?_xhJ^j));
zz3_j={!I9=VmSNS3*Fw?*Iwv0&c60S=TuL^1H0SHc1wH`Hl9@PVB0;lce*#eYQOZ?
zPpaM7cCY=U81S!d9qf89bc^t=_bTU(*y&!jHT)!b$Wv10)!-><(l`OW0eS}hDJj$V
zTchHhaVMxRnakb_>U(jr{~0_9egpJ8{8RL3PwCoh{|dYYdN$xGsnO{9)u*IMV-j>u
z_!Rs<C1tw&kA+W@13yg;{4^Qw(`39)lkGoEw*NF){nKRiPosgSsr|2dM}T0EzHgA)
z9HfsMq&5es%|U8&klGxiHV4Uy2dT|LYIBenK1gj261NAb%|T-IAhkJ2Z4Qzr4^o?h
z)aD?yIY?~|Qk#R+<{-5>NNo;Mn}gKmAhkJ2lpCZr2dT|LYI6{N2C2<KYV$C)d6?Qf
zOl=-kgt;0VCNnuqZ62mJ4^x|msm;TRCpw1OJgj(P+qHRE@x<ubJWPIanA$u{Z62mJ
z4=c9#SJ&oYYV$C)d6?QfOl=<KY7cX@hpElO)aDWD;s~{HgjzVlc;pCUz#~MGBk+HO
zG2IcEKLYbdVEzcqAA$KJFn<KjkHGm6#&Ji87)Kb*9ntlV2S>ztztB(Bk1(1$qC0ZA
z+s+Z#J_6fE6i;08u8}dz5ymV>xT7Q7(GmDR;ys>%qr~~6MEIjb_@hMlquk3;@jtF(
zJY#>9+1I1Q^P|M`qr~&0#Pg%#-^ZK;J&S&nyEw}AA4M%k(aBM+{3vn$C~^KMasDWA
z{wP;|lxTmHXn&MAf0Q^s1ph<uKLr0n@IM6qLtOI^{13tZ5d06p{}B8S!T%8a55fNs
z{13tZ5d05u<wNj4#Ptus{}B8S!T%6<F$DiZ@IM6qL-0SuT@1nh5d06p{}B8S!T%8a
zvzL9qF7`tAu+PB%Gu#Wi*sH|+vqQbm{pmCC{|x-I@4QOP|1<Fa4E^ad+y#5etNc6s
z>Ztn+SI$oHvaeC%=Mm4q|1(@UJHiL-1uyhk0(O26j=}#i_&)~!$Kd}M{2$|*kHP;j
z_&)~!$Kd}M{2zn=WAJ|r{*S@`G59|Q|HruUWAJ|r{*S@`G59|Q|HrtCWAJ|r{*S@`
zG59~mT^xh|WAJ|r{*S@`G59|Q|Hsk)arA#2{*S}|aqi_f`acf;$I<_B_&*N+$Kn4t
z`acf;$Kn4t{Il15z%KJb^M4%uv%kD-=Q+pW|2X<T4*%>j9~?*j$I<_B_&<*RzeX?c
zHRc(<#vOf)JNi0fy{|LY`#K}IuQP)44)6VecX%HcdOY<k<0<xem+kS?vy7*_+xs5b
z9#46<cjF8G7q!f8@3NggJj-~>d%oLt&g?zkeP)lR*z;ZJ@zk?%kEgunyV2t*@A>W{
zJ)ZKO??#WOyyv@ZkEgunyGuNtVxM=R$5ZU{F7$ZH`@9=Hp7IXwMvteSje9)hz1{s^
zkEguDyGuNt@(%B|J)ZIo@3uXj@;>jjJ)U|t?(vj&c-Pq&PkD!T+a6DOhj*jLQ{Lg-
zM|wQvz1?klJmtOJeT>Ib-rL>3dOYR5-HqLpcs#{^?m~~J*w0<)@f7>H3q77<KX;)s
zF7M>-5|5{zWjy8m+--Y2#eVKWkEgt!yGxw+KFfIO*}&r|@9OT7VbJ3#c6AqeJjJf=
zLXW4|)m`ZE)U%AI*u!16$5Y<J-T(D?%6qum_IS#BxZC!4%6qum_IS#BxcgroPk9e_
zBT8UA^(^Bl@8NFtJf89%?*5m@Q|#d`q#hYhv3t8pJf33rcA>{p?A|W)c#7TIg&t3N
zuXcH4JjGt^vI~7?##7#_UB@$?@?Pz>oy&QzcB98r-mBf`@py{8+JzoZJ<E8?d$rs4
zc*=XV_XoqYyJ6bhFzs%bQPnWn&M>2@VRD{fsr_m&EVUb*yADgMMvtoWy&PSGzI+2(
zhkA?D=SPRbWJJS^vxdow^bF1am5Pkci-x5cqw}I+)vVFutYI;1+quv%xzMn9lT8*h
zOcpfEIBQsU>T+kZ!;G_@Q?%I-Jf~<Qj33hVJjXcexwuy<KBsZkUkbmadVEgfESLO3
z%sfX#eJ*~<wqlh2s~BZ`$VVz4?hyJ5HqU9CrGF_S^^qe!n{rXxY05L;OW@0tzrq<j
z&U#M0hR^1#={f0hOz7DAob+kiJ>YZdL41resOQvQ*ml13oN{mZQtiu^GH}~}gzZ&`
z&naIW4o>LaJA_`Jc|!NqFZ2qB6S^<ix-XUMzKnn8^1!p5Cz$O#!EEOV-ItH_Jm-nP
zG4=%OxK0F~;XFa#cY^Cb!Ihujnon@GC%DcNx<Z{_*JkvL<@2hAap6(W<J{+&J${~1
z#`BCao@ajedGV=V8F4(%h~s(Ygr8^J@jT;>=b80ANuP3(KIJ5{WG8jM+Ruae!;^8(
zbe+__yTtQ{Cz(GyN$+!#-sdFqhbMKv`c?O9bUZn!JGJf6)=Ax|(GlaM?$Nee{YmBz
zPcnaalKI1vx_AA`e8@@K?@96C60dqXDITr{r^ruE(Q}=m=Q>4xa*8@SMXWwW1U^Mh
za*CYf6gkN$a*|U-+Ee5tr^rc8Q6s0QkyAvxQ^dMc)W|6^kW*wJr^rA~QAel9Jx-B(
zoFbl_BA%Qg_ZU%p*rORMt7}B@K{i)Dq8_<lwpZYcs4uoX0$L{{+|dYgn<Kg}{a3xP
zkNH06Iph&V82{I^nj`eWBkF~H%#T5@$Q@Dq@sU5n9tX9*gGxN}JfdFM=yfb3wA>NZ
zxP57V2cheIL_M;P@eJpPdSs*acM!UDkEma^eFb#CJfeQtCEDLX_#4i1m6G3L|Bmaq
z4$e|O2j1jtx3IHD#Y3H6@z6LA^s1o|#Y5v3pH2O;k95C0LK_@W@9Yw<BN|b(^pRbZ
z`~&z;;KQJM=MlwHAL*7mLdzXNEhCDqF7KgyFLp2XKI}g1$3XYjBZ|E~{>z-%ZzGPV
zr#3#tukNWw)Kj~}k#mHIH=;h;Hnp!gPurgJ98nDS**w!SqDXGrbDkr_#t}slbMhkS
zRyLwm<`U0>j!3;mN8=H4=@G>ipTQ%_5k(l=Zi6G<-$Ce%ZbUtWx%xM3^drr?9L=cL
z_P@}HdTra<-$Cg1JHjmJh@Qfz#?^QGU%vxAVjWSx<0Cy6I-=gkwr74u)Cbx2T<C}*
zfUn<gLX9W_7~PwXcz*|B02cU2qQQt-oc^o+%jgI^qF&6nkR$zkXGFcZagp!K`#T6d
zvoxYU&PO`JkEo}!?NwDH>hJahqx9yZ^yZ`V=A-oHqx9yZ^yZ`V=A-oHqiQKvgHd|(
zQF`-Hdh=0w^HF;9QL@TWdh=0w^HF;9QF`-Hdh=0w^HF;9QF`-Hdh=0w^HF;9QF`-H
zdh=0w^HF;9QF`-Hdh=0w^HF;9QF`-Hdh=0w^E9z2O%zHKh0=@*(u@ewj0n<-Lc>9t
zxSA#kr5OvP<L4;%SRl<<AT4J4Wjo(XEAqJ9`CdBi{68(OT<-ioP5z%2Z!U5EpC<oL
zi$j;Z0Xp+fE6&)vGygQ1e_9d7wln`UIe%KQWnA`e_?I*PG?{-|{QGRb;|$LH(`5c>
zGXFH0f11ocP3E6gjqC~1#FMmYM8}ior->(N^87S;ewsW#O`e}7&rg%*r<LdHO6X<M
zsz;x}^QdXnrfo-$wCdEhqeogbYunKyP4AOdExW{dewsW#O`e}7&rg%vr^)Tp<o0Q@
z`m`d3k9Ss|CSs(e6Q9QsBQ3Sq_N;7L(ZJ{&KCL)l`@5hs_B0uLnv6Y7#-1i)Ppj?w
zNRQgmWbA3Zaqkl6?diZdUYhJZ9eC`PmL~1d8A4j`-Md7)O9<UZq{-*g<nw9z(6rR+
z;~f*y(y(pEgtU}w`(6KwOg>E}pH_Q!N#tME-fbtboxP{&ZPR4$X|ne;*?XGyo>nXH
zzdQq$R$H*`>^)8P{(@S>aPWd!giw0EDs*P@f?Baq3Q@TfV)RO|7sQoNUW{Hnm7z^#
zXj2*5RE9Q{p-p9IQyJP+hBlR<O=W0P8QN4vJ^NUYp-p9IQyJP+hBlR<O=W0P8QN5a
zHkF}GWoT0w+Ej)%m7z^#Xj2(R(;3=ShBlR<O=W0P8QN5aHkF}GWoT0wM$;MERE9Q{
zp-p8NO=oCR8QN5aHkF}GWoT0w+Ej)%m7z^#Xj2*5RE9Q{p-p9IQyJP+hBlR<O=W0P
z8QN5aHkF}GWoT0w+Ej)%m7z^#Xj2*5RE9Q{p-p9IQyJP+hBlR<O=W0P8QN5aHkF}G
zWoT0w+Ej)%m7z^#Xj2*5RE9Q{p-p9IQyJP+hBlR96r7<=WoT0w+Ej)%m7z^#Xj2*5
zRE9Q{p-p9IQyJP+hBlR<O=W0P8QN5aHkF}GWoT0w+Ej)%m7z^#Xj2*5RE9Q{p-p9I
zQyJP+hBlR<O=W0P8QN5aHkBcR&CsSYw5bejDnpyf(55o9sSIr@Lz~LbrZTjt7im*3
z(xzUdO}$8)dXYBuB5mqL+SH4*sTXNeFVd!7q)nZs9i3(d>@=<BG_B?|t>&~c)$!mo
zsy?kOR5t25&2x~`JO??AeomvD(`e>2YB`NgPNS34%EA0!XI!VL<<rWqY`+XTex9bT
zPcynat-AKF9$lVhq;{G*Jq`b-Vg59npN8$zFnJm#Ps7`3WgX+e8FGm;WD#e`BF>OS
zoY5U!)vulzIHPtaBu_X)hHysucZtXQXQX+f$NOibQlrQFXQWS~$604|ZAOp%&yX#g
zAzL^@ws1yQsB&_KGvo|sxY{#Z?HMwMGh_}gQ423I5BU<uyu>jtGiH35G2_dO1Yc$(
z_zK6r!tt+g{3{&)O^*L2$A6RKzsd1qDjy5RR4!y}I~G4Gmc}%<ut(@;sbh?AwVyEM
zeiLU5uC!|_B{yB7bLtE_r_s-IwTd4*1$xEQ7&Wde)n}%z)xW7nQ1k`8Vrq=qAJgo#
z&tN{sG|yn$td40u!M3>_W86B%xOI$i>zHO3{HwVg(<oau42)^4ZQHX<V~n`RP{LW=
zdw+0N_b%k_&T9NMF5CBYR-<g8?n}SwzKmAvS+4wS;Bn$vjRK5T>{(rp@on%Oqr49b
zJ@!0{$5+Mbc<?H71+Ow!@T%BwiQmt9RXhlF<;M32zeBBkhg$m%we}rq?KRHx8s~Y9
z^Ss7+UgJEkah}&W&ug6LyPW5{oaeio=ewNe94-AEZTuW<{G8hOcyNxV4ChqKvT5Dt
zc*<~&c72X^eU5g0j&^;Hc72X^eU27=juw56rwr#*k3P@0K+hMQV`OxWG0{1mGMrPL
zy4+)ybF}4iwB>WEQ<uDJWTbzNk^VVq_8fJ3j@EsSc=)<n_jvHSTDQ?pd0toRHu_#(
zSL-(VDbMR_-9|s<d0nmBxEJ*MEU&9|8~v2+b+vAz@8Wgo(CAq7I#K9#uKabibeCKM
z{gmf*wREGe{B^Z-V-oaJp4Zj7$Aj~<zVo!c^J=;G2j{8T^VGt5THkpob4=yF{_|3%
zY}(p++S+-IyRWLmE$+PZpksnZC`n;Iiv1XPoc~&H=cQqv$EzvMOUXWi*HoOBo^AW-
z!+F}^dG7i=ZSXwzex7K29tO@6jnBiwdD`ZA*f>v1JkPzKXTIya>PzQj*6X}#&Gu5^
z_qng{<K_FD|NETb`~3F@M6(|d&3-_Q|9~3*A$tBHdj27L{vmq)5y$_C<A22QKjQcw
zbNr7v{>L2uV~+nB$N!Auf5!1Y<M?roALn>|b5xv+bNmIBcLWzyE>yJa7kWP7f@;kr
zZaWuLYcBB&zy+ep1@7?zQRRZprXzJW<2E0!y3>)WyJ2Ape4O$Da0v7~?FHh`1+{el
z*L~#$)!-hXzaMx(vx`24Yf#<Uwqh@+?rdAP7if1EXm=M>UoLmMyTH4>7kIb#g6huY
z*6jt}?Y*EHlt=ivpc=I8Sb9ORR7Vooehy<lhq0f-*w0~X0>&m_Yy!q6U~B@$CSYs=
z#wK8F0>&m_Yy!q6U~B@$CSYs=#wK8F0>&nI8+wAbp(g?}Ho?sH1dL6<*aVDCz}N(g
zO~BX$j7`AU1dL6<*aVDCz}N(gO~BX$j7`AU1dL6<*aVDCz}N(gO~BX$j7`AU1dL6<
z*e_u07clk<82bf`y+QdKl)pjw8<evze89f&0sF!W{l@Dg`Q9Y?-lP~-iAF%<Lcf1H
z8Gi=bJ=dg0L&g)J-`1IoI~q)?F2;oJe<xXIJ4yVXRE_wU*FcZXCgbjTC&?ry$s{Mq
zBqued(0|D%Cs}DfNq;d(4>d^-HOX4s$>3?9LA7J_4EZE|)+Bw_WZ>0Pld2d0`U<vt
zjmh8~_yf>mz)5<INoDf>)p34O*}KszcqdtDKgmk_NmklVveJH%mG+aWFCD`w-$_>a
zP7<RgiB6Nsy8Wxin3Jk6<NGP`c=IB)bCKG)$lUKmDOTmm9E_f`y(snC_FVl%Wf4N^
z@gntgkvYkWQl`s2SAQ{ZR&Y@|wC$YdqO@o9JmE#@&Gr@Sx3J#^-vOQNTx72PBC~TB
zr8<{*uKuEwb~TtnAyX)13WZFekSP>0g+it@ULFsoP{<StnTlH>Qz&E#g-oH4DHJk=
zLZ(p26bhMQtTBZ`rclTf3YkJ7Qz&E#g-oH4DHJk=LZ(p26bhL_AyX)13WZFekSP>0
zg+iuK$P@~hBCnW2AyXRt=`I-2Orek|6f%WErclTf3YkJ7Qz&E#g-oH4DHJk=LZ(p2
z6bhL_AyX)13WZFekSP>0g+itnJzYW}mr%$h6mkiLTtXq2P{<_|atVc8LLrw>$R!kV
z358rjA(v3dB@}WAg<L`*mr%$h6mkiLTtXq2$citK6<;DNzNENxHMoRAE}@W1DC80f
zxr9P4lLuZV54=nsc$vt2nOeR~G`>t8c$r$eOdfbS*e$j%lLuZV54=nsc$qx#GI`)-
z^1#c~)McXUW$NoP(e*OX^)k`*GWB&?_u_Lp54=nsc$qx#GBt9U7<-vK@G^PeWn%1Q
zqU&Yyz{});SI7gekOy8N54;k8L+8B0y<8y=yh0v$g*@;IdEgcDz$@f|S2W7g@#KM5
z$OEsC2VUVWu5kTV0_TBO$bYVI<yXi9uaE~`(TLB#IuE?Um0uwbyh0v$MWZ~GlLx*@
z3w@Io`X;UBO<K*Hw2n7v9dFVK-lP@0i5lNTjsMBo#b2YkU!%HTqorS?rC-C(ui<AJ
zFVlFLCJsy!2d0Sw)5L*k;=nX<V465EO&pje4onjVrila7#DQrPGEE$qCJsy!2d0Sw
z)5L*k?r54jnkEiR69=Y=1JfvKnme85PN#_j)5L*k;=nX<U>XLdVPKj#FijkoMqShB
zYMMAOO&pje4ost~Y2v^%abTJ_FijkoCJsy!2d0Sw)5L*k;=nYjn<frS69=YYej4Vd
zi38KbfobBvG;v^>IB<;`xkim#BMw|64qPJ+Tq6!#BMw|64qPJ+T%+!;QFqsf1J{TH
z*N6kxhy&M%1J{TH*N6kxhy&M%1J{TH*N6kxhy&M%1J{TH*N6kxhy&M%1J{TH*N6i%
zC}akO%%G4N6f%QCW>Cls3YkG6Gbm&Rh0LIk85A;uLS|6N3<{Y+Au}js28GO^kQo#*
zgF<Fd$P5aZK_N3JWCn%IppY39GJ`^9P{<4lnL!~lC}akO%%G4N6f%QCW>Cls3YkG6
zGbm&Rh0LIk85A;uLS|6N3<{Y+Au}js28GO^kQo#*gF<Fd$P5aZK_N3JWCn%IppY39
zGJ`^{qmb(;<T?tujzX@Zkn1SqItsatLaw8b>nP+p3b~F#uA`9aDC9Z{xsF1vqmb(;
z<T?tujzX@Zkn1SqItsatLaw8b>nP+p3b~F#uA`9aC}b9e%%YH46f%oKW>Ls23YkSA
zvnXU1h0LOmSrjshLS|9OEDD)LA+soC7KO~BkXaNmi$Z2m$Sew(MIo~&WEO?YqL5h>
zGK)fHQOGO`nMEP9C}b9e%%YH46f%oKW>Ls23YkSAvnXU1h0LOmSrjshLS|9OEDD)L
zA+soC7KO~BkXaNmi$Z2m$Sew(MIo~&WEO?YqL5h>GK)fHQOFGxas!3jKp{6!$PE;7
z1BKi`AvaLS4HR+%h1@_PH&Dn86mkQF+(02WP{<7was!3jKp{6!$PE;71BKi`AvaLS
z4HR+%h1@_PH&Dn86mkQF%%PAu6f%cG=1|BS3YkM8b0}mEh0LLlITSL7LgrA&91593
zA#*5X4u#C2kU11GheGC1$Q%lpLm_i0WDbSQp^!NgGKWIuP{<q#nL{CSC}a+W%%PAu
z6f%cG=1|BS3YkM8b0}mEh0LLlITSL7LgrA&91593A#*5X4u#C2kU11GheGC1$Q%lp
zLm_i0WDbSQp^!NgGKWIuP{<q#xrst<qL7;?<R%Kai9&9okeevvCJMQULT;jvn<(Ta
z3b~0wZlaKzDC8yzxrst<qL7;?<R%Kai9&9okeevvCJMQULT;jvn<(Ta3b~0wZlaJ|
zQpld*mJ}jX=6O}<wHddhiVop0_6X>?satV>`Q(-|(lO!pu)Wst7CGK6X~4E;{BFfP
z61)|6rguwsZTt=B@8R4c-@C<^Pi{#w{+GXpb4$w6l}I_pEk0hkt~^Rbx*n-WM=IlW
ziDwIM1-r35XLw85ugg7icuP63ZRd@*lnLARmrrhyL*CM}F#GcNaBe9#cDZL4Zz)5z
z?K#F<V%zAsnp?_^jb8J4OBu3lulc+s)rl*q&R6AZ`Ic1Y>-74NTT-3Tvyr!yMf=R2
zlf0!|+O{*&Tgs?yJ1@PZ`VuOm*1yP3Zz->~?YYWZ(w=-td-A31TK^(zy+zh~OFHzg
zx9iupX!UQ=>fch^91q@7y%_EBE!yT=w9U7~r%OCf`<BjZyj_?@6<Jh~MHN|8kwq0*
zRFPGD=nt|Qr(6|U6<Jh~MHN~39af3YoJAE`RFOp$SyYil6<Jh~<$E|;RFOp$SyYil
z6<Jh~MHN|8kwq0*RFOp$SyYil6<Jh~WdxB$6<Jh~MHN|8kwq0*RFOp$SyYil6<Jh~
zMHN|8kwq0*RFOp$SyYil6<Jh~MHN|8kwq0*RFOp$SyYil6<Jh~MHN|8kwq0*RFOp$
zSyYil6<Jh~MHN|8kwq0*RFOp$SyYil6<Jh~MHN|8@iwY>8&$lGD&9sFZ=;I0QN`P+
z;%!v%HmZ0VRlJQVa;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+s3M0d
za;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTY
zB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+s3M0da;PGQ
zDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mv8
zK^5<yig!@OJE-CvRPhd~cn4LygDT!Z74M*mcTk1*eclt~S=H&?pJg+Hkw+VOw2?;}
zd9;ydW+N|cjO$3hv7VPghK1)9Px7ql%<D>g9<S=m)05`o|HkoN)tQfbRbD>sIrF@(
z)<=3(XFl!~dU+|z|MIHNyw-sj9gXwqi|xg$I`dMROFToEk9);VUaB*CRcD@6oq6@q
zKGLf?^Kq~0%*Ws4c(3Zr$GxgEFO~W{Ug?*YN^N^pXI|_Xy{a>>l_5s2>db3>h;6Ux
z%(JR9&#KNmt2(_?w*G~l^U|}<#;VRdvpsoMb>>;snMdJy)rgPp;%xr_dR1p$&;5<v
zzFH~Y=XnJCQP49*d9?zU_h5TfXP#N3yjp?nKFYnSGq1K_^s3H$;8mS@tsyabRcD@z
zCC~d8`M{Y&o>iTB<uJNmttWAbvxt1)Rh@aYAfL^vI`e8lw!Nw|&#KP6avuN7t2*;~
z{$=!hY(79CYGpoyS9RtCKhw!GXO&l5^BKIVGq1L0+q1QKR(0lScX{d7TzOSzUaL@y
zKLybYEiq3^%+nI{YKcCNXL|Fj>ddpMGta8dJgYkM%#7vLPJQGIM|xFfo>{WI+No_n
zxy~y$^SyXgXI{CP(W^T1T7_cts?I!lTAn;DPrJ^mUF!_A>%7{v?S&laRh@a-cwQ}0
z_r<EtJacY&wR9ipRh@aYciYYl@@lPn65e~gU#MqBLS+<*nA+NyP&4_$pJM+zw%*ZD
z$s3?nV#wA?458l9NW{FVQ>b?|g!4eXqaj<X(S%!kr1a?{^(L}VYc_;hvmw-)4WZU-
z2(@NIs5Kixy`v%2It`)T(GXq-^^Qg&CN_+E?^w9VN9s;(>m3c@?J7xdcM0w;!QCbN
z=2s%&h$K9m9~SCM8bZDKB^;(i>pW#^6@gH3NvOCaRF*5$mo$W0nI_a)L7}ofp|U>V
zzjC~ylWeX06l&$CP%A%$(wI;yKZRODDExQ+rInwu_2!pQZ+;22dQhl{B-Hv(p(2t{
z>pz84pw@rN*7{GOVv$g9ehGiWf3^Now%!;L>di0V@36J1Q1&dg-u#k1hpjiiWb4hZ
zM1tB(P@4&AGoe_de^HwW)uzto)oa47_UqMa!tLfzwd^CiDAAi=vi0VdP;Y(-6@`R)
z^Gm46Bh;H;LPZ{--ux13MW|43ehC$Mgo-&rz4;~7icq1xq#@LsUqZe4C47owz6$Ei
zFO?hx^(772dh<*8bxO2GRJPWL3Kf5Zdh<)D_#@PtUqY=a7b@Ba^(76VqK#0|MyOSz
zLX8518U+Y73J_`(AXKywq76kGpG_-)g?jT#h#nkmWTOE^8}p_Wq(Z&<CDfZ=LPZ<l
ze}dGbSGB1`Gw?#a`6X1G5o*LF)JjpI-ux0O&IlD%5^4tim)Eul3taA~BGi{OgprR|
zRI#n~oWh0t>X?vFRB_27e$|^_vTvjOy_D-q8Y=l?Y^@!YtvA0C^VIIfgvCbU$vo$H
zvK>$6ImZ)fJSfz7P^gihP-{Pgjwkb^H)9gixKFmD$2@0lLXGc)dqIuqWNS@`P@^`X
z#%n@Hk9p3Zgc@fFHQo_wY?YYj97(8=l+e**o--n$)_w>bJ?0Z7=6fB2Y)6CnM1%Rn
zf%(cGT%uLk!b`Sk3-i6!PWHo!Li17kd~`k^h0jOZ^HKGDR6SokqyK9i&PRds)$7@Q
z8Pr-k*;=bC)SFzw?@+F_cCx>Vtx>jYt71NSn2!?XtM*k+ZO+#iU%yg!^VJuOC%kX<
zRiR^hf$GBO*j}JJGCIN+s78cD?*ig>0dd=VOuO81yFknv9k&aJ+XZSVw)LD;s3)XC
z$8hf)ZFCIx&e29a|4Ml0Xrm)}0ashV)fN!X3y9|-brDhvA+->y7RD2yXP<<cPe_FD
zA9^-Pw&P3)^C8TKFdxEv2=gJFhj1Qx21&<jj4$Mzx_;ZQO3$Hl3E@vD(b!qG*$!bl
zgzeBXMJjpMsFr110J=4W+))Vsp`U^!3gN#H{tMy15dOUzrhhg6h45bp|Ap{h2>*rf
zUkLw&@Lvf3h45bp|Ap{h2>*rfUkLw&@Lvf3h45bp|Ap}HohZi>-h<NU{<IMO7icc4
zKe0e_SwhVm4hyxXv+x<|aDjSHqa*49%@B47^#vH=E8w@lvmF1gI`aax9slayZ2@(+
zKrKimn)}lEHTPxQPRZZ<7}cqN)v86IRxJvj1Re7iXogT%qITqRt-uj#4V5qrW<c#0
ztrExc1)4MT@$StRsNRjP_XVnV+phNo!8vS4@&&4Qm%H8<C|28^0DlR(7hXWDUZD9y
z+wMabX#UXnd(f&_pjkwf5P=tHF44B*@B+^$3eEfi&npVe{{qb@>N?e0#}Y~SPr`qa
z93u&bNsV8|6G@o#US_t<WK!b`+3=Z!&m{e$_Z`!(@RNiM?=0pLGvM9CjJ|8{AZBzQ
zlvKWI)cQ%`JD~3<$-N}G3-%FHiE>e)uepe8F5;St&`c4UDMB+vXr>6w6rq_SG*g6T
ziqx)k2F)rD3$2+V?zf0LE#gj#xYHu;v50#tLNi5yHB*FUiqK3EnkhmvMetCBW{O~=
z2+b71NfDYU(hRe_2i8mxEES=dBDg9-Ges~~gl3B1tq9E&!Cn!XDT2cyG*g6TiqyaR
zoYqVc+!mpkA~aKkW{S{E5s{<_%@o0N5t=E2?IJW&gl3A+Oc9zXLNi71zYzWx!v8`z
zTnL8?(ab`aTnLj3VR9jwSqPsC;d3EeErg|o@Usv$7Q(|q7+A=?FXXNla=#0?uZ3u4
zA(~l;W)^Zs3%Qqt+{Hp&zrKHmW)^bI@1eJSk5~OA-oxF!hx_^?-OJU)AL(9%x<aE?
zSS5<N$71fW7>yO9v0^k<jK+%5STPzaMq|ZjtQd_Iqp@Q6DTbe7m??&tVwfq0lVUh2
zMq|ZjtQd_Iqp@N%R*c4q;jI{r6~kUJ8Y_mwVl-Ba#){EcF{~D&v0}I_Mq|Y=T#Uww
z;kg)%6~lHh8Y_nLVl-Ba#){EcF&ZnTE{f4uF&ZmIW5sB!m>MZYW5v`<F&ZnTc8bwh
zF||;P#)_$nVl-AveJz6jMex4}4i~}UA~d!LCKtivBA8r+#umZnBKTYcSBqe25&SHI
zjYaUV2nH5$?~AzWMcnTq?rRYmTZG0Ip|M5W(IW0;5qGf&jV(fBi@4?zuDOJ3E<rOT
zXr=_sl%SasG*g0RO3+LRnkhjuC1|FE`z_&qOSsb#?zDtEE#V$ZxW^JSQ-Wqn&`b%M
zDM2$OXr=@nO3+LRY?Ppx5;!SAGbL!I1kIGdQVE(VfvXZUQvzcpXr=_-O3+LR?3JLI
z5;!bDGbL!I1kIG7nG(1yK{F+2rUcEDpqUaFE<rOT@LYmsN?^ML&6J>-5;RkSW=haZ
z3H&dH|HbgX7!DW1;bJti7$z6P<YJgyjApb?yJE#+_*@KEi(zRo{49oz#qh8g1{QPg
zi@EE?-0x!UYcZNxjAj<2nZ?}EV(w)zcd;1FEJibnx#rt6q8U!yrV))$3b`sgp<d=T
zDa7dP@ixzn3O$CpO*O7#RLjN`_$0@SfO@Au<$9+;=oyCFR7b`OlsFr|O*LY?>~gVf
z42AC%dq$66-YfR53Vq~z#hX!U8WZmoSNc_48K0u$4EQ>D1$+zCdPN<h^@@r2iUDIG
z=xpS@)ZG$!9M(5JJWgDq_M-PR)Lx7pxh#Q)CE~#)=3xmr`4Y7em;8bfkB^q<s&ocj
zm2o>I4}rVD6lj)~s1@kHs$bh9*d7xtQ7bTNJ-pDoEs_3x<jdH2m-1b1K9@-CMy*5@
zdc3(rtQyVg66sk8w@cu53F=*fZkI^0I<snjJh2qTE=93RQS4F_yA;JPMX^g!>{1lF
z6vZw@u}e|xQWU!s#V$p$OHu4n6uT6~E=93RQS4F_yA;JPMX^g!>{1lF6vZw@u}e|x
zQWU!s#V$p$@8f#j$C=;9ncv4b-^YL7Pe1#9`q}r>THjAy->y5onz&teD%ABG-Ot{k
z@(!V9Acc2|lRIJ`1+~+t>`!9f1!|{Jm1w6?;c{?=<}~i`PNTwq0lx%(8Ptk;l^+26
zLG4Pc5|3@~h`Ao`h@A(20KNhK3cLtfU3bK-*gL$_sBjUu7}T!BD!CK9+t=frMup44
zzu*|n#HvIyu|kiU@9<8eLcI|n)KgdC-}*@JG%9QW8^I>98EgSt!Owu71^)*89QcRx
zwEO&t4p8&<vcDiNAAtW4!2bu}{{!$}3jd|>Ukd-F@L%ekUK6G8U+SG+Wt;y}_%DV3
z(wO-#h5u6cFO8Z1Qt$LCH2<aWU+SG+Wt;y}_%DV3Qur^8ng7z5`7e!`|I(QGFO8Z1
zQur^0|5Erb^-ixUH~*#ZU+SG+Wt;y}_%Dr{|I)bmFNOb7_%DV3Qur^0|5Erbh5u6c
zFHM;LQt$LCH2<Xu^Iw`U|D_4@Uz#xgrQYdPX#PtR=D##y{!8J%)H}V(Hvb=l{}00d
z2jTyN@LvZ1W$<4H|7GxB2LEO7Uk3kW@LvZ1W$<4H|7GxB2LEO7Uk3kW@LvZ1W$<4H
z|7GxB2LEO7Uk3kW@LvZ1W$<4H|7GxB2LEO7Uk3kW@LvZ1W$<4H|7GxB2LEO7Uk3kW
z@LvZ1W$<4H|7GxB2LEO7Uk3kW@LvZ1W$<4H|7GxB2LEO7Uk3kW@LvZ1W$<4H|7Gz1
zA^86g{C^1kKLr2f@Lvx9<?vq)|K;#s4*%uwUk?A}@Lvx9<?vq)|K;#s4*%uwUk?A}
z@Lvx9<?vq)|K;#s4*%uwUk?A}@Lvx9<?vq)|K;#s4*%uwUk?A}@Lvx9<?vq)|K;#s
z4*%uwUk?A}@Lvx9<?vq)|K;#s4*%uwUk?A}@Lvx9<?vq)|K;#s4*%uwUk?A}@Lvx9
z<?vq){~w0`55xb5;s3+%UjhFW@LvJ{74TmH{}u3G0sj^7UjhFW@LvJ{74TmH{}u3G
z0sj^7UjhFW@LvJ{74TmH{}u3G0sj^7UjhFW@LvJ{74TmH{}u3G0sj^7UjhFW@LvJ{
z74TmH{}u3G0sj^7UjhFW@LvJ{74TmH{}u3G0sj^7UjhFW@LvJ{74TmH{}u3G0sj^7
zUjhFW@LvJ{74Uy2{ND-xcf$Xj@Lvi4mGEB)|CR7x3ICPwUkU$}@Lvi4mGEB)|CR7x
z3ICPwUkU$}@Lvi4mGEB)|CR7x3ICPwUkU$}@Lvi4mGEB)|CR7x3ICPwUkU$}@Lvi4
zmGEB)|CR7x3ICPwUkU$}@Lvi4mGEB)|CR7x3ICPwUkU$}@Lvi4mGEB)|CR7x3ICPw
zUkU$}@Lvi4mGEB)|CR9n5%~WI{C@=gKLY<%@LvW0Rq$U0|5fl`1^-p>Uj_eF@LvW0
zRq$U0|5fl`1^-p>Uj_eF@LvW0Rq$U0|5fl`1^-p>Uj_eF@LvW0Rq$U0|5fl`1^-p>
zUj_eF@LvW0Rq$U0|5fl`1^-p>Uj_eF@LvW0Rq$U0|5fl`1^-p>Uj_eF@LvW0Rq$U0
z|5fl`1^-p>Uj_eF@LvW0Rq$U0{~v|_kHY^);s2xXUk(4&@Lvu8)$m^p|JCqc4gb~f
zUk(4&@Lvu8)$m^p|JCqc4gb~fUk(4&@Lvu8)$m^p|JCqc4gb~fUk(4&@Lvu8)$m^p
z|JCqc4gb~fUk(4&@Lvu8)$m^p|JCqc4gb~fUk(4&@Lvu8)$m^p|JCqc4gb~fUk(4&
z@Lvu8)$m^p|JCqc4gb~fUk(4&@Lvu8)$so@`2QIEe+>RV2LCniUjzR&@LvP}HSk{p
z|26Pm1OGMfUjzR&@LvP}HSk{p|26Pm1OGMfUjzR&@LvP}HSk{p|26Pm1OGMfUjzR&
z@LvP}HSk{p|26Pm1OGMfUjzR&@LvP}HSk{p|26Pm1OGMfUjzR&@LvP}HSk{p|26Pm
z1OGMfUjzR&@LvP}HSk{p|26Pm1OGMfUjzR&@LvP}ABX>s!~e(O|Kspq3;(t7Ukm@W
z@Lvo6weVjH|F!U63;(t7Ukm@W@Lvo6weVjH|F!U63;(t7Ukm@W@Lvo6weVjH|F!U6
z3;(t7Ukm@W@Lvo6weVjH|F!U63;(t7Ukm@W@Lvo6weVjH|F!U63;(t7Ukm@W@Lvo6
zweVjH|F!U63;(t7Ukm@W@Lvo6weVjH|F!U63;(t7Ukm@W@c#+;{{;Mh0{%Y%|8?+R
z2mf{OUkCqn@Lvc2b?{#Y|8?+R2mf{OUkCqn@Lvc2b?{#Y|8?+R2mf{OUkCqn@Lvc2
zb?{#Y|8?+R2mf{OUkCqn@Lvc2b?{#Y|8?+R2mf{OUkCqn@Lvc2b?{#Y|8?+R2mf{O
zUkCqn@Lvc2b?{#Y|8?+R2mf{OUkCqn@Lvc2b?{#Y|8?+R2mf{OUkCr6g#S;%|0m)9
zlki^;|Ml=+5C8S>Ul0HF@Lv!A_3&R0|Ml=+5C8S>Ul0HF@Lv!A_3&R0|Ml=+5C8S>
zUl0HF@Lv!A_3&R0|Ml=+5C8S>Ul0HF@Lv!A_3&R0|Ml=+5C8S>Ul0HF@Lv!A_3&R0
z|Ml=+5C8S>Ul0HF@Lv!A_3&R0|Ml=+5C8S>Ul0HF@Lv!A_3&R0|Ml=+5C8S>e;54U
z1^;)!|6TC^saQ?ye<tqc*Sq=k?wCi`cgNO)9$()b+W>w}^F?>ZJQsI&{L|nHm&8|s
ztH2!Po`1U=FL&eR?!*Hs`82+k;cFSbmf>p|zLv%8YZ<<l#q4VtzLw!@S=_#s;cHpk
zzLv%9YgydBmf>p|zLw$ZPw=%IU(4~e9AC@vwH#l|@wFUZ%ki}wU(4~e9AC@vwH#l|
z@wFUZ%ki}wUw?|P75G|#uNC-Ofv*+#T7j<>_*#Ll75G|#uNC-Ofv*+#T7j<>_*#Ll
z75Mrye67USN_?%v*Ghb?#MerEt;E+#e67USN_?%v*Ghb?#MerEt;E+#e67USf5F!(
ze67OQDtxWN*D8Fi!q+N%t-{wTe67OQDtxWN*D8Fi!q+N%t-{wTeEnB^t;W}Ce67aU
zYJ9E6*J^yN#@A|mt;W}Ce67aUYJ9E6*J^yN#@A|mt;W}%<7*AR*5GRmzSiJt4Zhak
zYYo2E;A;)O*5GRmzSiJt4ZhakYYo2E;A;)O?uq&N!aXrRU$`gsVQKXq#j!ErpGd>^
zD2^HblyWQlp4gv(o-@BErggl+-QXUu2iyzlEgt>)ZS1q4R}kH!xTNzdE*bCkF^Wq@
ze8vA18!z$yg8k?G%TE*TQM@wxslh#pS3<=rqo07>!xNBuf;JzYxC1N&%fNE50;~k9
zz-q7ttOe`9da&K+SG+RndxOF+=*rhpJ8P+(wbag9YG*CAvzFRfOYN+scGglmYpI>J
z)XrLJXDzj}mfBfM?X0DC)>1nS)J_An(?IPsP&*COP6M^mK<zZBueq9NpmrK!uAK&I
zr-9mOh`DweVy>Nrm}{p&eT|QI?KH$(I}I_{P6M^mK<zY8I}OxM1GUpY?KH$)I}OxM
zL)^8~5O?h~P&*COP6M^mK<zY8I}OxM1GUpY?KC7@I}HifPD8@A(~xlOG$dR*4GGsy
zL&CMwkZ|oZBwRZU3D-_T!nM<&-b8+>od#;Bf!bL|?X07A)=@j_sGW7x&N^ym9ksKL
z+F3{KtfO|;Q9J9XopsdCI%;PfwX=@eSx4<OQag>*P9wF`NbNLIJB`#%Bel~=?KDz5
zjnqyfwbMxLG*UZ_)J`L{(@5<!Qag>*P9wF`NbNLIJB`#%Bel~=?KDz5jnqyfwbMxL
zG*UZ_)J`L{(@5<!Qag>*P9wF`NbNLIJB`#%Bel~=?KDz5jnqyfwbMxLG*UZ_)J`L{
z(@5<!Qag>*P9wF`NbNMiTNAuB!CMo&HNjgGyfwjF6TCISTNAuB!CMo&HNjgGyfwjF
z6TCISTNAuB!CMo&HNjgGyfwjF6TCISTNAuB!CMo&HNjgGyfwjF6TCISTNAuB!CMo&
zHNjgGyfwjF6TCISTNAuB!CMo&HNjgGyfwjF6TCISTNAuB!CMo&HN#soyfwpHGrTp!
zTQj^h!&@`FHN#soyfwpHGrTp!TQj^h!&@`FHN#soyfwpHGrTp!TQj^h!&@`FHN#so
zyfwpHGrTp!TQj^h!&@`FHN#soyfwpHGrTp!TQj^h!&@`FHN#soyfwpHGrTp!TQj^h
z!&@`FHN#soyfwpHGrYCHTMN9kz*`HvwZK~oytTkv3%s?!TMN9kz*`HvwZK~oytTkv
z3%s?!TMN9kz*`HvwZK~oytTkv3%s?!TMN9kz*`HvwZK~oytTkv3%s?!TMN9kz*`Hv
zwZK~oytTkv3%s?!TMN9kz*`HvwZK~oytTkv3%s?!TMN9kz*`HvwZdB~ytTqxE4;PB
zTPwV^!dol6wZdB~ytTqxE4;PBTPwV^!dol6wZdB~ytTqxE4;PBTPwV^!dol6wZdB~
zytTqxE4;PBTPwV^!dol6wZdB~ytTqxE4;PBTPwV^!dol6wZdB~ytTqxE4;PBTPwV^
z!dol6wZdB~ytTqxE4;PE?uq@kL|g1L;Adm^%U%!u4Y&b(#Tc*fG4V?9)0E`E-y4Iw
zTpoN1{2aK^n0UayCjJ@wi^BDIT#v`~F?(E($MrFLTpzQ?^)Y)~kH__RTpzc`^>KS#
zAGgQ#cwCRi^?^OE5A1P09@pb>eZn3$;Bf;UH{fvt9yj1|10FZvaRVMV;Bf;UH{fvt
z9yj1|10FZvaRVMV;Bf;UH{fw29yj7~BOW*6aU&i#;&CG$H{x+49yj7~BOW*6aU&i#
z;&CG$H{x+49yj7~BOW*5aT6Xl;c*ilH{o#;9yj4}6CO9=aT6Xl;c*ilH{o#;9yj4}
z6CO9=aT6Xl;qmioapQ^4tHl{VtlZ}FYE4Fcvr(vb%!Ph~>GNt$Mz4qeyxNiREchLx
z+J#Wc*LkFTW1CB)d}AqC29|>rU?o@uR)aNQEm#NE3-1>*_X|G*T5tEm%>6KPKg`?@
zGxv)b{VHaR*4zCsb3e@7FJ@FCW{jT$HyUB)elcVFi^9!#+>FP~)Wv2zZpPzgJZ{G0
zW;|}j<7PZ=#^Yu@ZpPzgJZ{G0X4QqxkH^h;+>FO9c-(@=EqL65$1Ql=g2yd*+=9m~
zc-(@=EqL65$1Ql=g2yd*+=9m~c-(@=EqL6D$E|qWipQ;Z+=|Doc-)G|t$5su$E|qW
zipQ;Z+=|Doc-)G|t$5su$E|qWipOnu+=j<(c-)4^ZFt;<$8C7rhR1Dq+=j<(c-)4^
zZFt;<$8C7rhR1Dq+=j<(cx;!#_axe-aN~z!dLAR4+rCpOZD($+omsVZX4TqbYqa{V
zJ@&tWe*yj_xR&Gpca6o`W6j`yqr3(CUhG!vzt-5WJ=TWpl^E@6Q}*~MxEtI9_JDgq
zuNrD+)~=mdyLM*n+L^U$XV$KrS-bYwSMfCn>djOA>j<c?fXW^Mp8@s7PL&)7zXs~P
zRFymneghl<N5M4s0{9~6mEr9%uX$^ac?DW~%&X|z6#;xlV;pl9+wYIGt5<dTYuH}b
z)E@gDwpTZ`$6m+w8mIP{b{-LWrA>RxZ;iFb^p2`f@2Cp>)>wN?@2Cp(Mzc`+L<oNg
zdSy;~>_0%S&uNeOjevG$DcfUH*q6Y|;M>0Dcme45t=i*7pjT40$Ngq#JM)?CalaYb
z&a7s8yad~8d)ni-VSA-qd;ERi9j@hg8CXq84Ok1-f%V|0z!jWlCAbRwb8{6(Z*la-
z9BF$Ty~Wr1%!;TwMiJHc8J|aS)%It7J;C4lJi#XH`~0iot$s~>z$J>hwm*nnhW#Pz
za_kE5PD(1VKZ0F_{ZZ^{?2lpBV1FFD7W)&}b=aT8uE)L$`)+U<xEx#ot^!ws+&eS9
z?TNLNc)eMBVjZ?uJ+&wP3fpU++L`-pPtfj|0d7yw?wAK|Py97UdNovgq7B<Kx9y4b
z*q%*oPi(-ZRVFrK!(jpr6Mx|F|Afi=!Oh?na4Wb?_&{vFa*_vP5$GAM2gq6<Ai_Kl
zgf1r!d>~kW?X|KU#G(#jQ3pqM5Q{p9MIFSV4q{OUv8aPs)Ilujh&dK@#H@{um}5~#
z%(1A0Skw_SCmk`zqK=q3>4-TNb;KNtI*3Ibnt$-W9E&=LMIGwjZ95iqsDC#)7Ip9h
zp@Ue|K`iPZ7IhGdI*3Ib#G(#j(f?oFna4L(td0N7l5|O13T0mdqO2_^ZPTWLNSdZl
zEEFlbf~0NQ2GXP_ld!o#Q8vYZg8Kr32#AR5RW6I-g5q@-H?AlyS6}tIAd0)cXPz@j
z3*PN_KcDxH7e1YNX3oq!&urf_Gv_2RG|3`ElPofjMTRC>WFU(SO|r<)B#R7Wk)cTz
z8Jc8~fh;mK$s$9OEHX67B14lbGBn8|Lz65rG|3_ZS!5uK3}lgkEHaQq2CPY>{gOon
zvdBOd8TgFDKo%MJq{BcK8Th=zKo%LuA_G}uAd3uSk%25SkVOWv$Uqhu$Rb0NEHaQq
z20kk>kVOWv$Uqhu_}s+MB#R79vdBOd8AP(kKo%MJRK-9R8OS07S!5uK3}lgk&shv)
zkwGMj3}lf(B#R7WkwGMj3?f-%5XmBgNER7HvdAEkMFyNZfhBP6BwfiO1J-ZQZpb17
zS!5uK3}lgkEHaQq2C~RN78%GQ16gDsiwtCuLFGJxH%Vog$Rc<z5@pFE19m_%Ub4u5
zeUOwTiwq`NWWa7n%92F}?1`i-S!BS@NXn8$2JDZdELmj0E=kIgMF#AZq%2uvz>Z1E
zl0^oSEHap6k-;R33?^A*Fv%i=NfsGQvdBOd8OS07pFJ7KA_Jd58OS07pF<hQA_G}u
zAd3uSk%25SkVOWQEHaQq29qo@kVOWQEHaQq2E$p2EHdzkm4PfWkVOWQEHap6k-;R3
z3?^A*Fv%i=Nft$rMG<6C1PHSeV&v(11PK#C7DbRn5oA#WdT=Kb$RdF(5|~mTiv+Sr
zAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{
z1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XD
zNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmV
ziv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@
zvPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+Sr
zAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@u8Rb+
zNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmV
ziv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd3XDNFa*@
zvPd9{1hPmViv+SrAd3XDNFa*@vPd9{1hPmViv+SrAd8~NqA0Q`iY$sEi=s%FD6%Mu
zEQ%tFqR67vkn3XDv!zQH(n!|^ZX6jE*WkBHK$bhWIF=I!QW+r29b6nq6-QFVkyLT5
z7<PGa;MIlTmSf7%=#D{mEV>hb_Hp2qbSGj=HOiAvo{aJo)F@YyaeSr|$7ecme5Mn}
zXF74<n6wRk#}?eB=w5*?e9I8TEJGK*We8-szl$Ts;>fW$ax9J<izCP4$gwzZOs3z2
z_HRb_E_An`dpEjU(cOkAx1)Oxx;xOl7hU*%At*<FPCO1AlkT6;eH7i@=>8dNw+CJL
z?FLA*58eG}?Ey^lB<gw!<)=}G?;V1a2T_*0yg1NI#>ib>9B3wGxyy?K&7>@Md2yhb
zlwU#jHFOW7`zE^Z{ef^5zOf2i`2Ij}<;p4!G?TL2<;8(!QvLwt4^fu8yg1NI#{VQO
z2bxJY72Qm9<t{G{G=nrqvpCR9%JQ=_aiE!$<t{G{G?Q`{%+(EDxrT`Y&7|93jw^B&
zx<l}4F1o|eb)Z{-t`lAPPDmX11|tOcCf!l!dQc0FPv9GjQsi44_$IZFMP2e;jyU;M
zy6_z}ke9-*pn}WMmAk??(k~A5gZcvfATQ7lN<;d^fqpWkMqUN_feiG6t3W>~+fnX|
zazB*MK>18`&%&4iC=Wz=5Xys59)j{vlygzeLwOj=I?4`|^HDB9xe(<dlwIhajqV6^
zN1<DaZW+22vhF}XX|3E9#({oPmb=0@&`-*8R~Se7#ese@Mt&|P4)l|<{B%ql=qF{l
z5{m=<q%2oraiE`+<w`6L^pmn&iN%3_QkJ{IIM7eZW*gRFOV*>?i0&M8gXo6Pm2dUL
zVI&TMvnLC>>Cy$JN!O+g(&WGHWTZw=(zFurO_^wE5He+|rD&x}W?FYRH8bPkn`X3H
zC0n!%EvjUzmaQ#TGVDFIHA+s^I%*#%*{1c>zE^UFmPa}$ITPejO3u;-laK~qb;Z-b
zt_ZnN$wccw)0IrMEZS4aOe>^=mCUt%a0X}QwP;=GVkKKOJA8+c8K0tUhF@AV<y37T
zoa&phO>?m;l$@bm$o42XQ@fCNRdSX#iAT!<4S{H2k-yGf=ZpI6wc+N4kw8OZ)V|H0
zuRHWya2!MJqr>5bpx^EZN1DSCUo;R7<yAHNL-uN4NKEuM#DczvBhR4^cetxP!{rru
zAy-{VrnIYwDgKCnBJ48DKTjMGcAq^O@zwd8e37~KaDBoGU#QOB<XdR3@!KQ*hJc9r
zBVc|YWUuu{qCW8F#3BJv7pRqXiafWd^@r;Gk+#-1Mx)JV4;war{`@?jx?Br&%c~7H
z4f|Kuq6?e-b$$_O2tgI{8lz3Y$^euuKz|H%L>v8fceAe+JauKLJyG5KJiTq%m?|$E
zX&4qX%MimVD?Hxu)!tl4sg-E~tpWa`@V7|wYjv6({(KPjfmEx7wPtOh7Qs}F5Np@A
z!C$_nYYzB>_o`8HXhR`(G^7qgX+bE*u6aO?KyK;E@&X`*v^=c};`|`lwQ7hDX|V5r
zaDx_ud_G9)fHbn~;o!O<jR&Meo<xq^)AA&)x0Y!?EyWbj5dmGM751c-M9%-8k^@kV
z9or|0b*qE2o6z>T5Fgg+!9BGtWIbie%2W%%uYnwP$SdnDON*j)X6pyAZE7(__JSFn
z1MMSwK|nbH=$Ax$3TQ1i#LDzihpgp4YkS#$QE2_MwPEmoKK{=G4X5UoeJ=Yg4|~4}
zQvSF3qEJ`a*U~E4@(p02*$a7CW)t*yCDumTE-<AX>e*V4D5R4u<%V*6V2>F(HIE#5
zr}u6?Sg-$6yIaf3!@4#=9fPOXAt0s_=<U(G+ISd)UL5JNOiiQa9pLwR=;wd%k8LNE
zFv5w2SV;;=C21s`*hmJ+Bw3^#$tLYd2a-cNl1`*E=|Z}aZlpWuL3)y2q&Mk9?4&R0
zN8mGg1U?Z)29SYd5E)E{kf9`(<dI=SCk~QN3P>Sw5_o%+xJU^(n+zu-$T?&rIhTwg
zZc<7-q>Ok;IT=mHkP0%EoJT6jI5M78kqP8{GLcl1Nn|paLZ*^wWICBaE+7|@nPe8Z
zh|DHFQbTG<9r2TT(m)zXfXpFtNsu&=5DAlJVvq<CBuZjr9+^)TkcDIsxtLr+E+v<d
z%gJK0gtU;Q<O*^nSw@zV6=Wq@MXn-Olhx!J5+`fOT5>J9j;tf=$@Sz0awEBk+)QpE
zx02h)?c@%!fovpql1*eYxr=NecayDT8`)0oAv?&uWGA_g>>~G*2grluA@VSJguriI
zlgG$z@@KM#>?Qlie)2eZf*c_5tCQqu@(ejho+ZzbL*#k#7xDsmk-S7+Ca;iJ$!p|w
za+th9-Xw34x5+yMemRW1OOBHF$ou3N`G9;#J|Z8JzmZP}{6Y%(jC@YMAb%%clCQ|u
z1b%gbd`nJ{@5uM$B>92-NPZ$elV8ZM<Tvs=)hMBq!gmr<3$@Y|no84XI<?UZnn|;0
zJDN?~(+)I;cBGwXXWE5!rQK+E+Jp9_y=ZURhuUdh+K-+=`_nV&S#$s$NC(lubO;?v
zb7>wOMs@0-`Luu*QYS5<#neSh=-G5Q9YN2bBk8$x6m`>5>Y-)SOUvnKI)+xzvGhDz
zNypLgw2Drk=hKO_nogpV=@dGZPNUQ540-{DXX<noy@<}HK3YR-X&v>`dfGr6X@Jh5
zb7_z^(GU&OW@^v~6*Nj?bRL~g7tn=t5xtmRLNBG4(aY&#x`ejSrSuAVC0$0B(-m|j
zT}7{=SJTz>8XBi-=vsO$y^gM<>*@9M26`jCiQY_ap|{f8=<W0lx`A$_chXICGrfy$
zp?A}*bQ|4H@1Z;By>utNkM5%P(+B8-^db12`A6XQrXQt`(cSQyu6yWSx{vOskJBgU
z0r(xyr{EVcpP>iov-COm1<2>&7YSdWFVdIj%k&lcDt(Q<P7l*J;FtN{f?un92Y&JG
zuk>Adl)eYQi*^itFY8145&VMC-{>dwQ~E#jGx|CGg8rR;Nx!0B({Jc;`Yk;{zoXy7
zH=zGOf22RrpXo33SNa=#XQ{>rd@Ut|Z|JiyD}1Y3DobPO@Euth4898qzA-49wPzhz
z4(kZtmeE;$djspny0advCw#uXH+;t1&ib-`><reQoypE(1K2<|hz({#*ie?s^4Kt@
zGY89O1+0)cSrIE{E>^<MX2aPCb`BfK&Sj&Ro0T#TD`Q?(&PKB_tb&b&Hy<n6I5wVD
zu?g&aHj!1cNo+Ek!luI8A=BZljSJX?Y$lt<E@HFcsecWtWp&ICPt+UWd3S)#VRKoK
zHL(yphiQh>%Lo%J%3^FDo6i=og=`VKm|emyWtXwb*<!YYwXmh^3U(!1#+I`cY$aR8
zu3}fS)$AHrW3ORr*|qFCwvMf5*RvbgjqE0NGrNV|%5Gz~vpd)ZwvpY*HnGj@F1Cf;
z&9<^_Y&*M$?O^w^o$Nlgi`~y2U=Ol~*u(4*_9ylzdyMU7e`b5wUbc_zXOFWd*a7w=
zdx|~Ho?!>sv+Ox`h&|8#!d_r6vX|J)>=pJZdyT!$4zoAdo9r$2HhYI1VSi=svZL%h
z_C7ntK42fRkJ!iTZ|oEHDf=Jx8T*`l!T!#^WM8qb**EMs`<9(x-?8u6N%jN#k^RJe
zX1}ms*>CK3u5rRCXPk2jxAGL8%F}o{xA6>~$+LJnp3U3y4m^i<<ehkD-i3GN-FSE2
zgZJdUcyHc^+j(E!kDtN&^E3Hbd;lNF2l2st2p`IGc^)6eb?)H#ynq*SCokf~+{H`y
z*?c%3!O!6%`MG=)ck@#2;bq**%lT+NhF9>h{5)RC$MNyJicjF@^NGBgPvVpL6h4(t
z<J0*JegVIb&*ZcCMSM2*@fu#s>$soS^9J6?1AGpj%Y(d$hj^GbbAv~?;87mq^Z0ze
zfG^~W_{IDZeks3<U(OfvCA@_%<yY`4`7*wouiz{BDt;Beny=>9@Hk(?*Ya!mb$lIP
z&#&h<@EiF}{APX&zm?y{Z|8UL4SXZNlW*di`CWVqzngF6+xT{VPfA`W9If-$^H3}p
z%npS^a<Lu=HAMW;SR`Z-u*&sY{R?V?zNS<o7LNMsYJ%yZSW}JM12lxJb>Sdv9#We9
z5m-k@(|k=J30UFVFtLD=g8sB-U&J2@`s<_VDB%Vr)h8GJ0Wp_12V=qlEB7X!wQ*r{
zqd#PYG6LZ`iwOEeBVXi?gjqP`XVLj#OSCcKhxQA{BD_8@&(B0)fkpV|`9l`J-1YEK
zAmoR#g5gk_@HYie;z7R<7QYem1yi72K2Qr)@e8@VpuXto_jOA}o-Y{v_xE;NO~h9_
z*B_PjN~-}8&CO7;SVtRdP6C12K%_R-l#Uw=0oxS6r6J;*=l^fk18K5!ztqTTe35hv
zp{8`y6b%IH{IU~kpqjE5vHQ}^?yC#W4{_N^sj}gNa5c3y7J-hbUC0*tLr`>hu0I6D
zrU*Z7y;AD}urm_@k(S(5+QN~#dT3YK%$W_bKrrZU3S$eT2g414T3--GQ%Wop&~<lN
zdh6~kEj$l~g{-@^&JTS6LjpP-%83aZbgPJAk4G}GdlMmxuQnF-)25glKR#%)=Ef{@
zWXM{`O=C)}zYc8h*<g4ia%F&tP0$)KsG&bAX`|UnkPe1H1Tv?9*ysz^n<`bL$ViL}
z*;rOL_LJ3(cG%ozKh_8R3#@Kz=`?qug)Hs}v?q0YQ$5NgtJlozH8Xo#GpBhIxzZ~z
zjT~<26_`$n?J8Q+%5Y{yBE1YTZ?w@m9@Sf`Ochn8imKLZ)+*D!szlDzrdTi<Xbvv4
zR^ceMPBybnHnUD{&6+kjk;gh6FIpxwh9jZ$27japrgcqFSY=nt^ILspUSDfoE1WFA
z08H~Gim>>wS$zJ~+C;NJ@5{`7Gqb-na~gD|IozxPGfluuqvnrn_q0GF4f8`Ygv@3L
zo5{mw@^EXB*05<$IFZX*7nm2Q^IOAaBgD*%F*9SVHDg*VnPVYd1nxj1q%BNDr?{JZ
zwUKZr#b^3fH_SNMCg`QO!woRJ=BD^e-|E3athJ^hPpcwZZL7>Zb>S$l1;^^C^+Dm*
zTGJ~ty}Cpw681%{b)eoCP4Ox_;EYAuWA&PL_|Z%ELSa5=`cO38pA=KP$~wQY&TAIz
zN6$98)goI%t85)@mfV0IA1!Td04HNKlH1gh(a<Jf8`GNG*4QfZF~At!DEU=^{Ue99
z6%Mgr=-4XEddR4hfGMX}ph`0pina>Vax;}FXH_ICD5Fy$B(Wc`R*aQl8kl1n+iHVt
zPOF@8UK^t`=AIIes0syP+y`o{m1ZXf(aWf8n=aTUV68NpGl(9qlnoUG$69F)x}fQe
zH%kkdrHyY>Kt`xdz&hS6Eo631$k!Ye(MTBXlFS=wVE#};N|hP{VKoG*%#I49ms!;q
z3pMy6v8JFe7R?N|4bdtu4g0MVO-ta$0<_JT*hYCqq)os&(X=FDdevqwfu60pwK;8Y
z%aivzIbTz&)wEBALpmh2wc5-s(94+AMnOijO~5+IOczCuPm)6>3XXNMIp<^OrA$_J
zkEyy(HtQZk&oWuk#{!3mp@z)KZEKzxYa2?LtR_Uv^lejHYhat-MxNeAUf3$9O;2FK
zI>T(0Md+o^NDj&LMM=>*!>rjN^enJaX%N=>U>K}S$GeD`7s-iYirc)0r1%sxO@!k$
zn@KX1GpgIPUk2Q4VL_!Pf2*w)Q@Pn(7Hp=pq-k8Xl+|nm3pQ{@+jg=<!=bRqOjH&_
z>F!{2qYuS2AKd$4Z4&Thc$-B4Du&Ui-l%y!vjSj*QF20NRKe;Dh=mauliOrSuWIr)
zm<ihlAj>KGEU1r{`lCL}Xdl!N7aIj7g(*rWp8=QPCh3Fw7D%a5snlmV&)3}SgGt;}
zQ|F`OVsw0rP7A=~K`ZEl0Grqtwp0fintW`MFP5S#ViOtz%maTDM8H(#F3FZ<CajWW
zw^NA|ap}Hfqh$Eo)GQSYGMh@)3#E=R^LipHMp`gGuYu&223bi<oj(}$rKqxCMGRGx
z7vZ!z>f^F7%UrA;tkR)+rlF-C8j8^cft0YSV{?E-8pBptwm1147W7yYs;W$2%}~u+
z_ydb9Vc7>6vgCwi?M|~aLltXwpt^{Gbj*xmny)?(aOiq|K|*pml2U$BYQ0*Rsd6}-
zvSpK@A{k1iFHTCXq*RiSiu9zE)K!$w<tTI}t~!#XIFh9}lBMJ)OUX}`lAkC=&o4}r
zlAkOuzbF}(EIB_}a(=Spf@H}B$&w3_B^M;yq9CcGAgQAusiPpNqadlHAgQA;siQEd
zqcEwXFsY+3siU=B3X?htlR65MItr6Iijr0pC36%da}*_W6eV*MC#@<@+ESdfr8sFz
zakAv%WXZ+Jl8cii7bi=0B};ZC>+4GDa3yuPk~&;T9j>GfS5k*7sl%1jQIgbAlGIU>
z)KQYuQIgbAlGIU>)KQYuQQTTeLI=zgHHI8|;;KVW=y2!>9S%LA!=Wd1IP`=Lhn~>k
z&=d7==t&)pq>fgboryTT#ATgoE{o@z-c-D~Sm&dcHZ_5RwD}3iI^9gT(DdM09qihz
z{wC>RZD9KAuFTf$FKi;x@N@uA1W>}=Syt<jL5)xNGtDcotd79*IoO$*hYvE7c?rtF
ze922Pm$lB<0DF}*(}N_|8aUYSM^pX5U;xM_Y_Nrd)qG4IQds2<H0rm)hBq9l!woH-
zSV$eXb;J-VNmHBXnqX=@ES2QhL0TxW=d?gnsMf5ktEA8Y2N*(<*&B<5F}BE&uci=4
zYDg713Y__A$p@qsyzQmQV~Hj>qNq!Q9R!|fG-lwg*p!7$9(yP`15Z8@7hsbd4fuj}
zf%<w&8Qw3NBjLJOZ8S~9;2t6^w&0FC1)j;ut$J!8R1Z7(=t2;pa$gp-!A&F*UVuj>
zsq$_v&rH(fIvS-6b$Wt<lwf!fEI<A7W>a3OJCvWFSql%Kp{;9iagkVu&&kGxN1H{7
zt&QBijU17;Mt_Dp^+_~uhCJ_S4L}1V0ya4RNywSl8p#kgOCppZ4=fS^X=%Q$>&i#V
zA)K$m1<Ef}zEk-{$}d*FOZg?rcPqbC`sLp8a`el~J<2bWzV0YTy?TBr#_I)Ts2_aP
z4?gN~cniETJ@{CT!)w|LKBjk+7n<eemlwcT7Xe>*K>%<3&=*((@Cz+fa@%SNqdOVh
zm~_#S0<%QDz$_8`0^S%7&y`(P;}3@CW2!=xs!%ue6*^7(3!N%lq{2mJJqnA=dK4C+
z6?$P2wj=o1j^Jbcz{hq3AKMXpY)A019l^(T1mA3@!lHyeY!`^fcF_xqmHuL-zgX!n
zR{D#T{$i!SSm`fT`iqtRVx_-W=`U9Li<SOjrN3C|FIM_pO213#cPafYrQfCWyOe&H
z((h7wT}rP@>2)c+E~VF{^tzN@m(p9J^pq$)umqOltFT1rDN%Y#R6R?Sz7nOcMCmJ0
z`bw0(5~Z(1=_^tC+^U{#RZq9l?^gQVO21p_cPssFrQfaeyOn;o((hLK-Acb(>31vr
zZl%9e=`U6KOO^gorN30^FID<WmHtwtzf|cjRr*Vn{!*o1&Bwx0rN30^FD<uWyLxoF
z1U1{(qipaf8$8MekFvp|Z15->Jjw=-vcaQl@F*KR$_9^W1CO%7<5jxLTXmPIc2L|X
zRNN>mQ#O<-8_JXoCQtOjGG#-VvY|}bP^N4sQ#O<-8_JXoWvU&@R6lr?ey?f+uWAFY
z((hIJy-L4VwSiaZ_bUBfrQfUcdzF5#((hIJy-L4V=~w(LELZx=mHu+2zg+1rSNhA9
z{&J<iT<I@Y`pcF6a;4wowO&}R^p`9BCeL-J;-OPf(`nu}Al}sP)J^?P-PG^YP5n;Y
z)bG?y{Z8G~@6=8GPTkb+)Xn-k6>puoso$xa^>;eV_IEnW`a2zF{hbcf@9>)Q6nwl6
zK3)euaUJc0Fxm$`+6O+`2R_;dKH3L9+6O+`2R_;dKDH0|Xdn1!pTld;Q}C63bDlz2
z={M&ogq41Co<dmZH|HsYm40)cLRjfH=P87hesi8eSn2m*`#8Mj90gz1-<+cmR`oaM
zD1=r0J;idaLD-d;Yao}XICq;kWrsOeA&s)bquRlv>@er4!)wk{@Rc3rJcY2b!<?rO
zR(6>46vC<>%y|l7)eq)8g|O-ebDlz2={M)8!)wk{@KryU^Ay6WAIy0QVbu@jJcY38
z2Xmf6SoMQBPa&-8Z_ZN)tNNSs6vC?h<~((H&3OvGs;@aOA*||a&PxcZ`kM1HUsv~q
z0=+z^_4o=mA+T7iX%mOr4jI>>HJx0?oR$pFvt(QrE=-dpnZaZsnRqpk-@KU2nw?nN
z%Ik8I&^{4S15Y0zZnEd}m`YD7EadZ=;gM;IT+`--g;hp?2M@l$OU2ba2q|)vi#{xH
z<#kxw%ImnSl>)A4WdgaF1)tW}%iB@DBVSLQlsIUOD#6kqhitnxC-^d)ZXVxDF;$-4
zOCh`Mp}mYC6;|`Xl+}DFWoz?5DlPdi%4#0or>GNqt9eSFqK@X%TaV*u#n?1?VulAo
zTuK?zNo*h0hF5ncHnO@CM}}T#&SdZtGh2-ik6VMcbD5S3pO47YQhtZuoyNCyGvKAM
z&hSTNh;0LxLkMK$rfY>-kw${PXbAFVYjj*yrCsYhv1*(h-UQa59QfDPP38-ckN%Kv
zAm%H@9BF8c4bo@9`^X)&F7Sr3EGZo<u)<r+8DK>_t%KG{>#FroS1j;Gv$UUrB{^Vs
zH?W~sFwo%BcA@(Sx_g2!aI^#HK8x;)!EkL*dmY_(!t(0-=zfas*K(j~KcM@YbO{%-
zOViQqfNpmobO-5&?qGED!ObUUqdN-Sa&QYsCAt&Qofeg)%|f>x-4M2qd@owQsom<P
zpxo9?#Te<rYh2J)fAkZ5W%ihK<=cR=@BUN2wVzx2T*eVB#dImWgKot#+xqFy`n|QY
z;LXM&ZKPHX?<G#rW~p2gl)p&%+m-)}^1oF63DYOp%I~cFd~*zvF;I_e&C>dg4umb*
zSop7L@4<hf9fSW=`w;#!?PK`QA(RJWX{dIM7KiuO*J__>Uua)yUu(y;6YyqX1H2=+
zk=zMyVZ8-!B#nmD1m64EhPCUirT?Qhg=88SYcSS9GSi&?F3}Zmg+ZDeNYe>Y5_spR
z1$vjli~$+)6R-($Lz<3|rZbH8t}uGL!^rLlR|sgn8Z|%;NC7z@pUMH!zsixNarq__
zv6H@#gOdK_Oz1#(&r+5v=Pp<w-}3JWn)+!2@$LEwtqQ*Hg26kbmGFrvs#U;uU{HuF
z1h-OZhb!`*l+5v<b(#g?ju@+TnxeOKnrKZMyll*}lbIxiZfNP`fv9sSAr70KX0;5-
zVzj$O(|y+TAy#<(w56C5zM)z_Umw~grsti#7x&ag;QuOk4Ozeou<~_n`2zAt`Csqb
zrZC>I<<Z9$$KU>L)Rv~ugPkV1i*7pl+NB#>+RxNm*do1!)@)$%eaCFqnQ#8|gYUlE
zPptXmtcTy2aahkxno2BSR5jYjCUa{Jom}ncqIa@FAU!7wURn>p(~Qtidqt==&oM+F
zBrmX>eu)eANr5K6y*dhS?7&kWd$m6@4_;#zc8^={-6c~m){7jl)|LNebjgHUOp&87
zzrb1IESaHS_#Y}Q)bmZHL;jsoX(_znpKBkTuP?cyZ6%3CV@p<R`jVA&$rA0UhmTL}
zv}eV#*@HTdy<pgRYv(Rs`>k`*H0Nip6wRs`H}U*J<G{uBy;eT^?%=29q<>%h_KnfC
z-(S0P*TeI!|7P3RTJPw*xwdP^pEu;{FQ<*Y>h+Y5x)1%KW&5<ZUnu=H_wm@#)%P5{
zrq|8E%GC9}j~@A|;aKEA#ev&rk2v<hzRsI!7X&(9d~YsgFo-rSc}idMgkES(h4Emq
zq!7Xf>SyWw6Jeb!>#9B|5Uv%?d2oOkfTt}X`RN2b16rh44k5pDs%v_I4E5nd^}+hU
z4QFlWzpS6iSQ`nRl5bd4h}>FV9>nXNWu`M_5gB@VLMcntvt)cb8P6HDKCbtc;r1NH
z#O55my`vp8D-Hqcq-wVVJ{WT9P+~2FXcL}3@7ex~-}@-D|AC|3@83u_ZfVKQSlVex
zae7PE&|NdS_#S@C^4p3d->hBx;FRv8wtRl=K3B=ESW)!s8>>Dl-hI=`L+eX>?RxCs
zhSgKw|LJfYFLjP5uN2(b<=JuD2OK<pY*{6Bja$0lnO~~k|NMRH@^?31fBUSA8$Y;f
z-~N^>pPYT{y?Y0~b?~n9>fSln<AS|AN>UHI`fV(@YS^lqKi`wm_uMjfTFS%zp8fZX
zd97^m=Nn&ojy}}!rAY@nZ(4lej|)f6j9j{+%k4uwcOI&K@zQg?AAI(sRqM37n$nlf
z{Bc(GiLMV$ZP)zd&)?m<enVE5qfd2SJo~wJLqf~=H=mzaFyIx-(_a=|Fzd03{Nn{M
z`<{ZoTs8Yf@9(z$z10)TJtvPejmdOuKCQ|0C0DhX2{YV|PI``P;?$gssc??#kA&<V
zU$fuQQSTt5Q*vx&u}F<CG*7-amFSQ39P6Y;-~6cG(M#_kli6}Qnh|ynoKy$u;iy)g
z-8%Z{z0CgWtS-w5EE4lqP1^#Psc>YMn6@%lkeIgrE39ZC{o1yQoUSdTou;>tbSg*G
zwnGnW{>uyY`_eC6xnp_k>xagF^WGEf_BZ(UZmR3~&YyogRB+D~`pRjSU43NkyG6IR
z+yBZJ3y#m<a#?u9{_F0`+}(I0xbD#2iMjWTIp@1a4$r)(2fgE`VRL(LKDp`UE#04`
z$1bm&_+i%UFGlse?6J(F=N^3Mz2$o^S~SOz$8K7ZvvsunMTf|on)||n!h-c3ZtC#Z
z(Z*rh|Mua5RaXyw@~Xbe>-R35HZ>gEKVth?%V!?S?lj_#D?Xd_M0)6{-<}@(?qezK
zZ|HZ)k&y#l>Am2KI~>n_^S6H8jy(0?XwS{vFWS(1%}2Ao`|^@+F1@FQ#J?M7JNk0J
zDO=aSuye({onP+G{Pv@9Z*Tayal_7z!yjD!#Ge&0j_6C?`Y(wg$Bs#iRNV@*n-WcT
z%eX%LY~7_7Z7AH3zbx^|q(5-O94l>yipPx<kt4O&ng0qQ#0pG9guuw$+)eM27~d=>
z0}uiO&6VrObr!Vkf4C<x;PlwJKYljtKv_@6%7r%#xqg4k4)R9N$`^L6nihI5b<n0+
z&mOui=Mz3L^Q+MVhH0){A3b;7_?utvSJUa_xy5~}njMS3xyrTt!B0QELHq5c$=8qX
z|LV2@;}`Axlh6I_;1@r6?(JFc{&~oiBOku);kS=X{e9m<Pha-kOBuI+eZy}<UK>8K
zM-SJ4ljn}rTlg>V=U4OCKk=+%59D<{Hoe`TD|ht!<igV|)-P%^jsMkMv{-jSgTM^U
z^T4aA!d_sX5UYVl9rg(kcxV$@c<PL`yJPaTF?hg&chnNynGX;65>rzK;kmeZM_uyB
ze`tY%fGwwU>n$}B6H)tkKWrx>a~;F=64S)|N$|#=kRQ8?3BTPJwaYt;P#>CWdrKM?
zY4+I%)(+B3z`8t{ndJ;fmY%4nCtL@s1-OgJ#R5DnDap;3OND<o{r5HWdT91`cw=Hp
zmrLrOo3$+S@Hac|HkMv<)yf~>1?EoH-MLrvUH{Q5w@#@1`PF`V-#Pw(b9nFglW9Ny
zl9M-M|H@0w8GdH(@4uaP@vSGw!_TBYy7<L?1ERi$0psR;{KXRAw1u1A?~>i2(|}#a
z#uZ*ZWVF5Pv7`0<>sP%{wY$&Lu4gB$ITrc8TYYTKV-<}rxfW(_*S8)SI(y9RZ*K2M
zwk>_rwN@|5xt^VU$*4(>-248p9!vkawf)4A^uafW{Mz@CyD!|-&bDn!_Jpj$ym5EG
z_}r{BU%z_Kx1mc0?IAONaV(#4`06Vgrmg6<VZZb1&xUO3`^lQ`mwvqU@3R-ox_I`|
zU#Hq;x-)Ah&3?nv_bYSyw~!;yQg7mI;Pk27ET@>A2lNKrZ?(-{Hij(w!AnxQFnx+X
zFmZRMq;t=I+JCjpLLZz=N%h{{|9M*I>r>YWFv*(|c}WKM=@)IBx#0qRx;|B(+&K+K
zb%TFcL!cg3uYL3swHW3d;~&4)ec6uH*UWwLrNwhzAJcW{#ohAsGdrK5Rxj`_aQM{a
z%RGT`vLtyI1Mqa#J0|qPYDF!j82c|F>5zr?;joO-VHvfd-!dHTFxvkB#O7LG0Rm7i
zh+%ouPq%OGt@m_v*SkUljQ#dF<O@7Wz&TBmv*2R|9dCGf?$)!KpWS%wx<0A7PdRVd
zys`K3(`X|3cNKg5-F0ud@AL(Bb=tb%p#IF75to&o?ElC|OGOuWmp}W~jUW89WZ37A
zA1eDK^8SQJCTH81hOWQ%qnpp4^H8zluXp8sezkV6SJfxu@^@eP!}xtaHB9z@J!jvd
zLv^n1+1U%c^BmtUTg2MUKJeho+rGc5eqKwD>Bp9Sytm>m*OZTsy60z2Yp1tZa$p_v
zv*KU<hhH}=Jk+Uk(}e2qif-MPo@TNBe-=NmQvqld=a;l{72Y+_T}iIKd@5Jvpo30M
z&B+`G{DzPD0vn@IkywkR<XESMYv6Ma4j2(KVS2|-<KU$?`LSU;9CS5E_~CwPq&`Ak
zx8*qT1K7Txy`s#XU}dg-oP4WHgzKaBYH;Sm#~<ude8B*GL>pFe_Ide^uDFWlwvO#4
z$+F>7)aJ*sMM5+CCz}7|_Gn$%hV_9<CTG5Ur1R>0=c>wrduG`;R=zoSx$Dgv?;7=W
zw+dUo-qlqHJX;Q3wQb5*p)uC2mQE$TYlrvmu;#HFUpkcPyfpIR=&8Rhe16r~PewK8
zI%_ZAx%j20?tAO!lh6IK@~t;FZ#a^6{LbSSfAvD_iIe^bb^UJJd+DBgA3g6c)4W;Z
zUYTAwE<wAcK)cIfy9*O62lqLrY)w)Y>t*s%AAXJwx2p}s8=T7u68j!eTL4=Vd3(wI
z!_@UudlDCM24g99vy@ZO2^>fu<zJ#x;_x3VgqR*nWQWb2MDu^PxjQ$JOQ-*^M!taW
zR4krSBY#BiBirQ+4x?l7KSoV^YnpkBC<Vh{o5!<ZAhn)L^x(Kg)L@x-+8oF2-T1%t
zTmD{yyHl4BUj6d2tQQa5^hWL8uOGhd<2jL<W8b|x!u93Wb5bwbJ$gyYMHie`aiW*~
zr*_w+z1*wYl(H^&uK4!n)wk_Dndv+_B4bC{y4l{rxBPZXxN`XYg$>Qw%YL6xa^Z{*
zgDv+sFY%xE>y1qhcUo6*>x$;=edpX?v;LtY554}*r?<J+T=v_gk8Qs8^U(2rtDc!(
zG;Y-lTeZdU+K_?wO+2=G(cFjUm+j5C_r%OIhkp3NDt+X6?AC>cwv69tJMfqODYhrp
zwS1rb&F(di+;a0<7mmpJ<}+&TI$+$0mEnR_uPr<JKhp|g=X`!$;DfU8crEzS;Va*n
zvgPJ2=RRNAw{gw!*}IQ@YMoiqHz)t^juzGcSgfUl=u4jeKZ`w@{Rg18o>OgT*0bA;
zhzy53XXutZHA-WSj5e1!aISUu*c@4KK+ziRq@U56kvri2H|E37j&!MwKXZSlsRQhP
z@}KBdy}oPPkp}xezGSg?_@38yfAvm}{WZgncKBkf^$M@yevbZ@m$m-emG@6P;r_fS
zf9RO~gVyeOVA#yM{)KtFuYc%~vEqjJzrVwM@?_&9-z~N-aPO;L^Y~>8CSK5Udsg4l
zzwS%Bwcxe#32TO1Zpt1qJ@CbqZ`Hn%`=s^y!oPRibnEeNCXG5gy2}Qe*5~T_ua1uF
zu~Fiug<RZfyw%Y{f)LdxyT0Ln<=E^W9M-kzm6@=-NE|XkAJ~$C6arn4ykc>*gIgNB
z)u%fhMNW9wJL3;sFsV!G5Zm4_yAR0fv-+3n>rS|)WXq$SL=nX7f?iL|U%B&^aK8`d
ze(Zf`{Mu1p-|^M(J_E*1*>U!-Ti4CG<m9bSTz>I&v&Z*%YRJ^}>z?m??B<4oSB4DA
zdG?Ead#2ydHV?Y#i(V^k>c4z`yIT%*{Q33QD=MQ|&z_SPwm-*S`1Ip;FZV5Za7wqs
lKkwMPW1DO5uEQCd-mblO*ZPMVr#<<>n}dE|yZNA|{XZ)^Il=${

diff --git a/selfdrive/assets/fonts/opensans_semibold.ttf b/selfdrive/assets/fonts/opensans_semibold.ttf
deleted file mode 100644
index 99db86aa0282e425450c86508d42da77a9f4102b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 221164
zcmbTf34Dy#{y%=sv(1{>GLy-knM@W$giIE(WspQ9K@y=EwF?cceXFXXC=yHUJH4u!
zYA-_-Rn@9$sjH}~y{cNS(goG4t=p13`Mu9GlL+75d;hQh#L1cGdCv2k&-v`1&-pw-
zC?O;mzXZ}cr+4>m9XEd1iSPwa6JndxEhjgRB=EZkpI44i(cOxB_10w?GjWXTq;0p}
zeYzNuI_}4@j}ZQ&UcFONw@Pd32%!gXeekf+L&oiV=ePTWnD*lOf?-o8IZVsK(+G)D
z<NEdy<DMA(+>m`{LaZGKQSE(V$i#6(O(O8TB3#!$@zk^tQ*Yn7KuElr&`x_RhYzXX
zX=D#PALB_zB~Aq0*L;iPNjQ$H96jmjx$7Lm3E@HsF|2=b_=GWKNt)*f9d?M&eHl-U
z9X4dmn*6?)AMmRBjvn&#II%7LH|}4H`yFG3j2@oU?S;vN5Brr6srk6E6DM(9Z$CwN
zhl7xWq;V65k9+!!4Pyw2_!;+v5{5e(cJZUD@rMQ(JN!m8Y*~byDEe^*>(3|s?fm_+
zy2Dz#x&nt9!m+dX;6C-@x*9^XQTNN_=~}z;B>y$#H~%s_!|xzfB!oOhMBHg2DWpGc
z<;k~%$5meVCs&RuL|iYraX!Z1^JmEjdKVbbsU%)4aGY?NaJN0g@i-pbj6J+f=iXfj
zPSn>)F|w7+RWIhs9fWRS*Mw4WA36t~eu^AX&RFp**3!v5eg>H*CXp0j85t{GBW2=E
zGML^W^SFhi6s@B$loa6FV9rIdxfLXzbK{;EV#2v{wDoBH(E6e!qD@8{h{o<=*ZZ>Z
zTo%d3_rYi*SkJ#iOsW(zRxH3u^T`p>LZ*q|kR!rWv@SS4O{Pg4Il^5f1zbgag&2kN
zeaR8kP;x}dK`SEDgq!|exi*4S2=hsl_%qon+yfUZBYO0La0shkPr7j1$a)4ddbdzS
zqWH1(wZb7fO4tV2Ye@}%7jV_0Z6qVO?}$s7NbI7O)Nt*|daix_d|`$1y+*a2)Ufly
zRb_k)yN92M`>&Cqd^}0Swar34xNIS@3Y8>G!20-eB!{<?WTBE?;C@HXa2dcozHdj%
zM`L)iurUHhCIYs2sfJW=cSsgsDaEzH4EOAuK<e-DqseIH+;_wcc$3*$fQK5fBN@-|
zO%H;$-;pw25Bg0c#nLv?0j(8UCUBpr;GN<Ak)|rDml-V-Ixt!U8t9Ow(Bf+SPw3l;
z7f4D29T+W|Ho!H99Wz=qZ3-=Z1#QcKKZf@|X{s>NPoV|qz-ZCXK!bNci;d`6`%bt>
zMl{la(V}T%e1>C2i>8gyg3+4wY~5`B|I=gbY<`A=KkXThg63@fq8{@y{4hBGN6+|K
z;i>=7GhS!wK~K=@xvTXzu+B9K-rLt-MjwphcNH46C#?g04P>VP^0}VL2(HgpWC6S?
zEJlO80A~&TfQOEM$N7H5!1b?}86B0mAL+#}2;X>($s2I0$X%0OwVF&*?F2p`pG*z{
z{g6QaqyV{Ovhg2#$Sji^Cc900g>M-B7!Un_=$X7LGRNed(KaCWO!k=kH|@F8So>OX
zRD?BRJivIK@m<5(8eu(2t_rMuOkKiBDllCjY^H<hMq<bLn?em}znT6ZY$iX51@(8B
z+zE31+tTX#xA`yXk4S6lKNru|?~*F&Kj&)e|Dnhlbe&L&b`$!R@eE*Nv}bcOnlikJ
z;DH7`C(I;8iY#4I?l}T@ix{rh`lPMED|DRXBcr7}l7su(vGbxD{1^j0&h%F;*(M5P
zJv%2RV%?=g0_@6l{wB^bUG@cZ9>ys=v$nn#Fw_XugyRD;B`$^@yGoWS<4w3%3q6Zx
zN?LqhTz^UGkMGrFES{lZ=M~vw*Kv-mQAz~7ShJV|9s)loybD+v&#Lwjwd$;YjOfCc
zFrpW+Rs~lCeE?tL3Fvb?OBD~A{Xohk@HT78Jty%DW)}i@WcM@Mpy)B+iaoOtR~DT2
zk!tmLazwov-)nHM8hs2}66vCzj@}L3&2-Z@q*6E!-To5raR)X5axRS}oRCQJ#ZlmO
zGzDjuh*~PfaSD!^-m#-^uqjrO#Q0H)0<K^W#4Z?TAl0g|q((I#-!~JhG#%s5p$Xsx
z%m?1Iu(?1Ry)rj&&SWTHi+*5o4m+&|&oW!2S72Z|EeZFIg&ZEmvjg(*Xs^fxlMg~l
z;ngUOFQ~7j)g+8HE}mqwo=*-mAK<r;=|Vi2&U4V~i^)9APo$Lj2h4BaeDD!`q!??P
zN44@)J_k5kM!KLCNSguAHj*t(!`hpZVm0t1g^>uxtHQ6q<u=k8Eg6m3r@q2=JO^?C
z|6?C?YZkL_LIsHzx08u{3ix&z>93sg`xk?S9b_oz?_v!yxRv2WAao+y2-aZ#646X(
z`DjUKS!gL}iC8~eQUwo6&+UM{#4&{zDNMt6=6kKjiBo8S55||V#^#|5i3#)%6HY)@
z`w<u8KgBm-xCQS>v*lOu%n{srGGDDFF4m+`u!)IS_eSWnJ!CT>wP|QS5po~CbuE0)
zI;|ov;A@5c;4gTXGo-VG6Dx>TOeR{@H1K&m=)M*6oF#&4FOJ_(@EQZYG6Ba&r0;<D
zi|}(2forB4n0)s1>u+%&?i&wY3G~`1GEIFBFl`2G<z$4q9JU<#L0v#bDf2R!Wp<9q
z!enw7c)kmrcOLBv)eodO*4$h=44L^DbN&FGb`Jaq8?V^ea+1Qo0k~)5cs6+Q4amV&
z$PeTfu;q(8aQ+Ldh52?&7NT%}HRRt%)bL}hQaPTx6l-I0dJnib1{@1G&H}6{kdJ_k
zR`j6>e9Ck_)9Ha;oCyE#APG~sNR*@|Nn$Oj7W<+>{zXaYkHFEcfli4LXJTBSXZnfh
z87AxENk5EIGGJ<h_B&vKev~TFuLjKQSxlaf0`Kq**}Y76F&=2>8|({c>r-?{3aQ5R
z!BU`an5zLV!XC&^KJd!)8+f3xZ?M4uS~k)YdW-1}rstTh`9FOCM%eo!OrJ1)r|6sp
z`cx`@au{q0r|2jGy$v5nRYb<B^3dlHH~1(=><OMaM0%<X&^_@)t<D5JCI{$|4tjh8
zT{{nSxCy%i`y*L^FNU{A@bSp;fA+=x`+bf0WirF?`d@k*uG{|8b;TaFCsPCc8fI_*
z%-0E=cmBug4f6dz`bT}527U0q`bOQ&_?zJ-&@(?2I%E%YNKf=-{=T*pJ^S9+=r$5X
zYl)RLehy@9FB#2`C+V=w>Cmfvg{AOo{v>{b@9Kj6>f7j}fj1a`G;JL0DL20U9{M-Y
zzlENn--C7^?MoaNv1_oWM|e{`#v%@-fp&x}Cx9Lw#J_0B5fFiY7X3$L7LiCE$tT^(
zbL1pBO%rJ<9YTlEnRGe*3-!^TX+0OgWpanOkGT`vCGHoV@;tBMjl7Fr$XD@;__h2x
z{xAG%{0{z8{xkk_AxP*Y6bt=@LBb2dQem0!p76f#sc>2hj;7Js(et7|j{YS2U(vrr
z{}I!}p>x<A(T-S0f}^#=?P%xd;K*@|b4+v0bZm3H>UhH`I)j}dPKPtrnc!^Y92m>R
zO0mXROKf;-bZk;=e(d1b;qjl`hf`QzS6`3yIIxZa@)G$QIYXOKHyuhVu#T7LF0A7o
z7pkn|Bdp^eSO;lb$6RF{OR$dh{L5I!>-<@)g9rw!qeK`W3>Fp$FAB@Cjw8Zp;Y>7%
z?i4*M`laaO(I=ztME{C)5J#}X?r<pUNOfcd)-eg|cp2+>{gHJ%9$1ID$vP^q4uW;m
z*4Nix<$Kg$t^a^KS^ohc=#%R|sP~cgK*J&R-LXnizgnIr&y}atSJn@!A6h?vJW-!h
zcZS&OPS<@(G<BcWovQz%?v(tzJQFr=y&PV*ju2Td>*^|HjeH&LAF}4#@^3@0KJzUy
zF5k|$YWQ~g)u4ZNxpMo;PgibT`SHq?E0?cayz=Fhb5~AYIeul`l_^&y5ppH;itdW$
zpJOh|m+xQx_44t{@t0#ShhGl6Y`JW_%zyLUH)p;%_0>qk<Gr}v3YRfZ{U1cjk9-b4
za{S*9S)Pe~VB!A5r(wi@xZHSpO5?Zx{sq#_KKur9gWpJQ@teqPelz(OzlHq5zeKy!
z0vbo-xk|c`Zlas%7Wxvujemu{Ot;Zj=yv)lH<Ejj-lhNMYxq3K#$+y%U(BU(>D&Nr
zpr_m8{k-LU%6gZU6!+@cqo}Z;dw#dP+?=jmI(xD^b?nf-T~^!7jPy3GQ(7grY?hc1
zALoj7#)MkUCZi!pr`4!ck|^*TB`qC3Iyl$I$2-h<LtMG8A^FKI9l4>EIms<^U3r6j
zjv)>oIw8T8k1IIk8sc*dcK8y|4QX<Eu+M{$BOV#)@sIR0j-)0>2hxE};d1y+<+vON
zXupzjd|#a7@;ZFCl<z&1??Qrd5QGD#6L%<3F=!pRzPu@wRk?!!Bi*gjc6D_fu1#)9
zc58L`s>3&5GuOD?v{@&reBqkqw%g4Sbr72tE6p8J;VUjF&&`Q&I=#s)yZa0-JPDUb
zSLKmDsjE+=Jkl`|tAb^A>~8sf)uIC?GIVf~zQR>8q<^`OAA)<U_}r?h`95=!uemG7
z*Zi4pLxH2=zLu_>TwfA<YGG;PJcSRYq&_j;<Z@K~Mz9>$t(#a!lQTmCXQX)3Z-ia+
zab111wA{%)5qY3WRaKtLkykaiYRG~5Swme8ldEdCUSBmX7w9I%<vxn@2dg7|d5gS0
z)8I<l4xlPa&nqqT1(!Tt?&IR~9F;?W4E)P>Ion1!&5dL5fIq)XfEFMJ7<M`t8mbR?
z$WR>kW|frtj~!%a#2(^FN%H!*!R*TW4OeV^*p*ogR~m00>;i2IdzV-Fg!t|iu3TWe
zdWdh<P;l2MMi`gLXSf^TbX8f*j;s{Gh_Ma;-MwO@!zU*ABz9NR8^Dw7mMZ)LNep-W
z-K_{rkYKhrvRrr!drqz^cW~g}l*&-d=m4Vgll+WOR_^oU0ArpZ0Vc`a-8uz#3>gf9
zjbwB!Dfgwg#`&zSE`Bb;2?kc~$lm43E&j8)K5JJWvhjhtd?~rO7p$LK#W;<Dz@FtQ
zDSw-|>o4z4b40x9CTYZ*gVVl{uHdqS+^X`55x$tg5fzZT5svZ*r_bXBg}tuw;a<je
zz)<tcm<}H-3%pWRUfA1JSkkW?RCRilE9?S$oDiS;$YWgP5&p-30e$LtwWFMi;Jp}V
z!U;znzPP${z;B-_UX5k~!j-d(al3SIl+y^(FdAU^nmclb=LE*F<A)xK13tcMe#6rw
zc8KS6&5v+G#FbBSOAePEfr)XunjtlxU1OJ^rf^ve{_M)m`EeP_nBGzD8t(GCDjhyg
zaXCW~Lyv;x05TMu`>9e`R^Ife39^7D;>2YIa{*-f@{$^H$dK#nrW`lm8a(sx<?aoa
z9aU;qVecwN30L5O1dw<45yrxvwq`6FlFtO%1>Nf~L8KLduG;PKFk!B22X3r#b+4#$
z^)BzAjD|j$5%CP0+d>LyVOf{tmQZb7cDv|;lHDG<pm)FWw@vV27L=9m;V9R2a2N0H
zI9w}#+d+s&Im@xL>?9lFU<d3;r8rP4<0Ibo5Hd@-DkvwE<6#FVQO@}X;T$Ey4siZ+
zCS~021Z5%*g7jer1pgIJ!xIFYQ~S@&QqFnVXE$LO^=L(p+N1I4xgaiLH=qV&ICBtQ
zriPL?^)!e^?8aSy5vLE(S-Ul!2>*y#7~%2yA?|}NFm<1P<!|Z<Zc~0^qAu(Mb_uP7
zWWe6!Iw}~WJnOBj8ti4lMnXUu{DZsd>I5>mIsp(#@6)=5ck$_5UD)|-c0SvGUSj7}
zt}Z?rLUH>n$X&6I;&<8O<xYsCBm6`}mFX6vlov{+%5*K+^NPlq@95*8(S2g_(W0pl
z&g`yezE@skOwS$>F+K9aV-nI#ed6QtW5R;#V^l(YjKtT+6ct9s6y`<51iLMLM9TLO
z+<c!Ho*MaVeizT5EVx*3qkuozo#y9RV!EMq&!evV*glc&h&~~1TOTtu_A$AQeNG!`
zjFB3R-x%wSyae0dhq_6hv1BIMMQ#(pMChy#D$)b=#ocASladM#sOn)ZG{ukm=mKAS
zZ}!_$($6O?@R2_K9xvZb=@Rd}#fwRos6t<A?{c3b%3J8Gz!y{0?hw+&J8@!C(!hz6
zCMB^Ceove@(f?gJfnUmD=s?Lz?4&1lzwBhPxKC`7%^~<8^0AT^;IH0fM-P6>R`wlt
zh1IUCza>wvza!VkoAHeQpC6WK!smT*fcVJEWF@|xBFD&Sa*(X2ZQwVvPh8;VF*1YP
zr_<=q+-U9vZV&ejZ{j=ggZL?kWcKmD3l3qp@V=-P`-*$SFQjZ~v-G*jq-v`gs;W|5
zQ;$*a)TlN2nwgq?n(wsf+7a4y+V{2hbfLOIy7jut`e^-R{rf?dpp2kVK^ueqWoT*W
zXIO0T8BQ5)8$*q)j6IDzP1MxhwAl1dv&($Q{D-BrWt!!H<#cdD@Sxx=!M|9$S*Kb*
zw5e>JZR2bohtQDDA(KLmhJ0yHvX8^hR{O7^MWL^T)`mI5HiVrG?-9Nw{LAp#2q9u|
z#LE$1M%p5KMQ(|FFG`5YjPgb;jXDtZujm%hp6EW&Pa<0RD*9Hm9Ak`e#-zqn$E=B|
ziFrHblbEk!ZpFwBqr>T#=$PwR<=F1n?>O%G(y4Jybk23Ia&C7XaGpTa^<3<d*v+v!
zV-Lrkj=k&}?V9FV=vwD`&2`Xq()E?=ma9H)RNOOhRdMU%cElZwI~i|@pBBF`etrCo
z_;=z@Cd4MV6LJ#D5{4&CPMDprIAL?b&V=_8PA6PW_*WvAXi0P>rX*%2?nrzm@nqsx
zi8mALni-mfH%n-i*{oZ$@@AFIrZrpGY<;uWo9%D*akGCk`=NRJ=9`-DZ2n&JGtI9w
zzte(mVQ3N7qD70&Eqb)@wiwl7dW-ojmbW<7;_DW-Tii>MlI%&bNv)FFB~4A*mGpkn
z*`!NJ-zWXiQq$7ba!AWJTE5%zRLieh{*+9T&B>FK@3+#oifq-aRa&duR()EHXf>tP
z{8npPz1(V7tM^--X?3yH^;Z8*;Zw3xR;Rq0vOnc`%0E(mNcp3+u61PVR;@j)i&~er
z9@+Yt*43>ywEk=B!>vDU{Y~qi+t4=VHtpI}r&?2wrGB3JUFz>{wL91y?JjaZ>t61D
z-+ehPJgr;W+_X2-&ZozxXQY>>k4k?weM$P3^xf$nq@Pc}lzuIP&(LKAXGCPUGNxtB
z&RCdnFyn)aPcpeoZDvYlX6Dq)nVIu5|7c6w_G<e|+x=}%w7t;whqixYX|p1;=4O4@
zu6euacGuf?YCo<0nf8BlpdGv&hIClgk?*MMSlDqx$L~6&bgJmIrIVc9KYN$Q<camT
zJzYJ$Jr$lQo@1WRJ3Bi!@7$(y*Up8VcXkoG<aFuNWki?NT{d^Q(&dLP|LWSlYuB#J
zyWYx4$jQukD(97)zvjG^^KQ<uoKrdHb1vmNbDQV3$sL-zCHG98F0WVKy1XyC#ddqX
z+o^8n^V{UVnD5K~qdV>1tNV`b|LlIJpjpA7f>#SJ6kI7(6&efeg&hiW3STYURd~55
zs;EcNf}+3mF!$)$V`Gm$dUowu*7M_@U-XLamE0@6SGQihdcD@Gws>IinBwP(|62S-
zab1a_B)TM}#8XmQQc*Iw<b{$ACBBklCI2clm$oh~DIH(Bwe+*zV(-qqxAy*^%viR&
z?Cr86Wmo%1eJp)a`c(AU(KozrRp0u@o_y>?dHeFk<*UlCmDhTMy)C?*y&Js$@XGx<
z^y|~_`F__Q4|{yw<KOoW>7UbodjI+TSM-0c|MdZ?0nG;#4wyCI{ei;3J_DZ~_|2d;
z|M_R|n8BY8{$}uZL!KJ)*P+2f<A$aW?L4%{Q18&SLq8vSedyg`J%{ZW_IpK-ioO+t
zDk>`$Rcx==Uva$R9~IvZA3A*hh~N<wBaS^0^Td-+?5+&0oK$&fWd6vbqdJcI@yWSQ
zE_!n1lRrGw@u}HQ9ewKjQ{RmqHu}pky~Z3GJAPcmxZUHMjUPFF$M`=cxF+<S@ce|G
z6F;0ZWYXu8yG~v+`KKv8r@TAm*QqV1K0o!$(=DG~@bt>3UwZo5w8UwnryYDo^-RBK
z)<5%)>GtW5O<z9!)U%1tJ~Km{v3SP18L!Ov{5kb=rsr~=t9tI!nISU=&fGBb!mPMi
zV`d$n?U+4a_L}E~=O;gZbI!0iPtJLE&f+=O=BCe`HTU?upn1LLt)6$`1=kCsU-)Rg
zbAI#r?dBKE?>~R^{K@lY%wIBp^ZZ*2IxOh9V9<i`3+60XwP5>#y9>K5EMHi;@R^0x
z3pXv?S;bd9RyDHfnW{xqo2qtJ9j-c4b*1W;YN0x$I<dNU^~~yJ)h}1?s(z>X<LYyZ
zVi!HNsAiFGanRzY7k|AZd&$}*H<#utU9<H1i|H@UdGYKr^RnV)Z!D`{u3K(j?pmI*
z+_Su7`LN}am(O3mZu#rW-(7xs`IY5&S7=v6u4uKwv!ZlG#fm8_7OYsmV%LhJD^9Pt
zxZ>uDx|N2N(JNc8?6R_K<%pF}udG_RaplgHM^}Ea^81y4tP)q5S4FLAzN+1-!c_xS
zja@Z+)rwWGtlGco#Hx#{eqJrCwylm|ov}J^^<%3mS5I5LaP_Lye_8$4)o-u<Wc9_>
zH&@rKF|3JRld{IMrew{KHKW%|TQhIXvNc=Ryt(GXHGf}od97}3$F<|u?p|kHm$Pol
zx_8%yug_mUcKz!0hu7C{NZc@T!-pHS8@(HcY^>V2eB-}1)@_=xY2l_-o9=FwHiv9Z
z+?=_&X!C&0V>Zv+ylnH<&2Mi0aP#TSmp9+s{Kpo$C3s83mgFtzTRLv(xuqYhD)t0n
z=e4lqJW-Kok6z$Kj_1@GfmacdlA7W+TWD66*==^WX&vk|J2TOa@ZD?oS8~(p=8OC8
z6;uk>*>mRAU!^;h=NL(IPq3Cpj)OCsC=KHHAXSMsD41j?k<e^QRtkHh*{wX1x_Bo|
z%W$WL*sPK(Hi1sunMQ5$H$C&a74^vL){7qE@7?>jpht1HZoP}yEc|xv_W-mpo*?XZ
zU>=QH;#53OvfZarn}AD^<8-3Y(al#k=O*HpxUcSK&cqsnI0Y-eC+<b%RSc=}6sTh&
zZGu%}*6TGEqd_NVgM+OhQPC<vvI`VjS)rmRStYHL54ZE7+E9m6E$H=;GzeugrZAg1
z2tT4dnAeIH0Fv#tWFgqaDzQxVPw5m?+JRC9qZWIXnKc~Svr<$2eVf*lciI4Uu#2^H
zWKhxEJgg1xwox}uU&^Eg`E2o?;@^vR7Tu!}S@Q2RzIbnOZSl_H+B$MC>mENs{<cOQ
zNVl?9LnCYGcDWyGHS)JKl7QA@>lX@%*nx161d>di@MP(&_Ne$4k|2mql4vHP+8idP
zv=XHdkI|AJV)sM^#qlj#NcMQWr0?bBrKCu!-5%M?YbPm5W`fm)rnr?amMpW~9Uf{r
zm1H^vVkqmwWh@a(vq~zPD?K4GJtV|#PE1HhPs_+mciTejs)R(dJtRbxhCYK@aaEFp
z#J?Y(_xqN<*B>w2w&sfi^G@#TzG*|z;pI0=2KnT~ZUc(T=&@yoLN1&W^3S!%qI613
z_O97gdxC3TQ5Ej*q?cDlb>BL-U7<@p62V=~DvGC>dba&T%Ia@Q%dm5$fp;5Cnq&Qs
zd0Hp8NNO1#V~ZEH#H2OF#J6ZErL>BCDUl{7Ci8=X=&m3d6x1@AZ)s6kgwR+pGiaR6
zxOu>Mw;8{gpfoI&i3<}LEX18^Ho0OYQQ_`%lQT8s&rebprS^7R=FaWXj(+gUU)H`#
zvp2m)@3!wUXHJ*)^n>kN*49wZ`q$+zYR`YbCkbTLa^(6Gm#?_~-R-aGiCeW_u3AZ(
z)A$!xUB7<o8+zg<@4Q!_$jRXPo8k{xtq!YAC1svgEt4#^#AcF{L?qcFoXx~Ecf29F
zh0rpQj|=6EiP0@B(V9YUw9r~#<ZT@gTEF0$0}T7{LX~COGcwZC60p$V)J!T#Hfu;c
zNUIRoFWV}bk?H1C)R`zj&g1COt{uid{#bsm0ju^uFV7xTTrJO-_3EJ93;TC}GJi7?
zlNopN*3)G9?5YvpExIn>6Q*a6%l3@T?cB5E{=c83({iR34V`{!&e6eR*OjjIy}oS1
z!2$A~Cr``YzA0Z?R@(bZf*2XPf{s>jU`4SeFA5yf5sWDzb4<<xs===n*d3+vA+88_
z1d$kzffsbVRz<V~%7ERds4XU~cBTqVmQ1(A*{l}3D}gKBu>4f@%9RUGu2|2tp&I(>
z&O>tYufNI}Z||TV;kh00+|0)3YIVGzLWzOVAZQ<bE;Vr~SB51$jZ1WgSh&m$%THFV
zSXq6FJy`xjZddaTJ^t%&^z6I4<TecA0&bLGMHFWs5gsF!NL4{vjZR}UVHc8Qf2i;z
zTWY*r42FtK435tfdG4j=bate?_U6aiSDpG!Uhkq$H<zsP^G{ufl21HIOXZzU(#)s}
zPf^s6lEJ9(X(Jp3|FrakNW507(@`}aq}Nc6mU^WWq&f(=-!J=$1VFoCN~kU13aZTP
zqCd$K=#ss3sXTr!H*F7HD_8E3N8#Do&|DkIPuRnX_85uCi)t0`k&2}=5-;JQ3aJ!Y
z#Y?;k2&Wrc&-!a_>~~)rlrK`l_jp1+J;D{B3X>-`kA^2e0O{eSOeZm23p%AcZTTEW
zj~qXa(Ta_tR;(q|qmu~1D)<twhB0{qS7bIZM)QjDyBGDy&o7$My=O^Yx8B%PpaiCa
zHz-^c>Ct05j^i*Z&vVfF*~+8=(T70uhPumNb53R?aRV$)dHqcx3sJTXv2rty)q=ts
ziG+n}Y(2ah6>sd}<-`0&(hq*%NhZz}3rlKor&_4;+pL@svVN=mwf49Bztz?SO`ku1
z#*F#%r*jwOIr0+v934;R(6RC?d5L_!o=^e0B7v%88St+M{Ca?+B~Fit2(a{&>UDyO
zY9!S5GK~hS1PNhW?sS>cG9^isNZq{thT7isy(x6(hrI8#VWI6dtfC4&;6-3fCt*d~
zc*0fIaE>!rBZR0(v$luVtm48c4e#k?PsW-^R;Yq$zn;YNo$0g_=T{u6#EgI&AgNR~
zr;t_aq|;s<ojP@7*`_CEK6Cx~zuoP&;&qwZw}(!Ded%-g!zOep+3-Z)^LvNwdG{}O
zwOCnSU^f|%B#^G2xL{QT08<6oW2I(^ygfA3-pd;rs*Q__?%|D7X-z%6+6TA>T#RD~
zTX_R)imeKPTOv4PnZ0tSDjLp}?shZ+3~erOTUYpe^5^ocUtS$>X7G-hgCEbFO$R<R
zwfFjw6Hid>rQd}S)o(l0A-k5HyVmP$tJLS_P9F2#oq;1#a<;8J44y~?n4`smpofLz
zdlEI28gwebBBE4`w+2(uB7!-jVhc4|Vl14+!W&WI%m@V!BW1t<cT>q@eum%hxR9Ly
za&h1U30;zk3Zsu*tE=EPUOOiD)v6;q$g60!e1vAd#eY<rPse^Zqszd$pMk~6z#<$a
z5=q*5VvKyajaS=3h3F_^?%_qzM@UFmPj84M>3eultfY8!e!?mu*ND7S!Db~75NC46
zf{TKgW0R4=6<ng6d{Msh+oF=s`fb@R?@6gj8`+loz3vOAYdF8`$4`Eg|LAqTRqB$3
zR0`I2;yyVmua-=})j+_OEuMh%#E~42E5aPB)xx5i`Gk0_)nJJ3<uw?r9H;8#<y6+t
z9$xGJfv^dQ6^|AM*=}QYi+2aukH8D%L_e`(6-zddduL2hQN@j$T7Alni64J0*MGg~
z`x#W8HfQ?uqFDv&xUqac^M@g|@{c9nU(a5be_KPHcQ-D3?#0gI+b@QD4J{2CcZ8=Y
zk$8_qA{3SFBCl4FP@d}vU&@chCcNil+S5iU;kwkR`Csae2-i+;yZ1A+oL_^SAR)v>
zT9Zsq6t6Z|lblj&8`11^CMD^RDC^}VDqVOlukPX1Gmli61In4X+oHnUu*J*?Q!F*l
z+!e;<i7?VMmRa!-zhUR{&)kvkys=Ead-W&z-olM9Ot_b~e8%jhb6<#>JBbEWJkzqQ
z;^|@2#S`znbY))O!;|0o@^9}vbF`><&)6;R-rrL>aq5VY7qWudRrA@y`lOY1O-Y~J
zv(GT55t+<pf})`$o>4SbuP2cfB3byv1ijH_jOpby8hM*7tcTa8;?;0GA70bLLaSJH
zlb`LNEQ4Ll)qsyl;DT7<mG$`7mmp-y+vKhD+Ijo^^rKGS{?&0Gd`;=s8^3=}=AL<e
z+VrVgbD!n&<YKw6=~x&g)Y7l`&be#UxK{q=?v@v4EL}3lyP+STSL}%}3i>>R>2otv
z=Ool_u$FiYrbg3(pa*a=r$e!fO)ZQ$tugXxG&U;>3!2&-e)Ad@{6N=oioJXT^GU=^
zQaurR6<jSr#RppiBAKKYB|eCkG)7o7lfqIdg9Z-xs0mxe+Z8j)KbVv*HYyg?6`1rV
zyWg^M*8-C=`+o`c|0d>4@Pvp!hQK)2$kS|oEWeb$jra?udVIq?ZCc0EbPC=T+SI1-
zXX{+trAu_@H2VEf<cLwJhxasmLUaC(5^pAZBH#(}f<`TfrCt~!QtCC*6xxf9h0Vfa
z;dh!oV#s6B1GD86Z3KU`wj+O(&wlewdHkL|kgtbeq#`HcB@mVLUtkQT3Xp@jOLZ>(
zY;6kNidoB#%AwQbQov|J4aaE3rX`Th9;Y)hf~bOtAvjWKmMGZmZ~@{>CT*eDB*aCR
zc;gzJWW~UxAOLC_3qabKfHnBXFmryAODZTATT@y@6jw~m9XE2&)*fXizyI)hOYi6b
z*|%2Y7xn1Yt%x4-j9K1uU}b(;zl;Rm`1fBcoII*e_rWE}@{u*Y^1Jme0n}sb`$~t!
z!z7(#lOj(-1Zi(=rwYk1xLOf|HKbW9sk29|>u5HohPG`h=yXXjseA(7Yf)m=6lOON
z#(+f|8Ab_Q{b7tENQn*d1WzQy&fBbtFmWhv5I7seE;Z98xf}$ZN}M}YuuxnN&Sbh(
zI^6H&Cwon@>f5~7@8x%XKU?&6en@4n0gGh$)${VP?KFeNUi$g7f5TZBdYLZ1e}VRX
z=YH+}BNlyj{;Z|k)up%QmgV>C`PrMFQW_B|r-Z)rx6Q9pevwap`ycYx^6`G#`qHIz
zIQCE0{9~{Dru^y;H2$`E2QY$<SRfukX2S?w87-j{OvMY76I5!wQH6pGt_b=?B!WdR
zvh;ysQ~m75d@mpXJ_^erP$#8)LPDa1+l!Xhon2bXxlr-$lG`jarfVb8=F-*jDDlv}
z9Ik>cY4%35>C5Fg;Bb~(xd2;ggno09?w$mz5Un$XhZ_a8&M3HI)nP~-fQ?K>sEr~o
z;f>({2%aR1w-nv>s9(Z>Vu=_B>?>kvzY0fwAmE&s&4F)6=pNdN2F-nT{WAI1Z*@Q4
zzP`F@)z;JU>UA5pi2HnpXYB~lM!mlL*f)H?K@*<nU$;YUGx6C8V<1b@ppj35_d_A?
zR^F&F+W7FWU{d4_7W7h)SO0+76;}!D9dJ%F0_0C)<VQfCz^8nA^XeA^b`E^wOZh#y
z=2hC^{N=-a3tkaq`760z{zbkSA9boTokvG~OZ)B{_^~UU={Vp_908oEfi>vVAVGsr
z$z&E0jf%VwROA&N;HNP&MZtbZOgRW|g3s!9h$G}N@(c14^g}v;&aIVgr+08B?gx3b
zJX_o+FOXm6g6>~rmKn40wU|vuI(i(?qFOC991CwGO_3KykmJN6FUM1Dk(WN0H{dS@
zd__hPHakKcrSY}3$N2Vjd%48A3oM-cM4oV5#@hU|-NS4e(iYr^GjO|kt&YuQl&FrE
zur+A$&*<j?xOmXv4>(eB$paJ7owxWb|14~d%#&;eP)}?F>V-4!EtCsZbL#LQ0s0G!
z1;pxfrXsIS5JP~>2ZVfhIV^TV_C=9o2sJ3_iX}D{cx0NLyqyc5`^#c^ue_G7rWMyt
zmF?N{qx|!4*C)-D&+=h)u}N`sAsvAl#HHmQm&#w(%fHG$L{XHCE2|f~D7bce!qmt#
z!PiAPMjxc+i@a*JsFirQyG_MVNs}pp=wCRTT7;Blx7g+9x`DTEb6bDrR@5QHuiL?)
zFkSJpxV6d*nVv|I)ADMaj^}uNkVcS%LNB6Mls^{wDT$;NlQE>O8hm~~9n&+-i7+xM
zvz=R8x5ww>dhXh_u$_?7e&NFQ_s_N?w7x>Fq&qN+o@EKNyh>%j3JCZFKA9r9cp_{7
zlT#KsxKq;swN+9N?NZk1!=KN~m0>4rzl#g+&AfaofR!jb%|OyUkvcsk3^VW#^#&38
z$$+;RMO_obuoO%q-}xb?Dg`eYnbb*CVw8MCPG5Zc_Rt};nwsR<+qu;f>n;IDc~6g}
z=j2ZB`R5cOFsG>GInb#jih@e4Ai(2n1xnz}kngk|xy?N(?z?Y4<-b?jihHf3lPAWa
zGZ=!bM8m0(9F;Ude29&+Xn0Ad;)wz2#cVgzsZC&JI+f`#CNk7zv9T}(g`P+fnA0qo
z2${3wa<%yaEupI=80FIIIzcUW7mmq4|5TR+5GD)N_X@akqv^o-`yB(=n*(T=KV;Wa
zlZhZ_qf)C$u!YyF;e%0i14l8$`5CGa0)Su-3BZuRflT5Y`C?rgwP?5it#(S{^cRK2
zoe!?BQ)B9BcIqtQWTvB-l%0DJ$Lq0DiG+q}Y(-uq&W%N0{(*2kq@$R1Bv4aL<9P9$
zyg`0jeoNj28&*j3XvO_)Uw(f6!WZYixX4|?wMmeuQTRc{sJvdjBmY3H)QrN65cx;H
zz7!S$16mRc9E2H(j*)`ctU3Xrj`v|Ls^B6o=+TgUXWFDeupsM*Z<S!tA<zaZA}o~u
zF5g&t8?}%YYOYJ1dEkxpFK_2-ul>px>9QO$Yr%6UKL#G;Z3-TYi2mDqVvq-sLXbYi
zJ6Bp{0D{7byg`Dff`l*#7)qGXnLbk7VSlK|cmY5l>je`VP&tpH=i~=;pnO=qnfM=Z
zbXQ(kAkU}y{{>NgOo>`xN=<Am*09(FlQo#IgqA7TCfGwP8iK?ps;jL!i(U;=7r+?{
zv>#Cv0k9hoW@c;*lWY>1qu|^A>gug8Z@!Jv(g;Z4w{(;Iv%HlzJp0VEPu2CWJ0R}+
z`{(lQNp;h>d~k3D?5!ReJC3BmqbE@o(PAe;LcBf-aSyb%4f`7pF%$vu8dQKnKUb6d
zgpyPD+g~_dN&pwl33~bZ@4s)ZxH4qP{AWKnzKseOKRZ)&bls$<TaQ`#m(_W6@zJk)
z{4*uvsmDtv^ej2EeE(<tkCqPaomG<GzU!prfH4YwOeHX<V(}}1D<omhg<9YYL1)1K
z_Y;<-zZg~hx*9sv$sN2cmkNbwKb&H^V=v^Uy&|pg9&8Qi)M^@RF>83y@W381ee7pX
zEDmZ@09PmqG{o&No5l9k@*n$w&(D6Y*-7!<c5TnCzs#YIT7GBku(#fz!%*={ncs(<
z9j2jMz=z>9h`0qRXm~>qa)e0MK_xI(uMv%kK7tx@p(!D6rojC!lUkX(OWTBIsDm=h
z{v=-Q#LlNui;lO(9D2Oj#57MN@pzn+glaV=#MBXyL3&Yd3XK$_qfBBbuZ^(k;XU|u
z&_kL~QG@|a=u~`5IG0Wy8$B%M&J0$1bdn_3{%&e5YLkt3<l1-N|MhGeo35qhr(3_e
z5{+4B?(mgaU$pT2Ewy$d_Z9bL?Hi{y_4%wb-?w)A)LTn0@uh$iFLMcZ0jZ8z7)mr+
zB#`hz45B2pR;Lcqb80~Y3&Z>>#RG1Nmw<&~Y_0qg?#j31<?>P_6|c$dsFs%Ehm$k8
zzOcb}x%cb7;F{NUV78di;1Fh2BX4Y@9AZY;H4fT9t05v)@yyaUA%YS$F;#$hAWhWC
z4W#|3Acy@dM<C>k;5O9Gt~<e{@bmHPE_il1p3VHIC|;%J@Mexm&}mfy(q_z0<kXZx
zf)$soG40qS_X8G1c1%gKIEC{2KXO;<-26{<k=*awg|4S+?!U)YupU|a@t8#gD;Wge
z5Z(%Q8WCQC;oT2yjKY2?P8l~|Zce`dZiswHy63z11in3#FGl4T4=3kO^2NbmzMnY9
zrMhnd>0(OUm>-76KR+_f(CYY83ry%9o!^f6k#2XoDZ%9D<)jtjI^Q2iG?6IIE~FqP
zlt`k-!m*j*cJeIwgs6ut<Wy=?a)SWDiX6}=x_27A_JRDee2TO4uhx3GeRW7<(fV2$
zZ!*{CBf2rag}q`#QwSl=EYk?$0SbO%?LvO4d<1mD-w(LJ7h|VMLxT6Id7W0Ag+1kP
ze_9`-5m2Q&A#XNrPwqJgd%~QS!iBVB?QD7b++obV^n-2`@J?(5a=M6~^fV?WB2KNg
zM)1uNInl0n6nOP|yiaPgoASMOlNg!r6+`@njzv(|XMH5C>vudF1KEuD%*I@<5|*3e
z5lE%8$lMyj_fJt5Z=Lz_ewhmI4Xf<4F~6wa=Y!6DQFm|Fh9%qAl&>G&-S?N*cdDiK
zqeiC2)}*vKaIDV$($d+3C281*f)WOQ4d7pa-I-wQFhfgdLd|?oG#><~)ag*0CFl^H
zjac)%#3V)Jd0{*KfgeC;urtC03^hx}(^QL+_)m1Hm>Z1n&z*tnwhEv!J7nT6o&N5}
zGoMW|CHZcsIqkSjOJ;Dhmd%(gjDR)&7gXliHFL1bv!wafkXPP+^+VGqZ+-L*9CJ!W
z)ZgUy0?RfQ@dfd`+QQpIBpm=U5fgxG0IN~Gi?NCuql5+yGn*cvpTv#0FW-k_!tGkr
zZPgI@%F?P$i?WwmX*`?=J8jwd-FEVvgYWb_74HCMFsD!k%vk)GG1)b|UT=uv4Zw`X
zOe8%q+N5v=gy1G1{5fXCKm=-cCooIl0(}!xv9YXdNCG`v)ambUocVHs-hA^wbKUq2
z%jR+mmOcBz^H$oD8mWn<{AFq`UGc}wWv?85dB5|l@5I3aM*=Wr0WVhYUpG%;m^KuI
z<F#f!Dl$};@70G!hH@r8G?ai{@)@!W-I^kcMO6<4Z%jf&#REig(q;qagKi9SJgDeQ
zNZ_hvS-wOKH!sR{G2*sWLth)x*SB%p{2+Rln`NcRR1Ih|<hwu2{L5eCliq6{%O78|
zVBum=&;^<9BE^7$?LE;!R;!AGXhX{FA-qio66&CFtu)`OvKpZ}6fdkHP+<m}v6>>i
zP`s{m;0>~%gndX*Ik|K4otyji9eDTIr#n5?tGGKg@GsR4=3g3<pa0>z&G$qO8^&~j
zUA786fvY6amUJZ(JROs`_)cP0ygnv1xMdg-gTrFtrQDoYwYozAV!e=Nkr_r~Mjo;+
zA<dd~F7P%pC2`%oNyd<r?%t4y2XgRm5=7aic_?CIj+l~Fr8X5yh9Kda$b{FeB-yZa
zqm&r<3k@1}qwUHLyni<b8`g|}{j4JNd^bGy=IQjLqHcqZ>_04jB47OHPqQbbbj-``
z`{dQnQl1Ex!xujL{-Gxp?HN9G_>&cX8~((IkwWQgmup1U>mRC9vJ(<Et~m6!msXCb
zj<9;$bn4q8{?&1NKMGRa=ZZ?lJf7ci5Z|qG+?P*Ho&=iJz=lnR1lS0oVM>fa8jY4{
z?IA|gorrnfV3Uqet&N#v<}NF?%dZR+P0M!XSZa+0FVF>01sQOUgvmFb7`L+e#tpr(
z_3IPpa;|39bGy&fU4+<A9`sakx%?#4O4tFUTk*y)j|@wOCl>BHRJGX@6r)N}af4K2
zRWnsvRJ&B)sBWuND$Ym&L^d+KfsONq>D_#jol?5u#*II6J)LrMJ9%=2QW~F~lat*c
zH<xhr^JS|tn;sdZuAUabS}jzJN);Z4$`VtIDaF*wG|05nw8eDV^o>bl;7w}m1ViKl
zOu$6QZ!xeV$++~Pn7SzpnWOS@x~;zPW?lmvvNi0WWruL?e$?we)vyML{Fq;;?3p7+
z!ts)5&;$28A{8w{Zi8AS2wF}@IHMH6zfz^s;Bo^9MOYARGhf9Yd#h;mJlc~Q<*xLC
zd{f>u`-dO&T>f@iA;;G(q}N8t^CWAX<~;K%KzGV)0#8Cba7<y6IijGLX?yl$mcU~8
z#296?N`hRuNS?<P84-+|8KY2b1Roz~4bqx*#z?S<Lo@?tb_ACV;*G#NU_u%KE#_e<
zPk+ETc4gDc|67TJ{g;HIn}bIzn0e!XQ{QUW$ok%<HhU(1^wy0bBNoo&cFdfy`_sA$
zLg}(zeRr1jKYpq%g`InScVKP8WI!8?z2Hy<PK2da8^C1XnN2$5pR@Fz0~X-tRaFd-
z)C1$_62{NI(}CH+%zisE12gI&M=V>YGQ(X8v1?&8v?kt|=jEGNFTec2lA4rFzH}2d
zh7gK79cH#aDa??6{C&euv#9m{&os35B7(P2`TELvToSD3nMG9kD`M_e@=5ugJR9%V
zPXAD`@X&iJlodNjw#O05a(Jp}v&!s@<#hzRk$Kn&QX8=u4Flg`Ndpqy#J*$O7PcWa
z(WOwq9RiZTM!?*&UATaOPfOq~d^X8oxN%q=rXTaw>F;jHzb~3SYuPh%=UCS)ik90;
zonj`}D7GH(@&~u=b$#;I@wX4cmj#{xXBpts5eGaGM|21u9v-GOh8bg>;SqLYOo-lM
zQRR6pCOygX>L1_?!KUJjG&mv(po){^XBCq@V0!^_CQPpxTOBTm8@O`zyp_+*J$mZ<
zo2M&Z>8uVvdJ{?2%9_{z8h>i<@pt5ThhWYO_-WIleAyo#(DN;ahQAWvAfDL~P{?Cq
z9K>lY;PD`>O~kqE)a)!4Wi}GB!AvnN$k>>>(5;m{HDmFv8wX<anY)D%+Kc)FE9wpl
zrALS16<A7!!q-`f=Q~-nttAm~HOwK%#6zB}*063~tBF_VH)Wbfqitqjl$>4~yw`w5
zQEVlsWRK?fr8mF2^up1a3$4cteQ*A?V@G!uz4^?+Aulg{wgYXy^{-t|_M6k9ZHI({
zl~a~%>b1LIR9b#^dig{KSz`T7?q@L{eB2TH?)qSsy49MImIyL>G#0%PWq7cbc-#Ad
zpQzN`u~NH$XQmj!c*PlWAy$Sd&ve^ZU;-B?r*GfH>0RVKYql0IqwVEmeRf3bHrwf7
zuB@`}k9YUf`TD?PrDQYwveC+WAFVxhYBpPSYO5MaJ<*~u5}RnqYjm&!v74V1iU2pb
z)yyC<*M|9G{9dQN&0CXBd~~aF?8@q!%X*X_Kgpe|>pOGi?lWBC{he%17AfXqP8}pT
z7!;?>UD1k4jS)6yV181w8?v+k?Teft!eloKlPTRM_y7G$JH1-d@yb29pHNyiV{1kJ
zVQ!B9=~fgiOvKZpkgs$`5j!?Z)ha_oq*fzn4E9JdCYl7<QRASA5O@pRBfA^_0tjWQ
zKJX8klTYAXs55Pt8<RVO5xw}K5Zp_{b2RN@SID*UCqFN4jY`qx#v01KY)lr^#>}NR
z<>MR-W0HJle4Pv!zxm|F?(e2>d36WdeA0IMCC=%G7GV$kD25BSCmfbY<fs;ofGDYS
z6026y3Dl@Y(D3JxIt)^9a6_oRSzb)_wKD$f%py8pzAN8G2yhp#Fh|KV=$yK%btma&
zd8mSa=!OD?=9tr}MM)57B4~_42<l;N*oV=Zp%Vi37#V`5$Z6Bs3?wko10^`6-~-V>
zCM8$gX0@jEby-fFEuZUIke;(6w>g%*_=PE%o45`4Bji`j2ldA)+59>1UaK*GV>FLo
zUegfGBcd}Z(R{v_SxLV?*ys`YZClf5p0BQbn@g$tg}2pR;@r#lpuOAb*iH*cMl}5c
zqUlJI>q*pwS~!EsW{c!PBl+kkGshYEnb^(V#lOd&Ms|zWhKA`_aUSA)R%Y`cS;Ty0
zzqg#`OlLd}F9<HY4L+C+${R|+2CYCd<-7CeT(~gdiEGzJO#JR7jXC(<;{#~s#ufX-
z-lg&vA1CVLPRQp=%eejAy4T?aT##e9#RwsIV%?82Ma1cl3V+EVlP!eTE_z|_Udi;k
zF|d}CSWC3BmI#YrH>gmqEky8+7=1*9F??qD((qm3?}eWZm%_t?!Pvq7X)W0Fh2=po
znT{Q5roGb<L!kmB9VH@6jBPML^z_FU2aOsv{o3PWzBxK`#`M|Njmx?Hw6H&wrp>kK
z6F;WSOM8p^*6oz9RFu8fXE-1n%(WNV@Rbl=k0;KEK*S*NX0xu;i^$Q;X?U~bk=SOx
z6oXf^#!3P!_e&y7m$8tEm_k1^v5Eqvk`U2RI?Q2+ohcQz$ruaGOAAt`cO15+%armt
z-n1F*MlS0-qiiO(w?oJGo(hl8?9}e?*cewPvwZU)20Mj;inrU$V-Ywl@C!$Y1o_L-
z1Emt6GMi74cQ~1Dh>^c!SMhR>>~zaFsI#yjzo;lbzXvz3RxP$I=-I1#ZdnOdyB${L
zE^@e$q`=eM!09+KL@laKktmxIIS$1u1iO!j6*(cy5ZuG7dl9BjuR`)=Kq|{q98<!?
zCUK48VaEGwrBNPdX{eF*r*s(>_={7kH=aIz;?vD*=j1J~T)ybVs>1n?{nTFk;CKuT
zy(iOX$BwOH$3yK8ANgQUbUa|p2Y>WMrA-v+<7pL+jWN41nA4bo?V(akv@SF(w3k<H
z48ta5SeOMng@9QVY_u4AdM!%ro`1KDRq!#7{NbWAe*osU#fTX31AaosSSlR_b6_iO
z&j)W6ZGGkxT`W)RQq28&|IW~XhYnp8Pn7QKcJbFY_B}o;`Sj7~x#JGJLCK-NGrCR2
zHhqM!4RJss_A=vR4X9h^M2+46ki)gjn`!jy3n!{kv~5(yAZ)=K3y{<gQ=t?ZoOMt#
zEi*CG4)(EU+EoY;Rd!V(v*D`5%!Ew8nNmENgPwWQ=2T3aI22uW_Ux(ihD~_RJ7?+~
zPtAgXLl!I;GGHNgohs)|ot@oz&g6L&6Q>THJ#}`+jx(pu9yV#{ym>=0hG`j~PM877
z3?Ywu+(c#KbvnHQwZ*0iwM&*@OEKH#4~_xu`QTu^O=~b3ioGhMQBQ4>zM-x!fZqVJ
zn_}BvM~@txV%dReydt3d;0%{fJO3(=zbb!6!{qO-$k%9ueC@J4<t`t^t*cY7S-<Yr
zU)QZ)gFmuKxF#A$MdCc*O{7jyh=c5+z)B|(^C>SdC^F$EFmvw$dWdPF+Us&|?YE%R
z#QHn@Ldk_X`Yh7J(=yGT5YdX5#niA&mW0sR!y=sO_U-tvOlxWjDO#;IcK51jbX<3D
zbQ3?b3DKC<Wj~B~s7zDR5$p{C#JkMNVqrd`q~8;RPC)RUkl2a?HIX^TL82th?$Leu
z#kU{dJ}hU_(;Yt;vtZZi>gt<k{{BLb_e*ZHs2H;N`Hlx#k6twT*)18ld}8sOq~2?1
zFOO}pH8p&6MlW~HrqR2-#Y>mG((TP=?m0;r83~yKCJ#x@%W2#BiNYt+O^*Y6@yG(N
z#$RG%mArUsMvtmK3o3b0tENFZ^x@Y~n#9Q{iuYIlK!?%zuC3FvJ!!4G(uMfu>EdqP
zRh-%>vr}fer(Jv2XJog7X=FP@QVz6B2(q9Vhy$DP#*~;uyT)j>$B1pA<SZsu7#blN
z^)dP_dL+_Z?g$~tg$*}<MGM|dc;p2ISQKS<s8OLd<b0@7y&+g^Rt{cq9FS@e+^KP_
zAU%%N`S3HwKK<16%;#E7eEQghuRg3=(0Nqt3&-iePgwgv-g@S=y!Ghx*JxbL4jT9B
zYx2ccYvga<5VU_;vSM?zZL|AdUw{7Zyrr4)S>+yi>nF$L?PpHYejn|SFV(zGov+o<
z_?qqVS4;zB;RT`<;>W<SlVo|KbkymzN2std&*KlO=ybtR%uO)~oL~qRu++Z~_|VOa
z^&|cX1v>!StOhHSNqV3F%dEVmz`WFS&K1>aO1JUjYigd%&F%Me#*2%qs${v_=)sTo
z=M6(LGe(Z8goVn_Z#yw>#tgYL?ZA23l$Vw!F&Innci)`+739~0*jrD$qz&Q(okk-B
zNrJ(s7uBd@gGy>tNCCb^LX@hI8CAMcT2Uikr{Oj7M*0CAUc=<JM&5uo348<Pt@5@Z
zbXWL;uT0Af#->giJ_#H5h?20SK(K!=2z;qG1>0PKvN=}!&zy6Rnw0`Og*JO?ukdFn
zq0{yd{I#V(<vb^`9SWp?8n}$@j>eO8GQi^&G&)0&9<Mi<TSX^?K=qnKqNU6X6f0SR
zjOG|KXEukc1Kbyz8ZNX5ycVN)ObW|ALXHQL-MH5*T2<^#C#V+oYRv!OKJI32K~eW!
zUFo`Yx6Zxa?_DbG+<O0;|H*zlm)AKzYsTxH<cYMOyq%xFKtA?A`H$A$ldOUy9RPaG
zZy_T2KRX?QbpKb>L|M0i4@UD@oD3OdSuX4r1xrC-iSRI!CWL3asc=9;)C#TEs01Fe
zL8A{>R~>$TLHWA!bt4K2MpWkKR|>P|AAP^7`rXIYdh;ru=vFiW9y5n}N6=rm0`23k
zYh!O^=#5mZ6U`=lP^njM3A~-LrODeF4@&R->Kr@)da&@&MblAP+2kb+c>;fyTf2v@
zkw@Z14OvE!CAiLwH!Zfqg9yQ1Qm|yUahx8pbEsWoh~aEDiUbJ6uSs|S&U2<W6h1cA
zJ*rerZhPJ0>ytZs+ykB(SiNJxn*Ix`>0+*6{*`f~+NWidPn$Y-Lhm&*XR|qzxh!rg
z=5#>=#MrS<LL^;qG%v-+!FtA6DgIflns8@~LE~&xcjF(p>k9wF8)?W5rz`ft1*asC
z^95Xt8r-~+UIPam{OihRmd$wc<B1~=<hIQkl2z7m`Op_O30DgTCECXHm|4|nQ?L0m
z=FLuP+bn)UtM=33w>RD463PGB;erR0=|p&-qNB2=xu`kqbT{EbSl$~QZ5@v&6=5}q
zy(S~}2}R~UN-N^EJ7PmspE^9utTRY<qsA5zVc?KN3Ybb|%k)9wC}1a9sihKbv#k$i
z7hPB{v(|LQm&>be?vD*>y|i*sFTB%v;|ASc>kqwG^e*ccxhGD3U+Tm#JzlOArXuHP
zB+1yXC8$9Xb?}p^s8$<91FEJBc&mnlqP!JvH8$!qMY}NRRdlQ=!|fENE_`ocr?P*X
z{PKG)N3NA-{xO?(TkhS*UM^<AUpl8dc~&uP_h=E91?hQBi5C^bN>xh0<~K@5V@))7
zuE`rX1R3QW&{<|cYB%cH8vuILK<kYjogv?7G^n@;z{;30CFvnZt%3LyPC{a)8$3aG
z$fvtxX5?mMzgf1nd2v7a&ez6;24`}gu<hlxK@2Np;CU<jIW39x;B6UJPlUH+R2u3K
zG|`OVkX2Rmtg=JrGG}Ij*opCO&U%m+%_&pLY1pfH1bO0dOH1!KR{z`)R_!#b8uJ`b
zO~Kv)A`(0YlrExF&8AV*#ej$2V{H<Mh)rBp?)0urt9`rIt@X*Kp5^5|SraO@9e(fS
z*ABkBee9SqW5<skjTwuZ*eJ}X(;(x_t2nJjG8nN>t{0h!N_k+TKvTRgL^DxPt8{`>
zURT3h$r}2E+)-X%L&N3kHTVOvcDZB-?N0{|l#9b3e1&a60f5v7SWD#W+;&hZflSBC
zS}Lvs-@k4@(Y(oXW_Y^k>C6tb!r1)4*g5{OUt%no#Baq|)gI2ohO&|Hbfik?0`^q6
zu;@GRE9&-BiA)9$Xx`+g%KucXITL?tcQv9u7Cq#95+Y+sgeo{VB9?F73<caI!W6;j
z_=pHoe0)raH{M^&9UIto@|STV%7OK4WOPN5u($@XzCwdcd%&$wYP-{en-GbsE*<e~
zr>CCmS5sR0)!$Bk-=gn?ft_wY2p+RXtu7uqw6N#E%!D_`y!Tr736=edhV)9No<Ky2
zwc;Zds3vj=s0(7)=vx0RUbj-e$%TmtBq{w*Mob|){`&}8NZR{HL_YkC{DxU@HQ7HR
z^x+Ym8b**&Bo8CBdwDKi8S(%UO<;^fi~EjNXdH)}189srAQa6>=Rjj4b_RxfGNj;O
zvsr5}P&L$yNT}Xq5p7m2YI{+BE16JJWHM0+DaT+5g<~j9L3z-F>RT3xHty^z_0gz0
z3WN+SJEKGnPE<p%vTay5rLhV_>0Ir3S$*g(w_Ql7JH}b-ZgTDKXVT5nmE!F{nJ!(&
z%?5U-K`)~U8f!`bDOBVc4)0Uq{1G_hwF+ID1?aM0!5FnQVC>NmQ%KMMK7tn3|KT6e
zh;{!n7}ou>j3R=9b&fh4v7QFRu2mpu>4!xA<dJz$uEBlQWW<#E=N}$X{}V?1{9pti
z(LDkQ0ub(X6@$b-%cy$W!;nDM@E*N55Y%P9Pd86|5V5F3Lh$!D;XZ|j*&s1RUW-a4
zXf$S&NAdz{kDHWmvxLG!@om6oMVTZ>hTMVE0nNy{;2(mPsO%o7RCbSDzMLMWkE6Ex
zk6({bw|wd)&Vu^xwen1E>~U_UJYPnY8`a3&kIVf6bQ9;O7^k;k*uon2_*WX<KsTkP
zQ^7^5AD?8ZG6L^!1|;s$5mTTZ6`A}`BOq}H{UhQYeg=a>nFUu-#m3~?@$d+SaX%cR
z$VrS~5|^wDNrzRMLk;-rrfXqCB0WaRiz*Gv4yTYopauy`8K7t_rp7bzQaOt>0O<+&
z;0#nqcAp{dr@7PR{qmt1+&P*zQ$9%Zrpx=}12bqIhQQmMR=*cjowbnF2>4w+J;~VE
zh!L!jRuZYj9|q7G#rQaTbV!Wg3^Q8PNL2;}Ia#GAk9yB0g|CE#^i9Khf9e8+^=DsL
zC9FRy!>1)u_+@xw#7+^RasG<f^D74~9(st?#D2V?-;!ZR<>I=1L#oeTsNLF=E9_t0
zP#jybaNvs{;_pGBKDKmr|3x3mFJ4(tyR!qeQuB9n_|o<$l7-wVm4^y-+Xkqcso<SP
zG~oTw5mU%d|9u3gTkRha{qQpw?fkQhB5M`eaWv6SJHOr*4k?hpN<y<wA?5z3Sd<~4
zAf#VdrpS{G(SE#{1Zk9#UV8{DFeVz4hJ)9nkyJsbbqfkY*`UN~>6p9IXu1@4O3{Ui
zI&7%&b=%xc>wK5tMT{FYw{IV#D4nj0nfJ~c8{gQ*tFQhlpBDH1a#^-Lw`eB3Tvo><
za;PtHlg^&lcp}Aw8CoXerJ|T*F+D9T-rOeH)}~pWw+%7d^S$PVtd73|>p?QkubJ6<
zwTcb3W4r9(EKZ`oP6Js(|K=jx$~5*Wkual2mwp+^S%dmN*7Ebe9Uk3oYuER4r%kQQ
z=~n1@VeHHoZcuvr3IgD31@qjw?INSy37$@a#&vt;jm{s(w^`G%yrBEDW!WRsGyAyn
zOP(5ef1<GL$f+8}6-s@X<OIF22LV5#>pJ||`!~7P=77XMdVNaKf4xo%zgMoiAG%+>
z+wgo^`mJ(3<>Bi$8?KX4zu`Yef~0p)1~A*|hhSsF2wDs?#74C6kASpdgmeHqnh6B&
zgOZ7!Y^O0qNKOk0Nlv%n-D0gRJXy?YYjnm13CRUsL5K@V3+e7nON$FKx5@VgsX(wG
zQ*>xIZ(Q?yZ*&}p=T2ftY5ewcQ`7EYVg^cYSe6b&LrQ7|u@p<T{y*;CJ20v;iyOYr
zy?1)=>1{|t2oN9y2rWY>2@paEhy-aWA_5T+0Rd?uL_nn}Vnn2gh=53wwIBf$5m8xX
zSr%DDR79%ES|D@t{?2n}CKGh`{oa4SXh>$}=IPJr=XWT)$;lJKNJvsGFm1V#Lcw*g
zJ?T<gXAJ)3k9Utey|LGz<M;k_@1x&*dL!7*$ozY^41E2;r%rVpR<rb#cW!KaY)RFN
zOQa1C%{8!7lUS!MTlLzK1LYfYTE6(A^2@igl<j2*gsOaS#;{#4zPNN2V(;!29g7w{
z{w&rGK5vR^!`k&wc{m%%c{s(M<?~%HR(JgkzANeBUAg`9$s_*f=b!`p^TrMSUPHU8
zwm&AcXD!3KTK5k6UCT%C3#S2H6*ymU@|Y#u#wzgL$D^K@TnBCt{X`u-vAX^V)?4|T
z`h-2yM%@KGF^G>t?PZK|08bcqi7Zwf31|(?bp~O9Ku#_TWSbKbgf!?Qc2|rhtFbrM
zVYO>~HXCA?4Tj{R3WGuNxdA3o6!DOM7^XT-@bL!Jo(xYEXCd(XTVLA@ZgS6T>*a=c
zr=(tSE=nWv;>xW{$~R2=)j#gkcYfvOpic(&8}QWR3xnQW`SSJW=RQCG*#*ze7uzZq
zl~0)cy9>-RUVd-Yig{ByWG^e|w{Xscr+}t?an_0rt6x~Rhwk+zP|!*I-jP#V%gR&v
z+9iZnH#BSPP`P>nupzkj$^Y&1$>aa$=d3q^!SVNL4gQ|@&)a9^5a{uFQp3;bgsA<G
zajLgEn?I0;TRj5xb6U!T%0#&ptpjmhyOFSt?8vLoSz=ulWU#`2mc#G^o-;%O5CBh<
z?GwgxGU`N`n#fZbhFKbc%-od)flh&L`5n84e*&6ghf*6TDlRDKRV0RgAq(`Vy1nuY
zc@dWg(uBT&=3F93a3=_ERU&X|8~JY&31WLxSnN`2g9x1eDiVYoG7t$uj+&4tpw)2E
zAce=~EE!W$RsIaZbCx{Z{mIg*+SBQ*s^gsq(8*0zX0#c|V$?{T{K~<TUIYjWf^`Z;
z4jH$yPN*6n=42jvYic<F25>rfj03+pgVf!Bi*|=acBkRz#Gx0dH|xJVp=G_*^OYLj
zU)}=0d1?=1h!Er6g{U^h02_wfi;rOlAH!rk5g7ySCE0~2O3VY>H+XKc*6j4e$u^ta
z4uWd-z=0~*<0UUv*KSDcQDKPUx#74kt_rC!bBt_U;pkzXk1RtDolX;uErP$7E$_5`
z%%?wGJa&4#Rj<8tNhh(`XAoSZOqXf~_Er9lY)u3ZKUX|NX{#5M@`ds78+N3ByqnG0
z_fB{=e7@>z#(eyz`I0`XJ%tm`^;y<ODB)6%=nBhDoYQHl@C4_@c!J*<b;+m?t`QH8
zv`~slJX~_NH)uhtkF-$w2X7%Wyeoo|P1(R|3xbaIlb+`MV6c)cr*l4mp6PvYHGd!S
zzWf=N)Sv^Bqz2m$^~ln~J%Wx%yZA1G!$5wRjP1tf5jt{P3*Z#0jt=)xNW!2N4%fH9
zdVj-Ph)@!>g%XUJj{%wSH~(r3nwxln#-PI!`1wCaQ6lV7+la`mG>WgIMp1H$w-6s*
zIY^|MQG6wEOwmUPJP>^CBU&$7(0rkFV-!WShGILZ6JNuSZU`^KGQ6+yo9j5&#BUx7
z6dLTYDYC_7@n%Sp)#H`n){O(k2z;VFD_k~PvMt9Zxg>-=IfNLG){hW6;2fkN`$*E-
zgoOHtIvzBDKs9iqdhawYK-dqgf;L6PiD%@gPE${=2i8k9U_37*cG|_*Prp0!uYW&m
zmaG)&cX`#Snr!2^CC|*AvvS6CH*_f(00#-{j0>9%UB7MH`dgh4IR5h1)K50Nc|cha
z(l(`9e%c%J_3Fd*cbp7c)V>2XhfX_}5m+B6ZqXbFD-JsYop!Z_(z-fz&&&;4;HO<}
zp;YBD5gw<ukP~U4FXB`4=v+ka8OA^-hgzVM1B(HTA|eUZDA|-9t+v5$#sF1<Qo6~A
zj934Xzh5rI;*P3)lGREbbqPGB{KhyMj+!KHb<`#5s3Vk<bnKS=q&4AV>Ma~sTTm4!
z^uZ&|`B}wi!P|QyT0p;3Dhr=gwFO!^wS`jQtlC0E(^Fd@I-#~u`cK|Mw}vgyol{%r
zE9R&zM6`I`0$(|5fmRL-oJP?n(uUH3^03u5a3AtnGGDpdMlZH6<$qTk{yVy9g?#>S
zFQVn%KtSdz7_kj)BH2c_87)KZ<WFRw+7?kIyp^4YJBBZ<2>sCo3-h2rj^J=h@a<dd
zh;q{#L^$>2*ci!cGMkX>Xb0M%)u$_|@c9f*tE4f6lfc5dq>3*Twu6#{7lQKR7YE7M
zxITHg!0=1W%atH;XbSi5r{wG!<P5L7j^E@{n{OSbG;KL&^O-Yef}2143>qZ_CLaBs
zBs>rZFv03@$G|{@0C=-YPDze2Cb-QOb5E!ymIPY@Vuums{6@n237;igOQ=iG2nqIt
zlmsau!H8%mHAovbf9TK&AzdXLJ`uYAeAEp?pF?9t`~=j|hQafzR$XE<l(~r7YxBk!
zwnUslv5JaWK1g?cY+}EmclJZ*G3vZr0znIMn-aH;0XHplN8O>*UiUnnc#X?}Tmr`v
zuk&-l%;EheE8b2{DbzOl)H&4s4pWM{ukpliPASwj`Y7+IZRo;nxbVc^IjvCJD6O-p
zZG>q>9sWXmjMECWjnc5LAcx!NrDRj)JdP0BK&o56@kGa3DA^Rdk9SMdcVp>YoOxIt
z>3*pF^+mlqenwTwLiPfj%;oTEMa8(QX$06193Z|GJjPuvr}mW5@*<p9wQn7Ke&_gI
zsfPY`1bGT-?>eE62=0S*NB+I|7QZ9S)El7uUF|<?8>gHDv6^Uv2%iDn5oNc!W~$<Y
zK5KA4k#&zbG{+~npTbh!=O(3tjNAackBf<GlwXDhxIR&Z`B(%XE+Lf^*#UHwBw1_F
z*bv!<+(rX~UCa;)%#5;ng*|jg6~O;$wtyROC0{U;GJt)kTvfI&`uS(EnV7CvgKOCF
z`;`@PxpH<kjS+Vwp3f6pl;n@PWev{;jZ0jj+k(;d4LuP+bwbbr3*O>h0?d;#{qYiQ
z(0n@44h~g1P!59ncQkwDH$HpbqvkF3X$CINitE<H2g8sytNLKjqvVSGrB-Y=gW6O7
zF5C;~p%@z+i}&g2WN>>vKJbaYY(}sh))NXb#~-jDBP1P(n<hMGu*fzm05OcR7_jO4
z>fxV38b4rJO!cq?DtnJR7Fl2J$%ZVO*%lIQTOTm6JT(=AcV0U^L^*;AJ~wh-94lT6
zu9>@fuhQ!nmWVtN;z*2$@IKOkECT<79{99?`vA}aqd2l0U0>aBB)|ZL4p^WX>?lbU
zLvQPoA({-Nk9W-0j2d?6@{qxME=zN|RnH0z5M$d{Pm(f1D+9YTaYSx+h79Rf_b|eZ
zutuPS#1TnXC2a#Ik@he#d^hQ=BGXuHgP&FPe$ZJ(wuSnaw6`PwqDRPTN7NpDVIJJD
zM=dLXj|Tlk?gm0nHEnPoGch9UELzt6h@s)mjHYn_Tcl$k$pssK3^{RZk}XC`h&Q@y
zUL;&Nqj50E1sg4c;VzI>Kn<V=TtyW40)T6f(I}lA-J{pQF%M~K&qgp9tf&74#Ehe!
zF?Y+0I@i1s^Z|<D$LVYvyK=Ma$O#&k>O&ue$i|L=WL-SuM!N*%C^^Yx_c?5Kj}NJg
zz-)?2DkA$9sYwy}kbC#SU>y<TBTp$HotcK#@}9!>1#=&Gkf)<qTkd@L=m#6s3?nIT
z+M|)Il#h?ru6}I?&OXT@UvSFaiuM)y%m;iQ#K_J=W=5<a$$;f}Ld*K#T0r`W>;rFs
z({;6lQsJQ5LPQqeEpWQ7woq#3EqKExM{R*lpV~rymW>v;{g599vM{P`(D_r_=s!la
zMX2U1k|)rLE*@wXZsckX4CGh@o6D6L11pguQBF;<ISE6FnM`ofnIshggTZabTv9yz
z0gxwXwIkmVo8oOCCiQqT^**~$YDrs1hAzJLlTnq*e&rQ5h!sp6CbbXl7vqE9iGf?n
z=l}Tf^Em^`+#LL2G@I{J@pj}q<wt0(zbHTWWdt;FE5>DA2`r_F!2E3?j1P3Oh>e=L
z-Hn>Nl7LVV*GO*F62V)>W^UwmHcM!Rc->~rWTUMK@-B?VOiCyce8}*WWf(PNQn+Dt
z;q#)O(U$k<oDnj5b1J1t$<(Iu#95puvXLUtqdo<+J|!_t3#2+Sk7`yc7ZyFC+_<d#
zz?}b?`bpv3-_I~1m}Gjcder6-1Kzk*G<Vt4bDvncc#a(VV3mpeG}C?H0I;+S$Y{;J
zXT$;JKR?Xcuo;P>js0T5dk5ZscmMnQK3TMA{*o}2Fmk$t%g?FKJoRiPM^Oo>l+&d<
z=yVE`Av%Cc#D&imQ6->h;M|}EPL)=29&)$RfiigTKK_pL7ATV{kI+Q*2)Y#Vo<;7%
zSZq>deUGf<N#0}RG;^d3KIS%|F^4>>&BJ5n**&}kf&;>sRXtWUt6>bcwE%zTk9^jw
z<$q~`^?r$up?P@LBVm^TS_fu_F_2%F!DfJ#?}4m>ydu1hp85Ou@fSUo)cv6L*yO+U
zShAk?7_nL;g31GX11&?AAu69r?Pe++C|d~c-l@L(8oiqcUNV}mkSh0-)P1A&W(oI(
zEF<h{Qt0o%;Zbviuv7V8g0>?8CXkAV5QH{KI-?cwWHv+u_pUI@G5|kJIz3bcfF1F(
z&#~NZ^WAdMjv~wOt@_>x1BBv{ISvT(DHp}*huG$0$CQDG&~G^FDG?alIaY_yEyu?r
z=gVaC#v&};=?=uln9OEVPvrS)-BzEQ{7dczSx{kFKZKN)ADs_HsDYt;C`5o#C_27F
zNl_5}A^eLy`V7sO(dG5^RaN24D3+?6<;hVyb{$#&4bP7HX8pl!w7#m3kXF4Noj|Ou
zdTUt3i>zAye#H}m=mfHIC*REoFXt_AuAsKiM_8fmP(&+NTOh8Ww$R7VTZjptKy?hH
z->NN?3QN@%RR1AHsoF0|zg1f(P30|k8n$pX(n1-xN|Ak19RzU&wGHw+scn?uK+zNG
zFzAWf{H3hFpkN&IjH)JwTX~e<M`}ffXGpf8XVl}(+ksUMm@w*SxGf=<-<;L3%FU3=
z)e-Rbf93Ck#pzUu3b6@jvp1@Qa_u84e8%0lCKGwDgViU5v*;DHE83PA?Slm!xOLku
z+-9F;y+7nFMC=r35G|0Ww<Gm|xELWcd)25$Gb_Y1gZORi#Gjdrm|H&5h|LqULt4Z~
zIuuWUUU6#(bA@+GZGki`-U8%jH9m(mY=LWN)B+@IRDtCqy{!$B0n|21>aMAy2y2*R
zZ;c)WD_O!@u<=ole1*@=@cx>G)PT(>0XxQOk&zeHqe71~0pftFTBiz86n99T1_bPj
zIjb)1J}`Go{!q<`{kKNQ8~44Fy(0-N9t0KjYmP#m=oV-cXHH7eOM0U#K?CfE#JEJT
z-?%tHPr$lu*EJB^R3`f;k`tCF^CIX4lrBKYGTgjpXZPG$+_`gEkAnv{?kjz`N&7ns
zOS=SbDQ?d`=ivLLmnL){|NgEd+xDb8@2=ccTdFK4#2m=LCA!UsjrPF;-&}YkkZTa#
z2%yv>r9rDVIo!UOL{p2Ln1IDq9AmYn_pWe5A#CbHu#2y$uc=_QTSe>My8QvC#a?W+
z>S4f0pl1_g4oH@hJrr6+_E5^PfE?i?K_ZNFN+N?QDZ6!ym#|==BnU|&U#jGagq6A?
zUNi)NO3QnTa_!T>0}E<Jxn$1R`=2yV>KAX0-}_L~Ln+LW{C?N`j?HsA=C(36%hzli
z)A^RjDwXAOZTkmDO`i%3)Yc!4%_vhG@+?>4qC9Kn(k9A}xgeIU^7FA6swWyNLRc)#
zh4!#EFAI3Pwd>rf9+jn4yUZrK;-cm>?aoGPar5SR<C`#BlY%D0n@Hv+9fZ8Hyb*az
z^48>O>{4Er9ADu71;hn}{okz)!Mxk*(6FHs5MB<MD<VYlB?I%x3}ciw`d`p4SU?KP
z)k!=rK=q0Ngd>t@P0%l0_fB5(Hr#9M{ZaQ7tr}P|;_&DbCxSO;t$OC=)q`5zQ^J~c
zP?AT_or`Kd3+~UOuQqL}@4R#S+Sj%N66S$1O`2?K(c=AmAxIeA=n<uTwE6bCMwtWi
zf<Hbwb~NG_Dj#Ki@Mrvg*fn^R9H$o$d`Kn}C-IvqCWa{+_w{pnfjdc0@Hkl59lL}n
z29Mq0ZB&PzNat-xYVZ)K68GitHr~b)pgE)Iwo6UJEsTV`Q7_>@-U!Jz9irqLyn6tD
zESv|v&v)=1n~}NeGysOlOb|~nn_EP~YzPrKt>Snp3|S4sXPQ7%{j~nbl$3f*f8hRU
ztKTnRazTxJs^{4I`^0|uz=JihQEgkOZH;WQFoTZiOcDSZgxMyFS^aa{6ltA`+(jhN
zBSr4JnfJ#lwO!s@z3|Sv=W0{q=RVf_fkW|whmP!zu`@r$zD`pGy#P2yBB8CLNg`yB
z87OX$`NdhmIhv|%cvi-<2eo?GEs!Z?LX8}=WVe}SA=zR!NFZkUNyC6$ggoRXiIiLe
z_%3nSOS|<8G)?>Uf8ajdQ|A5hsh5|u$d4&3czPYJVYU1#$Hy=MBT1_UL<>0~tPP$4
z6>-{Dhk-3LQ^H^tu&<AhPf8t78{H&$g(d;7S#Sa;D#mAf$iQrdWJ8WYGPr4KhlVyB
zV^q8<s;=<NLZTrZ=8hXTdsgM>s(C~!#y0P$d3V&T8Kdr-@z^L3f>vWlu!Idhn^l2C
z+66>KTdaanHd-a8LmYt}Lg;mLF_e}qe2Du{vo<LQ2Mcm|P<E&8JtjO-GVHnTy)ITb
zmbfR3=<--mVI^9=jM*rfU*Y#`6^L=Vbb6QG=Y{TW!u(9LT#H?z3rn7Z1y{@K;8gMO
zYaB1KEHp={1k}#}`=RBh&Ln-4ex<$A`Xx*=&mEOrUfMIQZ~P4N<MJtgwtwQHW%Td-
z=V25QaQ>tVILk<AK`jkbST|T@x62~WHbkFea;sw!bkK5%3iID;Mwj16JW%>u_JrhL
z@DmaKOJ4T0{IFwe{_ZaH6DQ~*TF=ssMvij~>Qu;--b^ir!Laz~!_E2G#rRf+A7e(f
zc}o7Z{6z1VqJKb;k%WuLIoqM#g*H4w3Rxl%OBs)_0E01JPD_okP-IvNw%Y<zT9OM}
z{t2zoP`*Ur8;C`UbQ7J7mfkvY%-9WIj{aQ21D(ey|LNQ^w__luWoLGIeDgq{d8<yE
zc|CWxba&cVX6)RyV}6JB?K@0r*9ku$9oPK~HqlE{2T7w54vCHpPz<nuBZAunF@e;~
z|JUgM-aUJklol2B5s&vSE$dlaR!Y4f%0-@|fd&L0(>%4G;OD#_X5;;+&me-4p2;SO
zlg9F=XKJvdPw{7(3O7Q}{PVVU{(;!4L_7ogNiVgPE9#8m!#%x$Ie*SuLBwIGl@HZc
zAgFSiY27~{kCsv^4Dn-pENUwZlD+!GKY{&lLc2@MVDot!cPQ6zyUd_VOr^_tBu|n|
zLjG$ltuJ0<281q+*D!Bjb?J3FbT|#2UsQt8qKX6nt_j&XETj=_gIeZy$mzjF*ED;M
z-GVud+Jbdhep|Cw)QXM6ZFA3`mOOd*oJ*p-FG!JU--P9hzO&Ic#f++msA{|laCN-0
z-G~fc!U2^q2tfW=R6NiK7ARSTZnp;U;XyhOQaMf*{*6XTm3svDOUM3%mb&Jvf1W&j
z`oyU-Qpu4c<NpMh3JVZ(0fWrO+{#57doS`|@Ug>x5t<A60<_#0z%U;HT#WD%fk&Yu
z&^=0qAy8-mp63ukakT7#QCmeAcEK}PhB(WRmaH879jHEn2o%XLy2xKNtr}C?i*Ws<
zsso`O2}2h>wup>?EWBE>5@R(>up5*=K{eS-$bL@N>UAa&XvQ+eKrp?axH2?x8Q{?f
znh)F9{=AyJ;s!A@xaSVT67DFMme*EF@7Bgk!#<KyKE8GK=uxadX!p=R?1bt`($GmF
zyiW(^0%@=az-HE>Z*Ax}MH5~?7SW+f)udk!PQNCPlrM(Q6`e_-)1qZ)b!eGpHU=$|
z<=-zN-Pnlv0yr3M6wv^Cyrfg-1q_g|-5=JqFi<mz5%n@(%NDtL!12fQkfxHJ>M3ET
zm6p;;MSl{(&Z#V)U8oT|u-bjcba1U4)*hvmPelJ@P0^Ay1+Vc%D3y2(Jr3&)3zD`I
zG!wm$hLe4FpsnEcWy@)4200-USm+5-v!?n+u138pd@jLdcfm#|WE-=4SEL%tj3bPq
z%jhy1JTg@jg4aN$zGNnZ)ar;<TSypE!=Wj03+&e~<x#pVIAo(-@}?r{6)Dch!S#EP
z?W!W0Nj2_WN8fv;<u|E2m7l5sNVL7fH=W*Ong!L$FS}E|X}R&;kKb~#MKxR2ynAcq
zxw%Zc=EXmr-nHwg-&U_zY9Bu*kACmv%?B}OXg7ohiaB@Sdr}Gd)D3$QF8~?H?b2xD
z;xz~-*P7#jbmwvC5w<Vu_1ZX>Sq(H+vutTvQJX<vQ@97Xxs(m&$MwY=5#7h-KAxPW
z?WTO8oNM`YOXWM|?-$<MpYV0kp7(#0PN1ySk4iCWA3FdidR|H0zDa6Zd*t=k*m<0n
zZe;R;?Kv5CDZe+)s7-W97Omdmiiy*vrq}^XZ<oE=IKa^YBsZ3;R$QH`Pj;lGR)qts
zqSJ?qkP4`0mBP416{Y~`&A@i~@~h?Rf~(krE7!7dtTX-_w_zol5UgJP!WoTl?VIDu
zsWHcnjb&vYu|}*y*{qy8s_ei!BU#po^H;I1?Lk-mXRbu}y!~J724s;xuN@6;FcVis
z%Lc&h3BN#ISVA8F8{P^2`Qz&6zj1xNS@?7A58<Cbp?(hIOSC^}1Lro>zRGO|C_msF
z;0a&2g=&mo1?NZ0cnfzFgt$>_{sfYG)JUH5u%?@EPkIG1V`5{oypoh?u-OvRa7(;R
z%+45_iYb+m0{j@53o-~;N{ud78B&yY2*-zS6R@Q?a3kSLMqx{l;3#rH5|Skm1D63!
zPaL*vmN<X0QaiKn->>}Vt4CkTGskD`i%)CXI62AQH);6jIQzuSuYF|x^i5^Pd++W8
z+M@-5J5BHCe|Ii?_4g?Y@;e%L811DMuVOy5YG1(0;RHAB6Ug#Qae6O#x3qd&k|r}l
zla!pC)T1If89BG{0%1}LrWhbAMg`tQl9HmY1&O67hGf@xWCx5MX_;gmY2*Vu6X6-t
z%||LKkpOYSH%y}(XH%5lfB58yOU!gd`DNjYEPL(BA;q(wtkNcb{x{`xYi(2I#V^0_
z61<>oeeT!ylrL%zmNM%Ti}%f$QuzqBO3-2!CGb?cfb171o0!Rt{3@GWt6@;NJw}<i
zZ5kT`mJj9W=I7TFQ|=9;8|(+%2%#$h)TgruP#>)*mesavu9Vz3n$XRNrO!HkLmAbi
zo#GzIlAZud{;t=#{IrGh#L`<IR4S)KCu2H_Ly@1QFp!oiB-z9yPosEI?*S}96DKlz
zP)pNXRG|@K;8uwVFCnon!e6N$luA<?AV3f)<PZ=DEvCvvjN?71n!70e`mc8%IPmm{
zJ2v0l_s&Pw9NvPs;>*f+pNe-pG-drO%V#fGF0Ed2Xu;}ch1;?_bZysuT>o)Dt^G~;
z<+m?({GmMY@W#$fK3Y8WxwTkFe#daS{WuHRDISeYFxn7-iM(R~_4-AasQd|jP=CMQ
z921jNR1sr0>xvozr-ji!F{$v3u)H2l&DB~dYUw2a?u6`R(86dUl7987r7X7Q-If3O
zxlWiq@AxmDf3>r8{DPv(OIM03-|Sz$YTyUGU#os#Zi=bRM^9Gw-Ps~xUP%${{wRcN
z9)Wi|l_)t17)U^)6XGp`#qGn<OEwxkQku`<_PC2GJdiz!goC#dFkobeVRDJQeCSa)
zml-@O!|80R^^;9sD<EkDhr{cYj?BB<p``JMekYDTa;C27zm;D>LY1rY+D=-wdU>a%
zZ}q8enVOzz&G@?J1?Fb9v*tZ7?of^>-@iDxvP)tLKdoWUEk~~ZYrMdC3h%)e7Zou|
z9@VN6bX+8^x8g>ro>~qVIBvr7`4PZC+=geLn6~@lddNWVc%rZ4wb`ItP66el0x5`a
z7rcn9#abcGx~KwkGZ<XO6$U1mZv%r<^9{p;;CuzFB!q`60HW8G>U6r&z*jOvd3>Fq
z{86jiBr8%K(+B@}X0A4PQl7VH;VgrgZkQvPm9fes)X`Xo?*+=3S`+2rAj<ugd{PM_
z;!nb!a%#<EPf%?_K)R33YOxul`k3F)qTp;fR85<xW1fR8URH5e`n1BW>*exVWh0@z
zZQmiu;6a<f{}Igs{(qDBe_busV>vY6G@)}KCEmu8(qLk@d6MKteh@vQ;4#8=Ze%ge
zsJjZ`J#uU~gQcbLGn^GD;Cax$aYO*6&NY7;Po_u&8`#zCRI~J<{o3VqE5HBg``WO=
z#EwmzIdSFw!4IY{E;MNUoi51Pv+nI{-tXwLaCz<A(q6_LX6u~~uxCEXu38-A^1FI!
zX#7*S{32pL`Fw>SuUpJv{4#DSvdI=6lT)AF%q^=NT|Kvr(~(Q{HpLsKQVR9Y&A#->
z_ZNUswxRz&UPbMRj=(wBT#UL^&4hbk1-4Q3z4VNXtSrAvn*i~|Y>V-uR%}Ysrj`sj
z7WMIpaeyotX?6ob*orDF(HBjPsv}x^`;80JUrMIo6an`Q&^{`;fEX3}B?Nz?Ud_x#
zqgGU%e&)sfh0Vlk1s^CY)@<7H`nzq$u3h`ooFCfv9z9VR!nVx&sD-iP=MOE(Ht*T8
zdiLnyo0mUXI=p?VfAZkPe=DudZJO&U#+l$z0PtUGDGC5{j)gu)m~bAlGw9s_F)~}7
zZjH}t_PC6&Z5LJ8;e{(|fJMmjazhr`h~Ev2PK^<S!PO5Ac%)71*rDx!p*i}}`IqHo
zUvG+k)8<3$;=<a|(#lZ--VV;4NY<FexVh6of9=53>J&(d6Fgdk2O5Q>L=TFXS&i{l
zVA5Ibk}oR1fIA}cc~pmbK~*wA#WFKhU`-DANrm9Rd^yvVr{6sH>SJc}Rc83*TV_^_
z^B*6*deQW0Viw@?z8v`I^U66n5ipgR%F#)?-ci07_V&R;FhCHcohlu{_!5P@KpX~U
zvFHSs&J}~G6WMO}8q>VM`-I_&Yu<m_ZroLsh62ebw3SGG10f0FS+YTGW-eK`XwDA>
zJw{Cb$EQ$V&2KI*UiR>d3q@h%q@u+1DZ`e&Ke#%lS#C^|UyiWWtX<c4+Ml3x<FX^a
z3$fU_1h3hwLvdK00K;i~oY`kU00V&iuy#CvfvezAVmu9$#zq1bfZ9@_T6x2W1DRl4
z^4!^1*Zm3??tNm6a&<@T$>j^HmOr0=;1zax<&QI={c6O{d)_*}?d`3v{PH@PmxaW-
zi&&>}U^O%ao}|fy8ribTDOhZlB1DboLB{kE_8%EYJt^aq3?L$@9x;1U#nAg^zWs*s
z^;*d!RR`bQ7XN0}jyJ{9kpuQpPh4i@CpJ6aMxKP(1xE>h=WMb~Fw{qi)4hv29h$U^
zkfOrR1B&i?QOZo5^UIA(GZ#L)AffTq%y{Jwx5CWgkl=>(ubntwd3w{z3saTD3LI@%
zZ^f-yCyzwtbE?oI&?p(w07?eOx{$0RyGV1h18V@V^mco)nSmOBD3S=Q>a<vXa-D^2
zbI$x$4z5Ev8e#2SJ|s!nHQbfP(U^1&h&m7u96&jphp?8bUu_>!!aCG!JbdkGrFJVD
zSUG$l!ra{KD-VE$7(9i>N2dLAit<KNG5_r&%9&f+l-iYMrIFlX^MPZ*4{WDF`On~%
zEs}=_DME1|3-y@Xo>;9l36XEsBq`17Lo{!UUiN8izIYyNZ+Do1;u`{jBniHNB5MKV
zLxrKSu)IhgQGTi+00}Z|_sx`WG*IG#vxehE!+SIx&$4bPMKylFg|+H3c-nJqXDQoi
z*|*h+#ktM0OXMNV@1CxlLj5dJNgdR~xW_m1Wp-b1rZkj2T~=ay$IJH{EB_s2oj6z$
z(qb7zb(H;)jb4}0=0ZGLoB*(MTRe-k1J%`HuU~awc0|^kb1qfL#Ii!z$;?HTjG%!;
zfjz*KAZt3L4ZF4_HTkByaz^>)EUI7paQ>y&weFiMY#-E2_~}jMI+*-5<(OT`VE;0(
zWadHvjN@<bF=@upD96K|5RX%tF7yth$Hm9{k{UT2cH}_9k7`dsmCHt2)GUhA+T4)R
ziYihC478PcJP5x8P?PHU2#u7)W86?mWPq5?3s7T~X{2^e(0J8ok4o{hqW#dBcAbAH
z?C{`yyUy$wRoN-<V?moUAAH}_)YHwHFzF>`T8fIE)o&g`Dd!yJxT5Uexr*7ITBclo
z9!T^j4jm#3iGj35%I#6LMPZEcEjR@E@cpVXh-diS<Iiw?Q5XYrB0UkxXAAQe(n&*6
zW&>d8iq3aXHBQn=RgH5%KG#SinKXPIxlX$R%L;q00B;%TtdU$=SelSAK^}QnEE##^
zjqrTYDAe?P%9~FFSA*RRRJ&UsT_4Z&JDbBD4-i-{&?mfJCxm>569x~bTF{GX7KMl;
zk9LW6IdZ_}JkCgPa{Sx?M#d-tvI1taR!+RX=YZaK_8mP%slKkPK^?1N_VB+he&kL%
zntadQbH)t~cA~O4%Epg&FZl2z)`)Cn>Eyd(ck>xc7RE<=>M?$@(}}Q7@#=1n?H#h&
z;X`#d30`MPpz**S;*qT|g;*ma=a7x{;|6V|@G>>@jNCG?)YMn(>+#V~ZlE&_GX8L8
z?YFzWSGFrFx3Z#h7mf{{u|ih<{mId@KNq58-)uJiTXx4=!;ZA|W86Hd3NcYyiiyJO
z+wH6WAM7IGnrdjH8TM5a^mP|?_h6^upn;VHvXTW~e7vmn2(ry11AV|x2@A4EMuZ`-
z>M(ncWX7&ViWBlZyKUyUB%Ha)gbkt-MPhOs%DD}Mb|6dC*T2%;qnt-z_A+H}Vyo_h
z7gzQy%x_cNe^f^akPvR>50+0@|H`_Wfo$)ov+~8WC?`1M@bK8fu{*^n?5p6m(@J2%
z%tvwic_zP(&>-Pa0**qK4^X-;muy0TG8Ep1am|MD+e{{m-vrYxLXe#@A}7P>7%GAh
z;sOrUZyygPjG71OJ`k`lwdnEBfQjv@vN(7gHS%(Pp2WN?H8^0x+Kp?~LDv_}3vN53
z6i%2q`9Y#pu#NKD;Q|&_vf#49$E7nMAH(CeqPU&aY7}%%i@}J~Maa1IL@Ii8aKV#S
z*6=bo<Q>BwQWnxB$Wk&{)n{i}?daj*<9~QhkgR7o{Te?%{kuY^|CoCE!`T#q8K*y1
zHwE|OJ$gcHBb2F6sFBT>L5)($?bartMIgo?=&4i>%3xT`C@m=YHB=FZo9{XAik84J
zY(8XlF*WH*mn%x~HF4f`rIIbD%6Br?Ja9DYJuvG2%B!)zM%Y_WKhh>py+PQsQ5#i{
zjno58Q#EHxFlI~t%}md?6T%jP*XbNapz-9@!B3PsrN@F3w~2wEbIX=BYd>1d_9{S2
zI;Kny-Zx?9RLVnX=m!eDhV@?55*@)P%~%y0r3Itx9%y9HJGEBX!ORvW!;%W*9fQR$
zBYGFLfgDhZaTsZ&s%?N)Dte*ROVl<ON-mu`Zuf_YNSEp`Pgr^=LHy;t?`zwCFK+hk
znkY^^#th=KtmKvti4Dt@O6|1s!PmZ)<3eMu_b*}R@TK!(j1Ic(2B7Dml(7|sotVjJ
zcQC!t>d?5H1{k0L2rf8uGLx((*o%05K`=_H4G|Hfh*whHE8TYZWbg|A(l5NMR8H_m
zIA-+c0V*v7e-xW3zXva#4_*W`_6_ksu%md0e|HX=#qWag^o`L`)$MtpyXlZM8pR1t
z<a_AM-c)U7hUE46yzmD2jDCM&?+U+cwD+zs{)zZDv;iUINUhwOngRj@J0S57*a7)Z
zQ0L4xsQ|qg@!qTZk0>?D1?8(Z?*3^cn{(m(_E*^M=jM;ue}CmU*765{z>HYDCsym*
zz3h|kskD6UBh&U@96GLD*LABtq}zbg3O^TgDAY!@=!`~#O~X*bN^m+*TM~7bjdohW
z0unp1dJ(BOq#+~dT^Fj%h{BAiHKzdrAYNj=uUz_|Q~3cECG}H&$(El+J;tB6{&s6j
z=nk*sH*`nnhK4Xy)cn8Dm}sAkWS=CUaib0aWdy8dHi;Obtk*<UA|r7pysfmW*wIwJ
zk9<ote&s@NBS>5s(*}3YR$)xEft`t(>Fd7d)&3kpP9TN>LkRA1pu{mJ$Cr|Hs3*%y
z5)!MxccdS5fm03kkXg?iG{$Snh`z(OJi|Fbzq`9i1Lcds*-ES366pR`u}n0mv;UJ<
zuaNs$;3LK74ZLij)l%;%$gldk-dCnR&oQX9@ITY%4SZLaA*Y8}OE0Qz#CiprRnS|k
zE=`Qj;&f`fNajP)+HjRux+C>#Nf*OPYB3jIsFDdmxC8JlR>{5NnRn(ra_>E3@0#8!
z_#Fhp`&yWc+8EXoRPg%yua_mA%&d3>_*wqZ{<wU}L*okh%s_9Ty5sfj{w1Qy7cfo}
z&S5M-nLw9;XdkA^cm=vlWLf1X4ag152r7}`Oiq)2;KD8B70$bUIJhxFm$4FyAURz}
z4=&V$i+A9R8{tcY`%L4o8hC9%4MSB@Bx!Q^MAZm`1qq*dey#vv2!VhXkm8^e$S9Jp
zU$6RN>}Th$Pna`&*X-+Jaf>DgcZ%h~?;n21pDk{qQ-(XH+s@~PiYH8ln^XfmismN5
zQF`0dqE0h)nNAcm^et}}tv~<axQ2g^$ro?JS<HD3^`KPhNfNSwD<>g83P`hNl(R*Q
zhXWyoC_jtz2D1UDnNl}HR2yV5a-P*|!~2R_N_ms0zkcAtA3d&#TI%tZBYH(4e}Q)N
zK(AC+B|ne^3?c&bf;!C;JPfjqP`zNzYgmu@Plbe0T$G1`HxN%WJ-B$%S6L&L?SVkm
zDCpd=_La5ouT%x9V<8a=LWxA{%h3Ue!}^HFdQiej2Wd%=-BN4}4<^vbUXA2&%HXjL
zMW@@=fIyIFxuZoTC^5P6BGB0D%J6HO5haiuOy96(!%OcjmRDZCP6Gl>+4hxEFmdLT
zu|cX!&80eC*^tJ>E3VRbWSqCqXi%m)YA6)u+2Ex8)iC6Dm9vo8+Fkn$vRY>CjU#Kf
zZalb+?LB#px{s343c-oCgA>J4RDjRzM&PUkVsM-n$WUG{O22}ABUlcyu<1`sC}Nsp
zX@thAMpzIHARVSH`9(9BvT^^wBfqg8Y_zgmdF|U>Bj3LF`)m5(5OJOL2U!{T!7yct
z@`|!VnbhT2V)~WukACzumviebBUSGh<lH16z-7b=E{oQT3`qfXB~g(8kqSsNHcAGk
zJ%Jpy5+L9rKw+T0lwcPvL~=q;uH+O!BC!m&1Wu!r2C*POq1cK7T_=?{9m;`g*H~c!
zD?!o1JT~CgcOQRv<fD%de)I{d=T^hMelP2$7Kw&UB%nN^tU^7XA6X2XffN!#HFOcV
zBTo#Sc2tJ-n5g!HL&H#4Qe#937F1;r5a8?9n?$D`k`m8=AjyaiJYu(^vqk@@az`Wh
z`M6Z+fEkGVI=SLv6d=FGRv{q83!~y&*Y`cYcGZSGVz1yHan9YW?U66ROM8hM#!j95
z1nB5s>@}(%LMMV39HShK*HeMB?t`TsHDcnNrj!(152w_~Z}Qk|31m_8z|-e}U(yq@
zs;MI+$6A<=((qh%XL_4-ABc&X{0zJ%4%MSUB_s@1t8;rt-(t?sm^D?|yYi()CR_gA
z2R`{$x%3|tZ5Mq^d!@^?`x91(E7`;BnfxY=KWmkc_|cL6cPa2){73nUjoySbt&(;_
zT3-GIcbNPQRNun_T9SkevgVS@i|WwvE|(Dn*Kt5ZXM8-W+nD1M;^9(50*J{JS6pF2
zCA8uSa{s6*I9KNoNP&~mU^=7{Va465Oa(6$AOi_q2tQk?KXJU}(cjH}^4hn->!OwI
z`1G;Il%JUA=fwL*Dd%rao+h<Dl%=;l@xV*3!TK+jbyW_FlL|X1zjh)DkI_q1KSr&U
zE%Uf4k4A*|61g%V$$>;C41q^hNfVWnOLF<%+EMr;?3!PhDj(ys=hC-mv6}5hmk!#y
z&S)m-n`zRFC|_xWZm5;CfL5Xz|1aqqG>hK~Rd2<wkiX?)r-Q~*gC{Sth-=m<Q?9zE
z-l<GQ*_Wwer`On7=B^zn{_v^t&_d$RWFsc@1}$MQV21FYXsPB8$=;1+jUMG;jYzCF
zp(LDDqcZ^l3dOX+W3(E8>&gs~uX-yvRRAteVnqYdo9t8JJAkVIJ78GwW~fha<TTs-
zyV8gKO9?9NPb(c11!V|Ie+R~MZ14iUF9MdcW$-ip-9hwWY{iImI3D)HqIjlDZ?U^#
z{qV!u()|9kC_k*%Xw(!TN6#Bi4!r+;Xs}mg?u9)PbdWHSLh`tu<Z;zA0C}9PTD$W4
znpaC|E`Iv$iFp&1|6EgUEqv?H(=Sx7trAxj^{Og<qwn)izujKnX#Tw`cXvNJuy4Qq
zrEiALjC>F)Y9-0r1YLm;+R1l^wUaCWhS#ZHDJ);K6hdo<p`nxvqYZ{92tU~ZyO_<A
zzcI<dlki5A2anvlUmARCo7k-Rr#ZEocm_S)u!GukXvTj>_gb;dXl@&e&ft(|VLV*w
z7En$X(g`rBB^{)0jZqYJg5D<UxTB1AG)j61?`2qlLPe*6RPUEvM<MdGOE~DkOTmM*
zVfgI=&0Sx2Rn9|S_K@5S>$?rH!OUZmh(PIJLe_=1=P%{%kXQ-@Q_j1he3mf$g=u|S
zr>Bpalqz13szJRU+UwnGWk=a5^>%8o27(v-FcHCVB$&7zpb#L7F+Mx8HDFS)S#-|O
zfhB`=JtZV!jTKLC+Xl6qu;NJimi)-Ez^|xkB>62_Nx!rFQ_g0|KkxXtRg;sf?e&y%
zEuJeAhuqpG&FHwcB)CN!^!WPPxtRQ(e&L-bqyVbl6pKaHFmhXIEM}%Js$k40nZi{C
zvCs_!15QD>IH+E4wp=t^x)l5kORRKb@7~(R&M1Dq+qe7bX!pmXPads@8oydCLoB}5
zqmzqJSVX-EBoC?z9vv{X2YLKu#g67NmzA}n(Ew-z`BqWS4z!^^m*vqH$I#OXJvgm^
zCL_T|%KLJ{n+ur`;gKFus{`fYopIMjXpO@(F*Q%Rpsc*CtmJf2s@{v9c!m}CLIX33
zyz;Q;?}0rZNI!`7>K$lows{i4|1_}z3bR9|PED~0sITocdvT7;_C$}?17b-<b3^`=
z(2sgmE*xX$4q5bpM3;^&mj(E=d=U3FF!;mnui1mZv|rC64(%As;?6S&Lu+<x!-fs7
ztd|~GzjpmvG3yWIpKc|EeT^clH-aqP#r7z@Vw8XUvf(3#c+>UahINNrL8I$1W)+LQ
zK>aSP-(7sYHYw9Jsr)=ZQlv`c(0xQz_pwQ7q#%Higa|$ap=hzaq3$EkS#zd#<RwwM
zv?urhn+Kmh{H1i_NcSOD<0Rcj3nd>_+YD~75|h(vm5Rx3r*qnP6h-LBfqO<%9Zqpb
z0>siplpr=``yK0sUb=Mm?y*}B-~^7_oYR_}#vwe>F@NV;wmNjywTJoKp!?9wWER%z
zL>tf)aQs+gYEd+WPC6IFL%NUl@E_+cu{SQUZI{()@u^W>|8yPAjB7rUXaNi2t7jn1
z$Ec<CGdEa3IH3PR^NG@W=z3`nzkKFqa;U$kwN%%W%YvFh^lFC82Ytf=)zN9t7)+Aa
z!yG6=#tg_uMW~O>0Fi|NKcb|QXd#xCl{^8+vmh0SoOdLVh$EQ(r;C>_DthH*xp3-q
zut5D)EO3uCYhHT;HzO$YFH{bzQj_Kjj6>CY;LG*6QHcZ9_+n!OTQS1V^j?F_<IzKO
z(1%75l1IZgol}%hSU)CCBY-U3s*MK!vgKd@@b3#}mAp&rz3CG_d-Iu@;@r!Z#g%K;
zyuKC0j1Qs=b?QihA^I`}zrt`t`VK^6ka3;lb_rG*hYsZ}F(6_ev=q0IH7r9aV)<wh
z_y}kX+OXw_!~5*=c}2LyexEr}`Gc7rnJTVS_P_Q<xbp#Y!l3O)tHAwZgl>ThqfX})
z^>!~nr46XjXf`AmAT2`Cce&s>bHQ!*zsoO&{WU2ruIg~+AJT%@^uNu1c?C;yDY5K=
zdEwl9)^zFm#vQ=Fmz9g|f|?#If6H@E<!?*QP`-wQdr|q4Rt28DN{o$ko_>L5^*Rrr
zL`dhs5iuv2F+x&(P{+XzxH7w)L-s|nKUywTrVYD+NqoYhad|wGVrlUjLBS|g%FPmF
zDujeysr+{3UrL?l#-&TY#xm(2-!pU2ICa63)22PSU@CAB0oKRBqrotgZeQJ?qNVR0
zIPl&(`}bqyPLSK{*iQ?%CbS*V;)K3qg-wQOj26`M5G@W1(ySeN6Z7Z+hJb>+d}mei
z@fX?-Y;tNPOyZ$_iBug&YMK^F-+!>y56%Ai0Q>#&*&pXro~{!{JitCkd1cy5Z-SI;
zW`pjygB5eW!(~#AAXtoz*9v1`L?WDu5N0aQf*G8N>Lq6gQv$`hM&4Ky3wIIvh$E(v
zrg3JXEj1RNJ5-N$I#b=LMnFcTvNuxSPyH<QT54UYMo6`%rlbNmE;ZGLA{QPZ3JxT+
z3I7c~O0_0qPgHvu%HxqjM^jaSuRKv8QiK$ecUNKi_A^eR4l_YX-LJe5hLU;(cp>jP
zH%r2eUB_+*l&U?xX*cm-(l#hNj~(OdFj?DBk|Tb6EPNxZ4hO2W1MW92)(X;OwkB9{
z-mF#>BnO2;=mFyVu*cC9s=-;qjZlpMp|F!Ex1cyz`5hJSP#yiPr9G-2od1l2{h-8{
zo_ccS`X}5h4c9l3Wpvq*|IG3&YghJoze~st$a4g>gn@v$RAUB&9;KzIe`Muc1Th)R
z_xKll0uQZn2t1NJv>`lNJQJ!Gjlb!G&&UsWUAq8h)hDEoXCTIHPfQd<SURn4<UFa7
z6)3X{b<AoLkU5MvAu3!So;2tYR~N%&0_ZZ)e_%ikzbJ-1fZUm((rU`6<y2C#{+2N8
zg{cE_RMB&9&G%nj{O0SalXmT$I0a(p^U9<>ZdD8=+Wq=gR!)R_fJ!g5Z)40(crW4g
zbIEogCPoiGA41d22u%<GVgM3q<Pk6qi_PrO$J|cD|C`q@LeA-`aqD52tjjrvfB5RV
z^GYA(&Z}41mMd)C)Jc2Z{*g%f=8)`2a%70V{Qm-hjdP}1{I-0l-j)gcwz$J_>}nQ2
z^dbQ=Ch0~0;-9NX2&6qI(`Cr+kk;WZM0Sl%0y~3-X4Wv9F-?HNLe;Pkkb!e_n`}nM
zNR?mwj!l<D%_U{-X;pebpv`nP53SdLZx(7VKvvEP_#`cb@*|7JX_KJ_$WXdUD&U@^
z%W3}**OJ86u!K$?2x^~gzb3x+&)|caJ*=eyHC?qvEYK`Mo0$P;xJ?<z4I+TN#Sozm
zmCg(u^l)3tFNyLQ#fT!b`3kq&n=#oaBn6>s7~eD_oNo-fSQL^1@X=@R^^0JW+}^@u
zwoCQM{+AXgV;QLg6t{6(8x*&JI02#xY&6;+s?drLgEHUvI5_1PtUe=r7or?0)Osj8
zE*jGT6;qy6#}dKCXo%^c!xKZ*v8cGdSlx1VSlTAegY<=*U;#P7RK1PwiwdV)E)8La
z_w7@k)cwyVb^otVigmTfUMj8o0=?^S9!)yQpcVDvY{YUQp?<f)TnyC?zwNYmi%~8$
zJNLtEWb`tU7f4`$P(%MorM26na{5+UE_w>e0b)6&8b;Plo!|=?7+}o|2tUBd<4MNc
za^=cwgJ>dAmu_~CYO^_zF4cJZv$%)rg#SeUy_WyIR*U+{Q2T@ewLmMERuGfvN7}$h
zTi*1|-IFzYyvLQFSt?yhp+NbatrD)H99mMqCTKL0UMB^#W!leS>;iOk{UFkL8@X&%
zi`iSdr(HPtwsM+TQ8tK=e^Pk-h(Cvu1(u8G@iVW>pCM+pW!ALrTk`JnS~YvVSAKek
zxrTW0IOZ==4JR$^G00ceL5)ONN{fsLR&t;~e~d~}$4a7<F@l2A)g|$>y?HY*r;AFt
zx;7W3lSg4T{^zmC5=Hl5;XRnC2csE)c1Foe`IosL)(0S?2X&^J(1a)QMZ3VZ=S|;&
ziEGxVi^tc{_C0aIY~^<;i?1P78T9HJv>&yY4JQ&>&~P_ZZKrN2Z1e-$-eNZWJoyjh
zHzxn=qh*$Vrk$D&*<&RnEED3u8^P10HyDxp5sIMDQ5kAk3*!P}K`5;nmKC1l#=U6~
ztBRV`mhSSqG<g~+S4x*wDw}h!<|*&9E_qjT*+A)FQf;zyF6q-GwpJOQ6z+F3`t=A8
z1iDf-pwVQt*^#CI&>@67>C7&~9cz&b3wMGZu``I7(J`xJbvRvalh$mp!1+~XVLFQr
zX@mlK5+Tr0?j5myUw+7BeESeR;X$?yjntFw69=$?819u^Wg9DR){Oqe3wp1aXiPqq
zs8q43iN}(e{`aI$lGrq5K7Ra;m7B|si?d`cRxXso54^;`&f%Z?#I&jN=0E!AeDU(a
zB}*4nJ-d`_AM@(YYxT$<rkY@W;uc9UPLu@`%rR1Wqj(#n)_xVK9?B|g2*;{Y__mZj
zq83EWXqeMo|9*WXwPq#7Jxlr&7ng{U-)4l0s}<k&6BMJo?y_Mu{7uLLfNi4@@`T$9
z-G$0P$5^i~CM7*CyG@4{U9={_VRCq5(z82s(HHedYuB#Xny##C*H~$UmA!#l$JUrw
zDaNUH$%(nSjXU#cIAA^Ij-R0u)as<fP#aq2Xm*^ssEQAHCQzuFe6)5b*6D~T4XH%8
zeG-aTzU^J+3=|i2TT~oiCpNENwS^V0*(yF&d!k0lmVALCd{RW8Y@knGe&betXZ}`a
z_C@$DS$J;Q(iJRo+4Ao%T=|+Ex$;l)($<R4J-h6AmcHb<@4vrtmL0i#=C;@1Uh|}l
ztdhq8AlX%YE&k45BbEiH2Q@^+VZ4TDOu#5<MG#lLP6O6MB|Isz7R={Ql|rMdgQ5-8
zc#CQSG($!k3@91(ZG?)tiNpT7f*T)M-FfL-P|6IBfP*L(#8_d33i2$(#du#5;sOY8
zf@2KrOCsGgFd*8cR-kIw5OHzsCRnE_)ftatT%#qc_#LX<Ie|^#G6P#dZ*amoWrkH4
zLXeG$-4%fP)|)5!hBr*?$xZP%#NzJVN0qOh<1zPK!bHi+s>`~Lny73MHxIn;rqTsH
z6++sgoMj$CBp9p+z2d}!doO@nhPumofJ#~&eaIxHi7{IGRG<Q3l+EH#rKl*LnU@gb
zsvZx|LWmYSj_U45F0WrN1z`Sd7W{&(s|JtLSIh2?mEIrItPuez4??B7G+|nxo5N$%
zo6X5F@kUExoM>@*;^I*)!IYSkSO(QPDLE-8>HQ=Gz$C?*<6`5=Dr~W_kau_iZjamH
zc9d4QQPxgXW5U{uYU<>2Baar2x;b1P;Hwy2kQ?K6tGTXi+Nv;UxyU*b_kOUg<mJad
zV)IC3Ri-YX!rXTcH0{IJSDGVbySko!ZspU}dj@=VFk$wz>Ze!EI(3TZ71=(9V6EM-
zePjyv2J%cgtJA6Tdy?bg;w7EI?uplCHP$<<j<O1q)f%6Wj2h_4$qDf>37LH=60{nj
zZw2hSs$v?k8Qs4A>it(~07r52Bbh|SZzJ$&w>MnXD78LjPII(xVb8~vt1H))%=rEH
z&M02`wQ{B7dDcnv1ebQ)_{y^{4_Fhou`&Eo^M(yPadxw^sCzGI$oIbl&%n{%X4*3-
zcZB^bfQM|J<^$Y=34ua0aA>{BQoP3Kh>1^Zq-&h1<$EVZ@14&O<BKV)FiSq>mV7=}
zTAI+OB2DMA_Nj1%CrW<H`s(Sb)E~8b;gB^1fMK_E9)#bAYUm&tBNLmJnMYgKhDv1U
zGNk0EcP6oqlq^wXE0w7M)^zcTx!ZnHzG%MkNl|=qMFwm2^GB-(RLjby&DG7?X1<_&
z)cI&9roZ_@dU}`YTP$hNJ0-Z~qw0RvIyE)eQyZ*oO-aW_(ixDh?8b})P!VH7Y7<@a
zW{rhd78@&hEf(Yyiq1yKl9Pg`!Ze&H_=MZZw@ML^OhOc!vnUPn)5z<F0zi?RM`Sdp
zS!<f)+7kz*Y_@0H3(K}`sb2PmlDg`J7w#wuKD+5}d$&F~y!oKsf7@MoXNgK%ZmnAX
z-ur7`d1wEc)2B~8%zE$Huys%N<LRePq|ePFiKz^Bl6P?f<H56f1{x*!Bst9<8*2iN
zkWbD?mn63?&7Ne9MS)|BThPTOxpjOxFvsPRPmX`*gsv66;+%+*lYuEi6Ux&f&8=;y
zrV8>j+%DBBgzSu2z3$XKXLx<xtGl~R9#ghq%c6D4eWxqiw;n%k#pqErZynn8jxV`7
zF@YVf-m>9YW%1jJ@~QNnO}&RIbK86X!a-WC?j&v(Rem7^lZrr2nmxg50v{Dn_&|$n
z9=kWIiMCl&$<$b%9-GX|$-7*Qt$LKVY|M0^%R~jZId~|qJxtRH85lXa=Kt_uIyEsW
zmE}_8Q^U;)dqUG-(n|HnM-?Tw$>KQ<J-XcNJT94Ee_`pi*I!t+Rq+=O=vQ3aue{eh
zu|S?s_d+le;Y-i{zEnJ4`~IeP-hK7ecMhx>J8s<AaSuEYOkTH+_6L!b8U)rt!id3{
z%XGNit{A=DW;R;{CNV9XyxO=}ga*3p7Cj7;%!^1a(phrxb!ccSe9;ubbE4e|O$p9%
zo;JrMKd*D*a*_SNtzTkOmVGQ{9TQ9brj?&Qwd0+?FPF77;&)=%oH@bmV)7Jaka!&N
zpx$5(TRkUu4tyF>7lb{4xVFjQf+Ft98N@LZLq<zR)>nLt*^-<r%VrOGrgD-ClEq|q
zGV1pxki9fFrxnSdsJvc3MlwJHdZ0DI6M3Bo7El9kkmv)jz6{u-9pcoNeww%N#&auw
zsjB^;<;L>4Z}ls_=hX66>j!O}=3mY<FTGy()H6!(6=hXkj|b*tz4(~8h<Wk~C#kq5
zUFv?+mSIh)K57+4jH;_wpizqfWJ~Q7OuJ-Bi~}tKQW^33W_WrGZU{XMTO)o3q+P+C
zOe;*nD-&$5%vS$&8J-4i27mepwJmnSzEImc!fiLLe|jLE#zo~%!z9DoUO{b(1qfnn
z(6)M4<r0j<iySK0qfxNXoZv*k8>COcQ0qZHrN?7KNp+;W>TJm{?1rs-DnaF(vB5Gk
zwa|MW)|t|IQi<9ix6Xw%rsQS3D-9B-PMx!K>AG{@0LbBV&3+cggr|zqRxR3G)NAT~
zX^VN|#$hK*VCuiD%nKg*_~`G5rPxueoZB?6lKC*^5MB<VLI@K+UStSl0Z<e|zkvs@
zVUi@EW*;Ku)wo6w{(PP=TYnfJ)KT0e#0fa!Q;{5%!#+T?<)K@X#2(qHb%OX@(AWHF
zP4>+%7Rjf!4i5?_$OOW`gguI1lZ&<03BV!~5Q2xwnp8)%9_c4!vQSADoKQIbsSddy
zIQ9n0DEYOA{^+P%{(B|0l@A92#Z8*H9{`HE0kE%HJ^8CefUg6LC4|O;sbMkz!ip9{
z8ibT`DK!Mgf|w6azBn|9;%l{M5!UgUG*$60lEzE+1s@0VYL6YIzDI~tc@29>hz%e<
zf}Dp@^{mJirrKOks)`Cz;V;tbewI&b-$ra=^MD&r2O21+a6jwxkR)ZjmH`(mhkO(i
zb`nZSBg+V`ou7dwASq3pyGpsfgXNxPzwWS#zr7KBTJsz>O_<24G%aNx;`x$6Zv%lw
zSwbSP-;Fk(A5<3qqI^b%+b!u*;^G_ymRXjUEs_Ps3nDs)T9Nn~(Jr~<MLaK)vkBsR
zKDzG+IB83loFc&}1Bc&zICC^Dx6OTP+MErGw!At2%|{=5bK$GCbJ`7W(QH`f?q%iT
zyf(vIHM_e**8u~?V^8iod~naQXZC!sf4B1YzIXKNH>^kTU{=_-e|h<k;$kw45&DCa
z3QgJzTZ`3z!Z|JkK{(7Pn1LkZRuKy(ICCqXhYyB4a}l>j8*%Q4&Rq*jy6xI_PhsEo
z&+gE=6Fx|OVBpOgd)`Ytm|UYV?|u(we+Zi(=gK+gr8&t*k}WP%ZjqCbC^_P?tXhYu
zyuyJ5Mu&(ZRoVa&iYv5<S^n}0A<LeH_p%ZLiN5j*TVirzLE`YlS&5oNs$eD%ZZE0o
z-0~fMg^J_$m_znM_7Cl<B7>o0@#tnF6PldX9$IFkolEs^H+Y{F=gn?gxx9Ez@vI?v
zGuw@-?mBT$(Y?8?XXTGs(PL_P&wE<rJ=Xrd7rRgHf5&iku}j;1<Ne8P3);UwE-pPW
zjy)U5e}7zZT5@bb`+b#(e!rKWTwwOK)R=Kv?g+G&u<8z--Doixac5+kOEhDPnc$ES
z2wYx)YAfJi27?|m1{Pmm!+3)X*f%wZEk9Sq`~-Cf@d?#@B4t9*OQncRmygSWNPkV8
zvu*?ccJEh;MC1JRBN2nMWi)%2ZC8HmetgFn;BpszvGdFh?9MQV5G_%;KntBcJ>Z5O
zNktVjC|Zs&=%fN16ZHRKB;XQZ28f#U7)0XnEo*a78O|@Bscj}5uVve&vI_^4O-Kza
zzzr0I5m9YtqDnjzEJU$I+7=45U>`X{?a{5HP#u~Fn@aVJ5YGhtXcv938kWNb9Z+JY
zD&@7j?R(I64@jbbngVxC5SdORBYaek`>7+iJj5vBvV$R$(fqbjgT($xNk+7p-yq$?
z4h~}nl}^K0F#>ymJuRLUzX>J<Q^m9Fq>`m%f%^e^4Rt<}!6SR(Zs>#(@dDS)>HTR@
z@Aswmv1IFj-}k#V9TvotfF*(eDbL362>y|*dto6F!fiDAV~;OCFrCn5_v?SpDAOt1
zm-49>b{3cU?;N>h4cg`YE~=Db7J%-6U~Zk&0`VcrH%SevvkPBSDwNQ6Opk6wD=zI+
z3lPX(+)8|XJH(`k@-cA*?!O*1)hNMuY&7U+!>3UYS8rxzA<#lUo0#ML#y2>-O8##3
zQg`Q_P@owb1zho^b#t)?z$t`|FPMym+46tGDIDd?)}Kop(&R~HKwxX3yKGB4-iCZi
zTnapiP#Xs6FWP_<3lLBYMO^A?X80yyXm*uWoA+jstIyUBBx_}gZN+_%2~4m%r39>6
zGtzO*h(32EOV(5_sYk82OEnO2&$z};?4Arn7X!t`UAq>O!AIG-{#Dj%!)vhNELptb
zxg|@MD|y$xVu!DwCp#i;PiWr7ZE+C(1vsEdCp)wh?T%~_6y7!19LWyR;m}DbR$UVH
z4ITs1PXcF{pVJGFCcg*wHjgYKsd=s2B7IIgF=M~-D0}MN8OlLz>qgItH@9z}C3X!S
z+i~~E(QTkhBf=3g-K^OToP%ZouT6?~dr(9nMovnEn_e61O|oDmNzvkrP3=$ZENt>q
z1GsryfG(2&-*mb*Y|OH4ySDXS)TCuqhxhIu)TwNMpVcahC0i?b;<M8iuTF|to09c>
zQ6FD6+p;usi3#hFjVMggn8*UzCXf*COr^3c2%}4HWJ(fjcAJRkV!f0c<B5!CXl}h)
z!TG=432w(33$LjZ9-)Tk)~mcP`~0`P+vN6Gw8Usk9T%9h_>E^)?_s4~%8QD-4j&*L
z2DK7x&%2*|wngjZk1u@nctKg8?)`e@^}81<m5-g;0ck~x6Jdid1m}dj2||h}@okCh
z29W{~PY+wo1}R;|smgZR<L9RbZQ%7eSnoYt+DrrgDhQ-$94T3{-r7{ka3|`0R*788
zEpoC_fK*`e3(0XNK3^_SgtwbSD>dDn(Hz0dc_Cv`YQg03FU3HpfC3QiInVd;{BkyF
z?wVyo`|o=Cg{{2?6t&;zDC*g(Xhd;`&db_$YS*P@K?lu|srS$A-R!}liHoZy^{8yx
za#*+fX9UNz?%K6=es6a|5&J5yX;$YXU&mHW^VEBiFYXQPTDw3Z?O8l(u<%{;BvA!D
zY?~D0N!CkI+s1QW$g)WP;oQ3GbAkM-ddu~7LdpnFMBMw$x23tc-4`w~)o+}#BeZdH
zhdL#QeVh0EpZ3iw3{d9iYBX0t*<mNf`HF{><>#7h4p0Hx0)?(X=!&|5{Sh-aR(M2s
zOjscNJ8;)SBc|OyZt~=@gNg@~8jOw78)tRvuJ<6YUDKjv$4-GRdaKnUk*4U4jY~{Q
z@i%MUx^24-#ib+eA3N)b*hLE;pE0=Kz}}Pkj$`A-4VgUlk$FRA^d8%9$U|e<SOTcd
zGg*tr_8r28phR+dMpl!StvYq?QrNx6kg*Qtbj8FbBsOiPx7o~ET}o=}ymt9|gnpZ0
zl+EE$h5R3I>zttg@rHbI=n&UHaY-leMWyq>6>bVRC8$4jt<`^VK4DDsd(!hDo98hH
z;Ql-)pGL**accR=rPE6eetfgg@ANY_^m`t?kMEE@yn%HkU3CV8!{Pld^&|pG5U7F_
z^&E*~Ax<)Y<?Ppd%34(ZA&lRzu^y}p_GFG*=a>}^JgfXxCBAMQVD{P;<Hw8pnSBa#
z+}t!CUs?qpyj(SFR#nxknNKPctMJ9nZK-^ydDBkKD~EkHy|8(sCOI8?wM-w(hP6(}
zjvYAT0eK&5F}|i|yz+U?A3z*9P+56EIZi!jmGR?mZbC{Lbk3U{Dl6GW^xccP0W7(F
zDzgPgGkedat5z*t_G0z&4?Z|_ch~+cyXm#oZh8GG*ga_}X^H2nv(tMiH;tq81KBd=
z;o<j^Tt7gm(UE6Kf}OGn;v*A$rgS-3PGXYDk)&yw-8ji@O-r&`lhPy+j64VXN&Acc
zB7~Oihe1M_^EPey4F(m{ae<x+#{r_l6S?a6L{g+JwF7DgN|%~;xxeQ-uk?MpsC>=f
zg3c|A2Xu%p>QUIUxNC8Dt-E$$?VZwVw{lu_X<0sVP*ruiCOgX7=j8Qn)9s;N9h55t
z#XUO*dIFV)qyx3abEuA4Nw{vCGaTVyhi{kgG?4-T6hL?)kt5wnn*}YVHN0u<nkHo>
ziLDxWjK)}<sIxc9*0jlM+9Vq#ZBnwcHJMHX&Iw3~l#no(nVC~mk;ybjBhfTeutN?s
z*e<!*IeKmQp$7pW&=iFEwQj3w-r=ZvPCil`d4Rd#2EP<nF78@L3zGNB%I6T!M!2Mu
z#Fp7@AD%IMh{;?zij|6AD<7@>WH&odu~?ZOyMBDhfE$uOqocA;S-|==-O#pKQrz>M
zNA=Gcd0#=rU1DaFCgS+R^H*&PZrio%y|X2SGZzzI#g|;8ISBcoO&}i913*;tPS|F>
zc9$UF7fjjM8@W=d6&gI9<`O3GJfp<f85q)>omnL+_Qg`g!Ou_VHMF3hy+1Ll{h+A>
zGp;Mih^Du*0bk$Q*t199dgYaxdxK}h9H|O>;YZyhiv4wi)(r|Y&orf5TuA^h()c9Q
z5HOl7iMp)DE<FO8^d^s1j{s`DEiF!n1GW-$t1t`*PX&QNGNv93gia_|zHv5TQi7<#
zA#z~K<Jz1bQaGpE4giUU=y#?#@zXEwQLeAnj!*`F`RTWP^nH|fhTZ$%t}}!08asNB
zJNWb8uK-Br#}hYh9Xcd!`}yG7RZQHl;j#HE*Pr?~<mDQO0_${>5TyacT1Igk+knA=
zIF3jSS+ZJcIj($J=!rAf0z47Hr4)kuG*R_;#k<e~S)v99_whU@UilXlgYFW})BDP+
z@G@wTRR;9sTr@5YQBu$%>~O(-Vj*Ny@|Ly=B&dkzu`!<Q5*sePEQzxuhLW+sK1aAU
z$nhsbC;VTL&xu=$g;it6%$_}F-25jA`n*kEi}uR8(T`0VJ$m}Ak>NrJqEID|7Hi=f
z(7_*?8E{Dmbw)b5*{z9>^XW{w{iL46eG=AJX{&HQxXg{10#Fg4S9;t@utSmJ%4)j$
z&UIQgPWkYunT1`_veNR~bnGcF`1oG;%-u8kJrq;yZIa+}+T#+^vwEmni*7<hJING!
za_t1#i{`Vi_M*GzFFx-}pJU~afvjB(dPshoj)6p%Nzht>dncqMyG)YR5HKJ;4^n?j
zbb222@=v)r910G1)P-?g)zHBd5^Qo|!_;{-5dV-smYODNjw4OuZDqIe61xutTKewn
z(C#N&%7TYWZ*4q%f^Aa<oIH)(ycd;6c+IXc?1|&P`P03xzLUM}dtm8Y7Slz)Lb5rc
z9W@i>o45^Wuu!FXEU<h#or!`^2kV#LW0CB}fDz!LM!OUj4FncFX4--1abwj9{*?>}
z^&<~UIiTUZ)cA{6XQR$|<-YDkML*fnm(J{5dwTwJ%jeC17S+bHkv{l2(08{|h4G?p
zp1D=NojcR3HiiRiL3>aeM|&LW91B}gvW$F;7!#6GO!0BDGr&M~kbNENl&naD4CA!$
z*jloBd<q(*YLYZ+932lIrB&29fa{ndz)FuLh9gYVp|sa^Yy92or+|uHft~X6>ufM9
z)$BRoTr}7F%<7TO;HF#3d6rTuZL1xqY(eM+w;!Uik5-mzaRT}TGJLVINH=mMne<8e
zlw_YFAOZv`u@_Puk#u1bJQ{0{2sa2vmkU&4DQcK}dErX{z8@WF8lbwIkZU4imv*IE
zTfX_o$A_<s9{=p3%Y8BQgnQOcUfO5SM@Pjkf&;0>s+c*&`SjzyrEBlC*6ypTt8Fcx
zQh@S{o7VLv+^TrzD&F~$zccyP6ZFolpnS5<hI#?0#dOPoGtO$SBbRo8wi=QquwCI`
z&iRCV({7#4pNY{>&R1R=Y`(H!gK?3ochAa>?Yi}xyFl~B^30*@EG?S$v{pGrqMe{o
znW{MJW`N3Qw?k_{8(hj#?`_c7JrL;Htsu}{xmnPyd*=>4x)UV>l>`P6)!J#yX<*m7
z*VGuaNOdPXp;^gMPIjnI2*cDTA{C@~Bs8a^#dtz1bbXVkXnjp)Y@&RS$2|UB{Twk`
zpt5RVCY-$);5rwe5wt?=X=8hKcH<UCzZbYz35_+abM3KNS@1`u#HJv7J63L%;mRnf
zu(-&TM|=hut@PusxDDnH$p=e_NOaYvo{8<|G=Q#>j<~w$Aq9}~NI*}Wj@F<9*@L<b
z>iA;W@64-ws$6<xTc0~$9|O4OPnqYpeychT?tVx1f)_s6`S4xW2T$L9s9GZ=HQm)D
zPg$tEt~{mO)1gyg8@7r~W_Pg3c};dTOH}^zhjK|d(Ti<X2KGWNL(i|wibVjW5VRA(
zY2!G)NsP~HMHO+U%VZQ84D(i3j5Z<O5EJ7xq5wBEJjetEKA1zHzSgsR{7PCpr`K?Y
zxd;)VjY~ov7=Cf8K#>SL15W4EU(ck+7>p^eu3*}lo(}y}k6t}|;{1l3CCFVES-Cu8
zAe+tB1UH=Tv6-!59h9ZP8z<Si@d}(QBCHHhgFqPw5$LW!E1!m0fJ)(_1QREq@&#U%
z8AX|q9t>=t6ov?FW|EL}0@vUFVeif3q$rO+;C{M$uHKoQ>AChkX0O?U-G$kU<y-+_
zxe*ar1ms+fh=2qU5OD>fsED_Sh!;U5hM=ONQ3M4+5s?r=5YZ4tK@^EG{EV>8`>pDk
z*<Hls_xrr>pRWl;)7$%WJx?87PgOlts3^l{{LO$ltTNM!*w!rLtp<oir`!X4;2rx3
z*a6s2#P$Jl+EXH36r#q_31h7BnFyT`%Z=GjJonslI~S`HFGxrBfBdOB@y&n!^Ud=U
zX5TVzY7}qOq6kB(QYfd{i<$#&#JTONUDI*=+?61LbT-DGAZZDd*qq?DBg;8<Fr|g7
zINLR9X2ns3I>XnH_Cnl9I$-8tha%!Mj$$1;b;7Xz_~SQX%%h9u8$$jUlCM#zj1S8k
zJh-KK3!j%kwk`O+7MV)f(vZ3m#hPOECj0#X)#(jnT5>{GUow_YNlp#~Q7RxEr{vRB
zH$ob2us&t?(jW5cw6<`g9AR=k_GM<c4i4w+R>#uwDHw0LYsZOH`M&1q+BYAKdu9Bl
z&x{?$6K>-q&ZTD*;EZ(Hr@M#mQjLS}?LGEWeg+C?T`TINN7C~}FL}bdl%7mk6_&%u
z?a!ha1hiyCl;D0s$(y81ODG%tv2ma(;BZ)NZfn5hrK)xk&bpGR_+MvW$;oSdmINr%
zJ|;RRm?Y|&Z;gNG#;H>{0HdB*|5(qvW-PtKDLyl@91s5H-Y0JMH~(OsCHdl;o||g#
zy!*9h9_+onJINjR`Dx1*Xi2ZsAGrf)M&gm+YPMUQ9@Qlh?0%oe<`5RArGG;<Dj+&-
za0e=8gqr<mQGFA)ykiomAdZW(Bq%(CXi}KkUa6aYTzGKN|D2Kgp%~+U^UFn#p*@_|
zu)Lyq7X7ho`KewRdT>LBwCjPF3N5*ZGrK)hvxiVZ`5Qj4Xispu+;()Uu{y0dG~q<o
z0XyQ06tsm(01ucbwGNl#>(&MzIc!xv-#ljj*cZPR2XPYOU~^EoXC`NeT}Cbap)-~8
z9HG@;L9zp#Z`+JD@<BgMt*g~N0m)~vyZvgiO@@!rYD?5KtVx15*@6t21SFq3sDzt8
zn=<DTP{|U_GkiGC2c-oJp`6P{?<5@Qvemi~yOL81)qEoK$%`)_IT3K4HH7>u94x^~
zTHaf5aN*e>gu{3U9Qx*Ww4P_1e<M0Kw$p4SR2?k#2T3s-<Plid;ljQ!oHZA-!S~0y
z4lC<}CTOUu@JY#Z<kX>|ReK@_4--%*Hjqrl4i2l~91*Hs!uavYh>#`*+{r##=n6~)
z^VnI^X03S!q=SJy8lOccz$bHQ0=^0qqqeF0#laJ=kK8xnjT7$~hYlSQbGPc}`{lVu
z(4wOQL_YuFv$AyF!Kis*T)V#m?<{cYPuMAEKtqhKYoB1v3?^l1**1?mn1rCT4Z%L>
z2^7Fg>EDo<V71!OGT5uxvh8+!E6tXdW*FCOe{iv)Fjv2}0xMrp?dvAju-k@eVd6kB
z9Vx;8AaYRUp{%T#<>T+3Xv|gj8`rJc)b-vUnu@0N%l$4iu(7yF{7ZCcUN%*Xy8po|
z6UDJ*%Z#kx@7_hf?zKy2G*6LNUU!EvN|_=SVMZSCI33YT$J{2>RXfxSc*ipBS?HyK
zy2KWHVi0P>pR6YLZ9rLm_&v~4TUD(=*mZVGmerb7-(aN^0~AI_c$(*huZo#sdJ$uJ
z&6)Y&vge6q%0HW!FXUNJ{hJxad#c~q*?-D_;)RE1=M1V&-yiDSFL$<h`ZP+v4O@9z
zKr~LBYOGAGn|=d~(#~W18EN8pp9#iJ`C%M-V`;IcfKEA5zH~!f7k3(3glM^GY3X^1
z`3V7k4h7cHdpIG{pKc8oWTZkZLXGD-9L_*G;_u$XgnXwnALb2$%4E)%lVf)KdGc(G
z<1jrECNN&ehf*k}#Qf4kAw^y9jZ_*7QF>~*afkY$F=NV#38nX*SzJ1Gtn-X>?3A)5
z@ssG>e5csHx;m=o_kxlcuB#rphe&zv_~vQy!{hD)DH}x-=?IdlL!hP1v+hc>&ebH$
z8cs2qbuP`CC!LE~XVR?km6dqbxeCsDCnPGe(@BNtqa;lNN&nZg7QT@3pJ$!xt5(N?
zgu9IWhYrcIaYzjqJAOvxgA0pL6eQ88F~1h#%1e`44Eq(ncNIogoap-uC%tZ~>)W-s
zLrz_4AIb0VXBL)r=vddQk2ZKvzoaB3vqN!NRaK|{4eqL}Dg=<LitBo2q8USfWEASf
z#pt})wOG;7qjs?V1mZLtOlCtCl#e!r#fIgBSZtZjKL5<_gCB+VEH$uh;qbx7(Z*Yu
zxYG}oiCLTt7BD>g++i;69im`9c>~RwZWd|<bmhQnufM+Q{Z+w9gL+T<)r~K2`}@Ck
zZTkAyrgdWTLrXu}cKxQe(|X;uuKzv#hmET4QJPv=GO6OZZLdE2$KA$W<LJ2QWs53G
zEtc>uUxvlHa@hm-YStTXnKO6W$+1%xJUu5hH1LkJs(VKFElphN955*Djoa^hEzKT$
zdBvV%RykNqmPDE{OxbT40iXJ>>bjKaH3{A9y^@QIyVON`C1%6-sr9Y*w{t}*DkAj_
z?J6q5y}Dgyk?L^51QD=qwXoZ|dBQL)!a1gCf##H0!B0veJ9L!SF0VB+ZXhvjzmc(|
z0$z^jYS<FZjGLO8=)&^4dh*e_0ZP$qeSy`cRgEsHQd?J=QC>Q_;O0B_FP>$5e|Fe}
z()v+XH9oQ=+c&J{@||;^S}&dvC99uWI>#)}@tYfa&v|mt()z2fwT!@u^sddkXW}1g
z?fJJ&eDZlA0^!1PtYy*bzGUsrB?3zD$twrEz{NYN-B;b5R&!^=z!KWKAtA<!E;z{c
zLjDu}y~?aFjDI6V1RmsQ^)|M2km+=B*8nQNL|p^efr0}G@%l#bB&F!Ko>UILZ{#oK
zjZ`+e22eM|AmT*m8c<+4aB+jH=3(!Ate=0{ee~ToKS@$X1pd<2cVgUle$H24e*U#u
z|JT1BJOWH<2e}Y-BxNY15~j&0F`R?|rcFvuOTs}>2$iP!*=^!#<u>_6Oye$-i%@Ol
zDmf#Po6jy@>TEvXykl|GZxZDa_w8*xCB~lS1&^#;`H1|}io2KJLtIL><6QR8R@SBZ
zU5Z83P<jStLQ+tJ-D~k8mAe7e8e+zIYkngG2kQmvumZK~s%!AYWzn^Gs_V;;vG9W-
zofWm6(v!Qb>oQ{YRei6hQqPaM_uTi$*q`+J9k=h2ty>@JnXx@7iU;~3jACzMiYF;(
zaRh*zC4l;3lG`-2)g){gD;SYD7O+!*g&y50#xbC;ya=5=G#H0fBFWda>o@7j%gRF~
zWfcKzU2*KX`Ju1+Rc+}j`YgGj!vC_X{<8BY!EL-2<QI@{1xhyMMm5$=*=%bZJK=Ua
z?fhkYGWZ!3fZ&sI(K^e-rG{Tig3pwEqwS=jb?w?^WF%*YQj)zA4wP7vLt#r<X?nXr
zb~28nGq1XdSM!ScH{`V{>`faAwl$*?PE2clAKNf4ZTFF3hv=c4Z*G)p&@o01nW+jj
zHI_NXE6`}Wjn_my`f*i?KIe>g-rl+Ojh#E+R!5<KXa}D?vD3lxM&Yf-p9c1;>b2qW
zA~5$u#(Z&`m?dV4TZ{$x*Vm}ll!y}$J~YQTGrsw*MGLR|ojm(on(?gux^w3gl1@|)
zu~VHOs#jMm4XZ0H&Q41UW@aS?QMwKZv%#!<#CuYU1DQdTm15R+6YJ-o0Zq>TV&bOA
zwh{#L!NJvO6_=WKTfsPgM5Kvi<I4w^DjkG$tUA%^tv-C-C~7he^dDT)>vxxjFP0Rv
zM`#j@1RAB!Y+nA@xY19^vs%rT{J2Z4`POot>)^U#B{NU)*-{D>7wU(@T5|c+b|vYV
zDYg{Q)?&*mD0CGLK!pU<@Pn1dTL(A|%!?LwM*ew{IZX?cbeM|JOZl9unuLRpXq`pZ
zN!93;h3yaJx5?IgW1sO|#*H_nB2n^BNa#s%_3K#O&n*I?!?{80*ZX@{OwN1m*=L{4
z`PI~d_3J>{_l$W(vu2@`xacanh(+OU?b~+?gT}iL8>b3ObB7d)z~R3Lf6>q(MaF5e
ziyAN7r=C$aW2QyCuScZLXG_LRvtu(YDb7qwwk4w!jKvnn$;VVtXTj&<U4}W;*qnbp
zRrLR&nNU)$7vVi}WCgtz56=`@MfYH{1e%Af>Y0;&_0IaWe&F=!LyjKRksb*L&zzrf
zz}=~1RcC$wzQnE_J9kOkCzqTuKFgo_t2~ka<+ma`ry?A#$}>Lx+}P2%u%NJ@i|8yW
zx|Nocly)<}C$^*ZiO50dfynpFy6&}|`t@w*$VT@#cObQ(eW#v%1}9uKtVf3{I!K*7
zon%L+PQ9zU_K|vvRHb*al#!f)b9l*WQLY!ou$|tETzJvb1v^mNwVX_P&IxUaLYvx?
z!gN1(=CO0Ybmdjokk5lWc?$ZEP;*sE+d->PbXP^LI6SHFsFq>%uyU67x=bh>blYP;
z;&9}L#)(<a_wWDwEO?mU>ihSjONLAyv+U7r&yRYk=jAV6^ZU0~E%1!L|JS36t4ge^
z&UczMcgY~*Uk@$l+yxPkc|H1Dr1t5X$FUdi9%F15{3jk4bI1!gZu0=s2Y6uQkRc<%
zaXxqe<<o0&igRjf!~e){mv5YExWzkI@0jY-_0+UcgUs)tb-b+v9Mlcxq^_&$nw;xW
zdUvm^LcQ(G+`^Ko?mhb_485YbWKc;}RR?#i&|!nX7^>~r!<w2vr4+KQ9t1c&=wL?P
zmRNm$;;v-RUm`n7U|UAuJNo%5Td0i&CB=}#h27%3qSaM&IE{;snd&oa6|EN-bh&ti
zi8<ww|1g?AJ$&b{`i$teZ^@G7b1H7RV)1YGRt(OmpLxe$Ke_PzQ`cQ5tDXrD%)X|$
zqQt&x-s0%eJ~FR!r%+MovW`9a`$ZU~50gc1?Z$Fr(VOo!mUQ3!mT1b<H`b!T!3q5D
z@Q4xC-H+!M=hk!y-#9<NG~YOV%|h=WUrj1UqDspLK`y7k+ji8JE49a(POhtU7Z!%g
z97rH^1X9BtDr-7-)9Sicck0xw&f%)>*0Hina$Pv=O_nl~Gns2k^1OMM;96Mb$>phN
z^Bvh+!ZDlp=Z6Eb(IvYi%VK?h=6+TJaQf#)|5RDtgEM;2(v`%ZdySK`Hx3-JX(|-g
zUg7)ckvoRK6@ABJ@4h;H{F%`=z54E|`-YT8HgqWI@O*jc5Ozyn%lvqkF`;|c9-Y`L
zeWkeR+Ne|dwDG3_V!bhH2ue&cOXhajFd6@C=z_Ik@3dtt_UXman7S%QYH|`b=&k+J
zsTtY1;o^jLB{>BJ#k6F_dD(@I)Kqp@CnmRXSYKjs*k{IOW!!OHqnLIH9M^ssr<s*7
zTn}xQL#!}npFLU}a0Ew>UH#*pD-!I>7n~lp<>9Yq=9b<r_Z*6;WBOQvA+T8*7cL%f
zbgx+3y!Kq#vtktrYN7_{E02kq=`)NymbIOpr^!A~2l&YX;T{D+s{a;5)i<QGAqzQ}
z#ub-U$%{PlR!-NrQpOex263zv0jSA>Qv)C10OLtx`6kitvu}0`-?94WPv4$cbi;Rk
z(Il=vCa&HxX4eP<g=J8V?z^mJ<PHk51-Lg)5@8TPA!NlKge@0L<I*6WBy_(?YUMO-
zjX?qPmMN~$+$Uh5%Z)$cgdd8byzoHp)l(k5XVvoljb*32cDVjLR0sv#cV64E?bT$x
zxvTgX7)-fvUY%>PW1hY0iY1o^eH!2zvuSFAoZzIxlXi4d!uUQ3DbjA#;&y2cX9ALo
z_CiI+c2(@lgFg?tS_%8|Yb^XH37@%q{E_9&3pX2|_Y$G^jANIJtSt++h)})p`THXC
za#3aM>Mgpio4ZboSvPN;=-kJ6d+pq{#?$L?kW)xo)uqZ7WZJr=%sQtXHS?S(s3oJi
zKZ+exw8><}#}A1w6(J}eihGG=u7*kF9mTGMYZ}{kR6idxyJO_q=^bk^=2`Wq@&n><
zsLxa9)f_$tcEqU5w8HWPnBi6p38ZL|Zt6#hZemUmve?lm1K*R}oJ1L$K_L%XGIwU@
z+iqSprFhg04~+9z7D4;mbW>5<h}@#wHONjqi2T;Cti2J1z&TXPPE3UVRN3aH;iKz@
zk)v@s8wJ|YWFA#*4-V{6TUVWy)~U<Q4_jWjY;gP1VxQ)Br`G60d<!w|q1NNt;8t^D
zT=zDF{aTOP`h&;n_^StRX1!Whi*MG8!*BKt(V-;iyHnbJFrso&5%Q0=TkeBZnu>^E
zHBJ-_m9E83^NYHUFvo2*y}EY0^4f-xX@#L2SE|onR9)VF?DWRTmk;efz~=O)<`lNC
z?$&F-(2>_pp6;1(eNj%D(w<V+;H<81Uy<3aU4F&%kyk2>v3rfvhEJF<YTD)9YLo$V
z4_?3e0fRf$*IzccV%p%r(<&5)2PGif^+|N*4Nts`YaIFj-Jx$8;2;C1KtY>$_Ld|;
z3DeaF@hiR;=TQ9Ym;MJj6hJ4#UZAB)A|ELKgZ~x(5&sLD-v8^*Xvns|rp~Z*xqMK>
z(m!G6=vlVG(SKMbP98PeDt@qZ>4l#SuuP(Vo-1$jPh`vgr=OmopH^Vpck!$L-rD9_
zbzi%7Mdfc#8vXC@>7rq3<0ug<EeUrRIkj<g>~G~r>?-!Rk<zYRVf(kIjN}_r8WH^=
zURi`*AqOCZZtUGCGrdfzlDbOc>pH7eXQDrtmKn+m7sI<;>*?ODu%tY4>sub-32wsI
zJhLu0yF6QTs=2i!63oo5smaa^MoO$s)rq7ws1T48|D}5Nj`r*|;b{Ejp`>uqFYqja
zOf?k>C1m3gjr$-r;VKJxx^O9yV5`(r`)mc_8Z>^iz+01qoq7$zzBqZI_RxFhjjPh{
z+VAU|HLlWom;6Sb-IpD0IybV%TZ4}_si%8>-F>`z%L_g4tr_dfz51tbdLHXDPF=jA
z=bECizO0cQ%%|4jcRsnz2+<fcR&-4HXs?xJW4(jUrS$r=|9G|28=ZUIUx|OKU-kND
z^>{V19bZ>eNVl%C&82)C@`Hy{L)p#*oX4;w!XuNc3X$T_Qc|-mMTJRfq7-&#3sh*U
z%gaCqgcPqcm)qqaxWXa8?iGKDq|!MQ=)pFJCi!%($?QnqM2dq_;YD>;xJ`Yi)Y?s@
z774=KEue=OLajC1kGLJX<UDMK)TfPq{QhGkeW?n%KzfX?)nxC1y$9ZP9kPx1_2fwo
zL|LpOjh&*iGVEL$IuJh~f1h#H=u!R3#JOp<xtmr$@^a%<qprnFshZ>_oI>zQ*|55*
zQRP0to{@<jXBGt3JcxPeHoG3Ac&8hI&kT1EGYzKt>MUNj9?){QC|$HnAL<#Uej2&d
zOd--ysm5OrW5j0R(9kQCT$(ABq|L{cC^|`;hD8pKn<~_PyX?f0zq^|c8lTJFKkrC5
zXd7|kght25o<GBWIII`{sEj;6kxEy}<x}1{j|kH3kG|A+)iq;({{-#x%As_rM+wEn
zv7=4G;WLVh<4BD&ky^+nx>0r;MYB{yn^EQ+eUB6;d~MDs-QblpPo}jA;Kl;Xh;s(w
z;cyNzBWDFW7kD7WCX@u<wgwf=%8XBpFN_KI-~Zjy&;DWE)(0)l-GBS|Pl$x~+P&eN
zKKqtAa1f%G3h<oE@%vQi>bi2DQ=pMgGP=K_{2&@JA+YJ~+W<n?Wr}~h?Fio6?H<Hx
zP~i)4KV~u@OU`K1-PSse6vfwPM!~64B4_l$F>e<63PqeKC^y8|Boh8{;>>Zwx>{MZ
zXn`S=e_4u7omy-7xO(H#^LsfYPLcs^@58FPVSA3Qiy-UJ7YJHa)D!R^<S3~Lew;H1
zc$}65#p-kfed!(#0*{C|CU~7l1)~TGNkwdR$#c&A6<Zl89C8GgfJvYYtQ_bHaWA48
zC<}9u)%&JRoU(A~*ad68L)xHQ_?oj;)I^3Zo-yq4-)>OO-}Y|j<r7{^rX%>rj3n#z
z<L<v~37x|ye&=em*mQ-ZadjQ@J%}u3=j2)utw=!AE33`sL6zX5!tC4}B{Rv7(p}zw
zD&Yi;EzO0_kO+{YWixHr;sJ6qKx&#+=H`ORSJTEAYA`39o5Y8Pk@3NfEuNBs?-r*~
z#wH{m{?o4$ZMIWeb6wXT-uKlrQ<~;>UV7&u_162s!Rwbz>9)}SNUteIS8KNi*BgIE
zve=ss-!*BCUwQq>ExGT%Y`>@R_J)_X{t-44@q7uW<3jD?Ohlp0dKD-dq@Y{{xZRF}
zm|hJX7N|y1ln!m!g){NM+!R}+<Z&D(-Gu7$6TiFveq~zoQl(~h^L_G+-SVQncpEZL
z6siHuZ%d&1&nTAcz}qZn>C~q|)-<Or;1uZ8O#vj6>X&#MSHXzBPg!JWVwmy#sRtjF
zk16*VCtfkSig#W?VP?E<yCGSMFuP2gzb{Nj$6CZ5ZSEvB8y&Q%>lGveZ4)d$_^5p8
zs+XI9MCTc+a$!nId=CgN!x?EDX2py_A2j~*Qw2ZzMw#L)59&7dJ7s3`qG`A87KKkN
z`SF>?+b&<QZ0(ExmWMf;w@}-pYUks|pZ2|P{Pl@I>cI}j4<G)Ta9xkGXjJnRj=;Jc
zdx}4i>PmW3pm>6)CKwEQ+yM`qhMqPjvsxsh4Tf=S5Y~tzi=B-}mS^2_{q!4eUh>on
zwVh7M5Z~claMnHbe+;eT2en&Xe(6o8F;X4+j`4*P^@!2^+xRQtCK=OhOR<gtX;fVV
zwN|yn1cyb3Tih!Pe*mqK63_q*C!;(*1$8wfH}yvH2E49ZH`>3rW8XD1wc!_PwX>SX
z=L?@VKpbBJeFXploo%}%iHCmrYVoDpB^~AOR;*<b@Rp4QTm_NwMn?>*hMG1mujEQZ
zN{Fr^>p}McZwtyi%NDN}Wo3NsL_OfhNkAfWLhLK`-|;q!%(ucB6A<xA^F59qp4+<A
zyg;#VE;WD3n8zQZSh;yB5b_npeMT51)awZqIFWdV^VM*}ay+QsD4|O9xW7MoA6Wy;
z=hH2>gFasAvbsErghL`|d?6f29<W+b=*DXEsunj=d2pPan{&h{f^^E(n?3&4a<iLU
zL3~r8Q}uVrhW<)ltu(5ZfA`(^apEpGz?;_X=cRslHrFiaebWqa!07fCFj<dI16#nw
ziBfN5ya*IYQ(X}21cB8@u`>sbSJ;uZg<SI-JC!z!tuZBb(l<Y5)<?ho5VzLM5U>0`
z?BL<+W2N7*i0_Eo<K^GE=Ak8nR|8o$Ubo^@RF5u@e#0&Abk*-uQSj2@m2GwpI`Y`D
z8X)n-E5Q~BG;)ZWJ(<gaw88)ovSc8PvaSiS_k~Sji10KY5kFjz#6ykdYCI$+?G?+L
z7qL`BzmmrDqCRhNw66iu(@+-MjkX4E;NnDCXSYj8isE&7t!^xm9hG4jqgtdx5PjOv
z2rI*jLsn5m02wtnxsOUTVWyWjyX+8-<#K8K@0U$DbxPhS>er&l7z*Tzw710AIng5d
ztoeDBg2<UF7Lw2JaC)d-kz}zY`sJW4ISI{7scQ;s2SpA-OKOVQxsKPWZJHXP$lQa~
zqNQR32PcYhqa4I51_pv<vw3rziDcp*b<m#2AKznaY~dlYZ*GTu6U3U8Ib9w%4i7t2
zpU-b~x&4Vcp@zC^4%P2O5&s~YI!;(cZjYbWtyKzLeBt8w#qAnf1(iO){~2B9>XTx$
z@r-6|5`%<p^u!t6)5haXCs$h<H*S2!7`S_#m}ulTFB6|nF_x<D5M}KM&us#ixsYF-
ziwX!<Vsq7EwI@(}bi2hNs|g?~QmQ0;KH&o94;nRojbjxz<<Vgwj!VcccaaAQz4?e-
zfsE>^<!6k|FwT3)Z!|ADzsFp%uke1V&qN)^osjtu%905Fo}!<ELrrv9oN%~l5;aty
z4=Xxp#NYmNF#{*XT4aQ98ca?3w^1$rVVpNY$BZXre3N4B6{s{gjv~`{b-I<lt8Vy~
z@>JnM%O7sF15;o3n5}j!I7xgdebctfj>$Bp%0Yn$P7=e3vL0W3b*6a?Qd^!rV=5Y?
zgK-+zaF!|TKt^Ha{C1qiMsEXw#4igxF}jBu98-@2v<V5=bGRKxYaJ6ma&E4@xw*i`
z0{;WoG78-E;Na2E<82SjErZ~6E}lJ{KFgW%-RnXLs70iaAtT#Rc0)s9LQS(d?I66@
zDO$`|qWi^DC*>A>Ck!V&WL<8&9G$k@S^er<N=uJS(yX92bv<ywJ_w;Qh7FypohVF*
zw+dvtqF{-FltNU3!KX`UP4A1QOnL(^V~dSmPt%qA8&9^hc|hBk=w#V~vZIt5_Id;B
zict?oO3BEyCZ=Sf@Ue`e18y`&RAf0bOY>mj>8Y9CEZFQ>ab}NhFxnVVtS7`Jji;!&
zLW`oFow)2Rk-6&jvrmrv&A_I`YhF42S!4Z~<_+JeRZ2$U<Hny4yl?#FF@MH^@~{8&
z@mC(4-@%FjQ?{h6Td`7ElywQWm(LqaLfg<JHI$u>fNOesvM(u+jK&SgZWUd*)mEWb
zGxf67M+lV(xD)xs78TPCa|n8^TYt6Z&fi?uIQ!Q(uUcP}c^c*Hm9>?f9zS_Y_m_+%
z9Y5^+`b#gpsTm{8{uV~AcDr$&_7(FkJa0LTD0wk_a?|TNS32`cqz?Hwac%P^=UY0~
zROXarE6&2i!m|DiQlY01Sx1G1i2>%Y#JT`>py;xTw7}Tu4bG4Gpv{6KrLK(!f#T=n
z%0<W#)+(2+z-}ogkItfCpGN_rY}4b-C4w+J8=q$<7baR%yt80N*M5WQx=i`Q1C96Z
zHU7Lt^c9^tE-CFgY=klA*uH|a-dDf->Z|X6F}Pp9VFNl38ZWO~YaAby9NdvIKIa9|
z|CqR0+!55bXEg6OE*M`rhKhvyzy4?Q_YXYz<cd2ET-FgswJ6rQRXvUvx*cZ+=GBE0
z<XlUUl$);W!Q7(uI6TlUp}-}FY*_^;H7pf)3bG3nk5WL6##BVh3JP3)M;Tfoxa#~V
zy&F)t38i{m@x2$NU_}>*!exB<3oC^Al1~`NRLQzG59^p2%jPzWj}r3MIJ%UIcWQ0#
zS#w42`<kx1apj3ygnFj&>dN|_OBdd8cco|A^N&8fe%$cFnmSliXP+LQyL8Me&7Pro
zcM0WLq!dIlUk$wZ;l}OuJGcJswKp~_*wM+8xY0+J;5=A@`^XZ6FODri89O%IZ-ga?
z(l)r?J8B8u$ChA*F<qq^NeNPAU7A3b5!C{hzssrQBKsI$bGy>o0OaUlORth>w+~1k
zj`)V;*H4`I&KRopH-@qjR=?V}57Jd)Ea2`d{00SQJ|!zYIVe}1BX|?1xoxO~9_z&L
zvp0|z2g1YepoT05j(lOPRNg>&sC2T0qkUOm0ldN0DZB8jsA}>6)_tf;iiTCHT~GwW
z1>FZH4QjNyWe73ZOfd_R)9YwIjW<OPQXnlvUj2<R#Mm1y*Gh}_otKTE_*xy-d|>j9
zH)hDCm>d4%u6iEyqA!pXoWqA1Eu-v!)sf&vE|3jJBjEXQIu#uGa0nDdh3yzMUE3N&
z^hLpk9>Rt%J6u1k=y3=F+nF&qBBdh7y~@~g#@K_uKqn<le(ZcxhrPxwQM<PYCpT%&
zWzN|L`yz+Vkx)HJMZvjByXHg7E(?kr+93s~Lm%+c2cBl%X1U`=PbmKWR!gx)q#9p*
zgTq;A#!%x(IHZM24xfL~cvp0K5nuf0uUolfzC03msOX%D6J7Y)_O1)l-olj#w<Zd2
z0S{-Q4c~jK+o9TB8Y0>Mb$dbI+vo<vw0Hp3X<vM~6pgM|z=S?-bi#3qq4*z+So70A
z9NFJz<!#M}(9^yP@JYcAV>N&Mfe-COZPfGy5l%D`))Ih^RZ<)(x{<l%fGdY9+_y3S
zF0#F1yG~@#kR{EW3A5{raTcX0mkZ~4Lukg`Lfdm>p;%*#m#gFqW1(2w{JGIYn+~!D
zAaPbyQpNg!PFNkui7plpItv=aC@o@#+sMdkX)$V2szvtVD}!${Nguw^6;|grC(f-j
z=BQOhZ+Yo=aVb3arFs%?h9t5@z;BilP?-kJo}~nr1zTIUBL{@S(dtCERZf6F@@|%r
z1>o2q*!Ink%9s(v?}t}qi#UDi(9!cfjL(!|kj`v;zu0vO3B|kb0#{Idz$B?(U4ber
z@YW}~gewU#PMiy|CORC5u{s=<pbKlzTIG<mn0``xn&R6%5|<cfT&f2u?7`MuP)*Lb
zxD_g4HIHrLAmlgSrCAdb9a7Mt1rhs2Q8aJRi(W)tZ=x;ecIG6)E~XZ8<U(md>Ss8?
z^-PX*LXg!KyVtAqXm6qeM?P=cod|0LzG&T{2<6YYzF89D0=1}6swZezEc61`X|W{D
zqYcq!YPV`guyrU}Qj*sfkeo1{QKE^<ouO7g&WW39h8GSjOdinWa`NEDSCAqFrezgB
z{)m6a8Y*FvBhUWfhch?b+H}LJGiO%a&?HW8*-C9>Z@f+nHC}a9%bU>mv3Ey5`u>>x
zoW?-LlBH|wB5t40>r6;WN=7i#o2;a!Bq#f1cS2Tzi~}JqG?UZ(LDcBhQ2Sr@d8}^W
z-)ce8n-8cmrnRwJmTZSav9;mz%EvWnf#c`~a^-MR>T_>@vuVM&nWs+O)UZH|mtS}W
zGI-qvkz||=TxK?c>Kiy4waB^WI``hy95OnC`y41-n<)D%X761@xiuee^pT9jAO4H_
zPx<h6vgfF$3L8CGvhCm9e{jr4e>*d?>8g$QeTNOmtC8Y&UqYqEw3)NA+cyuxO2I1U
z?hQJ1zCs0R_!x9M&eJFfc9#nd4i^e<p(Q((giH2Z>dk0YPoYP=7bq|W%EK=VePH^j
zQ?Kscv|X%xCR}UeqlZq>oR^+5Cc;L_!s*$SupBd_Jow|<=cI<x(tHk2g5pR>MO{%i
z6B3bySLg7hg+eeBLm_K0h?JKgii0EZC6@OP&$NY=7|l(OGZWE*<S~*5BQcaMDM&m=
zR1Q^AE4T@&P6yFASGcl3?KMw$=X_@T3FploN-@@lw<b>s=ZfJXTXYwfpF8aOa^tHX
zCn`nTw{)*QJVjh1di*%LZ^zDKMSIcLSY#~j{n__w{ih#(@)2f6l_RoX{n5;()YazL
zLZ|@fPYc>y{vgdPIV)LCRFXq=C@&QXQ3Iw>dI;@iLLoGv$*gZsJUX^Qdd%Q6rx>^N
zeqok^I~xVK&}}sxjn74?TjYkD6Q&H`P-TIrFA>uF$AoA`K1}uG^^=FcJmcTS5tnf&
zdt-2-Y`<ZdOO~4CHGex{{P5Kx<Hg+4w~BIv``_|sLpvAOjTFJV?pks`(GFh=qFo5F
z_{O?wgjfUlL8ONy;HzZ~q+5!M5U+vVkza?S+4=d{V&&&&>7iUbhtiO<;HZ|eIL!`P
zi!@hsSNTgcBr00+B!vq!Tui_UCNCH-N=aoSQdo}q*KcAHW{FWEGe*L{5slyY{=`I+
zlv*wl;nHrt*(78;F)&I<Q21(>vC#TJjGp*H5j`oAJgcr7$m&N07?+}1B*o%a3&U=E
zmK_we=hi8%KyGdT6wOV~1x3-x-jkK%$wtJ=laYiIh8Z9#&H%K``ahGECysUuaXOm)
zt6HesGHv<rn;&T=9eo!O`L-91Of)HL%@daWQDU~Dad*3Mm!+0y3!A(jHZbUQFI$oI
zOg1|Hv*mIp`b|($Ho02#Fwa@XyMa(v)^zTf`H}gAbP~UWlhkHy73dd=U{L4nESxIN
zcW4<NIF#U}(>%%8&Dxw!v;=lKRf|6rXZ6w@==#iGidgW1KJ}(hQ|Or1#Ef24=;Zvm
zMED|4UOeuG@4nlNs#V_Rr`;ck;%Aoqw06XjE1K?p=H&~L+%Kc~0Q6wDqvCk;&=tlP
zAM7#yvf7tPd+<LWCrwOIjJxpVNR@ij<pz_SQgVPgVbbm!=L&I>KY%09L7y8jvQ}Gf
z{{F&vZME@c{ll@9=++yF&Zdq8=0P;`{q>)hFPk>wx|{Dd){mHU@+5k3+Kuvm3QPAF
zE=Wr{e$e@iP2yJ>2D;`NR`HV&l#R~_KRe_PojDN6fagk)(Y3}R+5D1l`KiTn)Kc+d
zqvTf-;L?aUu#PicJkDZjNHg{xl4WbyOgN{8xE4*QPZ|Gs{ySsr;A@}1r*Dti>iR3j
z^;CwN7Tn3^TaC!eO3JR3-^)W#AB3<nJ2d*^SXt4?Tey6FH5gEGED|+n^r4-b&z*n_
z(1e(R`z5T*I5}YzEv!k6Oe;<=JF)l_H8WkgU?@6Djk_^d{)(FqqCduJW7f<5*AvkX
z?Z+tB^}s3xsr#TGT;_ATQRmeIJIaR`xX<Sa=!(ayz(7&b+nP}E^<e^12f0{m3>IeG
zzlToa6BhSrTCsM0)Xg{7IBaYRq#h{$<S%k!+}UUH6ZJA>Omv6Ck8|lR)#V2!9wfzj
zJT7md8;xwOh_OcfI5A_c4JIOnMokMEI<gXX4VYOy{rVekkemMvXSwa$lZKX-@nPrZ
zH=;raH?Bk1(*qZbFNk-@>q-6S-H0ZJT^4W;n8);c%G3|?|LXYU6^b%Y%hFJ$#`n+v
zlKYcZWPxQ4?|*=W-A3L|ht>3d+7f}q|J4D?TEVpbIlCg}6FkN2a%m?h+y7Ck7M8Xm
z2jBsAJ0;l(lh*3M4!|`31)Ki@ha&~_Qd>)#?JwA}te6N1eB_8fq6T)ffCmh3^~}K&
zds|!o#&mh2nA^ViotMafy<ui<iM)~M1M8o=kh1kpwm;Gt1C9jB{Dk$7o_uWmYi#{%
z*c!#!ddC<>GJBG?#;L{nZ-ZRa`v2h5x7u3&XuE}G*CMN>KPh;|wiY~-j5@7l9=GmB
z4TWR{0idAbvdeUyQgbDucb*({C|<N%^5h~Z*NcDwnf#=_xu0n3kO6lBjAjC1(L}D7
zOjc-f+QXTdKxnTZlv-niT|X?Y5D(i?0s<TACyg^3zf_!dqp!Ntc&*|55fn(Dquym^
z`zReEH=Q`w6{`sTvOWy{N~4Gsc9a^n)X36EuqIR8JDf8_MB49^l%Se~O{N~iPg-`D
zKf~4}FKBG4OS8$bsh-+4I*xZbK7Hp`i(7X){vj#fY<C>peqPk_czvgv>05h=Z?B~v
zeS2X^^0!wS&fi|y!wtRg8{FBRzP(gq9aX`r5zs-6lXy=se26gu^#tP)q-jz=j6nS$
z^LYq54aH+{PcR-snuhvk^h6gfjfN*K82G~DiwT?H4z>yK8`drG+gWMnfDvFBAPh}-
z7Dn+*G;IWD3{SHb3*lLB;)%cy@J#1dz@oehHuGj!lwRbXL0borK9l5@QD-16)tv+n
zJ*o$?-LG=4($B2_xRxZ_z=FdR6_h6+g-|gK$&Csf3-kx&<Nss)^R|E82X2~=PsO(8
z1!}4L^zXJDbDiJ6%_7Y`*fnCzFdjFaFn%qct3Pq_+?LPweDWdrbI0NwU{_dxbP5pI
zB_$*%s40P3N$F`C(vdWDKamn)-g&HO@)>WL7~h+;#*XoVZC*u)AyNQbeNpthLKR`-
z%&B9>1^Kk)nU!z8cGVx&&AL0mkZx5QjlUTGf=6eMNI0?R*=L7t59gilc=w%4@5Acz
z+7XTAW3>99@%AW<%i}cW84!)-ztj3l(@^V%Xxu(V<EWj7Q3Tt0=pI+WqsSs0AB8PF
z8bz?Bhc_WXh0o2I3`g8Ff;xT>HWc+|Y={@A3ti{<IQ8f$v7g651^{7$N9l=L6C21c
z`qipKpmCDOhbb(62UZvrl@cv*Hdw7m{n0qfiTcF~YPBnh(+m5tHBXRVp~Y%s-ON5r
zxTJ*2#ayU8eGoOaDnq%VNNi|ctvqEE2^+Ek-Z73D=YBuo?~}###*oFz0P*<V4MsQZ
z<82>(J$QdvM9AL&W#pLp6{;AJLihzymczu)gW6@l4~6!vRu|((VJsIiUR<&G3~|MO
z!Y>H?tSVbP2yftg3ow+##^yEfW?lB3Q0_L)J^#bnF$c#y^O7-jo;WPtdi_bGgTMKs
z2anAgu&-U&+U25@WO6$sf2H*>=)m=n#6W46DU<$~OhR_mcPzK#39f%61`cgywZ}$a
zO7aMx_TDHZ&8CDzZF3Cb2p&V4Ho~N2UYxJ^v@dI*NR%Jm<53j3G|mrv&XzS0P#}JQ
zb|CI-bs7`;;Q;glRY&>%&kXbN=C(&8|8Hl8LAf|x<XfV2*~4^El@_fLr;AK!AfStv
z=%OkuT7%?t6Z6Qf=qT1GkF<=!y{B2)DeR6>?l*a)EY2fNP&b8n^-UTDyjqS?u!D@(
z^5Tw@#H(iiQ8Dmc=2f#+7iPmFFdjStc(p2uN4q$enPY%g%`v2D@0)lOx5a~NikWy^
zDLow>rPbMCL^S$wRWT%+3#+)Y#2lqX1G2A_ae)l71|0jdQRtaQUK7&USd$EMl)|_M
zgw3UvLIdJVK^-a<A#)f7e-IkTl@v<EpjsWV8djzYCHj>?PBl5++0VOOxvqKfmtVr^
zxA)u$%5^d=BL(}(pN-2+S|tQQ`n2?7XV=Un#$7M(F|y$`R)=me174=Ku-5aecbc=t
z@i@}^s?s9o&=!zl(iXJMrY{w?v*t5#8k8HoD3=pos>kp%n{unPm2C{o=tWtVxWAh3
zH%U0NjrXcXFH1M9Qvs?U^Yh9qzMq0|p2R#0q-)IQ<pcPeE1aok@w|@xPmwbL$K&Nh
z4vo1~w=U3s!0Ge4H1u6Sh|Gp8KxlC%CI3-!6`f3Eb2h%mC(Dpl+>8TZ;iDIGML9w&
zu^`YwG@adrz1X)DAVQz|b;dqrj69<Gpj^_teh-QSQF!P9!Y&1TF$h@e<SB_`ry_Fa
za+6DzF{_VZ=0?ijf58j}H3fx`#AITYJN;kAd(n{4uAhDs{fx6H6iK0?KL3<gpx8eG
zLq^xlDE@;;kvKxu&kW#1J!mx8Kh(9}2gkY9ifR-N#DW}X(1@fje1@ZYqiBMN>B#48
z8PY<s;laua0SU7Xc7-zPj4{gi(l{pCiO`cvcmM9WKRik8sE!^!aAf!OH!Yk=lqKym
z%nI)bs&6nJ>@lWYNDj{97r8x2nk^?s%TQ3fQpw9rlI$K&uH6bJ5_Vs9#hE2#!2<%M
zW9Lj`F&h+sZ4)7(Fe@c3BODGSK~j8p*_%&M^RSi54N+^Y>MFVWmtUh;Ua;wm`u01g
z|Gt0rA4(=)|N3vgnKsw^w?7{~DGxpO>Z^YfuN%3qeRyU4qw@3fZ~gk(E3tx@iFG}4
z!Kf$7P*fxfW+di1oX*4|1^!W`w4EaZ<&Pzl=C|Syz15S7b9EAmai&Uekwi*b`wI~?
zX~lcsNE37Oh+h)7o{HCuq*8E%zcma4ldIa}M{=((e?0cy{^?H7sWDR<M}Bkgz`V!m
zI=wOFH@C=(mi=&}AJ&i;B?3A;HFJP?;M}~qjW^zm5bIkz-s>}N$jGfvy%ze@AB=@>
zzCpZNfmy9Uoj5vAUTpPdhYC}WmKsb6Sxbtuv-8~nfhyGf5l<;b4OtYOQS*^ili%7-
zix!muHHajw&E#l76IjSNFjF0hkWoa1P;h952mu<IldBZVUw`G*ZA<4i{C3pb_k{lw
zq5kgCjjzb^*vV7Jp8D+IU;i%44{u)d>v2;mx<2*bTkGz6J<Fc7@u6F;n|U+jv1G@d
zBm1$r5mGPA#RCh!fac=QQY{Jj7I#WkPQJA;jFvd*A-BilCO2+4Jw4c`A>Ct_dN<f(
z9;~>fkInbb=7LsdgfDedz!{%5rCK;p;y34|HclFK(ipM#n5;aw?7^mom+yb}nZDO<
zo4@Ug_ogjW)J-NGj9E`VGWi;_>Pm6`>N`-L#Xo1#dZGqmnITXk2eHh;B&6<hIW~tc
z11%C2M3P`5;}~IfLT+{{3dpH0G=D`7F}pL&??)`6)P@e`s-xaHcIO;YY9S2h0{m6g
z`@5$%zwynN|M=HG?tAC$eajcU@$%dW#){)YQyZ7PmSatN;eK`)il=Y8Ve`Tp$4;I3
zRQ&+@FiL~aGkgvE)q!zxAjJ=7f(z-7nbuG?Is#@P6q1#dq9vL6Z=Mu?pN5oZsPjKy
zjMYXYicf^&%m)|GX^p*D`P9l|uRJ;6%~Ly1?YrfMLr4C$@`*L_N-kqF`0?BSSgVB=
zPi>+k4pBQ|IBj7h`-PJ>${q_L6D!y5&?PTAa-@b}qucGtp%8RmNO9qF?DA11f#ev2
zlUvhdjJB+Ok$hI^Asbwr5LMGf?DeU~uWf9+_SC0;I&{=nno-_+<cjI+e7&-<3!ELh
zrjEH`KJo6`dw0F7%=`@HJ?HPf7H-&=<hkM#6W?#FOYsfKAbf51M9Gsb*^|=MtW2BD
zpPudk`y$>+4p>eviZSso;TtPK%Nz`Bfov;(Y{oT{$BsT}j5>J4__DQ6cE4CSbz+QX
zcfBiTwQ<g3RjJD4VytR1GItC70Zo=&T$#%iKycO%zGDl=VTC)%>XqQdCPhwkZ*g?B
zQ5xo#*pjWZc8#_u3(Fy6xY~R>vN7kK89A}>np2<n#d47vbJCvMGi{u?tnYk4Ye;=L
z4`K}&JK5*6I9+s>&w|{5)D)*PDOn)%PKYEW*_{;d*m0sEx{Uu3JHZ~xHVYcAGF_G8
z`)|ff9COV{W6XiWvXOWS9)Hx_Yc6S7#P{EsNX}fsj%@dxko7d2cgac>J{ycF7Zp84
zpcEhL1a|tXD&lTxj2q)BDsIl9wU{RacLW_2&o)a{aN1loTocM5d2aI})Q-LL1#!h!
z!oF|#?p<FrpFQ^4yT($*JEggYxJOJlF0On91vlXZKX3eK9N)doPPoxmo9f3zaq}a`
z#%|&U2Z>}!NWjM}!DB%*?4siMErAp4)q$Ht$N|zBa{3N%%35_*NM0+KBBl5rC^)cB
z^bvV~f2n`Jmj}MKb;J6HpEBN&rwzsrPT(`<!Fj=ULtn`$+_C+&x9_}_aLd5D(K(@j
zR9lyU>>nhl>l8Av*-+e6_rm1!BF`TAuJKiimGF%zMW7ZZAAf-$5S(WA;)ID4$DaOt
z-=WWN^yG45h-jKNZuUI$8?$?-a=n>#hP62k68h==i1Okfqg_XE1XZQ14vW>&hsp?|
zkQ9CQ`K!;7uht(&(@cpb*AOP=r%>sB;Ha@$*=(#H)A;7e1ODAR<<OQb&Bv!r`kubt
zJF(Ld(s;c60dP$LWt1jL!EDK<r)B5j3zz5fczpdSNU5rn8m4BTaCt_25n9T>#Wfjh
zUbFjRoH#M-E|ksDb{KpxItmI_-16<}Ro~CLVf<T-%kCE&Hf%ipwU{CtJGP)k#!2J7
z5B~Vum(?-T){X8xU}N`=lg56vZT^klk2yT>i+3M*({E3GneZM4Z_z<;6zSi*Ouw2a
z?1{QR1zN}}he9aS7YZS<1Kk!7Od&6BeDN-cH_C%#2mGN3Cyqw3q@(#}sRCj$#lFTk
zAbh*tSoyE-FGvfP?*HeXK7OhGw`)${w^CmD!um&t@9h8Fs;P^!6RLOL{@CC@)Gr;-
z2iB?``;afeTLl70)4oN8Eg!wFgXTCp&-a@Ycv*2@LY7bK8vc_lD4~V>BjNv7IVTd&
zp;rH7^-1%2_T<v;l|8v~qs8>G%5i^==?h+kC&-U$lN;477y({Z(~Uy!<T3Wg#!%*3
zWZt9UWJG+IOrtz$T@)KdnX5jJUn6gf*?xe$J{OO3Q?$mGB4@<MkuZ+hYMh(m<5b4?
zdOVK3UmTx#>iJ9JGsgO39G`jWi<id7K0ZFqd?c@#Uhc9uKD;_MPkfyD>W1hzm$%?U
zG~ue_SYs(HGfm)+=r5TuZzY?Di&2Ta07NA`sjkDCTSfm9wBkw)4;fo2yDyH}0z_3!
z%#zz;X5AjgY(ad6<t>;I<ywt%v&H^j$GKUBCzmOA@i-&m_$-W%lhYO-n>CKlLiLsC
zI8py>d|qSY<J^MmMRQ(-7mbq`ALo|%yt=o{i&s2KIVmg#VWmfccX{QBcUvMIBo|h@
zIU1yC(AUJ{EFJV*JmRt4n5Ud4{{h7!Sbk7092hs^_iI_M>ZAAf@O_w~s5DP<h37G1
zqe^}-_@3f#rY~BpmE;P)$xrOZ2zY09jLPO1^|3L;&<kIiW5i{X$FQ7@jsYLpmpp>$
zCIxmFL4DCilF3*=>bCNF%EC;uAgQA<HnBu89(V@ZFs5%#d_4m^o0f5IQq5R^EK=fh
z3GjSK!p(8;Omv*0_&9{m6qZaApLyyVm&9j0OQt!_yf~k<;KM7!l4*`JUwu6~PH`L`
zUK^H7bDa6{aXPi&LsVtS#5fYk8>mW>dEp$dw4Bbv#pukEiP8AUU8ZFIlO?lVjAk5b
zW4a^Hg{Z0=;gMSCjuJ1jhv|-A<tJ{(h~Nx+d<+CiDOaX|a%G6ulw-_Oj~MgB)0Urb
ze?av9a=t$g+zu}`?nlh~7So4CyooxKxDWG=c@};#%*FK45^v&p!oafP;@N_h3mHfJ
zCOx4Z#t7ie)EJKD7{n1g26TQCQ$Uf;hBGnFdW$)WM*(L+Hkh-_03AJZ@i;fd$7zWq
zh8P>-EOVTjh)O(8Zk&=l4s(`?&pgYbOX9PTIm;Yp-Y?<9oMnzPKR!-%8_rtDoMnzP
zKaNk!H;8G%oP}{Da2C;obv{WBbh)X}qMWsmISZrFlPbFFkj{59XBD(saqAiyQNET&
zl5T|OjYg7NMuHtWn?{ny(g@OxbC_mv-ozTU8KI{%=f8~56Ao*<!CYpOS{MPGW8whL
zS!Irp8<!Kt0a}f5AkG2L(HL<}YGMJcW{!d1-)xRy1_WtEXbjS7<~+nu^&%{cdDJDx
z9D(@S@-Xu?_?^1Zn7_yTj+MlCn{mH0%Tq_-LeEd(`)eQ{)5-TMjWF-4-<Z$i{he8c
z@jT1N2*yyD<_tzej}{d*P0Zh9`GDscvlJ;YYH^1drq;M9wa6yI6Y-VeJ}*qI@#YiK
zedZXZv!3t<z4o^nqo-8!AICs1l0PsOS#7Z(dNCHD*LZV;cvmPB3!)ce0eWE#7|*t2
z5WRQ|{Qh0$80M$lTn($r^rA8F6@rP1nYLg7dZF8nIRdZ$#Mt^%ryKL#t>^_CmQT18
zNL`|IF~7AOX<>SeGVfb{LKXqrjp`drFFeoGFl7v9FAJm+wk$ciLiECK@)JwVS;pyw
ze_{;!*76uF-&(!R82qiJF)&LQ<d|hfY@Hg7?dlntr9=?{o76+X7ebQHy@;MT`_L1|
z0Z&8X=0qyCMJ;LfQiWWzQZ*|0AZkzLm2qVZ>a{)dhx7>@3~Tg4JzV{MMWE}(UMaD^
z(QAB=dicT*)<rnsiY`XzCF?+4Zii=^6=#<#Qa?avd$h^J3v%J8rADqb6~QD_1*!<(
zU&arMW=^<aT+`~VXGbg=c4cJW<@YaC5BI-j(q$<xH{5#9+Y_b)M%_S|4+G{u;vFvR
zZ1E198^!;8+g#}5-TEC=ln98Mud2acm`Kw3p)&`jWBf(qZkRT;Y1o3h2JEXEq<(+f
zgrZyTNx5v&*xv6<ofNo!baW=qTYtn%GNe$QM{(%*Us8IV=BiJR&8H-C$r<@B?i$o)
zYFidsrzBj~ab$jOO4s*VO;G&$y0kv?Z8=#r_Nf$KKR=Y_X+sHS?1B1jc1TDK$Dz5G
zvU2L_@48GqtzMTb&X9y;zmSp@C=YZGD1kbEQhi`sW(qGx$>?}%LbOb%@a(|a$LevC
zKNHm=;Vnlo9$#yU7#;HZUfv_UusCs&ee%%!{=Mr`={jNZO>^c?xaPLG&vp8H&o$Pf
zv`~6chsn35=cJc(xNd>5>GFmv2B!Sss<CT<JJIO4bvyViAZ64gB25aOtvW5S9#z*&
zI+f7U5idl^?}Nj*r8rP?zkVHdjGTSLkVl@iFS3oEboCTRllBM8*-4FoUteRKU-`g*
zzWw{%^LU##`RGj^6bKO(dXr@v4w?~1#NQO<0fpa$!<3kJ^H(!xkKEazPv1v2IGWtA
zzv5k#@T}$NHNOu0YOL}3<M%xD(1VY}-eI#MPL&~*y^tE9<xg^Z>jP>))w0~>?(Xgx
z?nQ2kdmHK{(<@Qd6SFI!>0QhV!Pc)gI?S<-(P}#kDa!L*-Z1HbR#;dUG-eb{bYx~!
zSV!7>8A(xOqS$<IO9Wr!BW|WSq?|N&n$RVQ&`Jk;Se$9Z6KO3x;Uk{NN^Z*&V2IKG
zi6=}%$*D*y)tV_L4QpYFNnbqroW035s&T?7$D)Mw)(WsiVPyO~W{WAajdc$$?%Azd
z&pVfsN6IJ>q~W}%Ac!+?Xql^^sK;244E?sy8#(H5>Cir@l6zrO@xZ8~_+Y=wAF1z_
zGjB@o%c{%r%THF%>d~?9u+niic<*(WLh(s{co6rZ1E7<u6CzNDF0aUNbhzMEDvx;H
z#n=?3gDb}z(R3wkxZ?7fj?<4mZ1hTg(|5ZVZmeGQRLf|4{@;z(&Dd;?hV!5D)9{vP
zq)E^=#)0Bu&IHvakOi8IlQ(n_2<UMgWu#Q11vKJ7qC$T98+*#27v_qMJC#k(O-Svv
z;vszE5Mi5+?|i*VJ;sux!a6_I=(b8J$&SFl21kM79@wBDYs7S^nX_i4ONqVYV?^=Z
zs9TQ@&8YRpxo=Mx7laiV*-Eo#@uH?hx8ByYNUlNz_kH9=1##N7%J{(e=B@Ylz5e=M
zeDnk=%t`Vq>Xb{&$ny&`vhj>wIccx$_557%+HN^x$K72zEO;2{59WBPh8d+wC3Q(Q
ze~K(8`csj9u4@Au^a7DGsDXx!P0396q&go}q8rKxlf%>u&~QTqOHxSH&X<U$=dLNb
ze$tpHhAh14^PBe_Z`y1avV8ppk+PuSimE<C23)pk%CO%*cH@?tU&OahNW+aaYAJAF
zk71ewKeK9cCFQ_ls3avPCk<{$PS*1BG6y!~6=<G;4O)I2p?JfHRvtsDY-M(K;Iif<
zM$z5{W=9A!(icQufrmD2LcZI#|N8CdkH&6T|N5>)O=8UaxmT^3F#A2Bee!Q5<?byZ
zdvN3Z2aXT<s4Q~Jk~uTBem|x$QuoY*Z-N(+jP>dari2ewC2|}nB7qtuiqA?F@dJLh
zViOjhWpIPl;qxg-2hU@Ei-z`FMTRLo6~~9nW4_#q9KQ0JTx4RXGj@L8e676U<W6H4
z8h4crG1jNypyljmlnv*ni;PY}>NtF+QG*qngB2_SF6rnJneA3m{jr|pl0FdbaGYrZ
zA%h;Pb6^9i(Z$FaT|IWyGZKOVpi;}SQN47tML8-B%KbhS!Z?Bk4|feXH1dgc#*3Zq
zDxBI;{;~N`D0h<F>znt!HvT>2U}@z&%Y@aR&`o~-BjX{f4ts12q^7&&Jw(`H2m;%F
zSh=pi)(V~rwCW3<$Ej?Ca54!fawMVU;3X8g*&-aN6+N2m%0HX8W0dbdeCDUm@dnBU
ztmQYPk&Ok8dQz<cM<qj3_o~ZH_vS=<qlXKS%izu$j8so05J(x=5GYXWgBz5eEeeHL
zTStl!Au!dK*B9%!O)V+Cty^vvs5J(Pwl3||F!J=*3C`Mev$uaH#HXuI++xV{Z=1JZ
z?$f;%;&{anW4LE$3bO5d4Og7`^Ks!`X?%9}iF+5WxMys`qt{?Ixu954yep_J+BFoj
zl8;(eq7G~>dIeuw*CA5czI}ORUb~Wl!ong=%Jf>iNm5a}a$9wkmWj^qO8a(sQjsVs
zP74Ggr3J+bayal`ISPf2j^MxYou>M0$>9bQP+md>e?DVh00>V(m}-Wb&TA5Rs&Nnu
z3MH3|uc6Nqg0?leid=rr{KbQ2HO}>hhh5P-=k^(suP-Sc6lveJ>Z&<?#md*L>hdF-
z{&?U))w)gDICfV4qVnM>q4fN`n)=Fy>&s?(lZx^S%5y448Q;oTbBz)5{^qacU~{=x
z)6{&7_H7xk+HqbV7Ih7%Y?I~-bKej~*X1)7vemCP?@Ku7Ncj+Wei%IZ3D7M4>cW~Y
z*`=nZhkQ!7FyzV1%<a>ViM(G|vL_g{p=ubyBRC|{+O3a{JSHPXc_EsZ9m{jD20RuB
zYOM5eQbi5N-=k-6<WcuFS(iMraIuVrYSTa2cjDAXf4xyley92Dx6f_)V(~-kpLn%s
z_p3YJG!{R(?6)XGoe2A>@|hLq)*6|;-W&eFGSi!g8PJ|k!CsJj0I*N7cdlsJW6;m-
z@t+UEyj$<Bc?HNr#J_J7gGF!i2{W}0Ysycwyg}{+cN9i2eff~p?RYO$?olND6%<Gi
z3Ty~I4~^sc#4Fp8_4QLf;CkUFJoz`;ohsOU!ynPpxYyhl#&=yWfhdo*dg8_lecL{9
z0b3~f)s`nje{?Bm>m?O<;s(n9ioRu<@d=)wtlqfi@xqIEW(V!v%x7?B_g!<8Sf2QW
zb9iDtWdcT@7-;;}e8L*t-Cg(?PdsWH8GmAs@fY(6HMaj70Go>HF7OzVRa{X;6vG_F
zA8iBTzc*M)F@G<<3fqk-Y8pjw=-uGrQh65belK99<w2GUQW*Ew&`-p$=D%Ke1Y<^N
zAY17-@bCY{8vK9qI~TwAeqdNa`)YI5;LCj4oSQwiCNIJx`Fea!;8~#-w)hVizXIc@
zuk}`Buvh1yrDooRS%5Xj>aj?*3_CIGg8i!nc`_RTdtX=z*oR>~!+sau!JQ!tuV6To
z?_bH+!}$6tz8=nS1jF0-U5gnmVYrmxZy4Ur@CknJ(>%g6{PwjBf6H(k!)F<;XZRdH
zxq;#D7(UPN_Y5~Pe3{`Z3}0oqh2iTA|H!z#!SGFnTN%F1_`Jh!*}>O4`TAYH-o@AN
z@d$eu?q#@-;eLh(7#?JJh~Z&|M;IPu_!+<J7{kvQ9%uLyL1ATRXXs++rr#1eLm$Hc
z!zBJ`3d0PBA%^(!;Q0cEC48rpVL8JN3@aE`F|6h%I}#N{Cx$&~zJfVH^rl%0<^jPx
zAcpf#uVpx%;Z%n6_{sSf4&nI)3~%8(P5hSI_|9U6OBmkHa2dn9`N@0u$rXHkFT)2I
zKFV+{&w2yDYa?GXmBsr!!iRjHX(0~s^<ViJUU~5;Uw_T;TZX6kUElMQKk*8jXJ`<V
zC0YmhYI;T<LC?qygo8YmepepP_owmo4gAyD4AD;*KV8K4momJa;WCEH8NSGnxm5m;
zulMoq9%lG4%|$-K*Prn9QNI3^um8r+|DCVDV0eb_e9!O)f{KHlS2Vs(;A<yeGyf=F
zz7ym-sSMK?rt|#_hM6=|C5x}K`8vecIeeYV*ZB+!_)eIw3;DW;uZ#J*gs<E2btzw$
z@pU<0x995)d>!HI3cjx7>uScTBg0M%yD+R{*n?p&hW!{0U^s{&>m`LXk}{m{j9@sD
z;V6b<7&0{#rlvBHXsR?aoWgJ#!|NDc&u|8D1+tF`&Stm*+@i5Y)mWoytWh<IG^z&w
zr5}*wNMntvu}0M-k|s?eY0_AuY7%KwO(M)Si8QK)oCvxmjjBncQ8ifF1WBW65@}RT
zB8{p^q)|1AG^!?%M%5(JsG39?Rg*}gY7%KwO(Kn|Nu*IVi8QK)EGUAcQ8j4;L(-_4
zL>g6-NTX`-eG?>E(<IWUnnW5^gX@JLX;e)jjjBncQ8kG)swR;})g;oWnnW5^lSrd#
z5@}RTB8{p^q)|1AG^!?%M%5(JsG3AltVyI%HHkE;CXq(fB+{swL>g6-NUk-BG^!?%
zM%5(JsG39?Rg*}gY7%KwjWwz!NTX_kG%7k<({Hgx)dXo&O^`;_1Zh-FkVe%6X;e*+
zM%4sqRE;&NCP<@df;6foNTX_kG^!>@qiTXQDhe;~^Q2KV)~K2wjjFLm)mWoytWh=A
zs2XcjO^`;_1Zh-FkVe%6X;e*+M%7rOYJxPXCP<@df;6foNTX_kG^!>@qiTXQswPOI
zYJxPXCP<@df;6foNTX_kG^!>@qiTXQswPOIYJ#cE8dVddQ8mG|V2!E?(x{r?m1m8r
ziLdz%X;e*+M%4sqR85dZ)dXo&O^`;_SfgsJQ8m`68f#RIHLAuMRg<UDI5KHeO(u=1
z$)r&=)~K3H8dZ}?qiQl~R81z0s>!5LHJQ1THL50)M%84}sG3X~Rb!2+$)r&=nKY^<
zlSb8K(x{qD8dZ}?qiQl~R81z0s>wePWQ~fmfP76FRZ~c#Y6@vojWw#KkVe%M(x{q3
z8dXzBqiPCiR81j`s<B4Z6w;`gLK;<5NTX^BX;e)ijjAc6Q8k4$s-}=e)fCdGnnD^?
zQ%Iv~3TaeLA&sgjq)|16G^(bMM%5J3sG33=RZ~c#Y6@voO(Bh{DWp*~g*2+BkVe%M
z(x{q38dXzBqiRY&hNMw7g*2+BuwG(~s<B4Z6w;`gLK;<5NTX^BX;e)ijjFLm)mWoy
ztWh<EG^(bMM%5J3sG33=RZ~c#YOGN;)~K378Z|*GmA2sgdclQNfW-_W3@aJdU|w#i
zBk1LpYVk(5L^E<rG$XgPjGuXs;X@1`X7~uhl?+!ge2hm}&G2!CYZyMk<Lu^V-e>p$
z!w(sL%J6Rt|IY9Wf+CTjhoP6DpJ5(hD+(AE)A*tt!!m~L8AcdZG9*g51yRZ^cwV9p
zkJAV`y2W&cvv{-{_?g-K(>Z*76T_uE&g1;d6a3S4e7%LQ|H$wSzO$7_+kRmbMkf92
z7N77>kMTI>ynf>A^9&7wvc!<SP;U8JdR`t!Z<Md&>zipb`4+yum7lqd;S#>{8-{l<
zyp!SG44<R7%NzLm1%@v%e3|dR!q@cOam%kUe3S2Q<@;~(8@KU&o{Ri8U+-kNi{YR7
z8TyX6<?r~n{=x8{44e6<JUhij&nQeyg}xMSg=wk;=t(7s-m4_@bzg@484hGPnBf%+
zuVi=?!>buKFuaE0XokFc3a_3rf!0u&#BeghsSJO`a5}>ojL$5Fvl*@cJ|3wCbo7Wk
zhNMG0Viv>48PXTuBi>-RgCS``k06cbk)NYGSb4gBnXg~r>o@s&D_vvOcm}hkYx<h#
zESoyZrY@0e>JrJO4oqeNl5FZMn>x#;&a$bqZ0ZuprY@0e>JrJOE|F~N63M16k!<P`
z$)+xmZ0ZuprjAHIL6S{fBH7d>l1*JA+0-SHO<f|{)FqNlT_V}kCE{V7Wm6YKM_rI?
z>Vjlb$BF@4mQ7udZ0anVx**xq1<9r^NH%prvZ)J_O`T;^XW7(QHg!R=sk3bASa}+g
zWK$O;o4O#`)CI|=E=V?YL9(d}l1*KZZ0dq!Qx_zgIw(bVNH%pr{H(KV>MWbOAlcMG
zJ9?62Qx_zgx*+b=SvGZ<WK(C^)LAxlmQ7tI+0<D!b(v&Smq|8tnPgL!Nj7zvWK)+(
zHg%a~QwN6tAC^sBCfU?wl1&}lLib5Fb(v&SXW7(cl1*JE+0<o{O<gA0)McIv%cd@q
zZ0a(}rY@6g>N3fu&a$b?B%8WSvZ>1?o4U-iW7*VMHg%Rwly{+LST=Q*O`T;^S4cL|
z>6#(Qrmm1|>I%uGu8?f%3dyFfkZkG-$)>K5Z0ZWhrmm1|>MWZ&%cjn<sVgL#x<az4
zD<qq`Lb9nVB%8WIvZ*U1n>r+A7UI|zh8n{HJedcnAy_J~bAas7HE~xS%T6AoW+SdU
zF{CeA9;AkT`XIxH7(UGK5r!)nu3|{ikq7CZ=ig`e0mBa&lFgF`=^#ipPadQL5Yj==
z!_dpn&yb`ekEJ6IoDZy+^YfVV^T7G^TR-vr^9&7w%z=5bjeb`qdnpfmh$lf2g8dl|
zWH^}N6%4OrcooB|88$GyhT&+2<~X#@dA!bfyv}*N&iRrXZ_k%>hIx2CAM5!JU@dIO
ze5@zI&V0WMUw36lR&+l0Qv{bVBni#Oeu^Mj)cMdk^t*5K^$v#b5`^}^_*fr;)$|P3
zhakU8bmnV*i|EeRJ^8nu<m;apo@Zzf#JUl*6aKQ3;Rt#jHYC9;h9QQz4D%U=85S`t
zVOYwroM8us6%1$4_*gfBvl*@c=BU_<pB6ArB7=~xi5m-;>k63b3ZSd$4sl%pbTvWZ
zx&r8Gg2ZnH%x?wI#&k{mRsd~Gkoc{D`K^HYt$_KhfcdQe+895DHYP|Mg<Ld(%q<1X
zEd>g3O9AAUAaP3p<d-0EO9AAUAaP3p<d-0EO9ABfkQ8RF2s2lNu}`Nv#1&!YiZF9U
zn7Ja1FVr`<PxK07mrYL+SA>}>!q{cgHE~6lxgyM55oWFkV{c3Mi7Ud)6=CLzFmpwi
zxgyM55oWFk3w{f8MHqWS`Yqy$Fr<kfaYY#V9FVyp%v=#>t_aJ-6=CLzFmpv1y9v5O
zToJ}Tf*^547<&hT#1&!e7YGtpgt12;NL&$y*1}tuE5ghbVMx<E$Wbnp7QhlG`=<!2
zM=%F}ig*o+czud^eTsN}ig<mBczud^eTsNxig;y;cx8%srbU<wM#EeP(p-voE=4?-
zBA!bT&!vdxQp9s9;<*&@T#9%uMLd@xo=XwWrHnbbj5)cCIk}AWY8i8K8FO+Ob8;DT
zav5`S8FO+Ob8;DTav5`S8FO+Ob8;DTav5`S8FO+Ob8;DTav5`S8FO+Ob8;DTav5`S
z8FO+Ob8;DTav5`S8FO+Ob8;DTav5`S8FO+Ob8;DTav5`SIld#K&<9ClNHSZ_GcD(t
zmh()@!P|77v`{%XoUS`D>;jsW^E#CCI+XJ|l=C{2^E#CCI+XJ|l*9U>5mqyNoFTFk
zapwshhvdDSSE-y=shn4-oL8xwSE-y=shn4-oL8xwSE-y=shn4-9Fl@@ASnckX?$2;
z1j`t<XBc5v$*`KA>_|93nh27{D2LP#JkQV|2&utO@eRU?;TuGdv_Uy+A&k!yDQAk5
zGeydoBIQhxa;8W*Q>2_JQqB}9XNr_FMaoTzz&4=KCNP}Da5BTG41dKCc`JBk2H^uK
zBRHGk3g8oA?S#J4(Do6QtO#qT2y3SZYo`cnrwD7O2y3SZOJ9VgFT&CnVd;yo^hH?u
zBCMSvEQ1l2!3fJ>gtb$IwNr$(Q-rlsgtb$IwNr$(Q-rlsgk?6u+9|@?DZ<(*!rCdq
z+9|@?DZ<(*!V(=}iH@*DM_8gGEYT5`=m<-6ge5w{5*=ZQj<7^WSfV2=(Gk{85!Ox-
z)=m-DP8E{dI4f01I>S8JX%)Om6}&zbSRcBxm?2rV6<8mFWZza`eF(nIa0kP83G&=4
zc<vQE_X^A%_hmc1MRqbAL3c1af>{hh409RgGYm5<Vpzhklwmo;4h$;*E1CM0O#Mox
zekD`ClBr+G)UV`uRWkJ}d3Kdd{Ys{OB~!nWsb9&|uVm_1GW9E&`jt%mN~V4#Q@@g_
zU&++3Wa?Kk^(%P=DtQGec?Bw&`jt%mN~V4#Q@@g_U&++3Wa?Kk^(&eBl}!CgrhX+;
zzmln6$<(i8>Q^%LE1CM0O#MoxekD`ClBr+G)URafS2Fc0nff(Yx25p5dmuG6SUtL?
zZ&MA{a26oxlN#2IHLM$JSU1+-9zD|w+MovBczUuA!+M7O7!CnlY9!ht)W920&(Kbx
z2HtqOru{+<yz%r#;)EKBtd1JgS0hNaM~yU!;b_K<eDyV;6u~77$yZ+kN)aSqeGTj6
z8rI1*tdnb4C)cn}u3?>A!#cSJ{(O4=8ODDt!{0Jo$M9K(>lxC1tp@&lg1=+<Jj35J
z+{}>nZZ+`d6MU877KX1g{C`L~`}nx7`poOj?Y3-zR28tPI_#%xNhUX7979{l9?LZ!
z)DV}ng2YU+L@9~0te3DgsT{(p3#C-jXb_tM8}t^%(qus|M)v6AWaZ$>Bgv76(Nrjk
zBJ5TC9*B`$aJyalrk4)d=lSNJ=kxoVx%ZxPp5Hmo{hf2qoa1q5t>*KMlb}a)wH4FU
z&a?Wpn$<Ux1?=x(7qMrt{f?;B+`g~$NTgOX{I(q*)@q*Lwxh&a&Gy@V1^fZ%?{~GD
z?KgTBw^p<L#!H~1%396&JH@eOt!Dmhdqh*K`G4D2v44!c?ve+;2)+q?E9g;AZSX6;
zhIdnK@T=I4NNa<)VLL9Z4c>u$Gj~;k|K4ptUk8l-I#A2kfm(eXa9-~3wSoJ4ZQ%Z1
z8@RvM>g#~f@95f~&MhSPUGRgTzY)~x8-ZBWHv*&IZngSS;B?Q*)&?7-l#Q{N?}~-s
zFMy7$YKg3BHPf!V)E{-PX4>^M-hj25Z+FTg{#E@{wq~dGt9q;LcVT;Wx>mE(PWS9|
zt$MC8L5gRmYr_cpcI@|Hdv>}u+=A`d=~~TB`w4eoZ^M2+_6M*%J6)^UX<t)=y&X(~
zb>IiV4}rf2dK6h3(p!0h>-=WYJw~Vv8?Zf6sO4>58`6t;r`Lw`V&3evn#XqT9y`=(
zHrqCRIeY+{z8pS??a@T7=C^%~qlj9~a@&4`!%xBFe(=-aXF$(|)@qj9_$S=uneFY;
zu4Un`g10C(*e*Rcwt{V78f*tM;0#y*i$*E4P}-}f$>T<?#H-jYpBlCIx={bt622R}
z6}%0+9egkNKJX6k{h)Sz(O1l0QOS3xoJOnb4yo&yFu|{m)^<o;jgHNBNLQDI9|qlS
zcU0^FKf<pc1MdOvC4DdU$FWn`_kpg(4sqhVTER9j4Yq?Bu!Ac*!7i{H>;ZehKJZ)Q
z@@;Ss90G^I5%4hh9dHyp0v-i(;5c|3^c?99DW~xSI02p{$2>R*PJuI&`83yf4t9sW
zg!<kh_AGXZEB_jM4*UDq^Vlz8FJQln{R;R4@GQ6to&zs{m%z*1bp?D4{2}-w@OAJi
z_+!xH&>hlD<D0;@f;WL~!#kvz{?#pchoXAhZ^M2&_B*g|#;yk4GIvNbjc$88q?1Os
zy&cj?BW+JQX}jLcNDuvd+LiRs>9i~9p=`B(wNJHw<Nc)kN8csI(_K<LU-K}w_C~1K
zq28firFi;PeZ=;=u>S-0Z(_e2`&Q7g#12I)zB0nT9osW_I~2V*eGB&cu(x90f$iDj
z9g1gsjptQ%D5|mj+t?n<?9lf(qsM4F^gYh_LGVK$b=PRcCI1L1cVqtn_8($5V1E>w
z{w2lpbLd}EJlpgyDV}XulH%F^1a~=l*`d*mb8+;tLt`A<pTvekDW22c;P6xYx*z;B
z_!;nz!Osels7Dg@NTMD|)FX*{Bo&+a8mmVV^+=)~Nz@~$sBBs3_Ht5dBz%q4BdMs&
z=-MR}mDzUfl8VY~TRoDB%8XWzB<hh=+-2M9kyPAew0a~Jclk=IM^bT@(dv;@+-0<S
zBo%iVtsY6mT}G=%QtK#;R*$6CQ5dZrNv)$WT0N4AyNp(kq}EXwtsY6OqcB=MlBh=#
z^+;+Rg;T5^NyS}8t4C7nD2!H*q#`a~WA#X)9!b<AsdW@iw|XQMaoL{3wt6HLaXH=U
zkyONG+v<^2#AUR4B(=W6X!S@c;xbx2l8U&DR*$42E~C{Wsff#H^++n>GFm;7T6bZz
zdL&VgB<hjWx(laRJ(7yJ^i0$viFzbak0k1m46GhWMO?nd>X8hr9?8J!kwiU`s7Dg@
zNTMD|)FX*{BvFqf>XAe}lBh=#^+=)~Nz@~WdL&VgB<hjWJ5=1F9!b<AiFzazFDZA_
zBZ+z>QI90*k<@!ucPU;{nf11{ZS_bhUUG`nBZ+z>HR`c#^+=)~Nz@~$5s=fZ9!bSZ
zwyhpX)FX*{BvFqf>XB5u<X^2GNz@~WdL&Vgq`u}m-RhA<J(8$LQt^^&Vf9FA-ov)l
zBdOUB+w?EgBZ+z>QI90*kwiU`s7Dg@NTMD|#Y=vI)gy^|BvFqf>XB5u<aDb?67@)i
zR*z(8^+;+}fYIua)T#iZ)nlhrVp(XGc1k6T*36xZm3A^#+R0dHCu60ZjFomWR@%u}
zX(#h|I~jNEWW=$PvBpkjsCF`H*vWWdCnJTO%uwxQ6tGjRQF*By8m&b;iJW&bYqXP?
zb0@P#JDD}wNu0S;jOj{Z%bi4(JBcTEiW#RnhTKW?SSM{vYh{?nt#xQ)owU)mYh6dJ
z>!@`dwXTyk_9^|tpjQIaNgIuRBh;~etWMf^TK2u9d;M6Qw9(gi{aBr}aZKp-V|5iS
zNu3nZIktjrpjX$_Ng<71V^as)b+BCr+jX#A2itY9T?gBBQb_0ZZEz4A0*Ap7@G$rt
z&|mrMq>#p=U=ADykAwcISSN)v`rBxo6w>IGW_7GItCK?7_DZulDWuDMnrjN!-@`6q
z&tjLT`(I<vVSgWc9{VNi1?-oxUjcsro&}e|bKnK=66i5$ofOje8u&x-N8sz=Rq)54
zSEkiTA&p*{Rwsot-sE4Ukg6%Iu}%tU+ikK=3TfLdvrY<W+bh=Uq>x6(Hg!@+qgScb
zNg<71rB)|}G<ua<9jnypGy?T=eiwAqQ76q5htf<xnf6Beuajmv<s*KwG*j0|GmZEA
zY0^yF{(f3VPpOk;+V;B2I%%eUm1ZhMnrZu8*d9CANi&`PZtPpZ1Sz*+N7%PxzX$uh
z*jupQhrJd14(x5%@5lC<ggR-abNOxT8gM(91na;Lf*%5@J3YNln&~IpZDypIw*L^j
z0sEua_ki>}6re7o-=PC_(oEmwF=m}K)3)Q%I%%eDD?^<$(>A?QnrYi(%sOeN?Ke2|
z+SEE}rqL^@>ZF-QucWGzW}dFtCH1%=bY!(l>S6qC&~eT#;+$Q?IlG8+b`j_7BF@=G
zoU@DgVHc6ZE@FmVL<_rk`|sktzl%5iF5dOKc$@FyJ-$orQ@N;R8XcwY;_bPMx6dx#
zJG*$}?BZRsi+9Z~-ZHy*zwF}8vWs`hF5V`)c#rJj4f4CJ2m3vJ0lA@_uYTDW`z7$r
z!aGU7lk_{8k-L)_xjUJWyOSBYJEeQR((_k$2DM<FQ`G*A9|Si@FB^IOoiU!z`2EBB
z_rvWKAJ(c;VeFT{Hw*WW`yO)NL+*RXeGj?sA@@DxzK7iRkoz9>z8e*L$bApF?_q9d
zPvG45koz8T-$U-duiU>-@%zeMsN9Wj7T!(nca!_w+;um1H4sZTRQUbXp!bE*k#hqv
za|1DL1MzAD@oEF{Y6J0V1MzAD@oEF{Y6J0V1MzAD@oEF{Y6H<`gJ$;pWJj0{#Fh=j
zmJP&~4aAlW#Fh=jmJP&~4aAlW(mLHGl{0$$*dS#yQf8vB2BMt?qMZh!od%+v2BMt?
zqMZh!od)$;-AjbiKy1?xQfu`}r+Wm{K=jf;+|oeA(m<@zK$P+^`1}}rehfZ82A}tk
zeh=yQkbV#8_mZxELCKr<;{AK^{=InrUc7%V-oF>`-;4L}#ryZ-{d@8Ly?Fm#ynipx
zzxR#j<NdwlvX@-;lFMFl*-I{a$z?CO>?N1I<g%As_L9q9a@k8Rd&y-lx$GsEz2uTo
z8@sn6r8Z`C^q8U*r7GNtQnaEJBeE22DMedK(Uww-k5Y_}QjCvMjE_=`k5Y_}Qna@e
z?JY%nOVQp^w6_%PEk%1v(cV(Dw-oIyMSDvz0!lIVNiph4(E?Mnz!WVoMGH*P0#mfW
z6fH1C3rx`hQ?$SoEilEnCdG&*#aJfAC?-YAOwlq^w9FJOGsT!9#h4;RD^00CiZS&^
zqZK|yyG=1tNHIo8F*-;wB1naiuVECBBK}Vi`KO5aQ$+hIy|a9c<NOpYKSj$=(ehKY
z{1h!eMaxgo@>8_@6fHkR%TLkrQ?&dPEk8xePto#IwEPq;|9<rCe)R2r^zDAt==O?F
z&?-JbtN4Us*D<B|d*vsHT|YtHKcT2VDKPK}#Rg*)4{+B5-1Pu=J-}TLaMuIe^#FH0
zz+De;S0nAMk@nU|duybnHPX@=X=#nLqDER#Bdw^BR@6u<YNQo4(ux{sMUAwgMp{uL
zt*DVU(@2|Xq|G$aW*TWTjkK9Y+Ds#Drja(&NSkS-%{0<B8fhDiw2emEMkDQ^5$`wR
zyGDH1i0>NlT_e70#CMJOt`Xlg;=4wC*NE>L@m(XnYs7br_^uJ(HR8KQeD@%1KM31e
zdn^96Vh;4o?SruWAZ$Mf+YiF_CwZ&3NL!jJTBI#Tk3m`#MHsz4t)=1v*lvw26<*uf
zQsMP!Efrp$)>7g1X)TNtS{Ny`Fj8n?q|m}hp@oq`3nPUVeV6q0j>B6RowYDJYhiTO
z!sx7p__>AASqr1H7DXDmo_M$=a3tKKNW<vweJ%Q$Y4rNEmcXl~Tl6*4Xw_=bS4*dR
zeOgQ4^=U1!3jZqg(_K<Oqa&^sqP`a5y%r+97R4$~cZ}DfSjCtE9nrNA%e4^2wGh9x
z5V^I4kNNpw6X<n-Ev!##h38gyZiVMocy5K~R(Ni$Fwd><+zQXF@Z1W|t?=9m&#my>
z3eT<Z+zQXF@Z1W|t?=9m&#my>3eT<Z+zQXF@Z1W|t?=9m&#my>3eT<Z+zQXF@Z1W|
zt?=9m&#my>3eT<Z+zQXF@Z1W|t?=9m&#my>3eT<Z+zQXF@Z1W|twheP@Z1W|t?=9m
z&#my>3eT;fd2WU0Hh6A>=Qen5gXcDQZiDAGcy5E|Hh6A>=Qen5gXcDQZiDAGcy5E|
zHh6A>=Qen5gXcDQZiDAGcy5E|Hh6A>=Qen5gXcDQZiDAGcy5E|Hh6A>=Qen5gXcDQ
zZiDAGcy5E|Hh6A>=Qen5gXcDQZiDAGcy5E|Hh6A>=Qen5gXcDQZiDAGcy5E|Hh6A>
z=Qen5gJ=EMP<==L_5iILX?RY<a~hu0@T_l=Tw~ox!?VU@@>d$3)9{>z=QKR0;W-V@
zX?RY<a~hu0@SKL{G(4x_IStQgcuvD}8lKbeoQCH#Jg4C~4bN$KPQ!B=p40H0hUYXq
zr{Osb&uMs0!*d#*)9{>z=QKR0;W-V@X?RY<a~hu0@SKL{G(4x_IStQgcuvD}8lKzX
zxgDO{Y0vHO+z!v}@Z1j1?eN@Adv1s4c6e@w=XQ8*hv#;9ZinY~cy5R1c6e@w=XQ8*
zhv#;9ZinY~cy5R1c6e@w=XQ8*hv#;9ZinY~cy5R1c6e@w=XQ8*hv#;9ZinY~cy5R1
zc6e@w=XQ8*hv#;9ZinY~cy5R1c6e@w=XQ8*hv#;9ZinY~cy5R1c6e@w=L|e&;5h@&
z8F<dXa|WI>@SK6?3_NGxIRnobc+S9c2A(tUoPp;IJZIoJ1J4<F&cJg9o-^>Af#(c7
zXW%&l&lz~mz;gzkGw_^&=L|e&;5h@&8F<dXa|WI>@SK6?3_NGxIRnobc+S9c2A(tU
zoPp;IJZIoJ1J4<F&cJg9o-^>Af#(c7XW%&l&l!0B3M)%HV7LQ@JK(khZad(x0}eaj
zumcV|;IIP@JK(Sb_Bvp%1NJ&#uLJfvV6OxAI$*B@_Bvp%1NJ&#uLFKMsCx%>@1X7-
z)V+hccTo2Z>fS-!JE(gHb?>0=9n`&px_^~A{txg;@GrrqDjb_VRpHp|Db4yW3%wfo
zDYc~=!X&tpbk7ewRj~_fA*B^;1JhtTm;tj~IfGpQi$=8#Jzs6ZSmSHdHjL!Oim#_w
z@%2=&oAi3_@@nL#)MkwT3jW-vHe+<O{}eIgQ!#%@d`h!?#@_(F8u=;B=^1YYZv$@!
z-wVDEyaRkc_*>v(e!kj_@o~_rkvrk76W%)EtrOll;jI(iIxEaur+VTIp?T}nEVon4
zTPG{!I$0^#sabBPn72;#L|<v%I$0^#$x69Sc<Y3>PI&8tw@!HLgttz3>x8#X&7JBA
ztd#47w@!HLRA1Bc;jI(iI^nGo-a6r}6W%&mDc1>ao$%Hfnzv3?%5{e3t&^2<ovf7W
z)VCq0n72;#HRS?to$%JFzIM8z3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?YZ
zy5Ow~-n!te3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfm
ztqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?YZy5Ow~-n!te3*Nfmtqb0|;H?|py5X%G
z-n!wf8{WF%tsCCD;jJ6qy5X%G-n!wf8{WF%tsCCD;jJ6qy5X%G-n!wf8{WF%tsCCD
z;jJ6qy5X%G-n!wf8{WF%tsCCD;jJ6qy5X%G-n!wf8{WF%tsCCD;jJ6qy5X%G-n!wf
z8{WF%tsCCD;jJ6qy5X%G-n!wf2i|(%tq0zE;H?MVdf=@G-g@Az2i|(%tq0zE;H?MV
zdf=@G-g@Az2i|(%tq0zE;H?MVdf=@G-g@Az2i|(%tq0zE;H?MVdf=@G-g@Az2i|(%
ztq0zE;H?MVdf=@G-g@Az2i|(%tq0zE;H?MVdf=@G-g@Az2i|(%tq0zE;H?+ldf}}X
z-g@D!7v6f|try;U;jI_mdf}}X-g@D!7v6f|try;U;jI_mdf}}X-g@D!7v6f|try;U
z;jI_mdf}}X-g@D!7v6f|try;U;jI_mdf}}X-g@D!7v6f|try;U;jI_mdf}}X-g@D!
z7v6f|try;U;jI_mdf}}X-g@Cp|HsvvNdM9U{XW%dJL#TQ14$42;H?kd^eu%HzZd%8
ztq<P%;H?kd`rxe(-umFJ58nFVtq<P%;H?kd`rxe(-umFJ58nFVtq<P%;H?kd`rxe(
z-umFJ58nFVtq<P%;H?kd`rxe(-umFJ58nFVtq<P%;H?kd`rxe(-umFJ58nFVtq<P%
z;O!alwp{Uycr)H2PM#4b##XQmOoQ!U2Aly4V9}`B2~~bQN98wq1<o@nzwtLfulRaK
z<u~36-Ui+dz8CaLuxC_$<NHCc1Up1I4^hrTl=BefJVZGU$#=fS<vb+c8C}jp@|w}*
zJS49PDd!=|d5CfzqMU~)=OM~@NIdIG%6W)#9um(^aXAl(XQRt`h;kmHoQK5ojf#HC
z*-tt9DQ7?B?5CXll(V05_EXM&%Gpmj`zdEX<?N@N{gktxa`scse#+TTIr}MRKjrMF
zoc)xupK|t7&VI_-PdWQ3XFuf}pqvAgbAWOVP|g9$IY2oFDCYp>9H5*7lyiV`4p7bk
z$~ize2Po$N<s6`#1C(=sat=_=0m?Z*IR_}`0OcH@oCB0|fN~B{&aBF*F~7=b^c-eZ
zrM2yOhAg9oETe`jqlPSNB(j=4R==(A8i{O$zgcHlBavl|M7F|fB(j=McDmO{WHqa7
z+iN7UtdYpFMk1>(DbB@fB(h@0=rs~qF=O-^iL970c5r1U*adcjJzy``2YQV}w!&*9
zvieG5^csn*zLFTdMk1@PBu1~1$ZCGu=rs~q)<|SEzir!VB(j>{HhPUjmNgPt)<|So
zBavl|M3yxYS=LBoStF5^A6;gzk;uxMw!KCoE1%l-8i_2Us;p+nZF`MGR`cYxy+$Id
z*>c-nBazjdxoxkJ$ZF2q=rs~q&6yj$Mk1>@bEDTtWGlQzBFh?yETglmzPUK%N8sz=
zRnTiBvh3cI4ZKDo%NmJn;58Ci#&OxeYb3Ia=CXm;NMsq)WdpB~$TG6a23{kP4ZKDo
z8+eUGHt-sWENdjPtdYpFMj{({jYKx^8i{P+H4<6YNMu<fk<}M8l}BIDj9w#=WsO9Z
zH4<6Ik6G48WLYDTRlm?R>K8_@k;tld*!CKUY|OLGS$!k0?eF_p^&0)k8i}m>j%}}z
z$f^g~_8N(-`jKs~k;v*Rl2g1!A{%;*L{@#uw%15x)w67SjYL-c%eL1@WYx=TdyPa^
zea*JlNMzOHY<rDFR^Kd)UL%p!Hw&ZJNM!ZR!ss;;+0bhwvW%3oq1Q-c882s9Bavm)
zoDIE3BFor0%h)*^((f2SXG8iO<LE4FB(kAr)U&LS$cFxcmJPi|A{%;*L^kvqiEK!(
zWQ|0YQFfL!5?R(rWJ9l!$cA1ck!6iUHuM^aENdjPtdV$@e~mrMzs8=Gp7d2bOKk8g
z(bTi*?@nn2+rTu~4rag^umBc~yz!sqjsGlf{AYuDr}M9|XZhFIv+}-D<YlA(HTJAL
zYkW6&D|j1tJNRDkec&D7`@!E5eoOOIH-!G;{H@q8fnKHXZPLF@`nO5{cFgI6qz{rl
zNcte@L!=LpK1BKu>BFQClRixPFzF+tkB~k>`UvTxq>qw5%D3rJzD<wvZF-b%)1!Qw
z9_8EgDBq?>`8GYux9L&7O^@<zdX#U|qdb4~jpy@i`UtrkA(tcMa)extkjoKrIYKT+
z$mIyR93ht@<Z^^uj*!a{ayddSN66&}xf~^zqvUdwT#k~<QF1v-E=S4bD7hRZm!srz
zlw6LI%TaPUN-jsq<tVuvC6^qz<j5sQE;(|^kxPzTa^#XDmmIm|$R$TEIdaL7OO9M}
z<dP$o9JxGCF3*$8^W^e8xjauU&y&mZ<nlbZJWnpqlgsnu@;tdbPcF}s%k$*&Jh?ni
zF5~1fPA=o*GEOez<T6e!<K!|<F5~1fPA=o*GEOez<T6e!<K!|<F5~2KoLr8R%W-l!
zPA<pE<v6(<Czs>oa-3X_lgn{(IZiIe$>lh?94D9K<Z_%`w8^gei*~FBtwJx5%M0Z4
z0=c|EE-#SF3*_<wxx7FwFObU%<njW!yg)85kjo3?azeQ*Yj>+(HtJX7n}rkPK0)pi
z)Nz8`C&+z*+$YF=g4`#_eS+L4$bEv`C&+z*+$YF=g4`#_eVQ-D(|jqOR+KeXF|8=e
z=qPKNFU8Y(e<_78#nXC=ja8hYY^NyODav+=vYn!ArzqPg%65vfouX`~DBCH@c8ao{
zqHL!q+bPO+in5)eY%fx_7b)9|l<h^z_9A6_k+Qu=*<Pe<FH*J{m942_MrAWPKAa&w
zoMGO6hA44{C~-z(Lto?XP%|1E8vPw=hA3`^Ip-PXoM)JGo?*^;hB@aM=A36VD)jaK
zemz5UG(%i8Lqs$~gfl~IGecA}!_4yx5z7p*$_!D;4Drc~#*!+J#*#*Vzn%&F{dz`Y
zN#kA4MPo*%`}_5b#*9LZ8TG5!(_LcE=!jy5H}VYc;u+q;GrWIic>m7u=AGf4JHy*{
zhWG3YZ`c{$tuwq;XF`9!o(cW^dPZYLqxZ4V?wINq+Oy4w?@r^p0{j=?zX1OQ_%FbJ
z0saf{Ux5Dt{1@QA0RIK}FTj5R{tNJ5fd2yg7vR4D{{{Fjz<&Y$3-Din{{s9M;J*O>
z1^6$(e*yjr@Lz!c0{j=?zX1OQ_%FbJ0saf{Ux5Dt{1@QA0RIK}FTj5R{tNJ5fd2yg
z7vR4D{{{Fjz<&Y$3-Din{{s9M;J*O>1^E9S{C^MrzX$){ga0D@7vaAM|3&yO!haF|
zi|}8B|04Vs;lBv~Mffkme-ZwR@Lz=gBK#NOzX<<D_%FhL5&nztUxfc6{1@TB2>(U+
zFT#Hj{)_Nmg#RM^7vaAM|3&yO!haF|i|}8B|04Vs;lBv~Mffkme-ZwR@Lz=gBK#NO
zzX<<D_%FhL5&nztUxfc6{1@TB2>(U+pN0Qf_@9OUS@<u(c?r%-uw8=f60DYBwFIjr
zSS`V7306z6T7u6Ke3sy|1fM1NEWu|9K1=Xfg3l6smf*7lpCuS8!A1!-O0ZFajS_5>
zV50;ZCD<szMhP}buu+1I5^T&-yE$q%NA2dQ-5j->qjq!DZjRc`QM);6H%IN}sNEd3
zo1=Df)NYR2%~88KYBxvi=BV8qwVR`MbJT8*+RahBIchgY?dGW69JQOHc5~Ejj@r#p
zyE$q%NA2dQ-5j->r*`wyZl2oBQ@eR;H&5;6sogxao2Pd3)NY>I%~QL1YBx{q=BeF0
zwVS7Q^VDvh+RanDd1^OL?dGZ7JhhvrcJtJ3p4!b*yLoCiPwnQZ-8{9Mr*`wyZl2oB
zQ@eR;w?OR{sNDj!TcCCe)NX;=El|4!YPUe`7O33<wOgQe3)F6b+AUDK1!}iI?G~ur
z0<~M9b_>*Qf!Zxly9H{uK<yT&-2$~+pmqz?Zh_h@P`d?cw?OR{sNDj!TcCCe)NYXo
zVUY-7QKPx#ip2`g{VrB`?srl8X7o3~MX8)^&;2fHl;;$G6I|4+j?v#z7d5M6^f$pp
z=6)A7TVlHa7LC#?Jzsid^taSS>6MYZ7zr*i5?l=YEp<^NLEq(Xsf*10E;9GK82Fpu
zqIAsYSZk3;W-;b(sf!vX8vQMGQR778yFq_TT@3wAa8cuZqrV9*YK(96x70<A>y7><
zxF{Xd^QB`(e@k6t?)Md<tXGJ#UeQ@kU$1yY@ztR4gV=ZK-vX~x+zmE>9|a%g*K62+
zqm}2c5Rbh=B({Vvmhi<AzF5K+OZZ|5Uo7E^C48}jFP8Ad624f%7fbkJ312MXizR%q
zgfEux#gb;LmMfO<#S*?)!WT>UVhLX?;fp1Fv4k&{@Wm3oSi%=e_+klPEa8hKe6fTt
zmhi<AzF5K+OZZ|5Uo2@JMrFVkOZZ|5Uo7E^C48}jFP8Ad624f%7fbkJ316IHRlr%^
zEN6MMoF%$GOLTpf==v<t^;x3pvqaZtiLTEQU7sboK1+0cmgxE{(e+v0P-l5Voh7>d
zKjfv|<<%0j&oSsR&N6u|lh-nNEtA(Wc`cLIGI=eN*D`r6lh-nNEtA(Wc`cLItK@Z#
zyv~u=IqG$eyv~u=Ir2J3UgyZ`9C@81uXE&ej=av1*E#Y!M_%X1>l}HVC$9_Sb%DGt
zkk<wBx<FnR$m;@mT_CRu<aL3(E|Av+^147?7s%@Zd0il{3*>c?ye^T~CGxsNUYE%0
z5_w%BuS?{0iM%e6*Cq10L|&K3>k@fgBCkv2b&0$#k=HeHxkfJ6`1KmUuA=IzsQN0Z
zzKW`^qUx)t`YNivimI=o>Z_>wDyqJUs;{EztEl=as=kV<ucGR!sQN0ZzKW`^qUx)t
z`YNivimI=o>Z_>wDyqJUs;{EztEl=as=kV<ucGR!sQN0ZzKW`^qUvj!!(XmgtMJ%o
ztzr-8e{ig^0(^}X;A^Y^Ut<OM8Y{rpSOLDq3h*^nfUmIve2o?0YpeiYV+HscE5O%S
z0lvlx@HJL|udxDrjTPW)tN>qQ1^5~(z}Hv-zE*L8l3X$d{(`m^_zT)v@HWu@TUlcT
z_!=v~*H{6*#tQJYFzH`I|L1Ov72s>E0AJH=s#E;Gl{Hp?uZ0cR)H?h)w*R-X#tQJY
z(Eqnx3;jR+HCBMHu>yP@-qzu59p2ViIlm5X>+rS?Z|m^34sYx5whnLW@U{+b>+rS?
zZ|m^34sYx5whnLW@U{+b>+rS?Z|m^34sYx5whnLW73OUn-qzu59p2Uh^R^Ce>+rS?
zZ|m^34sYx5whnLW@U{+b>+rS?Z|m^39-6mxcw1-X{5rg?!`nK%t;5?oyltqLJy@}!
zUS>?_-VJ)z20d$op0%NOnbZBQ-_RS)w!OKbciCy7zX5H~?>6Xn8}z#k`rQWoZi9Ze
z!LE86?5ek+J&pae0noeZZO|(>=#?Av$_;wu2EB5FUb#W9+@M!(&?`6Sl^gWR4SMB<
z-i#`b-i*fg`1$Orw-Ic`_O5yx+SAzRe+X{q?ddDMtKNp*o<{e+4ZS6e{|f%xsJEnk
zl@^IBX_3)04;$>Nw}Ap|pa2^vzy=DifdXux02?U41`4o&0&JiF8z{gA3a}CGbE()>
zZzKHA*#8B56#TE?0q`-GM{iZ*<KWj-o-#fy<I^%eE#uQNJ}u+ZGCnQi(=t9S<I^%e
zE#uQNJ}u+ZGCnQi(=t9S<I^%eE#uQNJ}u+Zvf`H0Dv4)`%J{U5Ps{kUj8Dt>w2V*7
z__T~q%lNd6Ps{kUj8Dt>w2V*7__T~q%Yl7b#;0X`TE?ekd|Jk*Wqex3r)7LvR^+3y
z;nOlcE#uQNJ}u+ZGCnQi(=t9S<I^%eE#uQNJ}u+ZGCnQi(=t9S<I^%eE#uQNJ}qk(
zWtCaGC>!n5a%i8H6)A}~d|Jk*WkpKM6`S~U6Q6G4(@lK3iBC82=_Wqi#HXA1bQ7O$
z;?qrhx`|IW@#!W$-NdJx_;eGWZsOBTe7cEGIb~dBuunJf=_Wqi#HXA1bQ7O$;?qrh
zx`|IW@#!W$-NdJx_;eGWZsOBTe7cEGH}UBvKHbEpoA`7SpKjvQO?<kEPdD-DCO+N7
zr<?e66Q6G4(@lK3iBC82=_Wqi#HXA1bQ7O$;?qrhx`|IW@#!W$-NdJx_;eGWZsOBT
ze7cEGH}UBvKHbEpoA`7SpKjvQP5V>_lj;A4LjB)RsF8^9H$ja=WNRcM)JR0Ak%&+u
z5urvRLXAX(e`DJt5uyHn7X)r6Lg~3s8YtAinS>tz_5T{#(sQBoTqr#kO3#JTbD{KH
zsBij0ebX1}o4!!r^o9DSFYE)K;R%O8>ABLS=R&m;q58g1-_V8ndM?y=bD_S23$;st
zP~X0VSB-8bLhZsWtODN-O3#%-UEEG&Zvmy}veoy6(sQBoTqr#kO3#JTbD{KHC_NWS
z&xPvyLEv^Gl%5Nv=R)bZPzoFbZYRRKLH+Yx_D8{cz`bA!)Yn`6s?mf{Uu=c?Rx9Lb
zZYQ$;6DU2Gt-dc*-xsRy3)T09>ia_Jxlnp8bUO+0X^2lld>Z1@5TAzb`?|(H4e@D+
zPeXhf;?oeHhWIqZry)KK@o9)pLwp*#@9R1CY3RN$v`<5P8sgIspN9A}#HS%X4e@D+
zPeXhf;?oeHhWIpe-w#6feW86C;?oeHhVJ`Hu}?#M8sgIspN9A}#HS%X4e@D+PeXhf
z;?oeHhWIqZry)KK@o9)pL-+k4#HXSAzHIw6bl(@+ry)KK@o9)pLwp+I(-5DA?)$pZ
zJ`M3{h)+X&8sgIspN9A}#HVkPPj3Wol23&ytx;dAgPSV!O-iV5QbMzIlRSG`s97DM
zW?F=r)e&k|N2pmHp=Nc2n$;1uftuBk-413zt@KukW_5%GuxOMo^nCfks97DMmEk7w
zY}^TwOQ2aDrD#@1s97E1I{2@kW_5y_#J^FqIzoLr6KYl`xXCjKLe1(3HLD}ktd3AK
z3Bubz&FaY3td3B#I>I|Z&FaY3td3B#Izr9r2sNuC{JKhB32&9~RtaxD6U6D}trFfU
z;jI$hD&egX-YVg(65c931EcHBTcu}UgyyXh-YVg((laoDPaDzm;jI$hD&egX-YVg(
z(lao+#=KR+TP3_z!ds=<t<%k0CA?L_TP3_z!doT0Rl-{(yj8+mCA?L_Tcu}Uf=YO+
zgttm~tMm+v(#=~Xyj8+mCA|3@lhZ*Jyj8(l6}(l!TNS)j!CMu)Rl!>oyj8(l6}(l!
zTNS)j!CMu)Rl!>oyj8(l6}(l!TNS)j!CMu)Rl!>oyj8(l6}(l!TNS)j!CMu)Rl!>o
zyj8(l6}(l!TNS)j!CMu)Rl!>oyj8(l6}(l!TNS)j!CMu)Rl!>oyj8(l6}(l!+uJ=8
z65Pxi{AS+ZH+#nbrF<Cl8|P+^Lxmrae{c3^RQPf5Tj00BL2w8h21mfd;CH}L@CbMm
z%z@+JaqtE3yWk0M0z3_V51a-68vH)^68JLs3it!?EVvAw12y(n`89?WUZF-m1YZY#
zYz%(IzXrbwz72c_2s7R>K)=EX5zEa)EH`_{fZ%42e1n_4V}S5o;BSHnFajOP+#GHJ
zw}RRwOev0SZq^Dequ>5Fd+aQ9RCBY(&O)tT6MhJ!JmE*M{{YmSgMP(FAwKfhSt-`8
zo5Ke{%{j>aB<Rvs<Na#9Uyb*x@qTrMy<d&@tMPs{-mk{{)t-ycul9bm_lpqP`_<kr
zLTK+-d%p;wy<hG53ZcDU?fD9!y<hG53ZcDU?fD9!y<hG53ZcDU?foKz_I|bZixArT
z)t<o++WXa>!4TT})t<o++WXa>!4TT})t<o++WXabzuNmn$hP;Zy<bF7jrXhZesy5)
zR|ocfwfBn<+WXabzZ&mX<Na#9Uyb*x@qRVlul9ZsL3L>FSBLg~wO02T?fq)+7a_Fw
ztMPs{-mk{{)p)-e?^omfYP?^K_p3c~qPy(<YR{Yq?fq)JUyb*x@qRVlug3e;p}k*?
z_p3c~62$R-9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{R
zejM+|@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~
z@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{RejM+|
z@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e9Ph{RejM+|@qQfd$MJp~@5k|e
z9Ph{RejM+|@%}A(Z|Z;4721PcsCC*xtsoL=O^eX&mUE7TR;ODktWLL7Xb*Ow_P7>)
zm@DrBwa2wmw5zjFd$0@d0kwOx?7i69y;*h&TYIp}*1Afe_4AerYt${Cffu^1-l7?J
zmrZ-H3$+KkunkOu?O+D%;QCIm3+x7az+SKq)E?}5j`m;|Y7cgy_Fxxk4|bvUU>9l+
zcA@rQ7mk8QK<&Y<6z#z-)E?|Y?ZGb89_+&Jg4%;!w)S8bY7cf{9@HM}vb6`haGH{6
z4|dtwgI!p_)*kG#i`d$OU3Q5pwFkTGIqdIa&tq#3cBL<1YY%qW+JjxFJ=lfXgI%}`
zY7chV+JjxFJ=ldF!``C4VEZ*}?ZGblN7&kfUG`P%A7ih(<iRh3Zvx*6-sEf4cXU0Y
zq+8U3Y*&%4J=kTx9b0>_%f6YrszI%qR*Ke03$+KkP-k8XwR%>l)w4pao)v2KtWc|G
zg}(#V@=Wc)t`zOTF4P|ELhZpWq<yN-ibKX(x2WejU3;(#H@LTKjKzFcEChc6)Y@;Q
zXzjP~e&?llO!um%>uHR|Zc%@C$|L?&ahh!Pef_Fv&9?Sn7itf7q4r=GY7chdt)TW`
zmwg+y_F$K-J=lfXgI)MuZ0*4=TYInzwFkRUd$0?&2fI*vunV;ZyHI<u3$+KkP<yZo
zwFkRUd$0?&2fI*vunV;ZyYTnG-*?@mAx^m)TYIp}{zGi-!7lrw*!O_+Vn&y@NMZbI
zigfM4F8h9LSYo_+i!{gS^kpfJ?LXog?ZGbFvkJFJg>1jU;iq77Klo|zGvFVCp9TMf
zyR-*;aI4;2M(yMl+$uFTYNsQ$9&1_xO-rC@2{bK%rg2V|e)U^8fu<$Uv;>-#K+_Uv
zT0(EYCSBt;lR(oFXj%eIOXzLrbZc5d??l_yv_yq9ErF&b(6j`amO#@IXj%eIOQ2~9
zG%bOqB{cf*bF66zjXsRlG*0glTGKeaOK45w^e&+_EulBEueYWp(6j`amO#@IXj%eI
zOQ2~9G%cYwvhT8{CD614nwCJ*5@=ciO-tyF>}#xP2{bK%rX_r?gi@?&2{bLCv68Q`
zrX|p{gx=k@t!W9p!EIa95_*q2#hRAT+uXJ_EunY1ZEIRWZ+6?(v;>-#K+_UvT0(Dj
zr(4q!Xj%eIOQ30-S*CPr8Yh<tt!bQJCbXs{^#2r<98F8;|0%YuX`F5*w5D;!nb4Y+
zK+_V64QyM}5{eLPThkJOH7yZX(-LS}0!>ROAGJ(0ErF&b(6j`amO#@IXj;NwnRTT#
zErF&b(6j`amO#@IXd36N=^EN6nwCJ*5`i@>fu<$Uv_#CBmWWx?5@=ciO-rC@2{bK%
zrX|p{1e%sW(-LS}0!>SxX$dqffu<$Uv;>-#P@E&rqG<_5JGQN92{bK%rX>{lINh3-
zK+_UvS^`Z=plJy-ErF&b(6j`amO#@IXj%eIOQ2~9G%bOqC72mYplO^sr(CRQ2{bLC
z7|FIZjT7jE^kOtEfu?a9ozkso2{bLC2+FqOlLVT^`E;_aX`E6gw5BD{v;>-#K+_VT
zH7yZZ(-QhWi_w~v2(4*}(3+MAt!W9Lm>k@Orrn07-G-*!hNeYmT7;%WXj+7(MQB<?
zoED*J5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(h
zp=lAC7NKboniipH5t<gEX%U(hp=lAbxDlEbF^e0aX%Vxy5t<gEX%U(hp=lAC7NKbo
zniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(h
zp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKbonidhK
zMQB<?oED*J5pi0CrbTF4gr-GkT7;%W%wtDrT11={p=lAC7NKboniipH5t<gEX%U(h
zp=lAC7NKboniipH5t<gEX%U(hp=lAC7NKboniipH5t<gEX%U(h5vN6HT7;%WXj+7(
zMQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-Gk
zT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=trbTF4gr-GkT7;%WXj+7(MQB=t
zrbTF4M4T3(X%U(hp=lAC7KM(}A~Y>R(;_r2B2J6Yv<OX$(6k6mi_o-)I4wfcBI2|N
zO^eX92u+L7v<OX$(6k6mi_o+PO^eX92u+L7wD(B6mV@_5wT!oDj^#a431cg$e}BtP
zgZlTk><p-Xf6LatzlHkuckmvy7NI<@=g8y6|L7F?)c70Ve*oVN-U{9Z>fhhG=Dnc)
z{ViMnQWxr9>O%edJJ>=ww@}V4lyeK^+(J3GNX>kW%eh5rW^_5XNEwVS=N8Jjg>r78
zoLea87RtGWa&DoVTh!iky;_>l<=mn+W^_5XP|huCQMO&qEtGQ$<=jd+w^GinlyfWP
z+)6pOQqHZEb1UWCN;$Vu&aISlE9KluIk!^It(0>s<=jd+w^GinlyfWP+)6pOQqHZE
zb1UWCN;$Vu&aISlE9KlqIk!>HZIp8x<=jR&w^7b*lye*9+(tRKQO<3Ya~tK{Mme`p
z&TW))8|B<aIk!>HZIp8x<=jR&w^7b*lye*9+(tRKQO<3Ya~tLS0OkAu<@D)|Hv*r`
zXmtDZ$&5z(-6t~|?RTHaXtdvbCZmvY`V__Gz^5o0-9CMaqS5Wsrzjfjcb}qYwBLP-
zqS5Wsrzjfjcb}qYbo=x<gUdqqBcC(q6qnOy2pU~ZpCM>;Iemtp(dG2%fkv0prvVBn
zr_cM-(<rCU`%^mQ^m%`_T~43(XLLDz-k;Is^m%_qm(%C{8C}jAl~a3asGLU6Ce^64
zW5NW#`rCJnq7<XQbk`_8Sr&R`wWh*z&NUT#K!0(lQG8;&2lUK#O~qd9k7Mi97^U0?
zn(Z2K;=EeHHc+R=C`G5n2z6?Vu!Ac*L7f_-lx|R`#>nmk`#{ff*D%jn!#rmV^PDxz
zbJj4=S;IVM4fC8e%yZT-&soDfXASe5HOzC?Fwa@TJZBB_oHfjI)-camqX@*g=fO#E
z3e>4FO7|Rijr?faGvPJzrftuM*C_Vzy`B}XQS4#cbK^CNJ#2f1yhgEy?U%7%0X<J%
z!%S%nGo>}ml-4NraJuKoYZQC<E`KYjQS4#-A^0Qkb?_?qW6<AHYZQAJ-vquDya{w0
zu2JmaU)_>x6nohAOnZ%D58Iw^uTkt_yBc)MtWoS?bla;@ykT_Ps|nopY7}o6e+R5L
zGtAl6FlSq%xWd2Et`t|uR{K}`RQosHPl`^Bk?lCYMv;TB@eFy5A_v*(9r~5o-5T`~
z+wbzP>M6E8&tIedVq2%i2t9XNqh4b>!q%xVvOV)qqaI{?3${*;k-ZiB4s3rBs8OGC
zy60VM)U#~=HnzVF)hKc>CP9B2s!`-%{18Z=Qsm&0e}t5~vHt-353w7tKZ;HNQsm$#
z(7zNp*rtCmlU$?7!B6wIq#8vIwmn;0qsYOwXKQN|IoS5sr5Z&Jw&75bgY8d&`$3%=
zqm<8pIyFZ2XN9#I0cm&j3a=*e387;`uOi@V(4dxC_geW*Da^h5oW!xf=kaOxPhDxW
z=4_Yd*tQq8GcwvP&9Q9`w@Y)h<Bv4Qco(<_G*{cDIj4o%X+)?U4}{ujM5rAPgxYCD
zsMA=4I*mo>c`cs+=p41vh)_F?2({CQP&<tXwbO{u^EulY`)p_Ivz@WecE&#28T)K!
z?6X~CALsRLa1hi^BT5+tN5I3Nb{bLoD5#xAWFG}{pmrKj%5hLTjmZ8kcmkXNbsCG(
z^Po;+k*(8MgxYCDc$#ap(}-;CG$PbaBf?qi5;f9JBTDg1&UPt}?Ro5%usxHrUCQJ1
zSHK^DXTfDqJB{d9?KC3PP9s9kPH&g;7+(Xm(}--(PH)$!$LQJV?HctMbs9^sUCLwB
zX)HqRG$OpoziQN@XEN&9F6FUZMf%&Y-;Vtb?3=kuJB{cX_xkNp9-~fU5$ZG+;T@oM
z8j-D?Mufiux+iYe7{}=T=o22rm9)q?(%u;3Y?l@}MW?X@KL1hIs3jZk_jB|{wym8;
zgq|tgE-kXHokjwm4yj+IMM{wt+15@YLeHXamloO9P9s9?G$KrpqMb%$N7&kFMD}~I
zwbO{~E!f&=M7DMs5#E8VoknD9rxBrc8WC!z5utV(5o)Iqp>`S(CPD2qB3nC+2tNc;
zcSbSWrA1EnZ1Z-FVr+Z1dAmk2wm*t}4@kdb6ti7g<X=78yj@yk+q2EvrA4-_*xRK=
zwmsXtU0P(DUMVfI4TsVq+i!5FoknEu2Xz{YZ0$56)M+e2oyHREK#O*uMLtP$OexkP
zPSOl^phY{-q8(_FPcR${l4wy9ElQ$AJ~dCf5~D>vHE&tAwaBOD8O@JR%`;kyk`-<n
zJ~hw3T8n&Yp3$86)I8hf#HZ%jwifx+Jln3d&(3p>)*_#sXS5di>^!5j$Y<yI%1+R8
z%RW2L=(%N|ooDpivd_+QUe+R?ooBQb`RqKSwa91Z8LdS=JI`n>^4WPtYmv{+Gg^y$
zcAn8%<g@dP)*_#s=UP~ce0HAETI93yTxM&L&(5=LE%MoUwyi}zJI|%H7WwQv+twnV
zooCxx<g@c^TZ?>lp3z$5v-6DBBA=aSv=;g7JfpS9XXhEMMLs*vXf5*Dc}8oI&(1Si
zi+pyT(OTrQ^NiLapPi>?qD4MC&$hM5XXn|r7WwQv+twnVooBQb`RqKSwa91Z8LdUh
zz*^+9^NiM_q~=@v9BWY$E%Ir4;tDPDX?lLX<87a&XWLqoM2mcyo~}fTl4y}n)6+F*
zkx$dJ?SACb^mHX!<kR$QTZ?>}o^5N9Pt&t)E%Ir4PO%mx(ITIwXWLrj)AVdxi+q}%
zZEKNF)3a?Y@@aautwlaf&$hM5r|B83MLtc>Xf5(-dPZxJPt!C0zH5yZ`7}M-)*_##
zXWLrj)AVdxi;^Mz4lVL&dj8c~<kR$QTZ?>}o^5N9Pt&t)ElQ$AK26WIwaBOG*@i>3
zD5<!}Oj?V4nx4^G<kR$w)*_##cSHCd(4(iFQV*lYGCobu=&_7X(=&Q3<J0tv9?SSN
zJ)=hlK26W)5rI$BGdi~SX?jM-^FB?_=vaNH+NaU+xlhv*5+VCEJ=x;W=%~`C=@}hQ
z`ZPVGV@RK-XLQ`?)AWpv6@8lCjev8ngsvUuUI|^hUDS?quVlM+oO>m7?Kt;J=-P4a
zmC&{0+$*7L$GKNR*N$_qgsvUuUI|@0&b<=4cAR?^aPC#WxmQBhj&rYst{vxI30*tR
zy%M^1oO>m7?Kt;J=-TbZce|<GZYjT0T)W-WZa2Q$P3?B$yWP}oH@@3V?RMk4-PCS3
zzS~XhcH_I<)NVJv+fD6u<GbC|Za2Q$P3?B$yWRM1H@@3V?RMk4-PCS3zS~XhcH_I<
z)NVJv+fD6u<GbC|u3l?^n}YfZ?c5@Cyj`!F8g=rB&~LhW)z_$<TZG!VMW~%ygxa}9
z=r>V4Z=!ml;(Fdh^}LDdc@x$1CaTwJOkZ!EuSenQ(e`>&y&jdWN1y9a=6W=_9@VW!
zZ|lW|?iCwGuX3pm5}<Z&k*%Fugxa}9Xl<<5T1}^G=N6%MZVBpR+POveOTH`iX3#yl
z9#yGFPwG*UdNiaS4XH;x>d}pQ@#*WW74@h@J^E0OGSr8U`T1cJsGVD6e_gq7Zkq6y
z)pCAMxf|asypuJYcM+f5MSOCX;*I6tF0p-D=#|5FiEZOf(!JvPu8Lh?3n{H&8<+;$
z!3>z?${FkeSTu?~Jzwk@z2f>Vv1cSNR>0oH3fQ}X-K5uZ*R$B`pjQsxC02!E)##Dk
zUBpp$>Aj;|^nNk^2Iv*ncj;|nycN6+yd8Wm_&)Fs@crO#fsgt5V%7LK=#|6w(R%Nr
z_1+ik*Om7L2f!wAeqV4<{NEQmPRbK1+kHW^Q}F(Mc>liG$Cc6u|Bdk97~H4p8w0nB
z#^4dqBj3j0QS3j#Zc^@zdcM;?NBR@k&EQvzu+az`jmqUl;8TIpLXUGFR4&Gcz(+ur
z|3T&Abl2iRmHf2u^S(FuQ@wp24F0=n@nG-;(!U7)8TciB{R?c*p*<M1VYh=BumgOO
zE58PQ9sCCP6u*8Gy9>J;>;<1Dy$|~tBaw#BFj8q_p4<7Oph;!^BRKgZ@vIbT{Ym*~
zIryY}Boy<;Hwz!acMsvahw$A))cPSkrzv;{-#vuy9t!Nchw$A)`0gQm_Yl5&7~egN
z?;gf?597Os@!i9C?O}ZMFdlgrkL<%2`}iii50C8Ay$=Tabg%Id(C_qpdV*69U_UM%
z_Q@ko|5KH7pFHA}FMwZEIrjyBhW#ae{jzGhFR)+s1udkvfu7IY7i6$Iz^`)UliX$R
z><g?L`+{$PPm%IX>`t!iBBdMb1)t{EKI~_VF|Ul;7xT)feSC4-hu8MuwSDrMN)_9y
zr#*r%9>Eun;EPA_#UuFQ5q$9ozIX&*Jc2JC!55F<i%0Oqr*!X);8VKS=+?U*@9f7r
z`|-|xyt5zg><`?t_T!`dfqT||<*2)8Mf>sEe&y(Nx2XMrd)9vZxF0|6r;UA@GJl#f
zf0}$h9sH%P{B-a?g^yCZN2%STT=^(hK1%H#rFM@}yGN<rqtxzEYWFC$dz9K8pe_ff
z%K_?gfVv!@E(fT~0qSyqx*VV`2dK*d>T-a(9H1@-sLKKBa)7!Vpe~Pjhs@wH?~oZh
zrd;}j4}p(>X6!NL;&dy|V|tFzdtD0OB5a~<H_^76Xxq|4wPE!t&~3X(Je(G~Z8wPx
z+iu%UwCyI^b`x#8iMHJoxNSGlwwnUC?WVwOyNR~lMB8qX=J*M2+fB6Xroe5xDRA3v
z3f#7v0=MlZ+IACdyD4znZVKGCn*z7(roe5xDRA3v3f#7v0=Mm^z-_xJaNBO8Z8y=j
zn`qljwCyI^b`x#8iMD+ZHV(qWLGh3d4vGh(Rret6;h=c1ZPh(U`#Ff}9z=ByqPhoB
z-Gk!cw63x09uyCKLig^2Vqi>Y)jcQ%j8@%)V!&wCJxJXTs_wR}x(8Kv|7z7es9M{$
z>K;_BjaJ=*s<mya?m_B!kUAbjbstyl`hv$*J0WfIaoXhLw8_WSCQmEfZ?4B_laH%S
zj>$eq`sdV^9#?DhHSSrD>-l<)o^SlP(mw}3pM#mt!OZ9AS)Ze4Jps2*!0i*teJprF
zxf>q=tp-mhcc)kro}m0sQ2x)WB+J3)=^dY^M|__4-^??cd1f>IYQ|s9_^X-nG~=&k
zO4UrMn(<dN{%Xcw&G@Sse>LN;X8hHRznbw^GyZDEU(NWd8Gkk7uV(z!jK7-kS2O-<
z#$V0&s~LYa<F97?)r`NI@mDkTZKl4>`0G!DuV{Yz3sR&TLPvvNkj@w#4SrGSW5QoH
z!t)p5`HQ+nDY|AX_!3X}vRE1mzATo6`0mTfOSbYF3tH9p`+`=nu`K)&_!r=l;9r7Y
z2fqRSPw<=I)5ciLPf-6d{({hFy4?`E%x#ppjWVZIlI0++k_c4><6DG2Giyxfy0lZ5
zcIwhjU3{w4SdgKF8A_ND=gUfQsWM{Q=<;O5>ayzmZ`4D-qNfRU*A3y9K&#MKP?)di
z2~KzIzM|*Y{s!pUeML`m%F{-bLC;Yc(!p0@@~bfURhaxLOnwz6pQP4LQtKyCyeG-)
zNf>w%2EN8MU*npuan0Ab=4)K@HLm%Fa=8(FL%9g`eB)b$-{jtJa_={}_nX}NP44|B
z_xj|W(?O?vx-9%v+wj&2Z=Gt-N{78p*z1J7PT1>&y-s;k*T|d3UjRL?<#TXO2R$mo
zvd|G)kMcD-LVKFBJx$r3rfg4Bwx=oE)0C}W*Ng@Ix<(lEi_iXG7(A>e^aox!-yck3
zzliPGzy9DNDVIRc#q|eQ!GAXD`Ffh3Z~QFyMc*6yGPaerKh^_21CD^-@snetJmEOk
zzkuyo%Kq31?7zaEz@Fs#DeP&|PhnHem`6<gu`{Hf#r_v?6<h<?!42?V!7|tX+;-@=
zt3Q0JQ^K3XbAM>9?hh-mZ+7nCujxvk2#^-~e;hs+Kz5LIdN8Q#2Lk_pVIUa8cD)7y
z*JU6$3Ff6I1HqK<4d(gPGo=H;0?+aK+ks$_D_;SZ`1J>%Yc~*_<;wqq?HSa8;8pHA
zhkYLO8r=bT&AD6xFOzbGXTHWYKLmdSz7AgH${%B|fY-SGI`-d)hk@WHJm&@}e~bNh
zl;>yQKal=U;6L-Uf5Bces#U8z!~g@t06q;t?5R~7KjWvx{wr7hvGa}j{XP(DBIO{z
zdW1d@dxDhz2L37N7=9pT<s69pIaj)u4a7Xw9*B9YJrMJH?}3=d+5<7K_a2Bj5*vth
zU_0g+i2V=H$~F-DOVS<H48$DC48#V&XZiJ8ARdo-W_~~|*|j^0jrU{6u%F|~=Xu)y
z#`Zs124ctE5@IiK*9mX}%ySJbBzB4?%zy>Z^Y8;PukId*c^-ZsR>J;1chQz&3#7jc
zSDtkrh|zvxXR&EBF|Xwwh|x}B{(s6q>@{$O=UfMWVvoo0b?ooB_y3aq_gwk^uz!aA
z57_^RZA}=6tx^}y=M2O=pED5qxt|bLfPPyIgum!3L%)Lt!hh>~L(gjsgr4Ua2;TzU
z#Fc(O4up=H2Er=WD||clJGl4XapkW$m+;rI<NW$gU74kCX6b`j`e0VQZ&~Tqv24sO
zElbPE(oV9pkSuK@8*{73#@rsVG5awavj?;Ci_w~sjeQTC1+6^Um|4ok%uhCEX0ocg
zP<1p~tFuxVqu&wP(6xA$lxIot{_|sj_n#M{(u1h<U|^LVM5PB&>A}G2HyBu@2T|!k
z^><(6+6|)8gMmFVh)NHl(u1h<V9Y8#h)NH}tkQ$1^kB>?Js7h}55}z0gQ)ai%xX5M
z7VD>d7u(7<7_&+b#;nqVF{|`o%nT34tkQ#UH5j9uFgA!v52`i#8msi6T8q&tJs7h}
z55}z0gK9ZOtMnio4x-Y7sPrHzJ%~yVqSAw*ReBJW_FnyCf%obc!r>4c4#D9N91g+Z
z5F8G{;Sd}S!Ql`b4#D9N9D2`xJq-?r;BW{Ihv0As4u{}y2o8tfa0m{E;BW{Ihv0As
z4u^Qt4Z-0M91g+Z5F8G{;Sd}S!Ql`b4#D9N91g+Z5F8G{;Sd}S!Ql`b4#D9N91g+Z
z5F8G{;Sd}S!Ql`b4#A<%H5dzgu7MB^hv9G-4u|1z7!HTwa2O7U;cyrZhv9G-4u|1z
z7!G|tf}RP7!*DnZhr@6<42Q#TI1Gowa5xNy!*DnZhr@6<42Q#TI1Gowa5xNy!*DnZ
zhr@6<42Q#TI1Gowa5xNy!*DnZhr@6<42Q#TI1Gowa5xNy!*DnZhr@6<42Q#TID-C+
zpg$w%&j|W6BF2`35%?KFg+|1KQqZCiv}gn^8bOOj(4rBvXap@9L5oIIJKtqR8d2?x
z)};~YQlHT8h!NG)DeiG2sM84QG=e&fs9sLDMvb6RBWTnJiZp^Eji6B@VYOo5!^A&_
ziF^*Lc1j`gIZWhpn8@dFV68Z;TKiY8wL7d@pBDZ#_JX{BICxn(9#%YK`&H}<;APMX
zc3AO-@uwC0g@23vcRb-|-1U!6CyF>s6meKlgsvB#$}#4c;c)D6Uny3d^5^{8hMmT4
z$If7TOnq4KfS>SHY>!Y5D-v)@FL@mXpCkQw(*HO1IJUiT82%6QUO22bwQ4OdIK71J
zxAWoH%aqC<In2BGFz@2Syo(R(UF`J#%ai{e`~PA84ErCj{}J0>JIveju-=}w{q{Vp
zx2J8tF%RpFDF)<0)g}CQr2jhTx8&jQo%+=$k~9hZ{vB0M?-M$z8C4&5iuHVyK0c~G
z?(~bK*hi!EZl6D*E7h-!pLII@dX#=WO1~aezjpdF;0X8~KaGAps($Tz{eBr$zfKGP
z3Y_E`%0OQprL~XJmq%fHl-52<YagXwkJ8#lW0WxVI?wcbWR!M3s{X57)PI#D?R-@I
z*S6otqw2r9lK$&cRF(suq9Rlazaexl^GPU1zs--Rr74~MdxZXYgr0bWHgE**AE6H(
zk*|H_1@IE+-gi`eYE0<)fuoFPkE%V}{<5w)D)x-u1^>#ZlIt#&c{#|@A9IXHa`eg^
znv<hf=IE6<dS#AYnL~?mXi+ZkcqAwPjtM;;$pwxfbBsrF>Y+`tJs!yguYewp<O0W&
zxxnL*oceEC=<!G{aBP`lJdz7M9?1nBkK_W!nK`u?=i>25F7S9H7kE693p^glNePV}
zkK_W6M{;UczS857T;TCYF1W_^9*^V#k4JLS2S3L#YEJrK+vAa3;PFT<@OUH_{1fQ$
zNG|vnY>!8Bj7M^eM{<luawtg-CCM=!$uS<uq0c$SBRR$+IkY7wZBZ_aM{=?M#xp%0
z$;JK*{E|z{cqAA53v7=^a%g*w@kkDZ&oLg!q4PP$BRSMQ$9N=%=I0oX<YFF=<QR|S
z7?0#)&+<%<M{+TbM{<lua_Up6FXNG1Y>ae|M{>M7axsrba=bxuF^@-bj7M_neZI@%
zk(}P7Mvq5wdXw7rcqFGDXS5FF=yy4(oS)!#O-?Fj+vAa3jJCvhBqzl)S00b#7?0%C
zLv7P$(7+rTm_q||j7M@Yk4JJbk4JJbk4JKhM{<lua=goOF^@-bywP$ok4JL6*K#qB
zM{+Sozd6PuIla?e3y()~(gEepcqA8kJd$HPl4CrQLs4^#M{+1?j`2uNTHz}_9?7Au
zImRP7#v?i2k~wLt@|Aih7seyG&`O(=(x!v4;M)~H48~$VQNJ5QdB)J3WAxc$^vz@R
z&10zUG1TT5al$d$;W2dP7;(Ze+R`yv(J|W3F<Q<s+RQP0eGD%jLzj-BoX1e7V<_h_
zJa`P>9Ydpzp`6Fy_86=lgU@5c3CGaSW5fx^h!c)ci(_xp0tSu|Cp?FyJ%^?}ho(J;
zragzIJ%^?}ho(Izoxc%0ho(J;rj5hKIBbl=#yD(@!^SvljKjt_Y>dOkIBbl=#yD(@
z!^SvljKjt_Y>dOkIBbl=#yD(@!^SvljKjt_Y>dOkIBbl=#yD(@!^SvljKjt_Y>dOk
zIBbl=#tGOs0UIauhP@G-kUlR9hp|1fJ0Yz$j)BKOM;a%j+fMg7y%WUSCjv)(Ct%}*
z-pIaY7W6ut6Vhbk&x|mC0_IOhwRD$M%jy3ebj*1IkDS0GCt_Jr{ujS~2R!b4@ze=C
zbt2}utP_f{{TxaHhbLllq%VLk^Q$Az6YAYYM|UUGyNy2vuW`*kfgTB-Aoe~%)O`Ym
zPlSH|o(TQ6JwXdOK?^yd-shAm->dhvF;2=mWl!)`Zi26J6XH1?Oo-b);TX2Loe--|
zcljsuzVokEqzUmR<O|&dU+5;pn^PVK{e6D|mL}j~f?7{V<@7YEoUin|Z$kAoUIJa;
z3F<OIT_)6K#+2f5(1hxudsP=*uUgoCr|gsTf|K-ulk|d<^n#PL|C6-;leGMkwEUB_
z{FAi&leGMkwEUB_{FAi&leGDhwDyz4Cnt$dPSVa#(#}uP&QH?LPtw9q(!x*D!cWq|
zPtw9q(!%pZAbBE?JP}BqlIMv)@?yRz$cy<tp~nSzYLur&c_NTJ5lEg0Bu@mACj!Y6
zf#ium@_{3eeBcNqA2<TZ6M^K3K=MQ&c_NTJ5lEg0Bu@mACj!Y6f#ium@<bqcB9J^0
zNM5Y^nT|m6L?HRV5lEg0Bp)~e$rFL(14kfvB9MIG2qYgk0?8AB<cUD?L?C%0kUSAc
zUgKXs%@IgGa0HSk0?8AB<cUD?L?C%0kUSAco(Lq5uk%D8c_NTJ5lEg0Bu@mACj!aG
z9D(GCK=QPWJP}Af<_ILujA)+Lk|zSm(`NESAbDC&o(LpQ`^gi5<Y`5DB9J^0NS+8J
zPXv-D0?Ef5f#ium@<bqcB9J^0NS+8J&x~lE)|e*($<rqDL?C%0kUSAco(LpQ1d=BL
z$rFL(i9qs1AbBE?Jc^ws0?DJ>c_NTJ5lEg0B(J_{P8@;ci9qs1AbGWUr#k}46M^K_
zXXQ;IkUSAco(LpQ1d=BL$rFL(i9qu7mpl<jo?eqD0?E^N@<bqcB9J^0NS+8JPXv-D
z0?8AB<cUD?L?C%0ki2@FN<svZSHH9E8PU9YpGvFVXY}|kPXv-D0?EJ8ABjNnL?C%0
zkUSAco(N=;-a1J?om4-)5lqrgC+Vk?^wUZD>7@FpfA#o%Qa$vv(Bt<>_02J%$M2Ks
zeYQP*pHwe1UIsn#npE#Fdi*}A-eKG0_eu2*-{tZ9ByE0@Hb2SueNwGm*U-Wz)xve9
zTC!9A+)q&JwVlTH_<d5X*XbU=Ppb9W_V|5L?bhh=`y}J{$(YCQlWKuZ_xOEMEzq{d
z?~`cbB-%KMHcqNtsn#guB;)r<+R`NB_enH!l9n?`%bBF*Ofr6-RNL^A|DGp%{649+
z;aog^pH$nh{c|I}o@D$!iLWOazfa=dN%>a{$g{eO@%yBF>bo3OPBMO<BD$C&x|mXQ
zu^ddvr^aFMuxc?S|2oCd#Z=%o;8gG&=;&gK=wd4HzW}CqCr&A@aQZChxMGU9Vv4w8
zinwBmxMGU9Vv4w8N^ynmBBGcgqL|`cITia~q<;r=L@}j^!uVI9BZ?_S6h=o8Q{vg^
zC}N8EVM+`;#qq-w@xxTi<H4!eKY{<kbJoBOBX8R&-nLUj4pT%9Q$!9^L=IDm9P|Vt
zhbb|6BbesRHO(7pS}lKBDV}+lCf1tf%{z@6PZN1gqp{N{>NHw9jfzgApVKJkG>SKk
z)=d*HP1Dk*iJGQqZ`0`5GzvCN<T*|2nnq!!(UxgcWtzBXnwB%odwH7o@-*+|Y2M4z
z=)g3Q=P5=Urx<aZ;+j)jbDH$iq@O1JH0eH_a4hiYghI8Yw9wy(3xQ+Q0<*pawG-Q(
z)i0=>_*c&e74&X3y6+eC_B49@RbbY)z^re9S>J-#)4ggZ%0=zO=x@XYW_=6H`WBe=
zEigM&h&gg7=<VRAeHYtb9|~$ePM^T`*N1}M6i)ZohXOno#ItSBix$MKZO^<FnDs3%
z>sui5EHLX^ApR^c>st`pzTW+`z^rdUZAmF&?6lC|hzsJ)w!c0Um^JbVgJXeD7!<-`
z5e|!RScJnO92ViQ2!};DEW%+C4vTPDgu@~n`usjU6Ap`TScJnO92ViQ2!};DEW%+C
z4vTPDgu@~n7WJN8*3-;k5e|#$gK633un31mI4r_p5e|!RScJnO92ViQ2!};DEW%+C
z4vTPDgu@~n7U8f6hebFn!eJ2(i*PuLrp=;hv*PeZFpH+mib>mUjk9RlESffprp-#z
z{Hrx>7EPOl=UFsumR>w7wtbC9OtX5I89ic}McHOiwpo;I7G;}7*=89r&C=^<(YIOj
zZ5Dl-jd{d0E4Gc+w^=c4+hf~VMhdgy*0x6+v-JI0v~Cuyn?>tp>HD)N-YkkYi{j0q
zc(YPGKfxoWS(u-N^I6!Q70-Gyx;KmN&7ym==-w>4H;eAgGGdxV_h!+(5^R@Xy9C=M
z*e=0#3ARhHU4rcrY?olW1luLpF2QyQwo9;Gg6$G)mteaD+a=g8!FCC@OR!yn?GkL4
zV7mm{CD<;(b_upiuw8=f5^R@Xy9C=M*e=0#3ARhHU4rcrY?olW1luLpF2QyQwo9;G
zg6$G)mteaD+a=g8!FCC@OR!yn?GkL4V7mm{CD<;(_MG(LMldIR5UO7ry`pSB_#4d&
zy(C}s2`lBzm*f%I;_bB1Z^M_wp6yq$J(K*BA}-@kz`q55=4)6-^b+fcUSb{5OJZA3
z6Whkm_)4+uEB_oj4Q9X&(CczvQlw-Y2VdrT|HtPg#WqIIGrXjDMyMFZ_!h9rS1Mw0
z%CCd(RLTN%U!d*_)O~@vzfAheq`yr1%cL(7XD$+9E)rob5@9Z)kc&i^i^P_TM30L^
ziHpRCi$sQt#Dt5)fr~_ai^O}2DBB{Mwiqjl?ZsFL^xI*PC~lGXZIQ@rk(g}}9a|(?
zTO>|fBr01ZDtiSFo}tWVDDxT0e1<Zgq0DC}^BKx~hBBX_%x5U`8OnTyGM}N$XDIU-
z%6x`0pP|fWDDxT0d<Hc>Lz&M|<};M}3}rq;na@z>GnDxZWj;fhUxoQsVg6Od+OO(O
zbR&3GZzAIrvGJ-(Zu=_u&qjRoDn5FZG2p9u%Q*c7(DTNx>OJC=Q{W8fnc-JeTBmz<
z_f@?+Z2Mm-uj+ka{JD|Q(5sAwUe%kzDV5-_3C~mJ^OX5KWj;@t&r{~}l=(bmK2Mp?
z>m91QDD!#Be4a9&r_ARm^ZA&|e4a9&r_ATYv+r`5&r{~}l=(bmK2Mp?Q|9xO`8;Jl
zPnpkC=JS;KyxwRxf{XO)i}dS@^y`cC>x=a3i}dS@^y`aiGrC@F#^`>1QLV-3etnUC
zeUW~Bk$!!VetnUCeUW~Bk$!!Vetl8xO82T=8Qrfhs$Ch~uP@TCFG>&nWcTZf^y`cC
z>x=a3i}dS@^y`b#G+jx*zDU2mC`~&ZT;dIKi8sh4)oVGpq#7AL>bZo@Uqa_EsccU1
z`0<jSW_+jcGCsYGPcP%s%lPy%KD~@jFXPk8`1CS9y^K#U<I~Id^fErZj88A))64ku
zGCsYGPcP%s%lPy%KD~@jFXPk8`1CS9y^K#U<I~Id^fErZj8Cu7)34Ceuh7%4$ZN~N
z6?*y=dioW5`W1Tm6?*y=dioW5`W1Tm6?*y=dioW5`W1Tm6?*y=dioW5`W1Tm6?*y=
zdioW5`W1Tm6?*y=dioW5`W1Tm6?*z>F#H+}zXorw!Q1PkzfSt=q`yx3Ri&qct4bH*
zk*o4ZpX^KW_*Fb|RW%)xeU<cocDkOR>-7ZV0kLs4=GmvK%syRZPU$M1x++iUY4Viu
z1ouvW?ul3BHK(8Q^TmVFDt#3muHwO~V#DcHlB=4ZF|P6i|112e{Am2SufdO3@#9tb
zQBRg1jlU*bp{6U;bcLF(P}3D^x<XA?sObtdT~XUR9js8(6>7RdO;@Pt3N>A!rYqER
zg_^EV(-msEqIla+a7|aJ=?XPnp{6U;bcLF(P}3D^x<XA?sObtdT~Ukmb6nFEYPv#A
zSE%U<HC>^mE7X)zG6PP@46aerYpUrD*;e~&)byHaYTIgmjb6ringQo&3jNLT8olfq
zz3dvbxJEC#rdsGOdf7EfevMvsjgnuZmtCWmU89#>qnBNy%-1OMHG0`Kdf7F4*>&3I
zb=v23%6y$NU#HC1Df4y8e4R31r_9%B$=7Mg*D3RL%6y$NU#HC1Df4y8e4R31r_9$W
z^L5I6oibmi%-1RNb;^95GGC|6*D3RL%6y$N|AaFCgfjnxlKg~{{FL;clKxZDfBHtc
zp0FJJR8LqAZt$kK!JFa+Z;BhdDQ@tlxWSu3??dr?gEz&Ez;B8hyeV$*ruhFPy?=CE
zXMOHFv&Yuf+8&w8a<C~sgb<1lLI|Odx?bF~y1Kd!J@nV5q(!9A_U7KpJtrqkh%NO;
zP9i%KTb32~wCkQi9LXjLvaQ$<#jz_56FUi@gapSx%P-XkQe@dq;R<AFJkpG2XU~0}
z5C1&tyWZKee?0H=KJWK^_q+FAq^DS<r&y$?Sfr;|q^DS<r&y$?Sfr;|q^DS<r&y$?
zSfr;|q^DS<r&y$?Sfr;|q^DS<r&y$?Sfr;|q^DS<r&y$?Sfr;|q^DS<r&yt_t<ct1
zsLd7C=4g6_wzfiTuF%$2XlpC9wH4ah3T<tLwzfiBTcNG3(AHL{<rUi63T<tLwzfiB
zTcO5RXlpC9wH4ah3T<tLwzfj;uh7<3sQne%+6rxLg|@arTU(*6t)PJwG_XQjTcNG3
z(AJ7vX^|@}a-~JCw8)hfxzZw6TI5QLTxpRjEpnwruC&ON7P-<QS6bvsi(F}uD=l)R
zMXt2Sl@__uB3D}EN{d`+kt;27rA4l^$dwkk(jr${<VuTNX^|@}a-~JCw8)hfxzZw6
zdIMG8K-D);^$k>g16AKZ)g}7Ml5{(pF40$(q+7?HFDlVjmgp->^pz$0$`XBLiN3N#
zUs<BBEYVk%=qpRQM(sh@XmlS@;u=f3I>%m5Ridvf(N~t}D@(dAmD5+2=qpR~l_mPh
zRq~lt@|jignN{+cRq~lt@|jignN{+cRq~lt@|jignX>k<KV9a&SXui~%<N*B`S!9#
z)Ay>x_r=O-&u*2Obu2UMSmwT1nfqd8?u(VVFILu>ct2j5Q$|r`?u(VvzAskhzF0Z!
zIj*wK)?0dIPC4y+9Az=@e_bN>%AB%l!6jaqQ<f%;UYS!yndP)s=9E=CM&B1Jr@b<#
zEUkJ=ugocPU#y(=Ol+C^V&$|~=9E>N-jDB#l~t#Xy)vgP_KaScQ|7){S(^9Wd|#~0
zeX%n4#md|lD|270EVlJ8v2DE5d*i-XnVHx!ZKTY7u`+iJ%Bm4>IpBSAU#!f1u`>6?
z%FNl8r7rKsnMs+JRSxzM`$>T^bGc=y&haqieo~+uj1WHzdS!T7YIM0*=9IZFR_4A~
znHE~+zF0Z%%A7Ly#mZ{4x?b*!l>=%&@XDMrv&3bo+I#al^Rl$<*iQ<S)yDlVugoc{
zjT@agl-0%^du2{p`Zs!IPMP`Svf6_8;FURLwFt)^%apk<R@O|2%Y9$0%zd#k_r=O;
zH7-Xp+}$W^Zp8oflLBS6CZjX1GWW&G@(tBE_r=QG7b`PsT~>?pmdkAEl{sZ*u*+(F
zjy*G6mfQIJy)vgPw=sHUPMP~+W$ufWah@{HQ|4YtS#4H(;9f~tE!VL#x-yPb=DtZ;
zEm7CSeX%n0;bpaMZ|RjeWwmj~zK2p)Yu%r&(C1d@b1U?@75dx?eQt$5x1tubn6A+0
zR@71)dvsQj!i^rCRp@go^tl!K+zNeeg+8}JpIf2Nt<dLI=yNOdxfS}{iWH^2(dSm^
zb1U?@75dx?eQt$5w?dy=q0g<*=T_)*EA+V)`rHbA?mAbu&ULNxrmS_nxneTC&ihi<
zQ}5Lg*Ha$^ZvlTtwZk{Eg&!gQUGSs)`oDu81OJ%vj}zZU{3pbJ3ig4X;a}%Xq3fxA
z#QQ-%eY~DJ0D5G)p86;7bKvK}N5I42DCm35>%1v+J#~!uICuh_06jm<_q&C@^TqeO
zg<mFq3iMq+zTYkModv$%E%dB7-|rUs?&o^yJm~q`_0;pA$0O^h8Mb_p_$6Y$DRe#c
zGVv>H`Ay;r#BP1-sf)zlBKG_<-vk$Wg#+IN7rN)-o8UsPpW&O}Lf>IoPg#5GsecDO
zW?xS^V_(;sSd4yC=z7Z8`?}tdW%TUIdb$qu^Nj212GH{=d|_PZ*%iJsF5E)g<YVzR
z8@@TN*eh+;({BOa4z_@uU>Dd8_JF<Mhd{q6be%VauBZPqd;SRJ=qin_XesNoly%+|
zx~?~q=wG}kbe(tU@WpeL+~NQ7rqFfX6uO@An?l$1Ml78(Zwg({yo=ax3SH+-q3fBO
zDQTzVJ;Z)f=sIr-UC(q9zmIaiDRiATg|6$3SdKqHc@OaiiT$R~^~^2Aw}Lyso#2PT
z-vWOdq)qWIAil${|Nb6V@%#Mx2gH9!{71yJuMF)gL;K3mzB05g-W0l?`2<_`@vl!3
z-%k8z#GfMmH1VGk{{``1690<B|BI5(fd3V|6ZBp9b>0-JZ@#DgIIVBKgI=p#B`>Pt
zB>KL&%gKoJm2+aRUXJmc7|)5>GRAXaJSWC;Vmv3-JBt>zz4?h#)<%ry#3^ed*4z2~
zt34-9nUgqWPU4g~iBskzPMMQ9WzUII_MA9n&x!Gz7|)4Q_MA9n&x!Gzn72a3cut(M
z=fu1fD%RVO9NTkZ-U=0`>^U)>6XQ8?%AOOa>^X7Do)f3+IkDc$XSC<Uyq!44bK;ae
zCr;UO;?xvq&xuoc(4G^gd>=E$b7DLvPT6x}JSR@sb7DLvPT6zflszX-*>hq%Cr;UO
z;*>onPT6zflszZLbK;aeCr;UOV%|<1<2kY3%ja@?PMn$r?KyGE_uOMVC&qJPJSR@s
zb7DLv#&cpkC&qJPJSWC;Vmv42?Zh#j6Q}JtaoTIwV>~BLHxk=(;<P;{#&hEIO~m$`
z7|)5*_MDiv6UV%rIOgrdaoU~}r|mhh-pgmS=fr7yPK@Wocut(Q=fr7rh3CY0PK@Wo
zcutJx#CT4O=frvopUw);iSe8m&x!Gz7|)6EoEXoEGxnSq&x!GzIAhO=GxnS~W6z24
zoEXoEGxnS~W6z24oEXoE@ting&xtekoH%38iSe8`W6y~*_MA9l&x!RGKBGM+)?4_D
zv?)9%&U};-drq9O=foL%PMopl#JrI#&d|Q_oEXoE@thdXiSe8m&xv_Eah$Q|#2I@|
z%=^mXj6EmL*mL5HJtxlCb7J039P@VKSa0ETi9ILQTlkFjoLFz+Gu|zH1J8K_&v`>m
zGN}?jAMplG@&=ys2A=Z<p7Vxka5A0XISHPVuw{bhBzR7O=OlPeg6AZ7PJ-tocus=n
zBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7
zPJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AaUISHPVkmn?LPJ-to
zcus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPe
zLY|Z0ISHPV;5iANli)cCo|E7?37(VSISHPV;5iANli)cCo|E7?37(VSISHPVr0qEg
zo|E7?37(UX=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPe
zg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=n
zBzR7O=OlPeg6AZ7PJ-tocus=nBzR7O=OlPeg6AZ7PJ-tocus=nBzR6jo|E7?37(VS
zISHPV;5iANli)cCo|E7?37(VSISHPV;5iANli)cCo|E7?37(VSISHPV;5iANli)cC
zo|E7?37(VSIW;_|hUe7qoEn}}!%1p*P7Tkg;W;&XPLR@;`-Pg}5$cWT!gmuZ+f@8s
zQ0}c*xuWoQYNNvc41NUsT~Pk4a=nFE_%ZO0DgQX}ZNz^<{HGkZkNDI4OK&08zw{Pj
z;XY7rAy%xn5DWDdV&Ory{3q~p;OD_dz{B7u_(hI24r=Z~|2+=ssX)aO;FF-9;8Th2
z;|TQ@V&Rv;r@(&(HM^y9-Q^K#?UwK>;IrU4uHrnX^@sXZYfXiE3$bv9ZM4Qrv7Tua
z>Mg`V&1nc<;cUN2e1TYRAy)ZCVm*JPSob1@TA44@^G8Ch9v5nsL#SB}q2|PdTCp$G
zihZGGCWX59E&M5{SxUv1K|N8Z_zHLx)Lob$CFe2fZ7o8*g;=OreW6x#2sO7a)QS$_
z7UCx2t;9DG>n+6kRc|2{>Mg`Vy@gn)w-5{U7GhyH*aP;09|G0;>(~DTDhE)kw-5`_
zo4m-!)mUDL-sDBvv-GTOq-5hKydQay<4<~fd6Bl47dh5jh=Y{8NWc0m#6rD=Solt2
zy@gouyNLA`V#Rt3vG8U}^cG^p?;-9W)?0{GqPGwW-$$&s5G#H^aX0Y?h<k`XNZd<&
z3-PVs4sa*<Veq%W-v+sMzb{mK{wO8CNBsN5e?a_)#D7HmF_3mAFY>==ck&{~f6A7h
zAnqgnB=POUe@6T%Vp^rV$kzymehabUUva26eJTD7_+LT2g;*te3$ajdAr8{^BB91y
zLgha~<v&6@Oxj)~)LW#48gmKlMM3H}jA_m72yX`O1&@L!!1JI+5ZdO)I_E$$x<aj|
zQi<j#9ZwN!grfL4;^!S}Et9s<9Gc^QP@Lh28IG9Yh?%sHn9(XSqmP);+AyP!nBj;S
zj+o(y8IG9Yh#Adu&ITEdn9<y(Vvd;Mh#8K!fg^6<h#NTK29CIaBW~b`8#v+yj<|s%
zZs3R;IN}D5xPc>X;D{SI;s%bmfg^6<h#NR!o&5aXpw8d;6aFT+6Z~*$t4e-H*HtG!
z-!J?K_`BdoRgZP}c^!UUrySDT*w5>fLprvf*C~fI+Ry8hL;6?`f%`zsNULNB)Qq&^
z$2jg6*~2(TKL#EL&3T<%+V~`>_jo8i1%3(qGWZnu&!C=%(l*nep1)T774TWmE?uYm
z&}f&g!=>xw(mtOVj`AY$OT?OaR{6`s-((N3g5Lr)=d54<75pBkyA>*#1uubf;7`DR
z=ZN#*0(cd)>(=4Ab+~RFu3IO+)!yW^#wPG4(C%7?yVl8F9qYZCLVXQcs4s^K?X-0`
zZ5>WqryS2EcG^0>?_GE+Tkdcz=neEneFs^H66CaEULNbCqk*)(ajEz(z&pVI2L2se
z-Y1>c=?!?sK}z(NLd7{s^whB8ec%Dm{disa5L^CFwscFZOaCMIzraVqW1NHTH0f78
z`zEB8)9x$lG{5a~>O%9|j{l8qU|#dv-u~y{FTh`NEY0Mrd>sa2Ffpn>6c6+ub?QO1
zjd~EBmHH0thrXjOxRZDnzwQPfs4eQ(J(N3RsSBK|)M+N%`1jx$5S8klh0AsSOQ^RP
z34i2k@f`}G-K@^{DTMC9>ojNX?cHnF1$MbQ&7ZqO_o0M0jJ~HJ)G8ODp0yFWH>}fr
z1mhM;-c0=Kpq|lF`P(Sh*Qgc0!&j=_(D6Ho^)+h6?;_UMs1>(?H&fD1{2t;C;`b7F
z62FhQi}?M--NYXt?jimlaWC;L#J6%*J3zfvTSwFzzlFaA{x<kK;77sV2mcVnm(<gF
zd%bm2=p3L<Ikxdr;GcukCcRi)#=Te_y;z;!rLWk%SRK7s9lcmx<{qmeb1%3X)Yn(l
zd)ZM#95uvI!;~F0OxaOG95uvILmV|sxiy6vmCp#BA%{4sdO^zVs3DFT;;12x8sexS
zjvC^qp>ks%*Nz(EsG)LW$9B|EBW@qXjv8vjZM36?8gU!#s3DFTYQ*g=Pl0ySP<gM>
zjv8vjZFE};anw+GuVXuEs1di(jvC^qA&wg2s3DFT;;3QDjv6ZO^>OW}A&weqtnEG6
zQA3Tdjc&yujv6Yzb!<lsanw-xtz)<AQ2DLVjv8t-ZM36?8bKTFs3DFT;;12x8sexS
zjvC^qp+?HuPuh+e;;12x8sexSjvC^qA&wg2s3DFT;;12x8sexSjvDIALaGHEHN;Uv
z95uvILmV~4Q9~Rx#8Jbv9W~TjMvZpVQ129-71~il95wWNL>1dn!?YbW#8Jbv9W~T@
zM2&XTFl|Q-({|JlM-9_<)G%#F4byhi(D&|zcGM6@4RO>EM-6e*5JwGh)KGT}y`>#B
z#8Jbv9W~TFaUaW$8sey-W>wV+G>;|3Q9~Rx#8E>WHN;Uv95uvI!@!Oj26ogiu%m`J
zY8cp2LmV~4Q9~Rx)V)QQqf#6-#8E>WHN;Uv95uvILmV~4Q9~Rx#8E>WHN;Uv95uvI
zLmV~4Q9~Rx#8E>WHN;Uv-J{ew=pLofjvC^qp~e@w3LG`WQ9~Rx)Le(l?Wm#VIvm?k
zLya$7Vn+=%zHn?u4K>%{*p3=%eBs!R8ftvu*p3=%uEVh%HPl>(V>@c7xemv6)KGIB
zMmuVVqlP$YsJRZ8*il1`ER1&4P%|4wd<jPlanuk;4RO>EM-4SP@RoMe5JwGh)DTAv
zanuk;4RO>EM-6e*5JwF&cGS?{ehunV9%t33JgTZsd8|~g*#@J&1R>NcvG6x_tooF%
zr9S1}p<Z(W-sYdc&w*OWppr+x!{8`5#vYD<N5L<EkFlRu*yaLw5!C7e?dLV{r{HDq
zic#ZYqgG%Fw}4wg_Y3vP>W%O9{?nQp7rr0VJvhalOQ}zLE~Q>yL(o;ET}So)mW0qV
zD)s5ls0Qox&S9h8Q7_!Zue<qmfcS60{p{x`+dRgvCx|^qQLoiFM!g3~sI?Ztuhl*!
zv@_RhWZ_@u+0U=8Yn?a-6JwA9-M7|jG_CD}|HDVr+7-w5dvC!Y@m{vcf%_;K0*Ap7
z@DO;?N7pFEdw2#s3+f$8D)CH9y`G5i5%mrw;d7KfPx%WR@vD?`Ey34`UjknSzt1-A
zLF%=Z!+To>i{Kml%GK$a7j5I!7eZ&<^<IM^^lV1GMp8N-jiem^7x4GMKLGy-{22Ig
z@K3-`fS!M-*ZiLG(;)0+U@!B3n#0Wh4gNpie*^zJ_*dXPoX@@BZtx#;J`uS`MD7uh
zdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q^KCYo8ILxrp2&BKL^MJtA_Ch}<J0_lU?n
zB65$2+#@3Qh{!!6a*v4IBO>>R$UP!*kBHnOBKL^MJtA_CNONvJ2j?CUxkp6q5s`aD
z<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%s
zk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`m
zMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$dP{I@SrfM?~%sk$Xhs
z9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uh
zdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1
z?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3
zxkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD
z<Q@^ZM?~%sk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%s
zk$Xhs9uc`mMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`m
zMD7uhdqm_O5xGZ1?h%oDMC2Y3xkp6q5s`aD<Q@^ZM?~%sk$Xhs9uc`mMD7uhdt}Ky
zvg96Fa*r&zN0!_pOYV^+_sEiaWXV0U<Q`dakF4&5js{uX2{k(R$m&k0(YZ%9<=i8i
za_*5$Irqq>oO@(b&ONfa3*c>>dt^29Z*=aFCHKf`_TI5`k8H|)be7yBOYV^+_sFK5
zdt^1Es4r5Gdt}Kyvg96Fa*u4<xkr}VBTMd)CHKgZdt}Kyvg96Fa*r&zN0!_pOYV_P
zJNL+@oqJ@{&ONee=N?(jTl%=pJ+hj;bnM(COYV^+_sEiaWXV0U<Q`dak1V-IHvOyX
za_*7U_p^-dowMW~S$(O&v3t)fxkr}VBTMd)CHKhc8C!4T+#?$}_s9m$J+gswk8I%F
zBO5sP$Z7^vXGrdmCHKf`wW`aVdt}Kyvg96Fa*r&zM^-bd-p08{R;yKg6z3jUa*u4_
z+#?$}_s9m$J+gswk1V-ImfRz&wWHpHbB}Dm)scH-$vv{<9$9jaEV)OP+#^fwktO%Y
z>Mo@Aka6yj%{ceSW}JIuGtND-n&CG(_sC|Pdt}Kyvg96F&EdPmxkr}VBTMd)%{ceS
zW}JIuGtND-8Rs6^jB}4{#<@o}<J=>wnPh$GM0%JN?$Q{oMH&$LI~u{qQ~GLvP~Qs(
zJ|6h~(Z@BPKNH-h^8G^3MBS!-$M_fE9pGoQx7*bFxZKCRO&Zg`(toXe-lqO&RCu4V
z*4zAj4dMOZ1E6!x+vuBaQ{Uum^gR^e5UB5=DAxB-gs%77)HfOb0sKes|K->JMf^Ep
zeGf(390nhye3W?1sO!>s>bi_tHyHHkseyZiTFoo;-O@gJh*96O6FSfDlam-dis_Sw
zObT~`9>4T)PqR-R;%$6Sv(MkN6Z)QJpFG6qdzyWCMIUzz`{Wfa@m<0`?hp2Hzpsxw
zeSO^H>yuaLS9yieckcS+6-M8!>%%Mh@QOb9fX)gZ=)(v4xXad;)~aTeYgMx_G14CU
zg3#9zc&4$B`)hsNpX!r7wP)$m=(|yU(x=h)q58N3)hB&A_Fbnw>C@;tO?}d*(W>i1
zb$zI=57m9rPiF+56wg8(-KgiygWIL9Nulp6-7a;_3ca7(mDL!vN=ImI-=6*~@x7|Y
z+fncB>3+%wD7TVtPY)Ya%i5c2*=TM5W$M4^{?uQlJ^_9*^%=#tgMS8o3VgwsZu2(j
zcJMbSse*49gIio4d<gtB_~*vVXZ>sD?}`6Wc!!So8Q~{DAMp;3ct^@dyd&i!-jVVV
z@6ZvA?Vyi%ht@V4eZ)I-MB|6RPlJDM<cN3Zh>rhJcqa_s3Bz~7@SQMx7YyG8!*|K&
z7lXT$#mx%!77L+P3<^(yli+Fa8GfB2_C1%o($5jU0DcX8k!@ZEwW3ek`~X}rQVVxc
z3wH&(yuC6sm){58Psv{59QYU|PY~-Z7TR*k$Mt&^gnEmG@EqGbN6eY{y$ULKYr0Fh
zoKf#65PqLnYX}w3fj<F#ul%myb+##iYm`*LD)@%c?^O_nU<0TXgDTNlL7~>|2(>a$
z_*P2ZrkHPj39aY9Qa(H@`~kRPgcH8rrFb_b-!W=$#<vOYRy|G%Bctj|C8{Z-?_l1o
z{@3^-B|ir35_hY{RjwL0-Vg2-dv~ipHJ)S}*Ye$B)!X<k=iTDgzv>N0Lf7xz>LraY
zunor&livOfqx!p1;hVs1-jaKi_voDW2lwclg?=VT=y{2I(m&Cj@A0!dLOrD`be?dJ
zpE3*X(K%~-owLz>$31=)M(EkmdxD3-$3f3C+(XZPPw*A~`z&~#U){6c<EPAoTA?cZ
z2IXFxagU!j5$Y*j;Wgr)gJt&M+2(tK7_>v)ld1EsnR?K(3ir^b-$OtCSwBA&d{)_!
z(Q5px@*?BBQCW>~5Znh2fy3YkcnEw3JPUpm{5tp&_%dkad{!BVaTzRviBY2r<0jC3
z#AkJ$#+!t@R3rBa-LLJEibjPeK+hxX;+%I$OD=yAw3c>p6}wbNid8$>Qnh2eo09vz
zrSh~%q5JDyf%~{!!5BCJdNs~2<z_B-KDG;`?IIuBMLxDmO7k}6ZI_hh*bMAaTXt+7
zb}1io>@_yKq(GzD*yZ<W3m3pQC^s9sG8wSJNAwea!Z#6{lU-`3+5=kM4Kur8X1B(w
zv%zkSQjK$<b-Nqg?$(Ia<-S9)8{O{K=+z~^0IlKOu(TVNc55`MUs3XI#-Y144t0rD
zy&F~U)|k}s0q`Jbo$uDj)M%aW*7(%%KZBl0+bzwz<XO;a-z~;`^sj?f`))sPDEt8>
zKPA2n+Ie<sWNNhLcL&z|ZZyAJd8}fMRrRYzsm9G}kGrKM<C`h*?AdOORcC{K*z1SA
zestB3uKF1x^rNeObk&cp`dRtVkFNUBRX>dN!&pDM>X%=Q2L0%&A6@mMtA2FVueV6)
zxN<OWV_o&5tA2FVkFNUBRX@7wM_2vmsvlkTqpN;&)sL?F(N#aX>PJ`o=&B!G^~>vg
zEbFQtUG>ZN?p17E^`onP+FC!l>PJ@tFf#x%1L$f1T@9eC0sL?PT@9eC0dzHht_IN6
z0J<8$8wX%%0G0;O)d0F0Kvx6kY5-jgpsN9NHGr-LG}kd34B(#w=xP964WO$5bTxpN
z4xp<6bTuH}M)fc2Y5-jg;GzTQY5-jgX!gT<wyp*=<6*R}2GG?2x*9-N1L$f1T@9eC
z0dzHht_IN60FF9<uKrpKF9v@tZWn{UCH`CD`^aAIqd&cm-t#^(iu<IN#o#`v#pn#-
zJ~D*+^xxUwKK*w#xL^OhSJ-G&&NCxCCD*!NGgpqCUEEI}eLsEl{hEo=zjPFBucH`u
zd3$>5`;}d2du12i<`U&|;7^QlW25`u`;{SROZxQtl^ZyA&;EcEvM6*8`~bb=15$<K
zpMdTqACM|sas^y9N(n}1%MS#PdmGiJ<7v=6-~*~VmwXlcI_O^S0o9tz-RnJ|I&!S%
zu!J#~80qgGpuc-Sb>tE~hb7!D9EATt_#aezR|(nUpjy4-C$;B6vd2NO>i9J1>~T;G
zyTsY!Alc)f-^!)<YoN2oLBEwt=<IP&wP1AiI7nR&QrClIkAq~7gJh3`at!SU4Gf}z
z!NC3UVBqX=P+nnl{SKmyL9{VQ_Bbe)@UNT++2bJD;~?4NAlc&}+2f#U+52?AFsL~|
zqqE0Bvd6)|+2df~>~YX<<q}pwXODwqkAq~7gJ^OPO%9Sh4w5|%l06QRJq}7CdIJIq
z*@Hs%ppZQ%WDg42LmssUh3r8gd*l`R7Yf;fLiV7LJt$-k3fU7_A$w5B9u%@it=s>y
zLiV7LJt$-k3fY4~_MnhGYQ@?Th3r8gdr-(86tV|}_{);}1AkdksO)G_cuY>RSE{&I
zI7vJOeuZE4Jfq6J!gg=^o5XsXt75mTz0!bV_sDy3&b_$hUR||I-2d+N+gye2h4*R>
z*?U{zUwWHs;O|=MOr#v6d*r>!%CwDCr1O!Aw0~u2F4@Dc`-t5y@70Wx%iTNg)x48q
zd+FX_g!mBXo_ep}<|@?NT!mKqUfgxBW}+Os@7_!AvzLBnulgOA=xwgTmx*5?_B`QU
zsm^ER3}-L1(0ipipY2aTyY61)f!?#dcdxQR$M&nenw4^FAKpu!wU_zly?F0l=AZZC
zz<Z@V9ZTBNv6Ln1U-<A|9C)vE=wIKaUmv8^KS-;85QlsahkOu+e2}*JAZ_zOyzxO?
z@j)E#LA)-9DsreIhbnTYB8Mt+s3IqS7!7jDr5A-(MGjTuP(@D1om7cckwX<ZRFOj!
zIaHBD6**LqLlrqxkwX<ZRFU&LeuEsU$f1fHs>q>=9ID8niX5uQp^98!RpjVZbEqPR
zDsreIhbnTYBBwb?Z)sKJP(=<^<WNNpRpd}b4prn(MGjTuP(=<^<WNOUz3q(lV^!o(
zMGjTuP(=<^<WNP9zBq>}a;PGQDsreIhbnTYB8Mt+s3M0da;PGQDsreIhbnTYB8Mt+
zs3M0da;V}VRPhk1cnDQIgeo3F6%V0`hfu{ssNx}1@erzb2vzK35Bu1|KK8JWJ?vu-
z``E)i_OOpV>|+o6*uy^d;IGF{2L5`ikUi{Y5Bu4J?)|!)Jt%usjqGO+``N>O_AtaA
zhS<XpJ=zdG+7Lb35Ix!uJ=%~|IvWhpqYe2zlZxG=4bh_w(W4E~qYcrc4JqUGHtx}e
zbZ$oXXhS+TA?G&4xed{y4e1PB?)i`*dbA;Wv>|%5A$qhSdbA;Ww4uN~+7Lb35Ix!u
zJ=zdG+7Lb35Ix!uJ=%~|q_Y(R-v9TB-J=cBqYcrc4bh_w(W4E~qYcrc4bh_w(W4D1
zAJ)I<(T3>JhUn3T=+TDg(T2pZjzW(%M2|Kkw)Gw#db9)dXb0%g4$z|=phr7Ek9L3_
z?EpR60eZ9p^k@g@(GJj~9iT@$K#z8S9_;`<+5vjB1N3MI=+O?Sz38~~Xb0%g4$z|=
zphr7Ek9L3_?EpR60eZ9p^k@g@(S}jTFbWw)A;TzS7=;X@kYN-uj6#M{$S?{SMj^u}
zWEh1EqmW?~GK@loQOGa~8Ac()C}bFg45N@?6f%rLhEd2c3K>Qr!zg4Jg$$#RVH7fq
zLWWVuFbWw)A;TzS7=;X@kYN-uj6#M{$S?{SCg&MOA;TzS7=;X@kYN-uj6#M{$S?{S
zMj^u}WEh1EqmW?~GK@loQOGa~8Ac()DC8gtIfz0IqL70q<RA(;h(Zpckb@}XAPPB%
zLJp#kgDB)63OR^E4x*5QDC8gtIfz0IqL70q<RA(;h(Zpckb@}XAPPB%LJp#kgDB)6
z3OR^E_y%;qH=u(N6f%NBMo`EI3K>BmBPe79g^Zw(5fn0lLPk)?2nrcNAtNYc1ci*C
zkP#Fzf<pMxbikLUg}c-$M^MNJ3K>BmBPe79g^Zw(5fn0lLPk)?2nrcNAtNYc1ci*C
zkP#Fzf<i`6$OsA<K_Me3WCVqbppX$1GJ--zP{;@h89^Z<C}aeMjG&Ma6f%NBMo`EI
z3K>BmBPe79g^Zw(hiQ)w(;gqj^B)!`v%$l7{=>AIhiNqr<M|Kc`48jy599fVn6*2^
ztlgpXIsNw#GZlx(9}Y2VcZgZLL+bbSt9pE+XYCHDmp6LW?vVO)qi5|7(T^XZA3sDt
zeuy6YkksX0mq5?j9a3Lx^nAi0X6+6!Yj;Sxa>=iOHwi!IH=+lh^Bd8F&++T$`1SL&
zk<ZgcK9BN0kMjK`?#aMk;ucDWv%(Xg=ZYVZqKq$6@?+35dyi-jD%T#2o-2Mtnwb%L
zuJ{q@#M^kL<q@gHzk06t5oyN1dan2psl_GFgPtpXM4B;ruJ{qvwNUjtD)e0OBdSwv
zueLL*49RoFhjq?E+WTR(_ff^3D?UtnKdgG0RP4Fp!_0>q);Vi?owM<;yr00cYKNKq
zILutfVSM1Q&RqY}IU7A!d|2}vMvsFI>zrNgx#GjBJELdM4lD06dQ5a!HRy7Wnhysa
zaU7OQcn_X8J1mzldan2|E^!!_IIQ~8o>gB)&zL>xZvY7!jq->6LZ92C@&v~oDL*PV
zaO~0Oqtdp2{Q<aQ^f!QnS#TF6yFuSweU#SyDDC%ATI-`~t=gOP@Bdx`{Y2rTYNtkz
zULU0mK1v&Wlv#^MnYDOSZBYMJtI?KfeU9Izcogl8qP<b-YZQMT#h*v1uTlJ2Z?e=`
zjpEOvsB{#Sj#4k9`12_KJW5@R;?JY_^C<p23jd?xU;BaoQT%xne;&o3NAc%Tm>-4t
zQT%xne;&o3$K)8J!I<BqB=o3fOy8XE5PFtiOm#6SJVA-q&yT4_Tw=A4;SyuG#F*cK
zrV@`;$Mi)4#}|pe1-ib*G(z#e{)IjNEBIZ0{T}#z&~-YN{vq)!_;38{67i2f&nAtf
zUjzT0{rr@2z5Pt(mx;Yjek|>E@?+_1;OlJpAH+ZBzyBZSxk$+`DDfKaF}bDpQzX8@
zHYMUUuwo1X?=A3L`dF|5toOg<uEsmPx8T3CrSEi%1-=_Qrk+R~%6q-d040CJuYX7E
zd;Md$>zKw?-h(}MOk*p@cG@wGtsL8L$27KbY}Xybb;mTea*6NkkI6Yy3wq0$<1c`o
z6B`S@2zr)pOm8_eKFO9R!7o$ddB3sXG-xLu)9B25wx5q_bmmy^IuqI}#)9XFzshxe
z9ek1hdMrOC-|*f%mLHRQIJSF?>CI-2J$fCZC64LMW-dVw(zaPb18Sk>%`5ZA)IyCv
z<zIH5vEV;I>QV1B^B&x%jA^XrJ-cTa(^${3`<F3|^&GDfCq9baV5WcR4Q9qVm(yOx
z)aw1KdyO%*eaF66K1Po-MvpTlH*ksFU`%f?^B&wojcIJ?@@-~DBSgn<1??3_)b3`4
zp8q@|H#2(teng(;*t0rE(w<K{BApxUu16TNACW$_je2uq7QEBHN>?uNT+I>2<3|{Y
zA7KoBgmL!~M%hOgUmp?Y-rjR2M;I3$VMKg{vG5VbzegDP9?{ilOGdj#80{XB<IMy|
z<#@)(s9x1Lt~rFG>RTOqKJzGj>rwTsj@`E&C6_oV4^%AoQ@PyF=pObcJ?v3>*rV!U
zU4Du!J*GQK4|`NStp8g8pQGG8>``T9-osak-OnB+>o`hpdsK?@Htutel4BetvpTBU
z)Sk(&j;c-_Zv)*6e}QZK0@wHj&h`tO?HAC%7tjD-t`8m~C*k|`ik&<8`}H$IU$wtt
zKPmK8^DTSf|499B!UyExeAiy+_Re?hg>K_~*IwwH>M?lW>-LJ>5+8$&$J9GGc2Dgu
z-5X!>ap|ugQ@eBQUi&dI;9uQ3`0BmTEy7>DS2<V2m+lo?!;g`NJT7G}29HaV#yRjc
z&@=FlOPR)B80CA$J)quXuJ{0`_r)pxd+-eS&!FewAE!rqT<7Nar{HzavjLAwjYiL}
zJ}ylfv!HXr$Kn5RDbwY@E_{L<_z800C&+l8Ame?4Z2t+e{U^xkpCGG$0u4Mt?SIi<
z1PI3I`^Krwar(G%YIB_09H%zNsm*a}bDXSroZ1|xHplVsacXlM-yWwn$MNcMYIB_0
z94Aj6r#8o_&2egToZ1|xHpi*WacXm%+8n1g$EnS6YI7Wy8>cqMsm*a}a~yugsm*a}
z^BA>xjM_X#Z61@uEC$EOOpZ~T$EeL?)aEg2^O*cZ+fbXw<R^|@o5$oQM%U&s@{?oK
z<}qsX7`1s!-r`?fo5!flW7Os`YV#Pid5p6?#@QaDHjh!8$El0s)WUIU;W*=w<BS21
z<0Qx7|2Sj1<1l|5=8wbtahN|2^T%QSIGi7c^W%);j^h}|8O<Hn`OgN&#rdevch!$G
znmev5a=F{iao9c%+sEZ6E=i1xS&lPiInEUw=ZcQQ|8algDL8@8pTOZy;P5AK_!C^q
z3GqLxZ9HRtg4x#-`1uL^`~-e}0zW??{=Ll^(6i_#xQY{;{|VG`0-c=T%unF+C-C_b
z`1}cc{sd=!0=GYb+n>PaPvG+t@IL|n6YxI){}b>(!8uRB{{;L`!2bmNPr&~K{7=CD
z1pH6H{{;L`!2bkiJ^}v|oc{#;Pr&~K{7-Nd6YxI){}b>(0sj+R#RU9M!2bmNPr&~K
z{7=9?-?9(*ioMW1?33{SB-g@M>{Vj^`9i(W{ppkN|0MkL-FcOm|0m)9N&3?#xeC51
zukvs3t6ld=&YUmBE51&N??*fd|4(w}d=Wn2Tkt}!C3q74Ps0C6_&*8%C*l7j{Ga5U
zPs0C6_&*8%C*l7j{GWvXlkk5M{!haHN%%hr|0g-~lkk5M{!haHN%%hr|0lVMlkk5M
z{!haHN%%j>Rh)$Xlkk5M{!haHN%%hr|EJLZDfE8|{!hXGDX!%d`acE#r_lc?_&){z
zr{Mn-`acE#r{Mn-{PV5(fUnF8&HpL%&-djOJI^@<|EJLZDfs6r^T8?fe+vDdg8x(S
z|0Q~XFEP*XC9dd8T+x>q>wTHA-j^A{eVGxQzwka9_zUl|LXW4OVm!rn-W7X1^%UbN
zf9-w0Vvnc%wRhuJ{4Z*mue~dF{_qszDSz|bv2$jB^WA&)c#3bn3q78CD(&%<zxi(T
zc*@^=_m&<{`J3-XkEi_2cgG%2`J3-9@py{wybC>^;ydp`kEi^dccaHs{=&P_<Ef|8
z9#8q(?*6aGQ~tucOFW+P7v3FvJmoLEJN9_W-+6cJ@zhgkkEi^FckPYwl)v!q*yAaG
z;oa!*l)v!qEj^y{x7{6kJmqh@dmE3Z{B3vt>hYAn?QR^T#N#Qx=PvYkito7#J)Yuw
z?m~~J_@2Aa8JEB0?h=ouo?<-Z@3}knc#7}23q79l_uO6Ly!R=_Q%?mRPx-6vE|~;9
zp5m+SLXW5Ts=LtRDZc71^myti##4O5U9rbg{)W5%>+zJo;qKVuDSyM=vBy*XhPz{r
zr~D0f|I6bkf5Y8~5*SZC#dyl!a5sA%Px%|}{+Gv7e8XKxJu;r+>+LG>c#5yL3q79V
z>+M31r}%oi(Bmn8t6fKAJjJ)#71w*ujHmpqc5Tmi%HL{t>|D;@YBzd3<!`lnKORr<
zt#+ZuQ%^CT^0(R@dpzZDwT}jqw7W^#-6ZX9l2O$p+0G=Rs!4L5NvVA?n3UR$&Rr*^
zRij5$dS8ytL2teRtwTLU>iwg`Niw2I##xi(MY@OP|4Kzh=S7p!jL~_~q-xgaan__5
zcI;eel3Zv~yeTFNnj{OFWSljrD|NZE*-6G(Ps?pS6+A7s5vGsoe4b{U^>o@R6`$5P
z>vx4;Q$0Sdah6MdEM}g@QJ+p<aV(G0f8|le`@N;|;d_OCgU!<#XX#(cNWJBh_oiIb
zah~!5_#F5=<u9-YkF%auui?EpYkFGxoDtf4pO!uyy9az)J&3n)2KBW13&+lvo>uOy
zW2yFaEM?%1e~s9y5T91QIvJeSwcjiB`pnb1u2G>^IGomXDb{tVT-Rm%E0+hJ?L5tF
z=V@j;PwTq8rRO<M2lm+0tm8Tzc!u*decx%$|1@WQnsYwQ*`DS+PwNb|f1R7rGnUV&
z7G{MfK#y~uVfOeLMj6jA%6NwP;b+9Ber3e*3?q(bm=k`6amO=^JDy?I_Y8f?8Tynn
z%#xka_3C>b%paafd#3A*uH7Y`KRm<y;Td|LGxR=Zm_IzD>(#HiUZefwjIPwNM_Xrf
zrA9l(8C|1exB4^8AD&_U@C@^ZXLRlQmHCh}wBIx0!6jbxbVfWZ24~4n&eC(8rRO?J
zesY#NI*V7I#evU~lbj_dIZIA*mYn1)PJ5P|<SaSKS!(1gHF6fmJB!zyrAE$@ft)1+
zIZFm|mO461?s1mf<1Bu17C$*l?lC2Q*smEYt7}UBpqMkCQja{U*eh_R)E7IR0<DuN
zu4sz6%_&`%{;OWt+k6Z39P*SL#{c!K<`li~lzL%r^F7cja;M}!-tvdUv!K53pc2nK
zPpKC+dL7FYEq6*a?qliu4no)alzL=u;~CB=^~gqj-$CfsJ*9rx@iox>@|5~zm+1Qr
z!k@FBMM{1_{7cSf1uRlt0$17F8ga!aKh*x^hsF({R}D?c4~=(vZ|ax5rTgV6+TfIW
zXP0;#(UjcMTMkh2H{joa4}k8Sr{tyH(k*w2mOF)7rsS?JAENvK@i6g0;t}G9LHE~F
z@?LNMdG_q55vSBs8z1La_taDBsa;~{oWk*@)JHp}_BH3}*mIs!@^J6XGc8kca>t(Y
zoWdKY<Rs?gS<tO)O0CQ#o&}wfdX0ADDRSv4d5ibp5#^K|#<APrl)vvFbVfI&p2A%H
zD>3?!=3S0v)NA`+=tRA?V}0L2==M9sEa;T(!l=g8cl%$z1U+J%QorLZJr_Eq-p8?L
zex}q1Ird!WlpMh4?<b+A<N!wZ=2QN@gD?Q=yd`chr530Es{b<Dfv41q88@?~@9#{h
zH#ctab@}@aLeDHssgLuPcK9jvbdJ5MYD)dx{$QHke45^Tn%;bx-h7(ge45^Tn%;bx
z-h5guWignhH=m|ApQbmTrZ=CaH=ib}oTfLQrZ=CaH=m|ApQbmTrZ=CaH=m|ApQbmT
zrZ=CaH=m|ApQbmTrZ=CaH=m|ApQbmTrZ=CaH=m|ApQbmTrZ>;yMR{B(j|=4)7vvcc
z<QWm<<wBD|9$(GlLV3ml`Sb<KJr>9_7RZa4QN_;p@^T)RJKxKvo&V>>mCK#~=gI%`
z;>{(_|MTSkd2#5H*Fb0fdHIZw?#w?==AW0tICkcrC+E-0TV@sioPRm<&y)G*#lQFV
zOZMQ*KTqbLC-cvf`RB>}^JM;c)yV!JkDugKBif!kKaZc}$@BB%`FZmEJb8YeJU>sK
zpI4r*GohEss~)`v&!gs5n~v=sdDW?7yGLF%>)7s*r}xRLmR;gJKTn>YC(qB5=jX}o
z^W^q<a{D}4eO`{??VZ)<ag4ll;{Dh$@=}Xq&&uZI21e)bdHI0jS3qa%c{27q8GD|L
zJx|7-SKIfN9<}Ak*z<bg-X+f4^MP}`JlT6b@YpRcP5Ow=5b}EN-X;3FgwTCNo_sz}
zKA)!#%}c%B-ky+`h8^1z@=~(n#Q!3b&y&gL)!tna`B$}f$5~=$?|FLLJlT7m>^)ER
zo~OO%)e8JC&w%CC792Z!&y&4>MJ-}7_=;MDP<mbzIy3o-TCq?HQMnXi^h&U=h%2Fv
zV)W{%0&S{5n<~(z3bd&LZK^<<D$u41w5bAZsz946(54FN*=K?RZK^<<D$u41w5bAZ
zsz946(54EssRC`PK$|MirV6yF0&S{5n<_AxF3_e5w5bAZsz946(54EssRC`PK$|Ks
znl8|$3bd&LZK}X%x<H#M(54EssRC`PK$|MirV6yF0&S{5n<~(z3bd&LZK^<<D$u41
zw5bAZsz946(54EssRC`PK$|MirV6yF0&S{5n<~(z3bd&LZK^<<D$u41w5bAZsz946
z(54EssRC`PK$|MirV6yF0&S{5n<~(z3bd&LZK^<<D$u41w5bB4-~w%`K$|MirV6yF
z0&S{5n<~(z3bd&LZK^<<D$u41w5bAZsz946(54EssRC`PK$|MirV6yF0&S{5n<~(z
z3bd&LZK^<<D$u41w5bAZsz946(54EssR9{nfi_j3O%-TU1=>`BHdUZa6=+ih+Ejry
zRiI5hOPhL@HuWrR>RH;<v$UyaX;aVArk<ruJxiN<mNxY)ZR#BD=o~X(=V&$OXf@|(
zHRqJ6&IadD^*Lpsic!}&?t`4;KFB%ra}MR4Lo?@4%Q<v%4xOA+4(9(l<2pwzpHqJ2
z_<7L&d5*e1$LR8$>e|10ba{@E+Bxd<9Q>by`Ezi74z|z1<T;o;2XE(;b<76m$tBK{
zMVu##I8PRFURSiJUp+H$UhPguo^YNF;k@+k5|8)KOY=sL_s>hEMvwQ;OP@xMv(D?>
zj2`=+CtEmAws4+o;k?dJ<>U<K$r;Xbw&yw9^JEU^$sC@e7M^1s@;SD7j%}W2%=kQG
z#^)IcKF>(-1-5^I?O$N~7uf!*Z2wiZ|0>&mmF;I#J`>EST*%mVCVfII&1i06ztHzm
zXBgq?d%~3aNt_wD(pOt4S#^o_sXb_)M&HlXDt_V|=oM2l)VQ)#@0q$*|E3;6?hAUw
z)C{#hquFWi!F<kWp24wMozZ-PV{<#hxOIkc>kQ-88O<>GS93d~QMO_jn9*3<v1gfP
z7;(>_gco(~qrr>1b|F{yqQ+mdihW%#YLqS1b?H}Km(hxSku!fW@Hp{BjRK5T?29@d
z<2o1{b@WN0$DS{8#FxbCZ156u1urpI@RHbYiJ#AUNjwO3=EgS(zd@~igIfCrwe}5a
z?Pd1!GW&U%{k+V6US>Zpv!9pQ&&%xR754KA`+0@^yuyAi(9$o^#xKyuFQ|>r1{b)?
za6z@KnAUxPy9^g-*B5Bl7iiZPXxA5L*B5Bl7iiHJXwetA%Wy&U=>2>R^nB3;Mn)GH
z6J6jg!v)o;%ROefKwG{*TfU$=bxC4mq<?{t{sn6G0(E+U)_nm#d{wP`Hh5L7+vvMI
zuc~z$eJ!u5bsK$`=T)_Cqwn&(s@82h0Qz~BSJk?WzRUKiTDQ?x@v3xav=_aK3%$yj
zzp9q*lIx)F^1P~+ZuFVIs+Mldg1*c1s#^DKaFNz`k=A!nE%!6QMQZjUwQ!NvcTvim
zQMu3mqLitawsw)Wc2VQ*MU}Y4U6dZQP4FNkIpT+i9|lkHU+e9nH0=F&HN{0K*?aJs
zii^^-W8ZzaNE^J!RbQkHUgX*@;>H(Y;395(5gsnmHZQ`)MOxxTuKgnOT^Chf+9$JK
z7gcMHw+p|;b$yGYe2e{mi#>dc|9%@c`!;U&ZEF16)cAMM^LNnmchK{9(DQfM{=01d
zUAF%&+kcPkzsL69WBc#1{SVpxhiv~tw*Mj9&$9h2+v}a9;$)WXFRA?A;F8LPa?4Sn
z=Myfe)?DJYb4j)463+l!!c{JDjhAqhOWK>Z)ZUDDdwbQLwp86s3UlBil#hWEpyz2X
z;Xjwu(*0lem6ue5`-Ogg;3ds2dK=C`b?4ZMy`;KxY~5a>-Cd&HT~d9y-0kiX&-Py8
z+1^X4JC|Fxmw2}Kl4?*#gr7^QLC5yeOY%}}iL?C(#(o52KZ3Cz!Pp#(&B53ljLpH=
z9E{Du*c^<_!Pp#(&B53ljLpH=9E{Du*c^<_!Pp#(&G9t!98W{f1!ioHne90kn}e}A
z7@LE!IT)LRu{ju<gRwann}e}A7@LE!IT)LRu{ju<gRwann}e}A7@LE!IT)LRu{ju<
zgRwann}e|*!`P2u?8h+nV;Fml^4BPTjq=wh=ezI$--QqOF1*lByv~#F&6DrVi(!>$
z1T-u3^QZIaCyCv2&1*DdJPrD3o%yugU|w}GBXs{e&pO+A{C{3G;%#0AJvy6DyXT!J
zlbk1$oF|i<*O)^8C7+yUrTskp#XLRKJU!GrYjNj;C%gyMj?pvZ^YmHs^jY(PS5M8W
zUi|9|#O^ibgA3rdL5~6F={4q+$@^FP{JgSvqgU|Gv(kQ^mG<+jw4Z0C{X8q}=T%?Y
zhE=}vtn!`5qvmm^d1c-H)nm+g)tB+Dlz6;(ncBHb?ObN=_p%hLa%B!i&)Hs<dL4VN
z{<5+NA@z8f`nt@V<Yg(-<({j*95^euEFC&_&U0DXGkTuzvh?Qo8gZF;9gIO|JC~WO
zzs&61WvR|3o~yqsr7Z>vC}aVJETE7D6taLq7Es87#>=z80t#6`Aq#0MWC4XNppXR=
zvVcMsP{;xbSwJBRj5QWe$N~ykKp_h#WC4XNppXR=vVcMsP{;xbSwJBRC}aVJETE7D
z6taLq7Es6n3RyrQ3*;3GC}csSKV1bQngtZHfI=2f$N~ykKp_h#WC4XNppXR=vVcMs
zP{;xbSwJBRC}aVJETE7D6taLq7Es6nqo*q<<O&M8f<msKkSi$U3JSS`Lav~YD=6d&
z3b}$puAq=BDC7zXxq?EjppYvl<O&M8f<msKkSi$U3R&?Lvf?Xb#aHA@i@_BXas`E4
zK_ORA$Q2ZFl|1k&dEiy@z^gd(RciSvZhVzI@G7--l|1ljuup7XB@etx9(a{J@G5!W
zRr0{A<bhYIsjIl_RqE?1?s^q>y^6bDrM|A}TD(u^fmg``uaXB|rADseu~*3huaXB|
z#bdAHu2;zeuaXB|BM-br9(avB@LKvc?eiMfa*aIj8hPL~^1y54f!D|buaO5{(<o2d
zlLuZS54=Vmc#W&L#`#|hoCjVb|GCDQUn38^Mjm)gBR>D?Jn$N4evLfv8hPL~jq+4Z
z9{4&f^mSV3>$IBJX*I9YI$o!ByiO~4omTKVYJ43v{s(Ipe}?LQhU$KXmVSnoeg;23
zgP$divcyrA@PQ?KU<n^s!UvY{fhBxk2_IO(2bS=GC468BA6UW%mQctNKCpxjEa3x7
z_`niAu*4NDaYak`z!E;NgbysCs3op+i7Q>g2bS=GC468BA6SBcB^X%32bS=GCDgTq
zu9onDC468BA6P<HOZdPNKCpxjEa3x7_`niAu!IjR;R8$fz!Iuk!UvY{fhCw<g83zU
zU<n^s!UvY{fhBz4IyG{g8o7=ST*n8l;{(_6f$R9db$sADK5(77yH4F*#|N(C1K06^
z>-fNReBe4ha2+4Gjt^YN2d?7-*YSbt_`r31;5t5V9Ur)k4_wCwuHysO@quL&vW!BO
zQOGh1Sw<ntC}bIhETfQR6tav$mQlzu3Ry-W%P3?Sg)F0xWfZcELY7g;G74EnA<HOa
z8HFsPkYyCIj6#-C$TA99Mj^{6WEq7lqmX43vW!BOQOGh1Sw<ntC}bIhETfQR6tav$
zmQlzu3Ry-W%P3?Sg)F0xWfZcELY7g;G74EnA<HOa8HFsPkYyCIj6#-C$TA99Mj<OG
zWCew+ppX?5vVuZZP{;}jSwSHyC}ahNte}t;6taRsR#3<a3RyuRD=1_Ig{+{E6%?|9
zLRL`73JO_4AuA|k1%<4jkQEfNf<jhMND+k;QAiPm6j4YKg%nXp5rq^{ND+k;QAiPm
z6j4YKg%nXp5rq^{ND+k;QAiPm6j4YKg%nXp5rq^{ND+k;QAiPm6j4YKg%nXp5rq^{
zND+k;QAiPm6j4YKg%nXp5rq^{ND+k;QAiPm6j4YKg%nXp5rq^{ND+k;QAiPm6j4YK
zg%nXp5rq^{ND+k;QAiPm6j4YKh1@_PH&Dn86mkQF+(02WP{<7was!3jKp{6!$PE;7
z1BKi`AvaLS4HR+%h1@_PH&Dn86mkQF+(02WP{<7was!3jKp{6!$PE;71BKi`AvaJ+
z35AqUNC}0MP)G@dlu$?sg_KZ835AqUNC}0MP)G@dlu$?sg_KZ835AqUNC}0MP)G@d
zlu$?sg_KZ835AqUNC}0MP)G@dlu$?sg_KZ835AqUNC}0MP)G@dlu$?sg_KZ835AqU
zNC}0MP)G@dlu$?sg_KZ835AqUNC}0MP)G@dlu$?sg_KZ835AqUNC}0MP)G@dtfG)r
z6tap!R#C_*3Ry)Vt0-g@g{-2GRTQ#{LRL}8DhgReA*(246@{##kX012ib7UV$SMk1
zMIoywWEF+1qL5V-vWh}hQOGI^Sw$ghQpo;bO$rez^IQ~qZN{2Zaj$Tacnb8~)LPna
zK3P*nIwSlhvDZ4Tk>jmN1CBl8x0d!ua4qdjZ%tQi{5k0N;jEGGt?}lQHEG8G@|#cA
zq#T`zlw-Wp+bh@A5v3xXk5r^BmGQd7vxRHHK4Q-qt||L<xn~a7lmk0<-ngbr*s<Sy
zvPKTMrh8#Nmfwf7rrg-&o?Tp1hV0mLjB8@s=((CT<;F&@`CL<m?AU8Q*Q7deCDr+?
zoGq_Obv{q84_TAyjGm2LQx@$#dropqxwK<vq-)Bk9Xl^wQ+)}QQR`o1r)$cq9eb{F
zP1@73q&*!=*|q*f*1AU4x+Wd^*SG1{GOfN$t1qi<&IV=Gi_u3c(>BYr&9eA(iRWp{
z+OzR(!V0RWpo$8rsGy1ps;Hofiu_?TsA!zBD6}dnsG@=@Dmw0@O1$R^s;Hof3aY4}
ziVCWzpo$9b!>OQ(3aY4}iVCWzpo$8rsGy1ps;Hof3aY4}iVCWzpo$73hzhExpo$8r
zsGy1ps;Hof3aY4}iVCWzpo$8rsGy1ps;Hof3aY4}iVCWzpo$8rsGy1ps;Hof3aY4}
ziVCWzpo$8rsGy1ps;Hof3aY4}iVCWzpo$8rsGy1ps;Hof3aY4}iVCWzpo$8rsGy2<
zRI!dK)=|Yes#r%A>!@NKRji|mbyTsAD%Md&6;)JGMHN+4QAHJ1R8d70Ra8+$6;)JG
zMHN+4QAHJ1R8d70Ra8+$6;)JGMHN+4QAHJ1R8d70Ra8+$6;)JGMHN+4QAHJ1R8d70
zRa8+$6;)JGMHN+4QAHJ1R8d70Ra8+$6;)JGMHN+4QAHJ1R8d70Ra8+$6;)JGMHN+4
zQAHJ1R8d70Ra8+$6;)JGMHN+4QAHJ1R8d70Ra8+$6;)JGMHN+4QAHJ1R8d70Ra8+$
z6;)JGMHN+4QAHJ1R8d8YDq>U-qly?+#Hb=h6)~!aQALa@VpI{M3V-)`e^6spr@#KJ
zm>G;3+Nhz88rrC#jT$o>HECm3Tl$IhniMiAyeL1Zv8uDCGx2`Bs<TE<T1)>c+j~`K
zE$vl#wY2BVYdTwR=~bPzv{&fWq$vN(t2%312V%4v*VGsLC|=cBlhRz`8NyoHD|Tv9
zozbg0Ypm+5sgL%SUe#GkdsSyG{W{xwRc9^jRh>1d)cf&DznWC)*sD5gV$bMRoi(it
zF?v;JP3uD(dsSzRRh>0fb=Fwb=`UsLU+B3eJ!@~Q>Z~!_Q)5+Uja8jB6kbz}c>4kN
z_BWtcb=Gv>-#F;AmGZrx2Z<j7JyTRuD{%P`u~&80m^G@Y6*wND+^afkY70iM>Z}D`
z)mhUT5~Ejj*2q|DJbzIOoH^83)mc*xqwCdr5|=oOs0CitSyK!0-n^=_rWWMbt2%3}
z>Z~c}@xQ#Pv!?rBM$gCA0u-WF<~?{-XD#qOof>miHMKSG!K*rJYHN-?TU%pQXN`7O
zlWxtGS9R933dQ&X5Y5mMYqZ1~EwQGS=>2%6x5lc@8ml^Mtm>?>s<Xz-SWWHJTQ0Mu
zS9R8yC9A2OI`*CGnsPH=i&u5ll$#m7s<Wn5C`Pa9tdXbH$kS@H>zdlN_CUL?sa-qX
z%$8o&S)+~D)Dm@Ftm>>W=T=io_m*DOSyOv=?A)NH*1A9AZ?BIEb<aqsj3Sd#TbmJT
zCSUji;(sI7Ga4#+4b(~u#af9W)H52Hlvi~M^^Asa1E^;-6l*n_@J??jeR@khi7eEb
z4WZU-2(@NIs5Kixt=SN2&4y6VXb81VL#Ssoge#z)(a5C4hEdNQ3%7VnU8!R|qal2o
zN-|tshO5hPbs0bTmC4wVgvV-=LcK{ts3*UKlay$kr(&%l5XzT?@+G0NT%q2iA=Jt=
zq1FltmGudg^$Gul?d492wenM_m7hYb{1i%KLaqE1Y7L?A-}skSek#_JUqU_kCDiIc
zp&Uu5^`AmHl2GeEg$tn8e=64cPoca>s3*UKKj*(%|EX9{3<>q*m++UwT2-jHNUSHn
z6qktg<d<SS`IX5~n;B{|Lv3c{Mfw-DnNe+OZ(hA7yvxV+>NVjmbEsPOmIIXN$uGrv
z@=K^Ezl3rjp`QE_%6Wu(@=GY^5$ee=p;m+n_2idO&LfoP2=(NbP%A=(dXt7wPkssY
z<d^Vqw)rBcC%;s30@Rx{6zj<^;g>1V8d1esBPx{t2=(NbQ2ry-lV3uuDi_LagnE;P
zP;MiX+X%I4RH#vaP@@2$Mgc;N0)%oKA=;4JcyC$>EYy=<LiAv_QH%!UHs(z$NQHXx
zOQ<KmgmN3<e}L4ZSGB1`Gw?z^`6ZOk2sL67YNe=9PkssIGeWsaM$N$g^4d0Goy+Yi
zLcK{t7<qfSies(k6mI5MdqPI8;*u@=swck`-$ePFDc74cRPyV@T05#(Pkv=KsNKy7
z8;$tM2IqK+?I#<Y;|Vn$6ly#u)JRaMwI4$J$p-1om<2WNQ*8Ix;LJ^^@tyDhs4<;l
ztqBoo)F#w;O=$Pn;0#Krah6cy9ihfnnGMd7gc?Z+?H(JP5ec>SLumKdh)ZnrIt0ab
zgN?YsMtoqS@&}h_RkrYoW7@(-ueDSBfLv%JYTt;?H=^*3XnP~7-iWF<s%P|nt;3Bd
zaHD!X$IpXWYo}Oim4$keOZW}SwboAYE5sUQE4C^&qKAzrVWVna<<#azjq&v>b+=J{
z!EDCgtzHz`+v`*pMtggmuE=PIuTzZ(aql{OyAI#>H>O=~->wt$M*DUhzFnu5;#l`d
zg}Os3w1@l4(MEf?zZ`AU{jZF_9Bs6d*KxLWoNXO`UWcED)I~@wgw#T)TA0m*o_!K(
zJ|Pprf9TmH#rByH=0lhdVLpWU5avTT58*uY43f6j7+=Ufb^eZDlAc5762k9OqOr4L
zvmL^A2-~4&id2#q)v}D6K)0rlD+=L1^j)w_J^a_he?9!y!@s|V>0ix%J^a_he?9!y
z!+$;e*Ta83{MW;OJ^a_he?9!y!+$;e*Ta83{MW;OJ^a_he?9#BOO&%2e}mHK{<I$c
zH)$?wG_y%_SwhVmP73u+XW^65;U@K-Mmy>z%@E!z)Ei)gFMwYIUu64#(VjP{?f6&s
zZkwpPO=>|Z(cG8zuemSdE=vB|+o(?ct5z)vwQ5oL7--Mmq!~h;iQ19NwE{<|HB`bp
zSOE34XqDK{H)+n$+q*a4q<S~H-Z!b<9lPE)1s90z<eOCQE_c0el2<#P1AhX#7v6+d
zZ_@msWA~w(G=FG(1GFkOX%<l>IPfOTB|5ebZ}N<y(9Cc0yrR(jZ_<pS&Qq;*CX<E#
zEc|E5F|u%&)%ayLlZ8ot%gnKv%xZk07(TP`nWca9cgOTA{A6LnUlwzT8SvM{jJ|4r
zLCokrD64$csP&V=81xloxt1(f!FR+|qFhwyb8g_A8#w0%G}C})8qiDwnrT2Y4QQqT
z%`~8y2DNMLL9@z}LTjdh>uuml8@SR2uC#$`Y~UIj&`d*M%`~8y1~k)vW*X2;13WaK
znFiQsKr;<+(tu_fG{dZ;2i8mjEH$8+2DoZKGYv4-fMy!ttpUw6z+MBIX@J89G}C})
z8q~jgpVmwR+%}+@1~k)vW*X2;15VO_W*XqR0nIePb_1GeKr;<!rUA_~pqU2v-wgko
z;eRt6Zid6nXl64^ZidOtFu57cY=+Ox@VObTHp9|p_}L5_o8e(I3~c7wH*?jSx!%oO
z*Jd=c8O>})Gn=`h&0Nc7u41#!U+=#|Gn+Z*H__X^$*cY{Z{q6S#C83eu4OUvYq}Pp
z&d{h8R+&bwv5{+RL}QI;tPzbhqOnFa)`-R$(O4rIYeZv>Xsi)_8sVoAW*T9p5oQ|U
zq!CUU(O4rIYeZv>Xsi*9HKMUbcxyysjj-2<#v0+U5sfvXu|_o32&;`~tPyS-(O4r4
zH=?mdcy2^vjj-K_#v0+g5sfvXu|_o3h{hVJi$*loh{hVxSR)#1q(&OiSR?h)h{hVJ
zokld)NG&v?u}12m5sfucUt8dR3;b_^!!2;Q1&wWi$t^Is1tzzku`Teq1wOaH)fQOV
z0zX?|V+%ZNfq^Yt`xdTx3)j1a>)L|GwxF>sXlx5tw1sQg!c}ZRV_VSJ7S6eeb8h0C
zo6t-XnrT8aO=zYG%`~BzCN$H8W}47U6Pjt_dYic3Ca$!JD{bORo4Cd%uCWQtG@+R$
zG}DA;n$S!WnrVWECN$Fo8%=1Y2~L{OOcR=ELNiUU)P!c5;HnADG{IOCnrVW!CN$Fo
zdrfGj2@adkOcR=ELNiThrU`DF&`cAWX+kqiXr>8<o6t-XJU5}4CfII5Gfilw3C%R2
znI<&T1piy%e=GcNg~P3IxE0N8g~_cjxfLe2q8WXsU0$&jKDWZvR#@5!KU-mAD?Dt4
zfvsHoR<3$0*SnSL+KOhjqM5B|W-C{;m226`Rcu8wThYu`&iN*dXeKi^X+$HGLKcOm
z)yv!@g&3VZ-sIU)p~p}+sm8U9YT1|rA7h&-P|p;oT+b8;J;QL5>d1JB5@+K#sYZ-f
zT`snbq43RO&*<^Xo5kLu&|AJ)ycxBoG4p0|rC-IB@o`GdgRg?uz%r=yirPl&6*F%Z
z1IBvL*~puzyKOq+q~7u2apE?$7d@w;_G0wNWg9$f6Avyi58KGex2cV|<j0hFe6&qx
zr9J4ZjJqhgAKVM(K(n+>tw8@({W_i^_Lyj!T7gmP;f3aHoAmE3pC{(%QohU0=QgR`
zsFkQfk2kl8RijzmCOr$`b{pJoL%rM3?KUY^dsgkwX11f)?I?CTirtQ4x1-qYD0VxF
z-Hu|nquA{zb~}pQj$*f?*zG8GJBr<oVz;B%?I?CTirtQ4x1-qYD0VxF-Hu|nquA{z
zb~}pQj$*f?*zG9xEu7C=*z;T1^IO>GTlnu=>1W?cKl@f%>szVox9Lh3GjG$C3U&TQ
z_p@(T`MpBTKniabCvQ)^7u1(V6@QTU7EoUrRf)bdD%=TvSaTY0_m@V6{{(&x{5+@?
z^(sFMj)M9su}VC)eS6CF`1aIA@Y~>P;7`HJpw;#Ev=#eye`!>>1>6eitHdg~8NAi!
z<1dX0cY+^b8_mS3L^H8MkDA}^FO3TIM1W9tU4?()E&ZiY;qQTe0R9p9G4SKypMakL
zKMDRB_-XK0`?<&a&)f@Y-d^!P=qT@i|98OuJK+Bv@ZSvo&G6q0|IP5<>@U4$n&H3M
zUwTz+{+r>y8UCA7=D!*Ko8iAXW&WG}rB|W(Z-)P7f9X}R`EQ2*X83Q0|K^nWZ%&#2
z=9KwwPMQDal=*Ll|7Q4ahW}=N=~d<CzZw3U{iRpM=D!*Ko73jMIc@%%;lCOFo8iA1
z{+r>y8UCB$zZw3UGv>e9UwRdq|K^POZ_b$i=8XAo&Y1sZf9X|d{+l!Azd2+6o8iCN
zUwTz+{@)4z?}Yz%!v8zrzXkqV;J*d_Tj0M1{#)R`1^!#$zXkqV;J*d_Tj0M1{#)R`
z1^!#$zXkqV;J*d_Tj0M1{#)R`1^!#$zXkqV;J*d_Tj0M1{#)R`1^!#$zXkqV;J*d_
zTj0M1{#)R`1^!#$zXkqV;J*d_Tj0M1{#)R`1^!#$zXkqV;J*d_Tj0M1{#)R`1^!#$
zzXkqV;J*d_Tj2j)@c%COe;53}3;tW-zZL#l;lCCBTj9SI{#)U{75-b{zZL#l;lCCB
zTj9SI{#)U{75-b{zZL#l;lCCBTj9SI{#)U{75-b{zZL#l;lCCBTj9SI{#)U{75-b{
zzZL#l;lCCBTj9SI{#)U{75-b{zZL#l;lCCBTj9SI{#)U{75-b{zZL#l;lCCBTj9SI
z{#)U{75-b{zZL#l;lCCB-wprohW~fN|GVM84gTBUzYYG|;J*$2+u*+q{@dWc4gTBU
zzYYG|;J*$2+u*+q{@dWc4gTBUzYYG|;J*$2+u*+q{@dWc4gTBUzYYG|;J*$2+u*+q
z{@dWc4gTBUzYYG|;J*$2+u*+q{@dWc4gTBUzYYG|;J*$2+u*+q{@dWc4gTBUzYYG|
z;J*$2+u*+q{@dWc4gTBUzYYG|;Qwa$zZw2-hX0%4za9SD;lCaJ+u^?*{@dZd9sb+l
zza9SD;lCaJ+u^?*{@dZd9sb+lza9SD;lCaJ+u^?*{@dZd9sb+lza9SD;lCaJ+u^?*
z{@dZd9sb+lza9SD;lCaJ+u^?*{@dZd9sb+lza9SD;lCaJ+u^?*{@dZd9sb+lza9SD
z;lCaJ+u^?*{@dZd9sb+lza9SD;lCaJ+u{E`@c$n8e-He>2mU+YzXSd|;J*X@JK(<q
z{yX5m1O7YUzXSd|;J*X@JK(<q{yX5m1O7YUzXSd|;J*X@JK(<q{yX5m1O7YUzXSd|
z;J*X@JK(<q{yX5m1O7YUzXSd|;J*X@JK(<q{yX5m1O7YUzXSd|;J*X@JK(<q{yX5m
z1O7YUzXSd|;J*X@JK(<q{yX5m1O7YUzXSd|;J*X@-wXfmh5z@$|9j!T6aG8lzZ3pD
z;lC69JK?_*{yX8n6aG8lzZ3pD;lC69JK?_*{yX8n6aG8lzZ3pD;lC69JK?_*{yX8n
z6aG8lzZ3pD;lC69JK?_*{yX8n6aG8lzZ3pD;lC69JK?_*{yX8n6aG8lzZ3pD;lC69
zJK?_*{yX8n6aG8lzZ3pD;lC69JK?_*{yX8n6aG8lzZ3pD;s1T`|33JCAN;=${=4A6
z3;w&{zYG4m;J*w0yWqbI{=4A63;w&{zYG4m;J*w0yWqbI{=4A63;w&{zYG4m;J*w0
zyWqbI{=4A63;w&{zYG4m;J*w0yWqbI{=4A63;w&{zYG4m;J*w0yWqbI{=4A63;w&{
zzYG4m;J*w0yWqbI{=4A63;w&{zYG4m;J*w0yWqbI{=4A63;w&{zYG4~5C89n|M$cH
z`{BPE{=4D78~(fDzZ?F$;lCUHyWzhZ{=4D78~(fDzZ?F$;lCUHyWzhZ{=4D78~(fD
zzZ?F$;lCUHyWzhZ{=4D78~(fDzZ?F$;lCUHyWzhZ{=4D78~(fDzZ?F$;lCUHyWzhZ
z{=4D78~(fDzZ?F$;lCUHyWzhZ{=4D78~(fDzZ?F$;lCUHyWzhZ{=4D78~(fD{{!&<
z0r>v_{C@!cd*HtZ{(IoR2mX8DzX$$%;J*j{d*HtZ{(IoR2mX8DzX$$%;J*j{d*HtZ
z{(IoR2mX8DzX$$%;J*j{d*HtZ{(IoR2mX8DzX$$%;J*j{d*HtZ{(IoR2mX8DzX$$%
z;J*j{d*HtZ{(IoR2mX8DzX$$%;J*j{d*HtZ{(IoR2mX8DzX$$%;J*j{d*HtZ{(IoR
z2mU_@{~v_^55oTk;lCIDd*Qzq{(IrS7yf(UzZd>{;lCIDd*Qzq{(IrS7yf(UzZd>{
z;lCIDd*Qzq{(IrS7yf(UzZd>{;lCIDd*Qzq{(IrS7yf(UzZd>{;lCIDd*Qzq{(IrS
z7yf(UzZd>{;lCIDd*Qzq{(IrS7yf(UzZd>{;lCIDd*Qzq{(IrS7yf(UzZd>{;lCID
zd*Qzq{(Is77Wlsf{%?W*Tj2jgsjk%j$lS`WxAN<)DUYmgP2CQ9e0^)`Q{bmHUvz8A
zb8)w(e*^rmOVa-d{4KCbx#!<*<tVpulv^{ORmpE~tQ{O{2glmMv378*9Vs7c2gllx
z^09VstQ{O{N7~2Q!LfFveXJd6A8SY2$J)WMc5tj69P2kZ)=rMKlVk1VSUWk^PL8#c
zW9{TvJ2}=)j<u6x?c`WHIo3{&wUcA*<XAg7)=rM~|5x|r;ZYUo`lqT+Iy;MD5fp3?
zL|MY=?2(9Mg)B`Ing)y^rb#+UhfbfIJ{>k!KtXW{?z;nu3%JfG-q8^mm2tsw8+F{S
z3yR~6Ixe`5>+h@gRCl7za-aJ=_m3ZW`06`L)m!KNs@`*|PIdPzV3h%@3|M8rDg#y-
zu*!f{2COn*l>w^^SY^N}16CQZ%79e{tTJGg0qZzm%?8$NV9f^BY+%g>)@)$S2G(p~
z%?8$NV9f^BY+%g>)@)$S2G(p~%?8%-z?uWBIl!6&tU17%1FSi~nggskz?uWBIl!6&
ztU17%1FSi~nggskz?uWBa$r>es{&XRz^VXN1+XfBRROFDU{wIC0$3HmssL66uquF6
z0jvsORRF6JSXIEP0#+5Us(@7mtSVqt0jmmFRluqORu!<SfK>&oDqvLss|r|Ez^c{c
z`-NIfzF(--CQ)0hB^`T&Y$>(jTGBCTXJNl=;kDXvuyW44R-<*iWY2^>3w9&yCRq9u
z4;_6N{$5zQf~b~siOMHklD0^mL%Jj_u-Gj4Kw-zjuS72SHlddEN?Q5WpqBKCEa{cB
z@(oBW-hkBdrSg0+4)zGx39v`PPKKQVdkpL}*cq@hVLh<<u%;}Z^h#R#zCp76RP#DS
zrw-AnLv-p8ojOFP4$-MYbm|bDIz*=q(Wygp>JXheM5hkXsY7(?5S=<irykL%M|A2D
zoq9y49?_{sbm|eEdb-zqDC!ZNdQC>B9?_{sbm}!3oqA11r(ToMsi%95JYPnqUX#(O
z*JO0+5uJKOrykL%M|A2Doq9y4p2_IcBRcg=MyH<1=+q-R^@vVAqEnCP)FV3eh)zAC
zQ;+D>3mKhyA)`|-WOV9<j846f(Ww_QI`u+Er(VeD)C(D%dLg4zFJyG;>25-}h)zAC
zQ;+C0AUX|*P6MLTfao+JIt_?U1ESM_=rkZY4Tw$yqSJurG$1++h)x5d(}3tSAUa+|
z$BXEA5gjk0<3)75h>jQ0@gh22M8}Khco7{hqT@w$yoin$(eWZWUPQ->=y(wwFQVf`
zbi9a;7t!$|I$lJ_i|BX}9WSEeMRdG~ju+AKB063~$BXEA5gjk0<3)75h>jQ0@gh22
zM8}Khco7{hqT@w$yoin$(eWZWUPQ->=y(wwFQVfEZ$9wm18+X?<^yj&@a6+=KJexP
zZ$9wm18+X?<^yj&@a6+=KJexPZ$9wm18+X?<^yj&@a6+=KJexPZ$9wm18+X?<^yj&
z@a6+=KJexPZ$9wm18+X?<^yj&@a6+=KJexPZ$9wm18+X?<^yj&@a6+=KJexPZ$9wm
z18+X?)(GAj!CNDEYXonN;H?q7HG;QB@YV?48o^s5cxwc2jo_^jyfuQiM)1}M-WtJM
zBY0~BZ;jxs5xg~mw?^>R2;LgOTO)XD1aFPttr5I6g11KS)(GAj!CNDEYXonN;H?q7
zHG;QB@YV?48o^s5cxwc2jo_^jyfuQiM)1}M-WtJMBY0~BZ+`IR2XB7x<_B+n@a6|^
ze(>f8Z+`IR2XB7x<_B+n@a6|^e(>f8Z+`IR2XB7x<_B+n@a6|^e(>f8Z+`IR2XB7x
z<_B+n@a6|^e(>f8Z+`IR2XB7x<_B+n@a6|^e(>f8Z+`IR2XB7x<_B+n@a6|^e(>f8
zZ+`IR2XB7x<_B*9@D>1X0q_<8ZvpTY0B-^C765Mn@D>1X0q_<8ZvpTY0B-^C765Mn
z@D>1X0q_<8ZvpTY0B-^C765Mn@D>1X0q_<8ZvpTY0B-^C765Mn@D>1X0q_<8ZvpTY
z0B-^C765Mn@D>1X0q_<8ZvpTY0B-^C765Mn@D>1X0q_<8Z%egWZJ}7IErC5j>ma`g
z_C(lb*gev+$?_aF1-2M_zJ>i>T3#Uc^Fr8Vur1PxUU^iU4}S~UCLlHeu}PDNO+akY
zBw~{$5t}rL*aXBTAT}|H*u*4a6O)KdKx_hH6PJihTp~6Bu?dJxLLxQ;u^EWXKx_tL
zGZ34B*bKyGAT|TB8Hmk5YzAU85SxM648&$2HUqI4h|NH30b&afTY%UC#1<g70I>y#
zEkJAmVha#kfY<`W79h3&u?2`NKx_eG3lLj?*b2l}AhrUr6^N}sYz1N~5L<!R3dB|*
zwgRygh^;_u1!5}@TY=aL#8x1-0x?KE?j;eV9w+T2dbSBtZ<3b2vym))#+<DD1XGZD
zleBU@e31H)w0mJ6m6rMiS!(%I4z+w~m&!fV@})fjb^`2?u#;h@z#aoT4R!|XOjr+W
zKG_apri1JfSlQk>z)T02=>RhwV5WnZp`*l%w6eW*fSC?3(?QJ89%4q?Ww0&Mf|(9t
zM*3UGb^);qh+T+97ZAIE*agHcAa((<3y57n>;hsJ5W9fb1;j2Oc2O*-d?0oKu?vXZ
zK<ox$HxRpl*bT&PAa(<>8;IRN>;_^t5W9ic4a9CBb_1~+h}}T!24Xi5BS4G*F#^O0
z5F<d005Jl@2oNJci~unL#0U^0K#Tw}0>lUqBS4G*F#^OW5Tihh0x=52C=jDSi~=zV
z#3&G>K#T%03dAT7qd<%TF$%;e5Tihh0@0)vewHw)g-bh8qxUh?&ZU18wNevvYbIvZ
zOw6j8S{1FnGqoDnxv=wK>u~-88jG1)BkV%#_rqTVKLCF*jSWq0DSWvS!=yeX5jVh|
z340doM%YcTa@CNDSvwQ6b|z-+Ow8Jun6)!8YiDZL1M3D@`s69)x)GMX1(f`oVQ+z@
zZ|tN!J7I5yrO&0(p4(yXf!zgrFYJH8{ucIrSh+IX)a05sQ<E#uOiiw$H%S5H6+MD;
z_QIE+A2I2!D)&DIU#@F1wI|@q)lH`MBz(EX$<*kVN65;RHl`*&HD+q`8CA0M8CA0K
zQ)8w^pHU@CpJ*mazY{_Bby&GF$JE}0mFsg%O@1Q4#4M$$y#xOM?7Ohv$T~9@to*!{
z$+BVPN-C4dPllS9&or6*WT=T*O_Sxomuq`WHWI#EDQB`Vu;XNu*#y{W*fRrmCaecG
zAGQ#-4CTy*oda7bxngK<4DAhbq$WdqV|B7*QdByJ6jj<KvK-P?>7O9$!%vds@K*TC
z<x$dGIx5D?J*2wQcf+3me<J)N;ZKG=3VWu&KN|iq@TbC`27fyI8Sr!A&xCKl_rTAC
zpAWwPei3X5?6I(AuybH5U~%o3=`}?i_Q>^Srf7gKS3Q|xK76_M$;8~RDbVjQ18fTP
zJIn){VlmE?tD#J>6uz9fHANGAIh$&VX87opq6I!U6yQ)e9JYhW4%jZ(ZrBKHlx(k-
zLeC_<S_Z6~(dxxhYcCY0m#518cn<94negRWSqoZZL5nP$X+euDXpsdivY<s4w8(-M
zS<oU&lUihHvTazJ)FMlhT4X_sEKPD^X;O<UO>$ysQj082YLNvkvS|K6=8{@uL5nQ9
zze`_gkwy1+X{8ofc!OX;i!5l71ue3mMHaNkf)-iOB1@B6WNA{1ENGFXNiDLVMV2PD
z$kL=1S<oU&lUihHQj08Tk)=s3vNWkhmL|2x(xetyn$#jolUihHQj08Tkp(TXphXt6
z$buGG^h_e_FSW>m7Fp0D3-35AXpx0C9Tv36!ut*jT4X_sENGDhEwZ3R7PQEM7Fp0D
z3tD7Bi!4oQkp(TX@UFyy7Fp0D3tD91y@{nsEwVJJMHaNkVp5ANXpx1tDi*ZJf)-iO
zA`4n%L5nQBXR)9~7L!_JL5nOVwa9`NSxjn?#iSNlOlpzEq!w9BYLUgH7Fjg!L^Yv#
zCuyY?S@iryyg`dBXpsdivY<s4w8(-MS<oU2T4X_sENGDhEwZ3R7MJ~qR+7pxp+&SV
z628<Ti$*|lztkd&#zE4TT4V{SMHY>Qq%XC|qA`*5r50H<GLpX3B8$dH(wACf(I`p!
zQj07aD@k8!kwqgW=}RrLgw!HSNG-C2)FMkrEwY5vB1=duvV_zk3tD7Bi!8i*vY<s4
z-auK<A`9=KENGDhEwZ3R7PQEM7Fp0DOGquUphcFDT4X_sEFrbXf)-f<y%Jhv;f<9A
zEwZ3RmXKOx38_VvkXmF3sYRBMT4V{SMKNem3|bT;g}H<F$l3K66eb2Oib0EF(4rVc
z@D5=^i)?6-jWca%kqs@fp+z>d$c7f#&>|aJWJ8N=Xps#qvY|ybw8(}Q+0Y^zT4Y0u
zY-o`UEwZ6SHnhlw7TM4u8(L&Ti)?6-4K1>vMK-j^h8Ee-A{$y{LyK%^kqs@fp+z>d
z$c7f#&>|aJWJ8N=Xps#qvY|ybw8(}Q+0Y^zT4Y0uY-o`UEwZ6SHnhlw7TM4u8(L&T
zi)?6-4K1>vMK-j^h8Ee-A{$y{LyK%^kqs@fp+z>d$c7f#&>|aJWJ8N=Xps#qvY|yb
zw8(}Q+0Y^zT4Y0uY-o`UEwZ6SHnhlw7TM4u8(L&Ti)?6-4K1>vMK-j^h8Ee-A{$y{
zLyK%^kqs@fp+z>d$c7f#&>|aJWJ8N=Xps#qvY|ybw8(}Q+0Y^zT4Y0uY-o`UEwZ6S
zHnhlw7TM4u8(L&Ti)?6-4K1>vMK-j^h8Ed)F0!FTHnhlw7TM4u8(L&Ti)?6-4K1>v
zMK-j^h8Ee-A{$y{LyK%^kqs@fp+z>d$c7f#&>|aJWJ8N=Xps#qvY|ybw8(}Q+0Y^z
zT4Y0uY-o`UEwZ6SHnhlw7TM4u8(L&Ti)?6-4K1>vMK-j^h8Ee-A{$y{LyK%^kqs@f
zp+z>d$c7f#&>|aJWJ8N=Xps#qibIRy(4siBC=M-(Lt*03qByiD4lRm9i_WK9C)1cM
zLs~jV+Dx+j(5QZme!GNxIfCm)IsK$m7Wr}n*AJ!Yhf?)Jsrt2I8s+tqUNw`g!I^Vm
z=fT#&E+Dn<C%uw(A@=y;FM=O{zZi(}NwOdBbo%j5ryuWh`teSupL9&tjef_L>;~8~
zVd-0jXwODi`j#Q`<@l~2I@S*z>xYi@L&y4|WBt&ve$p{{{tc-AcGw$XZ-TuU_7>P3
zICCfLt+2Pj-VRIOFGS_Y&x!Ywj!FApu)l@9ANF^+x(8tCw;Sl32VwW1wh!Z+M}V~#
z{vY7e_YTpSkHMFtyna$Mxkrxj`bo{CFGqR(q-N5Wqr84nGwDAE`#kK6urI;V_XpBZ
z`o=1<^!<Tk<&#xEshRZUD6gN?O!{xbe+RxC<@J-A$^GBRnv<GIn+BT=D@S?#q-Jyu
z)U2P>O#1S(GySAy(wC#Weo`~(k4COBu<{wEpVUm+NwQtBqhP1u=nUAIupZca*g{yj
zCZwPAjamrlo3wLaD}jRcN%}^u6#CXr`X<rqfF;**^t11!rSGVryqtaom8=dcM}_@R
zzkX6bx?WO0%1i1;r9u7rN&V!W<?<-0ANizybd=Oj`fm6W;7^2qB>c&+M`6zt_(#J(
z2L4p|)8J2sKLdU){F(3#_#XIq@blppz%PPd0(&fM8SEU`3fL;xT6yiHezLZ5RM=1I
zCw)08>?ie;z8n?yL;d<m{p23`xtM-ZKk3U)$Mlo>NnbvR^^^KZUp|TTlln<tK8f{{
z`bl3tiS?8ENnef%`$_$z?{L@-COcreV7p->uu)jKs;8e?;xRP$lmeR}Eoqvxnc6X$
z{C7B8tTA|+RzRuaGcBFA9G`1x+HuMk+F@F?@^$SHtyTFcT9y`5zDpafou+&mdusj4
zPt!(d`<0)m9j<+${46b(4Of0P`Nu1Nh&Gk=X!KQAdOFpsi(RgKrcGi$DxYgZ_>syN
zS`qgsUmtW%igqaPRQp}pM1H#RQ?>1UoAT4NqeZpyGqn<tz|GQ{#f@rzw$`jO<qy#o
z>C2QqOglvXwep8+!}Le0!kyuGcx|ZN-5!hw-EC&?npn8AEAHOm&NDoo>F&9v*%=AB
zE6rH184Je4W;EB=8;ZL9!Km#I^@J<TNV_N3W6biD`zvS3L-NRs#G&N5?!=zOp_omj
zxMik)b9&fz2i@^luszfhjID5+9f_I*qwVgV;2QVxkUJLY4BPQgjA|c_y4ymrc#zWW
zzF63954Xv>+PUR+TPWHdiVePku6Vrn*qJj|ty+~EREOK>`f}UMo|*sdSbR-ys6Awd
zJEL?Bxn1#|NJE%Pw+X)w81b%<ySz8pMu|Ey-JQ7Jyj){&**GiLjCIb8IAz!~8)_@7
z=liQ?(3x757S=lHf1LiW)k0dk=BEEa+76P}rkPr=wuYLqJgbZLy0snjKTk6>5B*Ii
ze=eP4($NUzc59X7$0(1qvXn4+Q7u>V(Y_FQZp}~oqnZsbr1j7l6?9I7P#4k}omwCH
zLCWo+Tpq%iMYf!BRg#w|B~iu<+W*rs7Snc&N_TMG$x{Av&cqpmYZyj7B@=O6Pdm_L
z?N-n}Q|lo6)9aVlCOPb(Ygj|+a?0VR^W~Mv(&DI}!*dvXv|*3r+u80W1|;7$l@q22
zBsjE*k8;{8&zBhTI{y{lGE#A3{8()!{jI`ZE+PChw~VfgRW9P(LudYP^Tp{}Wqf6=
zB=?<ELnjWoD6@xR+JLK(b+>V*o33-<I^uMmWU8FX2~vHWt)J$Rt?lRW&7;~I|FYf#
zW#!^pJLwuDKdFaJdm8AaM<q%4d}>YAwA9Wi^Ox=6=WUG?m^*igA3LZi{F8rTC*w>o
zoux1rOJ!*+on^30mc_E!5H^$zW5d}YEQgI?BiSf6njOl<u(9kgb~qcy#<L@sn@wO7
z8GUY#(Wl1P6m~Q_hD~MD*mO37<+7Q~U>=so@>u~ZWVFJSm9SEFESts3*l}z&JD$y9
z<*b5LvMN^1YS>&hkJYj|R?ixkm(6EBwtzLVh0M<uu>f1lmawJl1lGh(WX)_DYhfp`
zRu*K-SsQC-A=be<Sr-elZnlC&SPzRbll3x-#hA_FtdFf^tJrF`hOK2Mvs2iq>@;>d
zJA<ub>)8f&COeC5WSiL8>>Re4oy*Q+=d%k~Kik4CWEZiE*(K~!b{V^zUBRwoSFx+v
zHSAh;9s3pA%C@oV*$r$vyOG_*Zf3Wz9c(ANmEFc}XLqnW*<I|{>^JOgb`RUd?q&3Q
z*z7)bKl>effbC`vvOVng>>>6rqhF?Ee_)TY$JpcS3AT?t$^OWmVo$SY*t6_8_9yl{
zdx5>k{>)xtFSA$JtBihKjJ?j@U~jUw*najldxsrh@3OzJ_Za<(3VWY@z&>PuXCJYT
z*(Z#CnSy=BK4)LBFWFb@YxWQJ4f~dT$G&Gjupha`8Rwk7w~(iB7f<DBJe_CoOrFKF
z`4B#o597o6Av}kV;3N4cKAIoO$MCWIFn%~6$H(&{xSLPl6Zw&R5}(YE;#2t1{1`r!
zPvg`144%tpa)Wz#9?$0mypR|1VqU^a`LTQ!FXPAY+5C7uhnMpTUdgL?HLu}w`8;0B
z>v%nH;9fqT`}hLh$QN=yU&I4^F<-)$@)LLyKataWcizHJ;;lT$m-9B>&O^L|ck(VC
z=G}Y+kMJHI<tFdt7LRe8$9W%L$yf2!d<|dAPv)oaQ~7E9bbbb3$Jg@>{7ilp-^e%d
zv-vrEGe4J~$Is^%@P599U&t@w7xPQ_rTj8}IlqEm$*<y9^K1CE{5t+CzLjs|*Yg|r
zc77wjiQmj`;XC+Fek;F?-_Gygck;XVulaBI-TWT<E&6-uH>rQi@8kE=@4i03ck>7N
z9{zj&5Pz6{>vJ#tYUZQ-G5$Dzf_^3PN&3~or})$S8U8GPj{k{2&tKp#@;}qB_q|NN
zX!k1pD%^kb*ZCX#P5SM${q&n!@9+ckD?@+b@A1F#zw!6^2mC|+cm5Ion18}Q<p=p^
z{B!;V|B}8X{cHXY{tf?@f5*S)KhXD@YJ$;MR|@(TzZBu3Z(d6i=^}%^M=MLv_a)J{
z3Jnv(#UUa`jG%AS7$v{qL5vY&#bM%b`V9Vf`W(1hOb`>rkz$gVERGUW#L?myF;z?x
z)5Q#tD`pBqctoDa7X_kF6p3O{B1*-vVwNZq$BEhEcrizmiwaRGszkM@5p%^nQ7h_b
zb!3C^iuuAP7Klc%Q250n5fF>T5?VoW0<G*gQ8bHXqD7n}T4`m#a?vK*MTp+IchWoY
zu;>;mL`3w6D7~xcr5Vncuti+-iIrlNSS{9wwc=!Pia1rACQcV;h;?GU*dWdnXNiqs
zlQ>(PBQ}e3#d+d<aREJtZxI)Yi^Rp^5^<@xOk6Im5Lb$;#MR;&ajm#c{7P&U+r;(a
z2C-e-C~guri(AAFu~XbCZWFhQJH(yhF7a#e8*#U|N9+>!ivJS7759nz#qY!eVz+ou
z>=C~g4~d7xBVw=kgLqUtCLR}0h<)No@kjBLcv?Ioo)yoDKZ)nX3*trbXYrDFS-c`%
z6|af^7O#sp#GB$Rv0uC`-Vq1HyW%h6J@HrZH}SssKzu0vE<O?;i%-O-;-L6Ud@jBa
zUy859*Ww@I8}Y69PJAzZ5I^dg&UCH|UDs1|m!7Jp>FIigo~dW)+4>NDs6I>|t{<Z3
z=p*!z`Y3(0eyBc1AFCgxAFhwn$LmMvZheA2Q9n|jq)*n5(x>Q0>&NI*^=bNaeTJT^
z&(sawqvz@QdVyZ37wN@%iC(H7tIyKQ^yBo|`tkZ4y<D%*EA=Y9TCdUP>httky-u&!
z8+5NeU-#(?^hSN5?$;OT0e!K)L|>|(pf~9!>dpExy+uDsZ`FhPa=lG&*F$=T-l=!#
zVZB>lp-1!{J*t~}uWsov-PYrJpT1IGrLWf4=xg<p^;7gy_0#mz^)vK!`g(nXex`nw
zzER(#pRJ#xZ`RM%&(qJ>FVOq-E&7G}Mf%11CHkfMW%}j%75bI>Rr=NXHTt#sb^5RL
zt@<|odi@4{yMCj7lYX;)i@rnOso$EK8#UwYp$<LT7l{muno;@W9*%a#Lh-&>G{vSz
z-jFM_x-AmyNwfOQc&L4OBqQ3_vs{h{I-{<3GZG2LQhP%&dZ>=42Ybk~>2W_3C)-p~
zB$VD8jD@0+P)9ri9tJCEK{*Nt+bi_mNS~cTkMTW0SJ#@}u29rPWrWT46gv{MyY#i8
zm?_L?NW@o}De<mYi1;)6VtPk-Wk}fJ)hTvpWhj~wk|Q8J8jgmjtcV#+w`rgQPmhFb
zJ0)cG1tY0+T|t7SO9|O>tiglvpWoM0YIB2;_<z2)XD*Kg+g60)^19NOlZ)zRslB+y
zOd6?#!)@VMTVGEGMjJMbSwbnDvEa(k|K@ohU6vk_h+=s#mVqrGWdJE2j<knl5SP<s
z$|xdy8BX}x%~erd1}RMvAEBdZZGABcOxqf<CKRQj%@v_26`N{@Fb+#=57RKs4%_L;
z5oV?tYwsXlCC%BLec?zX)MJ8yjELD8ZVN`JHKq1N!-i2_l`$~XOE*_ivyj*BY7bEi
zs7X-JshmDLlfr8EA>y%Ygg3F35^U>>hj>q)Y(GKbthZ~3(=y~$$Pr{}Td1At5X_|J
zk;s)rRqP=)`sfNnLy~oLSfcZ&8N?`aD!E<3NQVQdcG_8qb|J}fl_O5Ba?~TU+=*jH
zB(&O94yMz~6AY!4$B0i}UY%B{s^qG6GFLm9s|PZtS0{31)Z!f3+%jr$o^*%S4xB5u
zvuhLQ%PmnI?{dutyvyf6_#6n|KsJ}psh=;AGp(mD5)b!A*0_9VrLKUJHQ;0o3}j6Y
zB=WdUz`>M7U1ltr(HV;MP`6$lv0XA0D?_fJlQ%e!*F{qe)Bw|ii6T;hpd}beYfI2V
z(U+M+PUg@+=5z|B)7)HP=bW%}j_N;>_w;b$91$WKq7DtFbGqrAZVnXbGM)OEiCnJs
z@XBy|$YnYt^f?*(oQ!<~8PofcIo9AH=?;;Qz9z9dwY(?T7Bi!%K__*UQ;(CJAW1DZ
zJE?iCNDVrvs}hB{+8m(D0ievb0bj3dH{*I68CPXnkP3ITIZ2h1v?sP=W-#t*C-`7I
zwOZAKCR}8FT-8oJLP#>IsjwhXAB|^(l5T3Xs$EFcuG%R$gd}tBK#ejx2YlCDr{qo~
z`dnGpPBK|@q1+BiR_CCN%y|R3GrI<SeI99y-X-;`7V(kI+C>vu)O0dyo$HXhQp1j)
zQ42`tEV!AqPR*UO9Dhh{@&e`VG}@A~A9mH&$!#9)&a4}#LuU7YpH)Ao(pf8hvLU4^
z8liR{ZgVv_L5v{DY8ZT8WYC7I!J#vPL~oEpMaZ}soJJRMlKD<)QKz)|g9^xs4%%?d
zcS?&o!HEWYO*<Yl=`Ja%qn#oY?M(HlCSa;2;Bx|HBFXl3^+h{_vA&*2urHo%4&LIv
zYHo&H3!R$KjfK=UYvCa9tk|Fp*FvWzF(>gmxojkv{sB5O>6Rz&ce1~x`Bk@1qZvCW
zwaf2hw~=Hm8U&CPAGG0G<eV2rqA!w7CQil`aQb{7lGK2@_C9s(0q5HLkfa2p`lQgz
zVze_mF!;)|`vz~N22_XWbJENu16Po_YLI`zAb-t(pMF9@7F<mZD{GNtG$os4#@eLo
zYI3e@Es_*^Qt7l^9TAginSr~AlNZVfH?`ckholCTXgU&(W0{VU!O!v!;xCJCw)8-y
zI{!djQyg%It`yLeo~)WKnQ}QKq=4Y8!91nJ&8TT-CoUFS8Re1Qt{~j>Al>`v*(4my
zs_wPJbYa+?RvmYaXV;P#VVCTXSw4C?BgMjwtiYfQ8NQxSr*q=)FlG4(UJCH^icmb5
zGB-$9h=+~*(t=clsW;Ifx=9A<zC~V|1eJIx^}*iWAa&xN<?TW4?c?+N_|h<S9@K&_
z2#bYXW{N-D*%K6tf_<r~Mq)u%SX9#g1$NkhDlZ)-%S_ZtmOWIRoY<EUOp=ln8gyl8
zR3V2dd0p^E^f|{9S+O$(`Ss;=dP=9f$dvX_BpysvWziEcU7|clQ`hmJE(=Rpfy<+(
zbh<pJq7{`q+Q(OiQ%!Y^y<rjSGF|l8-V^ksAQ5r8R8<AhOPAS3|EWePri?+BEICoL
zp+Bo>mMYc>pgM?+3}l9z9_$E*J%*8&pYRGjNiQ$y4IC}VRyhg_C9}z`BDs}3zc}fY
zB)!svS7ao;Bvw%Z%TrL8IO<83;z^d`NtTkAEF~{lN?xKABd;J)N?x+OyrSg3WXXBS
zlJk-!=O;_fPnMjYEIB{PMSc<^KZ%i_#K=!#<R>xmlNbd_jDjRaK@y`NiBXWm7~rKK
ziBXWmC`e)yBr%GTwJJ*HC`#riO6Dj^<|t0qsyJDf;$&TllXWRhmRy`Hxj0#JakAv%
zWXUDTl1q};Tav^mNn(^FF-npcB}t5uBt}URqa=w@n#3qgVw5H^N|P9+NsQ7YMrjhG
zG>K6>P)Y)WdWvd89wTwoV<a#<MgqfQBrrTi0>fh@Fg!*A!($|_!(${dJV}g!Iu|DP
z8KotzCC+2<DkoWjn~Q4|lJq4BIY?iX@LVT2C$4c4dT~dic2}rJCb$~v{zggm!0?v_
z5$Tv6z>EMqjLwD(Oc^W>+M#Uc2t8KE=w%&^%$&&wnaMds<se`3kj&+34|dX6CEZEr
z6xVW^*a*ebLXk+Al+DhhAtXJ`_sK~LmmGn{LoOQdn$dO)Xfb0UF)(z*7C_R~AbNQu
zt%Dww<lI4eG%@B(p<U57=VD7r3p_M|VM}GM?u(h&Tja@8U5Gr@q>4QGg?Z`8x1}k#
z?WN0Ui5{AwXiujR1m-llvM?%kd^=N4dni8(GarcqG)RtzgOT=dM@LE(?ial=v%Rk^
zo^JQiJw(<x1tacMdO<6P>S^I<2aV+8YsiVqaakmjZXz*rHKt0^<lS7(nWW3-Xn0v_
z_5>TL5pyj)eum`Drl!L1s5CFTjb26**KK&XNIZvk55t4UpofyoLH_VTeoWpPLs@dx
zCqZwPobMUfAOaE_nKb{C@Uy{2atpL1wzA}eMPftNG|w;$m7?afou{_*Ra&6ZLX{S&
zv{<DjDlJuMxk@W!T2oz9gS4imQl(WgH9R%IHS#L3-^i~5KBd5?6gZyh{AzhVr6|W!
z?bMf2obRbAaLUW8$)~n%hlA$oFmC)53tR!E1t~r`Y)vs?1F(J4q9*xHiAKItBBl9y
zmuaq$AzL1bn5%GBfjX<eaPSHWo%$CPs_i1RUF2LxL6LJE1x2WZQBVXPDFu&|;`%5B
zkCcK(O2H$g;E_`BNU6h9K~Vw^ywHB|ViXiB{9=V)tniB!ezC$YR`|sVzgXcHEBs=G
zU##$p6@Ib8FIM=)3cpz4mni%ag<qoZOB8;I!Y@(yB?`Yp;g%@e5`|l$a7z?!iNY;W
zxFrg=RN<5=9C`$n?W>?v;gl+zQgxlB3a?b*l`6bag;%QZN)=wI!YfsH<?1@i)peFD
z{Bng~uJFqhe!0RgSNP=$zg*#$EBtbWU#{@W6@IzGFIV^#3co_(S19}ng<qlYD-?c(
z!mm*H6$-yX;a4d93WcxwV?l+&uTc0EHJRYG(vXj!4#$<M4wb47m8uSvst%Q^4wb47
zm8uSvst%Q^4wb47m8uSvii1j3hstV&T{D1PrFc-fQJ{3Api0%DO4XrC)xpsdqo7LF
zp-R=EO4XrC)uBq&p-R=EO4XrC@ld7WP_6K*6$jOdgKC9et?;WAezoGDTH#kK{Az_?
zt?;WAezn4{R`}Hlzgpod{Vb?a_%#Z@M&Z{e{2GN{qws4KevQJfQTR0qzeeFZdTkWc
zDEu0Q@94QvsPwQ<sb-;b-=O^texc#u7a9(Jq2b^c8V-J;;ouh<4t}BG;1?PWexc!9
zf1%RbLc_r?G@R=%^f>$%dYtPo^f=dF=mEZ`+Ucj1;y9%^PHEye>POqCAEl@trKlgJ
zs2`=MAEl@trKlgJs2`=^hf>s!Qq<2=?etSh6~5C?X<Okt{gk#9zSB=>Tj4wXl(rSV
z(@$wz;XD15wiUk9Pib4>SAri;wbMr_RoCzIQQB75@AOgHR@YxyEc+U5mn8Zc`K4-K
z`JjEO9!_7Sb5uPl6%UoF9!@{?R6G5YQdJM9pVGFfhtp4KTh+tqr?jo&;Pg}4R&j9p
zDQ&AbIQ^8i6~5C?J=IP>rBubi>8G@<;^6dC+E#IJ`YCOzI5_>3wpARQeoEWw`kj7C
z+v@tAeoEWw`kj92sdoA)rRsW}eo5QvdYyhr+v<9qewk;e`$E1^lQS@Vg+T~CEG{3k
z55o?*?~sA><a5l=PQ!eb+&2Udrpc0=&150jIGV`s986{%mUy<6$K@blcw)zLdizNG
z0+m1C(@>d45AwOa^vX0<KGWu!woC4ygkF46l7^>ya#H0}E>e2HmB;DXRvyP=t#t52
zD^HLQvy}3V4tYDu^W+(6ixLy9apk0R$|gH>&<wuZ&TyvhrJE*a@1-+r@T9%m!D?O3
ziz%1$QYv%M3#s(v%P5yKd7r9g>|M?*eX5$8&ls4F=e2d|a>fi3Lb~*_q)7}P)qvM1
zObld=LbME{!0E}9CVIANA(iDCt>BfbhBJPo-=)TC-Yi-$Hj4gpxg~ax)oF`-Wix2C
zagoL%!FZJN4b!;S*WlJhE%bTav{G23a_HY+o6Hww2Y!+7XymIvj&xd?o2F&b`9o-3
z@(69THWvFcs0J=t<(x&e7)mRdM{0-C+GdH7L93-x$!1e+hiN%f?=e(|aglImP`eBE
zUf2gB)M&JaVIPNmI%2j(v=?AsHRaK_VE+pHiEL!r*RVfG%XC|YGXwSz*s->4c-TbP
zsjzuu^VqSlb6{)8=CcOag|JKGva}Z14%jI8k?W@AO6~!h3V*Oo!yajA2^Vqo%QO)y
zCt}jdm4GsK|I>6J&I2)*`xr`bEGO1oD06U{LF|v$j-rK+McQnwhL$ZZ)>>4q1u9*u
z(w!=ORHYxO^m8X=!&Ev-rFl*pWb^1chG{7S>vL#3MXRGfO?#967_D00Py61XKcT%#
ze>!dDQd^p?T|lebw`dn??`t1wA8DUx2er>>RbeNs58TGCrxjQ)(`ux-bT*?kKRa-B
zW3`Nbwn|8zLv4-PI(g1HKVL_5CLIxUP7a+jlFnqb-e^5VSN1gWDL<n+Avc{fg3cL5
zt^H7Hy<@3mA5KRYA)f~X%0XvP4$7x;koWI$4AFGCiix?|1j@nLBsQ4>NNX%*xw7w4
zE##*FMiA0O?P&T23_(jxee``8GHswwRB^4Az9WOvz5=oh5}l67f6{Z>gEq2-wnt#E
zHgd7Ce&j+|`qYi{Hhz`OQu)^PBP(gw@tiSFrjhPSnKnf5u_>AnbY)C)(bCiP#hmF|
z{YIlPebAo6uOENL;aVB~e6&j0#v1Gptr`wdqoO}!!l1(R5wp?*rwmy=_vGi#x%}CG
zT=dOH9e2;#vvvLOWyX53)>zM%ZxwQ_<FJy+FMacM@XqT#-}2s3yZ+qtqLH1fDodeC
z`B6s^&|Nt^;P;F+M!IMtBWDP$UJuiojOcWCZL}@dGtD?g9uPSb69?Rj!aX6kKTfN4
z=#3Ap@{g^g_3XC0vfLOyI@>5Viahk3EB`f(&ZgT-k*6Rpzp%8hw8?1xAA%Mbc@F5b
z{{$*)N=yA`xaZ~>>wY!(B3X(i)}5~z>(1fp)@gfp9b7o_fwMQZ9y6-$#F_OMuGn<p
zXN8NF7QX*nQOk1g!o~vY;gdVYo%8tXQ}=dfd|CX;74Zwdyy%X*cCEbZ(;anf)pK)K
zWL`ACe%g5-Ev-BEh13IMr+>YE=h9c6s`zZi@B7|3|JKJY7<W~qA??!fZ@l(#=l<Bk
zwGUs{TDJe~2S?q|wmLlG<lAR(L5=8!b$g9<4;clnG-?kiDXEO<M;k{OlM>qo+jyw@
z#DLjm_vX^%WtiTyMCHd6j4WbgTn=MD>fF$be7SXmKHZpV9KH3Zt&=uRR2kc1k)Pz7
z8Mo~jZNXgHZ;X<eCd(qSjEn@RNHd1W{X^w`U2xa$jq!4OxK3?idyX;OGn8mW6L2l^
zmwRU94Q82|l334}w%`x-k54+|%>&t!9)4r&ueb4SH?5zMwPEDC;*9k}rr*^xI=JiQ
zlpoH1?b8b{ynFH3IX8W9(Ss$Wcl8y;kG;Zop!ohP&)Iir#kjlfdu;3ZOWykC#df`-
za6Wr3|N7C7dv{KG?BM>54ZOs=VfCZm`QQ5BE!U>kw_kQ$OV$-{-}vC3^=CcOy8q4F
zkAC^F8|&L&eeAFkci&c;_F~DzZTaWU+<ess52Q{wzN$Pubyw){Ne|3>zUqt*wmtI%
zzh}fViyj+w!x_#0STlQB?9{VIUpKw-`hEVVPd)C-smK1-cZqgmPsWC2|7h`le(2px
zhW0-4?H9LSx^>9tH};M?qxFfQ)1n*oPe1s4^_1sQ{_s)3i7ofl<{iwZ-nW<j&rrQ@
z?w&E1zIpz_n#!+U>zSAB+5R)ijCJP@>IqHdo{>h5q&O`nYYENahGJ27Ww1Bo8DShE
zcc<oLR`tb}2cs+HnyExQGICstx`M0XA<sDDFnL;L&Io6RyOL(9!yPnDE9Y%JM;POr
z_>EGBWe2ts{a1C{eCnw*U6<&#ax*{CZU0ZSVm+HUm=)Pw*R!FTv7Tjc*`jvr`_1-0
zKIOhM<J5C*+tl~TJ@Y?(^P!=8I)l4!Xg~bb-~D4>{;g*k=PW(#yw_H|UUc2iJ<ol(
z`rxXYPBY8)TzqHt{av3&F4?zx;f!179rwk(FD^UjF#fA=X08~&{i_?Ux@qj=eE;bU
z3*Q;i`r(|zPrEPsjpHA?=gm#KPg>jU$rV?w%eiH)`)QAzy=2Bys|)fkJ><$m?t7za
z=FY#o^YG^Lrap4+giRg0H!NLZ_U$R#dDNz5`-Y7y`_-B6FM22=y7z}a)V+RR>hQ}a
zp7Pr4DbI~x{o$`XPkj29iDO>dd-vSRtHz$Rb^MkCEnj?e%BQE^x}5cY;mv&G*@=s9
zx%8<!&R%)PNB3uccEJ0})^EGE-Z5g<-J2fzol=a~jCC*nFBL<!9Y-<J3>Woo&NQQ3
z?mI$1)+jNGwiay7+nD%>(l2zwX)A-9N@Y1zM7Gp%lmDHBFc)bWB!pV#_A$ojMEe#w
zStKFU&`M@_W)$WRj=vNV(&@St|9F4t!&QfS&RKKiw9EFazm5I*@P?=E+PpOSX4)|~
zv^>7=;+*&Nh1nm^oibA^x$D3a7tg=yg^9~Yesz5D1YfV`j8D%k*>v|`|9ZLh!!v=)
z=1=<5jw$ok-tk|-^3SF|{oWI=w7mYiX=lyeb?vTK_AmMI!F&F2+857cUH8f5KTLam
z*22RME1B}u@pZ;}{X6;}QvEoz@TmR2$vt%c2}6%L>$ZvSHUF%}#z}*^@xQx^78`{`
z2=&n1N?Mj`yYt-(`j*pc4)=l>y|9U``Du@Jm-opfWAt(bchpj&FppmDCAy~Eq<7-Z
z9d+Hk|HB$65y;FLHE>If_1SUv{16Q#V=Fwfj8dnHd5dVZo-IFr*Jp>^!MI!AS#0&`
zxxu%jnX%rW`{=e~j8dvyuFNcQrX)*GTxg})PEQMT7n2VQ^robAMxK0B_)p#c!On5_
zwC<$U5{pNl((y#g#_ShAz3pae!v*J_^EEAA9_hM&#+ef?J@DK$3mU%t)5P7c9{f$=
ztnvMiq<{NePHxklb51#K*5vVDezx@FYd&YY9?kge8BaerB_8aY;_ZI-!*#)>Yi@XJ
z^sqxlPPuEpx8U??bKO<<z0onLWAjtK`;YiT$>WQ*?2mmprlYU>zS^#5O4elWG;Voq
zdh5LFUfMZ=?bz^A$%RH~&Sm1*Q|2tX_x87D9=74XZyCODHoyC&Y2Qz{_vYpshGy=#
zY1o1x1-agvpMIic@(brZ@LBYfV;*43zVmEqdhxuoI+vb3X6v59Pu`z)!-V&?e7WJ>
zTmIg<y5;274c{-xTvndlwy5>bl@mU8y8n9i8Zq?}ZUaB>%Du9Sx%IHoX@p#vtsCdD
zjbB%@)X~CNY#g1qyK^?`@P8S<wqDzqnmm&m<H!E%b1Bw8eNLcG-jm47vh<*F(zaz=
zPc%+2mKcFi>C~z_Lo++W9rW~igpsNqhV>Es?>;|v<89|(u;P(t&ggz&-l5Y^9+PWK
z9(AO8dZBf|=1(7AR@&GnOOkgn5}r}Uhy*S@t*A#SA^w*l>5+vVq0?iOL61>eCvHS@
zr`G-pLF{b{=0gDG12H`wO*Guw#~X)x#u|sx4r=?u(d6?hlLA-hRCx$}q+rD5&#t)T
zsNTo79e>FYX*2c~UcG(W_=7)F6RCgair>F}$;;)}2g7%byk+%c#-m%xPOJE8(!B>Z
z*rRD3|FCPez5UI)nIHUqU)6iDw-($R80Ov(z3id`S2cFuQ|$Tg8)tlQp7z){-+SJ?
z`_KA%{)69i211{7Ke%>Zd&$^g!&X<X^nA8)tr*(+@ZHO<{qo$7mFo{XVgH7Ach}xn
zviRLM%2y3pI@DO7l0(li-zxp<c;}POHTy=6>RI47&mJ>&!_R7L{C_JyG*ThaD$Xk%
z&{bMzV3Z_v_1T~5s%&%=<g}b@FX=aZ-j}p79=8+EVyQW<CFXMa%!7woggh~0#7HkK
zc$1$WcGDzRrxZVor)C>v@_1%WAwGy5jJRv7+zG9m;r7ZEWwzN7cl*h#qK`hf7Y8F@
z`lvQN$+=hNc@D)>yq-B?=ptD*eV*F+jJBOX7XJeI-wuy1soHvJ_>@5Qv#*UhKd*3e
zL;kHT?rjY(P2E)T(iJz(`D9FO=EU)S-@}zR?K^kJ;*X>AT(_i*EFIrAYtkWG?z`fd
zeQAZK#@?B`<oh*GZmxT8PVbDuw$tx8<C(p8zWnW1PkeXI%P(!;`da$I>kpp%@l$;d
zeHB{JKJnV!r#^7|Z|ncKw0em5xf2?^3ANimYIiyfcd3KrV4U-lp-Ji)MwL8tgnpbs
zx2vtiTMIYlC&oQ?TRsg<<n3j~FS>4}zcO(UJs739ol<@(oumT^N%^<ZDdq5=JO~M+
zFOi)FcT$@FXM?-r6S)ljPp>E#4*paYe{w~km~n*U<w%`c#~J@zYKFVgom)f&Rg8vt
z`Y>up1M?Dx>3Bxe=rQqUeH_EP`G1+X>CMjak)z-K(?_QbdHUfi|J=6wlU*0T+Z|iJ
z|BFABm3(x|acL*rKX={wlTNI!{d}DJo1qt{KRa&B;;PZtpZ(dl=U;orSJ{Pclx5vk
zbxCXW)T@8E+H9Eh>w?bSVH<yJDs66hC$j$5!c#)^-(S(QYvd)h*PPuu?7`!Hz5LR9
zUc2XoSO0o#`IgguIQ72m7kv;tIC1l%tBSmvn=<_=p690>edogc=dWF{YgN_mtlK|d
zHhKCxPi;14*Nbb`?7M0H9hndRaZ+mLLzk@oa@eQ$Z@KsCt6pv{%lY(u?mBdex9l7<
zfAjMj-}u|o{J!HpxH$ZFl{sIFJoDmNuP(mns+*2~vSC8kmV>SL@Bgc7S?PqFyuW+a
zi%ycoHqMx_?#cgeWseX0g`f}2Q*G@vh7D>FSspphFeW)`lrB73gAVJYa|6vM(=&u7
zC<eAi8b=Of)ID_n+fdG4IcG%uosS%R_M``QZo6l5efzhATN;i3^mS)!{8lXeerETz
zS3hvqdF~^}9o*OWsCUwY6VJN;gX%Z?YYsfAeRiu}ozc4a$?uxY%f@y6?aSl$?)mP=
zQH5;y6W^7ZIg>V5X7)e2{nT|Uw|@HNw4CVWhg7Zk-3z<StOJvtdo=&66+a%8zOXCx
z_d{RUx*~7c^b^N_I_lJq_Rha;L-nq`M=tc;UVQX6DL?Dk$pe*ldDgQC?dp=D@BBZR
zHv1=&b%Ua^j2<r%lZ+ID%;ZKYqYxyIq<DtXEsa+68HJvrLVD5L^otPez3NTh<b5|C
z@yeFZJ!fw_<eHrypWFD$5InT(rVCcxc-dLK)1F?Mv+jpWd@mk3S$}Ql(35tJEOOoc
z&D3{)Q}g!juG+`?)}EVv!QUqC&Uxf-qxX$J@%6=z{%%Lx3A^`f`1S3%-n&{}-tf*z
zr@nFa6_xLucVPF(doF%#Ti(cTR(-x=>jBqCjVp7<K6UB3VB-}xtl4oOdd0yJXMeS}
PrT&3SKR%dtrl$Qr=srE0

diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index d9613df0d..04ce15ef2 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -45,9 +45,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   });
 
   // load fonts
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_bold.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_semibold.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");

From a0c114b8b073f59cb44c33fe110be227d52c6344 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 22 Jun 2022 13:51:37 -0700
Subject: [PATCH 051/435] DM: track RHD predictions (#24947)

* driverview

* auto choose

* useless

* remove

* modeld not use toggle

* remove from params

* Revert "remove from params"

This reverts commit a08df0b4921e03deac24f4da2c0f1e9e9255a717.

* Revert "modeld not use toggle"

This reverts commit 2730bf8f57c8b057db2e4a76541e92880506cedd.

* Revert "remove"

This reverts commit 21f7cfaaee5452e53ee719762078cb153b3cc766.

* Revert "driverview"

This reverts commit 222d129711e6aa34c0468294b94f60ebbd1bb126.

* semi revert
---
 selfdrive/modeld/models/dmonitoring.cc |  1 -
 selfdrive/modeld/models/dmonitoring.h  |  1 -
 selfdrive/monitoring/driver_monitor.py | 21 +++++++++++----------
 3 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 8c7e14edb..e7e6d4661 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -20,7 +20,6 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
 }
 
 void dmonitoring_init(DMonitoringModelState* s) {
-  s->is_rhd = Params().getBool("IsRHD");
 
 #ifdef USE_ONNX_MODEL
   s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 874722cd9..ae2bf0539 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -38,7 +38,6 @@ typedef struct DMonitoringModelResult {
 
 typedef struct DMonitoringModelState {
   RunModel *m;
-  bool is_rhd;
   float output[OUTPUT_SIZE];
   std::vector<uint8_t> net_input_buf;
   float calib[CALIB_LEN];
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index f2d052442..48d4303aa 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -120,7 +120,7 @@ class DriverStatus():
     self.settings = settings
 
     # init driver status
-    # self.wheelpos_learner = RunningStatFilter()
+    self.wheelpos_learner = RunningStatFilter()
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.pose_calibrated = False
     self.blink = DriverBlink()
@@ -137,7 +137,8 @@ class DriverStatus():
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
-    self.wheel_on_right = rhd
+    self.wheel_on_right = False
+    self.rhd_toggled = rhd
     self.face_detected = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
@@ -225,14 +226,14 @@ class DriverStatus():
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
-    # rhd_pred = driver_state.wheelOnRightProb
-    # if car_speed > 0.01:
-    #   self.wheelpos_learner.push_and_update(rhd_pred)
-    # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
-    #   self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
-    # else:
-    #   self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
-    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+    rhd_pred = driver_state.wheelOnRightProb
+    if car_speed > 0.01:
+      self.wheelpos_learner.push_and_update(rhd_pred)
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    else:
+      self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+    driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,
                                     driver_data.readyProb, driver_data.notReadyProb)):

From fb949779ae151d9597cd70b5435f87edbffb1f53 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Jun 2022 15:13:09 -0700
Subject: [PATCH 052/435] Chrysler: fill cruiseState.available (#24907)

* Update some signals to unified names and definitions

Co-authored-by: Jonathan <jraycec@gmail.com>

* steering looks good

* Fix cp signals

* Do steering signal changes separately

* bump opendbc to master

* fix

fix

* check available is true if enabled is true

* fix

* already added

* bump opendbc, better cruise status names

* bump opendbc

* bump opendbc to master

* bump panda

Co-authored-by: Jonathan <jraycec@gmail.com>
---
 opendbc                            |  2 +-
 panda                              |  2 +-
 selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++---------------
 3 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/opendbc b/opendbc
index 5e2a82026..e7cd3ebc8 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
+Subproject commit e7cd3ebc893047bf6eb947c60d8e3196b506e8d3
diff --git a/panda b/panda
index e1b2f1253..4bc85ad40 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2
+Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index e3ee4753c..f71a30026 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -18,10 +18,10 @@ class CarState(CarStateBase):
 
     self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
 
-    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
-    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
-    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
+    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
+    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
     ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+    ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("PRNDL", "GEAR"),
-      ("DOOR_OPEN_FL", "DOORS"),
-      ("DOOR_OPEN_FR", "DOORS"),
-      ("DOOR_OPEN_RL", "DOORS"),
-      ("DOOR_OPEN_RR", "DOORS"),
+      ("DOOR_OPEN_FL", "BCM_1"),
+      ("DOOR_OPEN_FR", "BCM_1"),
+      ("DOOR_OPEN_RL", "BCM_1"),
+      ("DOOR_OPEN_RR", "BCM_1"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
@@ -97,8 +97,9 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_STATUS_2", "ACC_2"),
-      ("ACC_FAULTED", "ACC_2"),
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
       ("CRUISE_STATE", "DASHBOARD"),
@@ -118,14 +119,14 @@ class CarState(CarStateBase):
       ("SPEED_1", 100),
       ("WHEEL_SPEEDS", 50),
       ("STEERING", 100),
-      ("ACC_2", 50),
+      ("DAS_3", 50),
       ("GEAR", 50),
       ("ECM_5", 50),
       ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),
       ("SEATBELT_STATUS", 2),
-      ("DOORS", 1),
+      ("BCM_1", 1),
       ("TRACTION_BUTTON", 1),
     ]
 

From 569a39ff768ff1704bbf478719253b365070c98f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 22 Jun 2022 15:38:38 -0700
Subject: [PATCH 053/435] CANParser: invalid until valid (#24945)

* CANParser: invalid until valid

* bump opendbc

* bump opendbc

* fix counter in sim
---
 opendbc              | 2 +-
 tools/sim/lib/can.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc b/opendbc
index e7cd3ebc8..82be71072 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e7cd3ebc893047bf6eb947c60d8e3196b506e8d3
+Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 2b1048fef..939d081a8 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -63,7 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
   msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
 
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))

From 2deaf69789fee9a048256a832ffddbda95242815 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Wed, 22 Jun 2022 15:58:06 -0700
Subject: [PATCH 054/435] Refactor torque stuff (#24921)

* Refactor torque stuff

* Add to release

* Add substitute and override

* Maxlataccel is required

* Add to asserts

* add ideal car

* Need china too

* yamls already linted

* Fixed some bugs

* Fixup

* Unreliable data

* Add cehck

* Better comment

* ref commit update
---
 .pre-commit-config.yaml                    |  2 +-
 docs/CARS.md                               | 70 ++++++++--------
 release/files_common                       |  4 +-
 selfdrive/car/interfaces.py                | 26 +++++-
 selfdrive/car/tests/test_car_interfaces.py |  1 +
 selfdrive/car/torque_data.json             |  1 -
 selfdrive/car/torque_data/override.yaml    | 29 +++++++
 selfdrive/car/torque_data/params.yaml      | 96 ++++++++++++++++++++++
 selfdrive/car/torque_data/substitute.yaml  | 75 +++++++++++++++++
 selfdrive/test/process_replay/ref_commit   |  2 +-
 10 files changed, 263 insertions(+), 43 deletions(-)
 delete mode 100644 selfdrive/car/torque_data.json
 create mode 100644 selfdrive/car/torque_data/override.yaml
 create mode 100644 selfdrive/car/torque_data/params.yaml
 create mode 100644 selfdrive/car/torque_data/substitute.yaml

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 81ce927f6..b901e0772 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -20,7 +20,7 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+        additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
         - --warn-return-any
diff --git a/docs/CARS.md b/docs/CARS.md
index de7dbacf2..fb163b44e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-# Gold - 33 cars
+# Gold - 31 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -55,8 +55,6 @@ How We Rate The Cars
 |Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -73,13 +71,12 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 76 cars
+# Silver - 67 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -113,22 +110,18 @@ How We Rate The Cars
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -138,7 +131,6 @@ How We Rate The Cars
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -148,23 +140,21 @@ How We Rate The Cars
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 67 cars
+# Bronze - 78 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
@@ -189,14 +179,14 @@ How We Rate The Cars
 |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -205,26 +195,36 @@ How We Rate The Cars
 |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 
 <a id="footnotes"></a>
diff --git a/release/files_common b/release/files_common
index 96649b9f1..0ace73623 100644
--- a/release/files_common
+++ b/release/files_common
@@ -105,7 +105,9 @@ selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data.json
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9220aee52..c6a64fe91 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,4 +1,4 @@
-import json
+import yaml
 import os
 import time
 from abc import abstractmethod, ABC
@@ -20,7 +20,9 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
 
 
 # generic car and radar interfaces
@@ -109,9 +111,25 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def get_torque_params(candidate, default=float('NaN')):
+    with open(TORQUE_SUBSTITUTE_PATH) as f:
+      sub = yaml.load(f, Loader=yaml.FullLoader)
+    if candidate in sub:
+      candidate = sub[candidate]
+
     with open(TORQUE_PARAMS_PATH) as f:
-      data = json.load(f)
-    return {key: data[key].get(candidate, default) for key in data}
+      params = yaml.load(f, Loader=yaml.FullLoader)
+    with open(TORQUE_OVERRIDE_PATH) as f:
+      params_override = yaml.load(f, Loader=yaml.FullLoader)
+
+    assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0
+
+    if candidate in params_override:
+      out = params_override[candidate]
+    elif candidate in params:
+      out = params[candidate]
+    else:
+      raise NotImplementedError(f"Did not find torque params for {candidate}")
+    return {key:out[i] for i, key in enumerate(params['legend'])}
 
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 15df1aafe..412874c81 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -33,6 +33,7 @@ class TestCarInterfaces(unittest.TestCase):
     assert car_interface
 
     self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.maxLateralAccel, 0)
 
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = car_params.lateralTuning.which()
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
deleted file mode 100644
index 4917cba9b..000000000
--- a/selfdrive/car/torque_data.json
+++ /dev/null
@@ -1 +0,0 @@
-{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 1.271271459066948}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
new file mode 100644
index 000000000..fb086fd13
--- /dev/null
+++ b/selfdrive/car/torque_data/override.yaml
@@ -0,0 +1,29 @@
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
+### angle control
+# Nissan appears to have torque
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] 
+NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
+NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
+NISSAN LEAF 2018: [.nan, 1.5, .nan]
+NISSAN ROGUE 2019: [.nan, 1.5, .nan]
+
+# Tesla has high torque
+TESLA AP1 MODEL S: [.nan, 2.5, .nan]
+TESLA AP2 MODEL S: [.nan, 2.5, .nan]
+
+# Guess
+FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+###
+
+# No steering wheel
+COMMA BODY: [.nan, 1000, .nan]
+
+# Totally new car
+KIA EV6 2022: [3.0, 2.5, 0.05]
+
+# Dashcam or fallback configured as ideal car
+mock: [10.0, 10, 0.0]
+
+# Manually checked
+HONDA CIVIC 2022: [2.5, 1.2, 0.15]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
new file mode 100644
index 000000000..160f60548
--- /dev/null
+++ b/selfdrive/car/torque_data/params.yaml
@@ -0,0 +1,96 @@
+ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
+ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
+CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
+CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
+GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
+HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
+HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
+JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
+KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
+LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
+LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
+LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
+LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
+LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
+MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062]
+TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
+TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
+TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
+TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
+TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
+TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
+TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
+TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
+TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
+TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
+TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
+TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
+TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
+TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
+TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
+VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
new file mode 100644
index 000000000..d368b2c67
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -0,0 +1,75 @@
+MAZDA 3: MAZDA CX-9 2021
+MAZDA 6: MAZDA CX-9 2021
+MAZDA CX-5: MAZDA CX-9 2021
+MAZDA CX-5 2022: MAZDA CX-9 2021
+MAZDA CX-9: MAZDA CX-9 2021
+
+TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
+TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
+TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
+TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
+TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
+LEXUS IS 2018: LEXUS NX 2018
+LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS NX HYBRID 2020: LEXUS NX 2020
+LEXUS RC 2020: LEXUS NX 2020
+TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
+TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
+
+KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
+KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
+KIA SELTOS 2021: HYUNDAI SONATA 2020
+KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO HYBRID 2021: KIA NIRO EV 2020
+HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
+HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
+HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
+HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+GENESIS G90 2017: GENESIS G70 2018
+GENESIS G80 2017: GENESIS G70 2018
+GENESIS G70 2020: HYUNDAI SONATA 2020
+
+HONDA FREED 2020: HONDA ODYSSEY 2018
+HONDA CR-V EU 2016: HONDA CR-V 2016
+HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
+HONDA E 2020: HONDA CIVIC (BOSCH) 2019
+HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+
+BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
+CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
+CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
+CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
+HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+
+SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
+SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
+AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
+
+# Old subarus don't have much data guessing it's like low torque impreza
+SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
+SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 05d016911..662f8cc5b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2d736ca51acc1ac06216631b0529b50d9a6d2170
\ No newline at end of file
+41161c8d151b0c2017214cad0aad3156533ab868

From d8bfe2f0052390b8864910b00e43f61c0eeb9ff7 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Wed, 22 Jun 2022 19:20:07 -0700
Subject: [PATCH 055/435] Cleanup car interfaces (#24948)

* remove interface overrides

* Fix test

* set torque tune for ev6
---
 selfdrive/car/hyundai/interface.py |  6 +-----
 selfdrive/car/interfaces.py        | 10 ++++++----
 selfdrive/car/toyota/interface.py  |  7 -------
 3 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2739ebd8c..7cfce5510 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
       set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
@@ -245,10 +244,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
-
-      ret.maxLateralAccel = 2.
-      # TODO override until there is more data
-      set_torque_tune(ret.lateralTuning, 2.0, 0.05)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index c6a64fe91..ced2ce8e6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -119,12 +119,14 @@ class CarInterfaceBase(ABC):
     with open(TORQUE_PARAMS_PATH) as f:
       params = yaml.load(f, Loader=yaml.FullLoader)
     with open(TORQUE_OVERRIDE_PATH) as f:
-      params_override = yaml.load(f, Loader=yaml.FullLoader)
+      override = yaml.load(f, Loader=yaml.FullLoader)
 
-    assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0
+    # Ensure no overlap
+    if sum([candidate in x for x in [sub, params, override]]) > 1:
+      raise RuntimeError(f'{candidate} is defined twice in torque config')
 
-    if candidate in params_override:
-      out = params_override[candidate]
+    if candidate in override:
+      out = override[candidate]
     elif candidate in params:
       out = params[candidate]
     else:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d0f478977..75f2ab303 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,9 +54,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      # TODO override until there is enough data
-      ret.maxLateralAccel = 1.8
-      torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
       set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
@@ -132,10 +129,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
-      # TODO: remove once there's data
-      if candidate == CAR.RAV4_TSS2_2022:
-        ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
-
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:

From 221086857aac770f5d22273119e6175eeb06c729 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Jun 2022 13:58:01 -0700
Subject: [PATCH 056/435] EV6: adjust steering thresholds (#24901)

* EV6: adjust steering thresholds

* Is there any friction

* bump panda

* no friction

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
---
 panda                                   |  2 +-
 selfdrive/car/hyundai/carstate.py       |  8 +++++---
 selfdrive/car/hyundai/values.py         | 26 ++++++++++++++-----------
 selfdrive/car/torque_data/override.yaml |  4 ++--
 4 files changed, 23 insertions(+), 17 deletions(-)

diff --git a/panda b/panda
index 4bc85ad40..265245389 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932
+Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 9d864faac..6c82c3385 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
+from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 4
@@ -32,6 +32,8 @@ class CarState(CarStateBase):
     self.park_brake = False
     self.buttons_counter = 0
 
+    self.params = CarControllerParams(CP)
+
   def update(self, cp, cp_cam):
     if self.CP.carFingerprint in HDA2_CAR:
       return self.update_hda2(cp, cp_cam)
@@ -61,7 +63,7 @@ class CarState(CarStateBase):
       50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
     ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
     ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
@@ -157,7 +159,7 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
     ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
     ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
                                                                       cp.vl["BLINKERS"]["RIGHT_LAMP"])
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index cf4750158..219e1619c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -13,21 +13,27 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s
 
   def __init__(self, CP):
+    self.STEER_DELTA_UP = 3
+    self.STEER_DELTA_DOWN = 7
+    self.STEER_DRIVER_ALLOWANCE = 50
+    self.STEER_DRIVER_MULTIPLIER = 2
+    self.STEER_DRIVER_FACTOR = 1
+    self.STEER_THRESHOLD = 150
+
+    if CP.carFingerprint in HDA2_CAR:
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
+      self.STEER_DRIVER_MULTIPLIER = 2
+      self.STEER_THRESHOLD = 250
+
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in HDA2_CAR:
-      self.STEER_MAX = 150
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                             CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
-                             CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
     else:
       self.STEER_MAX = 384
-    self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
-    self.STEER_DRIVER_ALLOWANCE = 50
-    self.STEER_DRIVER_MULTIPLIER = 2
-    self.STEER_DRIVER_FACTOR = 1
 
 
 class CAR:
@@ -1268,5 +1274,3 @@ DBC = {
   CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
 }
-
-STEER_THRESHOLD = 150
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index fb086fd13..a2200926c 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -1,7 +1,7 @@
 legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
 ### angle control
 # Nissan appears to have torque
-NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] 
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
 NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
 NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
 NISSAN LEAF 2018: [.nan, 1.5, .nan]
@@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new car
-KIA EV6 2022: [3.0, 2.5, 0.05]
+KIA EV6 2022: [3.0, 2.5, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

From 1dffd48a2bab07512af71cfa73e572d602977340 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 23 Jun 2022 15:07:34 -0700
Subject: [PATCH 057/435] count_events improvements

---
 selfdrive/debug/count_events.py | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index c3870e0f9..93dd5bdc4 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -1,8 +1,11 @@
 #!/usr/bin/env python3
 import sys
+import math
+import datetime
 from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
+from typing import cast
 
 from cereal.services import service_list
 from tools.lib.route import Route
@@ -17,6 +20,8 @@ if __name__ == "__main__":
   cams = [s for s in service_list if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  start_time = math.inf
+  end_time = -math.inf
   for q in tqdm(r.qlog_paths()):
     if q is None:
       continue
@@ -31,6 +36,10 @@ if __name__ == "__main__":
       if not msg.valid:
         cnt_valid[msg.which()] += 1
 
+      end_time = max(end_time, msg.logMonoTime)
+      start_time = min(start_time, msg.logMonoTime)
+
+  duration = (end_time - start_time) / 1e9
 
   print("Events")
   pprint(cnt_events)
@@ -42,4 +51,9 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    print("  ", k.ljust(20), v)
+    s = service_list[k]
+    expected_frames = int(s.frequency * duration / cast(float, s.decimation))
+    print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
+
+  print("\n")
+  print("Route duration", datetime.timedelta(seconds=duration))

From 3b495fcb0b004fd00d12bf059473d9d0b7f7c0b9 Mon Sep 17 00:00:00 2001
From: Ayushman Kumar <41910134+ayushmankumar7@users.noreply.github.com>
Date: Fri, 24 Jun 2022 14:32:48 +0530
Subject: [PATCH 058/435] Navd added to README (#24953) (#24954)

* Navd added to README

* Update README.md

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index c426b839d..34b17625f 100755
--- a/README.md
+++ b/README.md
@@ -121,6 +121,7 @@ Directory Structure
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU interface code
+        ├── navd            # Turn-by-turn navigation
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 

From 5cd8bef921c886e17ea6afc9fcdad44be72a998c Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 24 Jun 2022 12:37:30 +0200
Subject: [PATCH 059/435] use correct tty device for serial

---
 tools/serial/connect.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh
index 037152019..a073310b0 100755
--- a/tools/serial/connect.sh
+++ b/tools/serial/connect.sh
@@ -1,8 +1,8 @@
 #!/bin/bash
 
 while true; do
-  if ls /dev/ttyUSB* 2> /dev/null; then
-    sudo screen /dev/ttyUSB* 115200
+  if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then
+    sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200
   fi
   sleep 0.005
 done

From b854e67e91105da7301936aab8fd55f94dd46fbb Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 24 Jun 2022 17:56:33 +0200
Subject: [PATCH 060/435] Laikad: minor refactor (#24956)

extract code to get_est_pos func
---
 selfdrive/locationd/laikad.py | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index f1997bceb..ba665b753 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -62,6 +62,16 @@ class Laikad:
         cls=CacheSerializer))
       self.last_cached_t = t
 
+  def get_est_pos(self, t, processed_measurements):
+    if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
+      if len(pos_fix) > 0:
+        self.last_pos_fix = pos_fix[:3]
+        self.last_pos_residual = pos_fix_residual
+        self.last_pos_fix_t = t
+    return self.last_pos_fix
+  
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
       t = ublox_mono_time * 1e-9
@@ -73,17 +83,11 @@ class Laikad:
       new_meas = read_raw_ublox(report)
       processed_measurements = process_measurements(new_meas, self.astro_dog)
 
-      if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
-        min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
-        pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
-        if len(pos_fix) > 0:
-          self.last_pos_fix = pos_fix[:3]
-          self.last_pos_residual = pos_fix_residual
-          self.last_pos_fix_t = t
+      est_pos = self.get_est_pos(t, processed_measurements)
 
-      corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else []
+      corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
 
-      self.update_localizer(self.last_pos_fix, t, corrected_measurements)
+      self.update_localizer(est_pos, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
       ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
@@ -116,7 +120,7 @@ class Laikad:
     valid = self.kf_valid(t)
     if not all(valid):
       if not valid[0]:
-        cloudlog.info("Init gnss kalman filter")
+        cloudlog.info("Kalman filter uninitialized")
       elif not valid[1]:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
@@ -133,7 +137,7 @@ class Laikad:
       # Ensure gnss filter is updated even with no new measurements
       self.gnss_kf.predict(t)
 
-  def kf_valid(self, t: float):
+  def kf_valid(self, t: float) -> List[bool]:
     filter_time = self.gnss_kf.filter.filter_time
     return [filter_time is not None,
             filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,

From e26db5dc91e2dd6348cb1dd79ce1549b74f39309 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 24 Jun 2022 15:32:01 -0400
Subject: [PATCH 061/435] VW MQB: Add FW for 2016 Volkswagen Passat (#24957)

* VW MQB: Add FW for 2016 Passat B8
Passat B8 TDi 2.0 240HP DSG 7 Europe

* mechanical sort

Co-authored-by: Pierre Christen <netadvanced@gmail.com>
---
 selfdrive/car/volkswagen/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 9b6f6a16c..0148a138a 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -438,6 +438,7 @@ FW_VERSIONS = {
   },
   CAR.PASSAT_MK8: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026GA\xf1\x892013',
@@ -450,17 +451,20 @@ FW_VERSIONS = {
       b'\xf1\x870D9300014L \xf1\x895002',
       b'\xf1\x870D9300041A \xf1\x894801',
       b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870DL300011H \xf1\x895201',
       b'\xf1\x870GC300042H \xf1\x891404',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
       b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',

From 062a8bcdbd78826cbb035c1dabc6ebd18a9367dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 24 Jun 2022 13:01:49 -0700
Subject: [PATCH 062/435] cleanup torque tuning config (#24951)

---
 selfdrive/car/hyundai/interface.py          | 12 ++---
 selfdrive/car/interfaces.py                 | 59 +++++++++++++--------
 selfdrive/car/toyota/interface.py           |  8 ++-
 selfdrive/car/toyota/tunes.py               |  6 +--
 selfdrive/controls/lib/latcontrol_torque.py | 10 ----
 5 files changed, 45 insertions(+), 50 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 7cfce5510..58a67f58c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0  # s
-    torque_params = CarInterfaceBase.get_torque_params(candidate)
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -66,7 +64,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.SONATA_LF:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 4497. * CV.LB_TO_KG
@@ -96,13 +94,13 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.ELANTRA_HEV_2021:
       ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.HYUNDAI_GENESIS:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
@@ -204,7 +202,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
@@ -244,7 +242,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ced2ce8e6..e0b38d9e2 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -20,11 +20,36 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
+
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
 TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
 
 
+def get_torque_params(candidate, default=float('NaN')):
+  with open(TORQUE_SUBSTITUTE_PATH) as f:
+    sub = yaml.load(f, Loader=yaml.FullLoader)
+  if candidate in sub:
+    candidate = sub[candidate]
+
+  with open(TORQUE_PARAMS_PATH) as f:
+    params = yaml.load(f, Loader=yaml.FullLoader)
+  with open(TORQUE_OVERRIDE_PATH) as f:
+    override = yaml.load(f, Loader=yaml.FullLoader)
+
+  # Ensure no overlap
+  if sum([candidate in x for x in [sub, params, override]]) > 1:
+    raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+  if candidate in override:
+    out = override[candidate]
+  elif candidate in params:
+    out = params[candidate]
+  else:
+    raise NotImplementedError(f"Did not find torque params for {candidate}")
+  return {key:out[i] for i, key in enumerate(params['legend'])}
+
+
 # generic car and radar interfaces
 
 class CarInterfaceBase(ABC):
@@ -85,7 +110,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -110,28 +135,16 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def get_torque_params(candidate, default=float('NaN')):
-    with open(TORQUE_SUBSTITUTE_PATH) as f:
-      sub = yaml.load(f, Loader=yaml.FullLoader)
-    if candidate in sub:
-      candidate = sub[candidate]
-
-    with open(TORQUE_PARAMS_PATH) as f:
-      params = yaml.load(f, Loader=yaml.FullLoader)
-    with open(TORQUE_OVERRIDE_PATH) as f:
-      override = yaml.load(f, Loader=yaml.FullLoader)
-
-    # Ensure no overlap
-    if sum([candidate in x for x in [sub, params, override]]) > 1:
-      raise RuntimeError(f'{candidate} is defined twice in torque config')
-
-    if candidate in override:
-      out = override[candidate]
-    elif candidate in params:
-      out = params[candidate]
-    else:
-      raise NotImplementedError(f"Did not find torque params for {candidate}")
-    return {key:out[i] for i, key in enumerate(params['legend'])}
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+    params = get_torque_params(candidate)
+
+    tune.init('torque')
+    tune.torque.useSteeringAngle = True
+    tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
+    tune.torque.friction = params['FRICTION']
+    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 75f2ab303..fdb923f69 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -32,9 +31,8 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     stop_and_go = False
-    torque_params = CarInterfaceBase.get_torque_params(candidate)
     steering_angle_deadzone_deg = 0.0
-    set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
@@ -46,7 +44,7 @@ class CarInterface(CarInterfaceBase):
       for fw in car_fw:
         if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
           steering_angle_deadzone_deg = 1.0
-          set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
@@ -54,7 +52,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index 3de6daae2..a8b8758d8 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import Enum
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 
 class LongTunes(Enum):
   PEDAL = 0
@@ -24,7 +23,6 @@ class LatTunes(Enum):
   PID_L = 13
   PID_M = 14
   PID_N = 15
-  TORQUE = 16
 
 
 ###### LONG ######
@@ -51,9 +49,7 @@ def set_long_tune(tune, name):
 
 ###### LAT ######
 def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
-  if name == LatTunes.TORQUE:
-    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg)
-  elif 'PID' in str(name):
+  if 'PID' in str(name):
     tune.init('pid')
     tune.pid.kiBP = [0.0]
     tune.pid.kpBP = [0.0]
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f72ffc4b8..014c3480b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 FRICTION_THRESHOLD = 0.2
 
 
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
-  tune.init('torque')
-  tune.torque.useSteeringAngle = True
-  tune.torque.kp = 1.0 / MAX_LAT_ACCEL
-  tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-  tune.torque.ki = 0.1 / MAX_LAT_ACCEL
-  tune.torque.friction = FRICTION
-  tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
-
-
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)

From 6721f0ef57fd5bda5045e80edac815adcfdef380 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 24 Jun 2022 14:29:46 -0700
Subject: [PATCH 063/435] fix carla test fake driverState (#24959)

use driverstatev2
---
 tools/sim/bridge.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index faf67c3ef..17dc2c7a6 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -198,12 +198,12 @@ def gps_callback(gps, vehicle_state):
 
 
 def fake_driver_monitoring(exit_event: threading.Event):
-  pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
+  pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
   while not exit_event.is_set():
     # dmonitoringmodeld output
-    dat = messaging.new_message('driverState')
-    dat.driverState.faceProb = 1.0
-    pm.send('driverState', dat)
+    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    pm.send('driverStateV2', dat)
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState')

From 10fb2b9456b9d0d065b411ac64fd97831ee2fa8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jun 2022 15:16:46 -0700
Subject: [PATCH 064/435] Speed up YAML parsing with CSafeLoader (#24958)

Use CSafeLoader
---
 selfdrive/car/interfaces.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e0b38d9e2..136337c5a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -26,16 +26,16 @@ TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override
 TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
 
 
-def get_torque_params(candidate, default=float('NaN')):
+def get_torque_params(candidate):
   with open(TORQUE_SUBSTITUTE_PATH) as f:
-    sub = yaml.load(f, Loader=yaml.FullLoader)
+    sub = yaml.load(f, Loader=yaml.CSafeLoader)
   if candidate in sub:
     candidate = sub[candidate]
 
   with open(TORQUE_PARAMS_PATH) as f:
-    params = yaml.load(f, Loader=yaml.FullLoader)
+    params = yaml.load(f, Loader=yaml.CSafeLoader)
   with open(TORQUE_OVERRIDE_PATH) as f:
-    override = yaml.load(f, Loader=yaml.FullLoader)
+    override = yaml.load(f, Loader=yaml.CSafeLoader)
 
   # Ensure no overlap
   if sum([candidate in x for x in [sub, params, override]]) > 1:
@@ -47,7 +47,7 @@ def get_torque_params(candidate, default=float('NaN')):
     out = params[candidate]
   else:
     raise NotImplementedError(f"Did not find torque params for {candidate}")
-  return {key:out[i] for i, key in enumerate(params['legend'])}
+  return {key: out[i] for i, key in enumerate(params['legend'])}
 
 
 # generic car and radar interfaces

From 379dc24ecad7f1bdc9c11fbb2416cc2d68b3a297 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Jun 2022 16:49:56 -0700
Subject: [PATCH 065/435] can replay: get logs in parallel (#24960)

* get can replay segs in parallel

* total not needed
---
 tools/replay/can_replay.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index b212abc43..0b8b4fe0a 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -2,6 +2,7 @@
 import os
 import time
 import threading
+import multiprocessing
 from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
@@ -9,7 +10,7 @@ os.environ['FILEREADER_CACHE'] = '1'
 from common.basedir import BASEDIR
 from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from selfdrive.boardd.boardd import can_capnp_to_can_list
-from tools.lib.logreader import LogReader
+from tools.plotjuggler.juggle import load_segment
 from panda import Panda
 
 try:
@@ -94,11 +95,10 @@ if __name__ == "__main__":
   ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
   REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
   CAN_MSGS = []
-  for i in tqdm(REPLAY_SEGS):
-    log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
-    lr = LogReader(log_url)
-    CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
+  logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
+  with multiprocessing.Pool(24) as pool:
+    for lr in tqdm(pool.map(load_segment, logs)):
+      CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
 
   # set both to cycle ignition
   IGN_ON = int(os.getenv("ON", "0"))

From 72edc309327e8f6a1630e06d27cb21d16ba1e3ae Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 25 Jun 2022 03:07:29 -0700
Subject: [PATCH 066/435] Hyundai: remove bad esp fingerprint (#24952)

Remove unknown "esp" fp
---
 selfdrive/car/hyundai/values.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 219e1619c..645d2f523 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1146,9 +1146,6 @@ FW_VERSIONS = {
       b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
     ],
-    (Ecu.esp, 0x7b0, None): [
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',

From 461f747247add7d4c50344042997427cdb2a90fa Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 27 Jun 2022 17:18:56 +0800
Subject: [PATCH 067/435] logger.cc: remove unused function append_property
 (#24966)

remove append_property
---
 selfdrive/loggerd/logger.cc | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
index 5aed47e29..8038f1926 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@@ -19,15 +19,6 @@
 #include "common/swaglog.h"
 #include "common/version.h"
 
-// ***** logging helpers *****
-
-void append_property(const char* key, const char* value, void *cookie) {
-  std::vector<std::pair<std::string, std::string> > *properties =
-    (std::vector<std::pair<std::string, std::string> > *)cookie;
-
-  properties->push_back(std::make_pair(std::string(key), std::string(value)));
-}
-
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
   MessageBuilder msg;

From 748bbac3444cc30e6dafc2f0bda60b46f3fc8d5a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 27 Jun 2022 17:19:46 +0800
Subject: [PATCH 068/435] loggerd: remove rotate_lock (#24969)

remove lock
---
 selfdrive/loggerd/loggerd.cc | 16 ++++++----------
 1 file changed, 6 insertions(+), 10 deletions(-)

diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 4086f4991..a75ab2c92 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -6,7 +6,6 @@ ExitHandler do_exit;
 struct LoggerdState {
   LoggerState logger = {};
   char segment_path[4096];
-  std::mutex rotate_lock;
   std::atomic<int> rotate_segment;
   std::atomic<double> last_camera_seen_tms;
   std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
@@ -15,15 +14,12 @@ struct LoggerdState {
 };
 
 void logger_rotate(LoggerdState *s) {
-  {
-    std::unique_lock lk(s->rotate_lock);
-    int segment = -1;
-    int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
-    assert(err == 0);
-    s->rotate_segment = segment;
-    s->ready_to_rotate = 0;
-    s->last_rotate_tms = millis_since_boot();
-  }
+  int segment = -1;
+  int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
+  assert(err == 0);
+  s->rotate_segment = segment;
+  s->ready_to_rotate = 0;
+  s->last_rotate_tms = millis_since_boot();
   LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path);
 }
 

From 0aa9ae21d4068d1e8099ff4256d86a204ec31c1c Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 27 Jun 2022 17:20:13 +0800
Subject: [PATCH 069/435] FfmpegEncoder: free codec_ctx in encoder_close
 (#24967)

free context
---
 selfdrive/loggerd/encoder/ffmpeg_encoder.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
index 22587819a..5f8d140e8 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
@@ -68,7 +68,9 @@ void FfmpegEncoder::encoder_open(const char* path) {
 
 void FfmpegEncoder::encoder_close() {
   if (!is_open) return;
+
   writer_close();
+  avcodec_free_context(&codec_ctx);
   is_open = false;
 }
 

From 684d4b75a1c2f349da1e00dae9a40c39e3bb3607 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Mon, 27 Jun 2022 15:33:46 +0200
Subject: [PATCH 070/435] Log SOM power draw (#24975)

* log SOM power draw

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 cereal                           |  2 +-
 selfdrive/thermald/thermald.py   | 13 +++++++------
 system/hardware/base.py          |  4 ++++
 system/hardware/pc/hardware.py   |  3 +++
 system/hardware/tici/hardware.py |  3 +++
 5 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/cereal b/cereal
index c6acc0698..3fef4f786 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3
+Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 6cf5c428a..f20c649b4 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -348,12 +348,13 @@ def thermald_thread(end_event, hw_queue):
     power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
-    current_power_draw = HARDWARE.get_current_power_draw()  # pylint: disable=assignment-from-none
-    if current_power_draw is not None:
-      statlog.sample("power_draw", current_power_draw)
-      msg.deviceState.powerDrawW = current_power_draw
-    else:
-      msg.deviceState.powerDrawW = 0
+    current_power_draw = HARDWARE.get_current_power_draw()
+    statlog.sample("power_draw", current_power_draw)
+    msg.deviceState.powerDrawW = current_power_draw
+    
+    som_power_draw = HARDWARE.get_som_power_draw()
+    statlog.sample("som_power_draw", som_power_draw)
+    msg.deviceState.somPowerDrawW = som_power_draw
 
     # Check if we need to disable charging (handled by boardd)
     msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts)
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 8684386f6..b052a48c5 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -86,6 +86,10 @@ class HardwareBase(ABC):
   def get_current_power_draw(self):
     pass
 
+  @abstractmethod
+  def get_som_power_draw(self):
+    pass
+
   @abstractmethod
   def shutdown(self):
     pass
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index b2c4a4343..60d14e4a6 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -55,6 +55,9 @@ class Pc(HardwareBase):
 
   def get_current_power_draw(self):
     return 0
+  
+  def get_som_power_draw(self):
+    return 0
 
   def shutdown(self):
     print("SHUTDOWN!")
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index a69d3eb74..66cb98c60 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -362,6 +362,9 @@ class Tici(HardwareBase):
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
 
+  def get_som_power_draw(self):
+    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
+
   def shutdown(self):
     # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
     os.system("sudo poweroff")

From de0c12e5af0e550c194510a19253dd9100b1a9f7 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Jun 2022 15:34:36 +0200
Subject: [PATCH 071/435] calibrationd: start faster by not waiting for
 carParams (#24976)

* calibrationd: start faster by not waiting for carParams

* fix process replay

* update ref
---
 selfdrive/locationd/calibrationd.py             | 10 ++++++----
 selfdrive/test/process_replay/process_replay.py |  3 ++-
 selfdrive/test/process_replay/ref_commit        |  2 +-
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index e092c939a..81bcc6ce1 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -12,7 +12,7 @@ import capnp
 import numpy as np
 from typing import List, NoReturn, Optional
 
-from cereal import car, log
+from cereal import log
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
@@ -62,7 +62,7 @@ class Calibrator:
   def __init__(self, param_put: bool = False):
     self.param_put = param_put
 
-    self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+    self.not_car = False
 
     # Read saved calibration
     params = Params()
@@ -192,7 +192,7 @@ class Calibrator:
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
-    if self.CP.notCar:
+    if self.not_car:
       extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
@@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
   set_realtime_priority(1)
 
   if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
+    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   if pm is None:
     pm = messaging.PubMaster(['liveCalibration'])
@@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
+    calibrator.not_car = sm['carParams'].notCar
+
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 62c5eb482..228f07c4c 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -282,7 +282,8 @@ CONFIGS = [
     proc_name="calibrationd",
     pub_sub={
       "carState": ["liveCalibration"],
-      "cameraOdometry": []
+      "cameraOdometry": [],
+      "carParams": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 662f8cc5b..292c41b97 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-41161c8d151b0c2017214cad0aad3156533ab868
+b55de9fdb2416e63ab554c95233a78219d8d3db9
\ No newline at end of file

From 240c44e50c4dd44c2237f4f37d716fd898160917 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 27 Jun 2022 06:36:27 -0700
Subject: [PATCH 072/435] snapshot: fix rgb overflow (#24963)

clamp rgb
---
 system/camerad/snapshot/snapshot.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
index 9a81937ee..946c220a7 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v):
     [0.00000, -0.39465, 2.03211],
     [1.13983, -0.58060, 0.00000],
   ])
-  rgb = np.dot(yuv, m)
+  rgb = np.dot(yuv, m).clip(0, 255)
   return rgb.astype(np.uint8)
 
 

From 915b4928ff044302bba0e8bdf15f154646f528e6 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Jun 2022 16:03:26 +0200
Subject: [PATCH 073/435] ui: use current calibration to center vanishing point
 (#24955)

* compute x and y offsets using calibration

* fix default calibration

* clamp to max values

* only use when valid

* not while calibrating

* less diff

* cleanup zoom
---
 selfdrive/ui/qt/onroad.cc             | 21 +++++-----
 selfdrive/ui/qt/onroad.h              |  2 +-
 selfdrive/ui/qt/widgets/cameraview.cc | 55 +++++++++++++++++----------
 selfdrive/ui/qt/widgets/cameraview.h  | 12 +++++-
 selfdrive/ui/ui.cc                    |  1 +
 selfdrive/ui/ui.h                     |  8 ++--
 6 files changed, 62 insertions(+), 37 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 275941623..ecd6d6147 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -208,6 +208,12 @@ void NvgWindow::updateState(const UIState &s) {
     setProperty("engageable", cs.getEngageable() || cs.getEnabled());
     setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
   }
+
+  if (s.scene.calibration_valid) {
+    CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+  } else {
+    CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
+  }
 }
 
 void NvgWindow::drawHud(QPainter &p) {
@@ -399,23 +405,20 @@ void NvgWindow::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void NvgWindow::updateFrameMat(int w, int h) {
-  CameraViewWidget::updateFrameMat(w, h);
-
+void NvgWindow::updateFrameMat() {
+  CameraViewWidget::updateFrameMat();
   UIState *s = uiState();
+  int w = width(), h = height();
+
   s->fb_w = w;
   s->fb_h = h;
-  auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-  float zoom = ZOOM / intrinsic_matrix.v[0];
-  if (s->wide_camera) {
-    zoom *= 0.5;
-  }
+
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
   s->car_space_transform.reset();
-  s->car_space_transform.translate(w / 2, h / 2 + y_offset)
+  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
       .scale(zoom, zoom)
       .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 4cd88fc9e..dc1e69da2 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -70,7 +70,7 @@ protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat(int w, int h) override;
+  void updateFrameMat() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 8666eb1d4..a80672f2c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -6,6 +6,8 @@
 #include <GLES3/gl3.h>
 #endif
 
+#include <cmath>
+
 #include <QOpenGLBuffer>
 #include <QOffscreenSurface>
 
@@ -59,13 +61,6 @@ const char frame_fragment_shader[] =
   "}\n";
 #endif
 
-const mat4 device_transform = {{
-  1.0,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
-
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
   const float driver_view_ratio = 2.0;
   const float yscale = stream_height * driver_view_ratio / stream_width;
@@ -185,35 +180,55 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
   }
 }
 
-void CameraViewWidget::updateFrameMat(int w, int h) {
+void CameraViewWidget::updateFrameMat() {
+  int w = width(), h = height();
+
   if (zoomed_view) {
     if (stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
+      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-      float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_WIDE_ROAD) {
-        zoom *= 0.5;
-      }
+      intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1;
+
+      // Project point at "infinity" to compute x and y offsets
+      // to ensure this ends up in the middle of the screen
+      // TODO: use proper perspective transform?
+      const vec3 inf = {{1000., 0., 0.}};
+      const vec3 Ep = matvecmul3(calibration, inf);
+      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
+
+      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
+      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
+
+      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
+      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
+
+      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
+      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
+
       float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
       float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
-
       const mat4 frame_transform = {{
-        zx, 0.0, 0.0, 0.0,
-        0.0, zy, 0.0, -y_offset / height() * 2,
+        zx, 0.0, 0.0, -x_offset / width() * 2,
+        0.0, zy, 0.0, y_offset / height() * 2,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0,
       }};
-      frame_mat = matmul(device_transform, frame_transform);
+      frame_mat = frame_transform;
     }
   } else if (stream_width > 0 && stream_height > 0) {
     // fit frame to widget size
     float widget_aspect_ratio = (float)width() / height();
     float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio));
+    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
   }
 }
 
+void CameraViewWidget::updateCalibration(const mat3 &calib) {
+  calibration = calib;
+  updateFrameMat();
+}
+
 void CameraViewWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
@@ -311,7 +326,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   assert(glGetError() == GL_NO_ERROR);
 #endif
 
-  updateFrameMat(width(), height());
+  updateFrameMat();
 }
 
 void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 42e904360..cc11ec2c2 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -42,11 +42,12 @@ signals:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(w, h); }
+  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat(int w, int h);
+  virtual void updateFrameMat();
+  void updateCalibration(const mat3 &calib);
   void vipcThread();
 
   bool zoomed_view;
@@ -68,6 +69,13 @@ protected:
   std::atomic<VisionStreamType> stream_type;
   QThread *vipc_thread = nullptr;
 
+  // Calibration
+  float x_offset = 0;
+  float y_offset = 0;
+  float zoom = 1.0;
+  mat3 calibration = DEFAULT_CALIBRATION;
+  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4d1e1ab74..c8fc645cf 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -140,6 +140,7 @@ static void update_state(UIState *s) {
         scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
       }
     }
+    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
   }
   if (s->worldObjectsVisible()) {
     if (sm.updated("modelV2")) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index cbf3921e4..7364b81a4 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -22,10 +22,7 @@ const int footer_h = 280;
 const int UI_FREQ = 20;   // Hz
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-// TODO: this is also hardcoded in common/transformations/camera.py
-// TODO: choose based on frame input size
-const float y_offset = 150.0;
-const float ZOOM = 2912.8;
+const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
 
 struct Alert {
   QString text1;
@@ -93,7 +90,8 @@ typedef struct {
 } line_vertices_data;
 
 typedef struct UIScene {
-  mat3 view_from_calib;
+  bool calibration_valid = false;
+  mat3 view_from_calib = DEFAULT_CALIBRATION;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2

From b95e68778271cccf558452686e022ae57f25a701 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Jun 2022 21:31:54 +0200
Subject: [PATCH 074/435] split locationd and liblocationd tests (#24977)

* laikad: use cython version of gnss kf

* fix import error

* test liblocationd separate

* Revert "laikad: use cython version of gnss kf"

This reverts commit bdd769b9554e7e45e976dabd6595403943e864bb.
---
 .github/workflows/selfdrive_tests.yaml        |   3 +-
 .../locationd/test/_test_locationd_lib.py     | 106 ++++++++++++++++++
 selfdrive/locationd/test/test_locationd.py    |  94 ----------------
 3 files changed, 108 insertions(+), 95 deletions(-)
 create mode 100755 selfdrive/locationd/test/_test_locationd_lib.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fedeaa734..52dd012ba 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -299,6 +299,7 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST selfdrive/hardware/tici && \
@@ -364,7 +365,7 @@ jobs:
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
-  
+
   model_replay_onnx:
     name: model replay onnx
     runs-on: ubuntu-20.04
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
new file mode 100755
index 000000000..8a0ed3ef0
--- /dev/null
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+"""This test can't be run together with other locationd tests.
+cffi.dlopen breaks the list of registered filters."""
+import os
+import random
+import unittest
+
+from cffi import FFI
+
+import cereal.messaging as messaging
+from cereal import log
+
+SENSOR_DECIMATION = 1
+VISION_DECIMATION = 1
+
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+
+
+class TestLocationdLib(unittest.TestCase):
+  def setUp(self):
+    header = '''typedef ...* Localizer_t;
+Localizer_t localizer_init();
+void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
+void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
+
+    self.ffi = FFI()
+    self.ffi.cdef(header)
+    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
+
+    self.localizer = self.lib.localizer_init()
+
+    self.buff_size = 2048
+    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
+
+  def localizer_handle_msg(self, msg_builder):
+    bytstr = msg_builder.to_bytes()
+    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
+
+  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
+    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
+    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
+
+  def test_liblocalizer(self):
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = random.randint(1, 10)
+    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
+
+    self.localizer_handle_msg(msg)
+    liveloc = self.localizer_get_msg()
+    self.assertTrue(liveloc is not None)
+
+  @unittest.skip("temporarily disabled due to false positives")
+  def test_device_fell(self):
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.deviceStable)
+
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.deviceStable)
+
+  def test_posenet_spike(self):
+    for _ in range(SENSOR_DECIMATION):
+      msg = messaging.new_message('carState')
+      msg.carState.vEgo = 6.0  # more than 5 m/s
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.posenetOK)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
+      self.localizer_handle_msg(msg)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.posenetOK)
+
+if __name__ == "__main__":
+  unittest.main()
+
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 7f5d75210..29036b838 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -1,110 +1,16 @@
 #!/usr/bin/env python3
-import os
 import json
 import random
 import unittest
 import time
 import capnp
-from cffi import FFI
 
-from cereal import log
 import cereal.messaging as messaging
 from cereal.services import service_list
 from common.params import Params
 
 from selfdrive.manager.process_config import managed_processes
 
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init();
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init()
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
 
 class TestLocationdProc(unittest.TestCase):
   MAX_WAITS = 1000

From aaca31b73eb109a053e94b2153eb3068a0976c95 Mon Sep 17 00:00:00 2001
From: "Shafiqur R. Khan" <37314609+shfqrkhn@users.noreply.github.com>
Date: Mon, 27 Jun 2022 14:10:57 -0600
Subject: [PATCH 075/435] 2022 RAV4 XLE engine FW (#24973)

Update values.py

Added ecu.engine address for 2022 RAV4 XLE (ICE) bought in Edmonton, Canada
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 32f66b6fa..76f84302c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1296,6 +1296,7 @@ FW_VERSIONS = {
       b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634AA0000\x00\x00\x00\x00',
       b'\x01896634AA1000\x00\x00\x00\x00',
       b'\x01896634A88000\x00\x00\x00\x00',
     ],

From b3226d505b9260ec8565acfda7138601a76039a6 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 27 Jun 2022 15:25:47 -0700
Subject: [PATCH 076/435] Torque control: higher low speed gains and better
 steering angle deadzone logic (#24980)

* Try no friction and no deadzone

* Learn fromd ata

* update refs
---
 selfdrive/controls/lib/latcontrol_torque.py | 6 +++---
 selfdrive/test/process_replay/ref_commit    | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 014c3480b..46caa41a9 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -56,15 +56,15 @@ class LatControlTorque(LatControl):
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
 
-      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
+      low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
+      error = setpoint - measurement
       pid_log.error = error
 
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
       freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 292c41b97..1402284b9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b55de9fdb2416e63ab554c95233a78219d8d3db9
\ No newline at end of file
+a16ca1082cd493f6cea5252eaaba9f8c6574334a

From 3a2bcc092c74925edb161959cdcc66073a9cd8f3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 28 Jun 2022 01:08:11 -0700
Subject: [PATCH 077/435] onroad UI: fix onroad double tap (#24982)

* The default implementation calls mousePressEvent().

* no sidebar when entering body

* wrong one

* you can't double tap with body anyway (fixes inconsistencies with prime vs not prime)

* hide sidebar
---
 selfdrive/ui/qt/home.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index e522d6160..aec9bffbc 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
+  HomeWindow::mousePressEvent(e);
   const SubMaster &sm = *(uiState()->sm);
   if (sm["carParams"].getCarParams().getNotCar()) {
     if (onroad->isVisible()) {
@@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
     } else if (body->isVisible()) {
       slayout->setCurrentWidget(onroad);
     }
+    showSidebar(false);
   }
 }
 

From d693285b02a0f005ce1d29793c8672ab2fe24a24 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 28 Jun 2022 01:09:52 -0700
Subject: [PATCH 078/435] Power Monitoring test: fix exceptions (#24981)

* fix missing POWER_DRAW

* think should be 0
---
 selfdrive/thermald/tests/test_power_monitoring.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index c0524add6..efe607155 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase):
   @parameterized.expand(ALL_PANDA_TYPES)
   def test_max_time_offroad(self, hw_type):
     MOCKED_MAX_OFFROAD_TIME = 3600
-    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       start_time = ssb

From fdc22554b8c2a2e4b9e0df91beddf469d735b399 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Tue, 28 Jun 2022 11:32:51 +0200
Subject: [PATCH 079/435] Update rednose: use EKF_sym_pyx (#24978)

* Update rednose

* Update rednose

* cleanup
---
 rednose_repo                          |  2 +-
 selfdrive/locationd/models/car_kf.py  |  4 ++--
 selfdrive/locationd/models/gnss_kf.py | 16 +++++++++++-----
 3 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/rednose_repo b/rednose_repo
index 7663289f1..3a6f937ad 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586
+Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index fe7d2e650..3faf4f8d4 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -15,7 +15,7 @@ if __name__ == '__main__':  # Generating sympy
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
 else:
-  from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error
 
 
 i = 0
@@ -171,7 +171,7 @@ class CarKalman(KalmanFilter):
     if P_initial is not None:
       self.P_initial = P_initial
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
index ce0ff84dc..5c9cb4b3d 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -3,12 +3,17 @@ import sys
 from typing import List
 
 import numpy as np
-import sympy as sp
 
-from rednose.helpers.ekf_sym import EKF_sym, gen_code
 from selfdrive.locationd.models.constants import ObservationKind
 from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
 
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module,import-error
+  from rednose.helpers.ekf_sym import EKF_sym  # pylint: disable=no-name-in-module,import-error
+
 
 class States():
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
@@ -115,12 +120,13 @@ class GNSSKalman():
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
 
-  def __init__(self, generated_dir):
+  def __init__(self, generated_dir, cython=False):
     self.dim_state = self.x_initial.shape[0]
 
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
-                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
+    filter_cls = EKF_sym_pyx if cython else EKF_sym
+    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
+                             self.dim_state, maha_test_kinds=self.maha_test_kinds)
     self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
 
   @property

From 4cf63f4758c937a169962f325517b442f6c9492f Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 11:59:15 +0200
Subject: [PATCH 080/435] bump rednose

---
 rednose_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rednose_repo b/rednose_repo
index 3a6f937ad..a79a87300 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085
+Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20

From 3823f55476b56fd3db0afe686b1d2f3d508817bc Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 13:43:15 +0200
Subject: [PATCH 081/435] add laikad to process replay (#24889)

* merge

* Fix closing process executor after fetching orbits

* cleanup

* Add ref commit and revert test_processes hack

* Fix

* Fix ref

* Fix test

* Temp

* Temp

* Trying

* Trying

* Cleanup and change test

* add ref commit

* remove print

* fix test getting stuck

* cleanup fetch_orbits

Co-authored-by: Gijs Koning <gijs-koning@live.nl>
---
 selfdrive/locationd/laikad.py                 | 50 ++++++++++++-------
 selfdrive/locationd/test/test_laikad.py       | 27 ++++++++--
 selfdrive/test/process_replay/README.md       |  3 +-
 .../test/process_replay/process_replay.py     | 18 +++++++
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/profiling/profiler.py          |  3 ++
 6 files changed, 81 insertions(+), 22 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index ba665b753..60028b637 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import os
 import time
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
@@ -32,8 +33,10 @@ class Laikad:
                save_ephemeris=False, last_known_position=None):
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
     self.gnss_kf = GNSSKalman(GENERATED_DIR)
-    self.orbit_fetch_executor = ProcessPoolExecutor()
+
+    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
+
     self.last_fetch_orbits_t = None
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
@@ -44,9 +47,13 @@ class Laikad:
     self.last_pos_fix_t = None
 
   def load_cache(self):
+    if not self.save_ephemeris:
+      return
+
     cache = Params().get(EPHEMERIS_CACHE)
     if not cache:
       return
+
     try:
       cache = json.loads(cache, object_hook=deserialize_hook)
       self.astro_dog.add_orbits(cache['orbits'])
@@ -71,7 +78,7 @@ class Laikad:
         self.last_pos_residual = pos_fix_residual
         self.last_pos_fix_t = t
     return self.last_pos_fix
-  
+
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
       t = ublox_mono_time * 1e-9
@@ -152,17 +159,22 @@ class Laikad:
   def fetch_orbits(self, t: GPSTime, block):
     if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR):
       astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
-      if self.orbit_fetch_future is None:
+
+      ret = None
+
+      if block:
+        ret = get_orbit_data(t, *astro_dog_vars)
+      elif self.orbit_fetch_future is None:
+        self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
         self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
-        if block:
-          self.orbit_fetch_future.result()
-      if self.orbit_fetch_future.done():
-        ret = self.orbit_fetch_future.result()
+      elif self.orbit_fetch_future.done():
         self.last_fetch_orbits_t = t
-        if ret:
-          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
-          self.cache_ephemeris(t=t)
-        self.orbit_fetch_future = None
+        ret = self.orbit_fetch_future.result()
+        self.orbit_fetch_executor = self.orbit_fetch_future = None
+
+      if ret is not None:
+        self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
+        self.cache_ephemeris(t=t)
 
 
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
@@ -174,7 +186,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
     astro_dog.get_orbit_data(t, only_predictions=True)
     data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
   except RuntimeError as e:
-    cloudlog.info(f"No orbit data found. {e}")
+    cloudlog.warning(f"No orbit data found. {e}")
   cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
   return data
 
@@ -255,17 +267,21 @@ class EphemerisSourceType(IntEnum):
   glonassIacUltraRapid = 2
 
 
-def main():
-  sm = messaging.SubMaster(['ubloxGnss'])
-  pm = messaging.PubMaster(['gnssMeasurements'])
+def main(sm=None, pm=None):
+  if sm is None:
+    sm = messaging.SubMaster(['ubloxGnss'])
+  if pm is None:
+    pm = messaging.PubMaster(['gnssMeasurements'])
+
+  replay = "REPLAY" in os.environ
   # todo get last_known_position
-  laikad = Laikad(save_ephemeris=True)
+  laikad = Laikad(save_ephemeris=not replay)
   while True:
     sm.update()
 
     if sm.updated['ubloxGnss']:
       ublox_msg = sm['ubloxGnss']
-      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
+      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)
 
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 3a72303b0..c353da962 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -7,6 +7,7 @@ from unittest import mock
 from unittest.mock import Mock, patch
 
 from common.params import Params
+from laika.constants import SECS_IN_DAY
 from laika.ephemeris import EphemerisType, GPSEphemeris
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, TimeRangeHolder
@@ -62,6 +63,26 @@ class TestLaikad(unittest.TestCase):
   def setUp(self):
     Params().delete(EPHEMERIS_CACHE)
 
+  def test_fetch_orbits_non_blocking(self):
+    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    laikad = Laikad()
+    laikad.fetch_orbits(gpstime, block=False)
+    laikad.orbit_fetch_future.result(5)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime, block=False)
+
+    ephem = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+
+    laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
+    laikad.orbit_fetch_future.result(5)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
+
+    ephem2 = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+    self.assertNotEqual(ephem, ephem2)
+
   def test_ephemeris_source_in_msg(self):
     data_mock = defaultdict(str)
     data_mock['sv_id'] = 1
@@ -155,7 +176,7 @@ class TestLaikad(unittest.TestCase):
       while Params().get(EPHEMERIS_CACHE) is None:
         time.sleep(0.1)
         max_time -= 0.1
-        if max_time == 0:
+        if max_time < 0:
           self.fail("Cache has not been written after 2 seconds")
 
     # Test cache with no ephemeris
@@ -170,7 +191,7 @@ class TestLaikad(unittest.TestCase):
     wait_for_cache()
 
     # Check both nav and orbits separate
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
+    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
     # Verify orbits and nav are loaded from cache
     self.dict_has_values(laikad.astro_dog.orbits)
     self.dict_has_values(laikad.astro_dog.nav)
@@ -185,7 +206,7 @@ class TestLaikad(unittest.TestCase):
       mock_method.assert_not_called()
 
       # Verify cache is working for only orbits by running a segment
-      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
       msg = verify_messages(self.logs, laikad, return_one_success=True)
       self.assertIsNotNone(msg)
       # Verify orbit data is not downloaded
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 9fa4ca644..531ddb3a0 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp
 If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
 
 Use `test_processes.py` to run the test locally.
-Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. 
+Use `FILEREADER_CACHE='1' test_processes.py` to cache log files.
 
 Currently the following processes are tested:
 
@@ -15,6 +15,7 @@ Currently the following processes are tested:
 * calibrationd
 * dmonitoringd
 * locationd
+* laikad
 * paramsd
 * ubloxd
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 228f07c4c..def61a10a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -236,6 +236,13 @@ def ublox_rcv_callback(msg):
     return []
 
 
+def laika_rcv_callback(msg, CP, cfg, fsm):
+  if msg.ubloxGnss.which() == "measurementReport":
+    return ["gnssMeasurements"], True
+  else:
+    return [], False
+
+
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
@@ -338,6 +345,17 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
+  ProcessConfig(
+    proc_name="laikad",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+  ),
 ]
 
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1402284b9..3e02830bf 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a16ca1082cd493f6cea5252eaaba9f8c6574334a
+2ee969b34585f8055bb3eabab2dcc4061cc4bef9
\ No newline at end of file
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 5f73176fa..91226fc57 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'):
   msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
 
   os.environ['FINGERPRINT'] = fingerprint
+  os.environ['REPLAY'] = "1"
 
   def run(sm, pm, can_sock):
     try:
@@ -81,12 +82,14 @@ if __name__ == '__main__':
   from selfdrive.controls.radard import radard_thread
   from selfdrive.locationd.paramsd import main as paramsd_thread
   from selfdrive.controls.plannerd import main as plannerd_thread
+  from selfdrive.locationd.laikad import main as laikad_thread
 
   procs = {
     'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,
+    'laikad': laikad_thread,
   }
 
   proc = sys.argv[1]

From 005bc44df692acb3389924d362f5b761987c7c9d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 14:29:41 +0200
Subject: [PATCH 082/435] laikad: use cython filter (#24983)

use cython filter
---
 selfdrive/locationd/laikad.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 60028b637..5098b25d3 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -32,7 +32,7 @@ class Laikad:
   def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
                save_ephemeris=False, last_known_position=None):
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
-    self.gnss_kf = GNSSKalman(GENERATED_DIR)
+    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
 
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
@@ -145,7 +145,7 @@ class Laikad:
       self.gnss_kf.predict(t)
 
   def kf_valid(self, t: float) -> List[bool]:
-    filter_time = self.gnss_kf.filter.filter_time
+    filter_time = self.gnss_kf.filter.get_filter_time()
     return [filter_time is not None,
             filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
             all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]

From 338df150d5112d4c6772edb797cb45370fdc3599 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 15:48:57 +0200
Subject: [PATCH 083/435] ui: disable sync with model until more stable
 (#24984)

---
 selfdrive/ui/qt/widgets/cameraview.cc | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index a80672f2c..0bc90b530 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -235,10 +235,21 @@ void CameraViewWidget::paintGL() {
 
   if (frames.empty()) return;
 
-  int frame_idx;
-  for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
-    if (frames[frame_idx].first == draw_frame_id) break;
+  int frame_idx = frames.size() - 1;
+
+  // Always draw latest frame until sync logic is more stable
+  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
+  //   if (frames[frame_idx].first == draw_frame_id) break;
+  // }
+
+  // Log duplicate/dropped frames
+  static int prev_id = 0;
+  if (frames[frame_idx].first == prev_id) {
+    qInfo() << "Drawing same frame twice" << frames[frame_idx].first;
+  } else if (frames[frame_idx].first != prev_id + 1) {
+    qInfo() << "Skipped frame" << frames[frame_idx].first;
   }
+  prev_id = frames[frame_idx].first;
 
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);

From fd5b3d76036b78864111790931a3abcb1d11ee0f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 28 Jun 2022 22:12:42 +0800
Subject: [PATCH 084/435] move replay from selfdrive/ui/replay to tools/replay
 (#24971)

* mv to tools/replay

* change folder

* add .gitignore

* fix build doc

* disable warning

* enable warning after build

* build qt/util.cc qt/api.cc to library

* cleanup
---
 .github/workflows/selfdrive_tests.yaml        |  2 +-
 SConstruct                                    |  2 ++
 docs/c_docs.rst                               |  2 +-
 release/files_common                          |  4 ++--
 selfdrive/loggerd/tests/test_logger.cc        |  2 +-
 selfdrive/ui/SConscript                       | 20 +++++--------------
 tools/CTF.md                                  |  2 +-
 tools/replay/.gitignore                       |  5 +++++
 tools/replay/README.md                        | 14 ++++++-------
 tools/replay/SConscript                       | 19 ++++++++++++++++++
 {selfdrive/ui => tools}/replay/camera.cc      |  4 ++--
 {selfdrive/ui => tools}/replay/camera.h       |  4 ++--
 {selfdrive/ui => tools}/replay/consoleui.cc   |  2 +-
 {selfdrive/ui => tools}/replay/consoleui.h    |  2 +-
 {selfdrive/ui => tools}/replay/filereader.cc  |  4 ++--
 {selfdrive/ui => tools}/replay/filereader.h   |  0
 {selfdrive/ui => tools}/replay/framereader.cc |  4 ++--
 {selfdrive/ui => tools}/replay/framereader.h  |  2 +-
 {selfdrive/ui => tools}/replay/logreader.cc   |  4 ++--
 {selfdrive/ui => tools}/replay/logreader.h    |  2 +-
 {selfdrive/ui => tools}/replay/main.cc        |  4 ++--
 {selfdrive/ui => tools}/replay/replay.cc      |  4 ++--
 {selfdrive/ui => tools}/replay/replay.h       |  4 ++--
 {selfdrive/ui => tools}/replay/route.cc       |  6 +++---
 {selfdrive/ui => tools}/replay/route.h        |  6 +++---
 .../ui => tools}/replay/tests/test_replay.cc  |  4 ++--
 .../ui => tools}/replay/tests/test_runner.cc  |  0
 {selfdrive/ui => tools}/replay/util.cc        |  2 +-
 {selfdrive/ui => tools}/replay/util.h         |  0
 29 files changed, 73 insertions(+), 57 deletions(-)
 create mode 100644 tools/replay/.gitignore
 create mode 100644 tools/replay/SConscript
 rename {selfdrive/ui => tools}/replay/camera.cc (96%)
 rename {selfdrive/ui => tools}/replay/camera.h (92%)
 rename {selfdrive/ui => tools}/replay/consoleui.cc (99%)
 rename {selfdrive/ui => tools}/replay/consoleui.h (96%)
 rename {selfdrive/ui => tools}/replay/filereader.cc (94%)
 rename {selfdrive/ui => tools}/replay/filereader.h (100%)
 rename {selfdrive/ui => tools}/replay/framereader.cc (98%)
 rename {selfdrive/ui => tools}/replay/framereader.h (97%)
 rename {selfdrive/ui => tools}/replay/logreader.cc (97%)
 rename {selfdrive/ui => tools}/replay/logreader.h (97%)
 rename {selfdrive/ui => tools}/replay/main.cc (96%)
 rename {selfdrive/ui => tools}/replay/replay.cc (99%)
 rename {selfdrive/ui => tools}/replay/replay.h (97%)
 rename {selfdrive/ui => tools}/replay/route.cc (97%)
 rename {selfdrive/ui => tools}/replay/route.h (92%)
 rename {selfdrive/ui => tools}/replay/tests/test_replay.cc (98%)
 rename {selfdrive/ui => tools}/replay/tests/test_runner.cc (100%)
 rename {selfdrive/ui => tools}/replay/util.cc (99%)
 rename {selfdrive/ui => tools}/replay/util.h (100%)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 52dd012ba..a40aa3134 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -310,7 +310,7 @@ jobs:
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
-                        ./selfdrive/ui/replay/tests/test_replay && \
+                        ./tools/replay/tests/test_replay && \
                         ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
diff --git a/SConstruct b/SConstruct
index b243a4dc4..425ce3d76 100644
--- a/SConstruct
+++ b/SConstruct
@@ -411,6 +411,8 @@ SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
+SConscript(['tools/replay/SConscript'])
+
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')
 
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 4e1e8a247..5638b40bf 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -54,7 +54,7 @@ soundd
 replay
 """"""
 .. autodoxygenindex::
-   :project: selfdrive_ui_replay
+   :project: tools_replay
 
 qt
 ""
diff --git a/release/files_common b/release/files_common
index 0ace73623..7e8dbd37a 100644
--- a/release/files_common
+++ b/release/files_common
@@ -296,8 +296,8 @@ selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 
-selfdrive/ui/replay/*.cc
-selfdrive/ui/replay/*.h
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc
index 11a50fa2e..c8f662092 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@@ -9,7 +9,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/loggerd/logger.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 28fcc5f56..970f715f5 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -18,10 +18,11 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
-widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
+qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
-               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
+               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
 
 qt_env['CPPDEFINES'] = []
@@ -31,7 +32,7 @@ if maps:
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
-qt_libs = [widgets] + base_libs
+qt_libs = [widgets, qt_util] + base_libs
 
 # build assets
 assets = "#selfdrive/assets/assets.cc"
@@ -107,17 +108,6 @@ if GetOption('extras'):
     # keep installers small
     assert f[0].get_size() < 300*1e3
 
-
-# build headless replay
+# build watch3
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
-  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-
-  replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
-
-  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
-  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
-  qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
-
-  if GetOption('test'):
-    qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/tools/CTF.md b/tools/CTF.md
index 396e7575a..a14a41d55 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF!
 getting started
 ```bash
 # start the route reply
-cd selfdrive/ui/replay
+cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 
 # start the UI in another terminal
diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore
new file mode 100644
index 000000000..83f0e99a8
--- /dev/null
+++ b/tools/replay/.gitignore
@@ -0,0 +1,5 @@
+moc_*
+*.moc
+
+replay
+tests/test_replay
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 759a448d7..b705fb60d 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -9,12 +9,12 @@
 python lib/auth.py
 
 # Start a replay
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 
 # Example:
-# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
 # or use --demo to replay the default demo route:
-# selfdrive/ui/replay/replay --demo
+# tools/replay/replay --demo
 
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
@@ -25,8 +25,8 @@ python replay/ui.py
 
 ## usage
 ``` bash
-$ selfdrive/ui/replay/replay -h
-Usage: selfdrive/ui/replay/replay [options] route
+$ tools/replay/replay -h
+Usage: tools/replay/replay [options] route
 Mock openpilot components by publishing logged messages.
 
 Options:
@@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags:
 
 ```bash
 # start a replay
-cd selfdrive/ui/replay && ./replay --demo --dcam --ecam
+cd tools/replay && ./replay --demo --dcam --ecam
 
 # then start watch3
 cd selfdrive/ui && ./watch3
@@ -70,5 +70,5 @@ In order to replay specific route:
 MOCK=1 selfdrive/boardd/tests/boardd_old.py
 
 # In another terminal:
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 ```
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
new file mode 100644
index 000000000..4a85f46d6
--- /dev/null
+++ b/tools/replay/SConscript
@@ -0,0 +1,19 @@
+import os
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
+       'cereal', 'transformations')
+
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+qt_libs = ['qt_util'] + base_libs
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+  replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs)
+  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
+  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs)
+
+  if GetOption('test'):
+    qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc
similarity index 96%
rename from selfdrive/ui/replay/camera.cc
rename to tools/replay/camera.cc
index 2e8b68a41..87afe63a2 100644
--- a/selfdrive/ui/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 
diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h
similarity index 92%
rename from selfdrive/ui/replay/camera.h
rename to tools/replay/camera.h
index 7f078511c..66d33142f 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/tools/replay/camera.h
@@ -3,8 +3,8 @@
 #include <unistd.h>
 #include "cereal/visionipc/visionipc_server.h"
 #include "common/queue.h"
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
 
 class CameraServer {
 public:
diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc
similarity index 99%
rename from selfdrive/ui/replay/consoleui.cc
rename to tools/replay/consoleui.cc
index 05eb09c9e..e4a3146a6 100644
--- a/selfdrive/ui/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/consoleui.h"
+#include "tools/replay/consoleui.h"
 
 #include <QApplication>
 #include <initializer_list>
diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h
similarity index 96%
rename from selfdrive/ui/replay/consoleui.h
rename to tools/replay/consoleui.h
index bce1146d4..20e07524d 100644
--- a/selfdrive/ui/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -7,7 +7,7 @@
 #include <QTimer>
 #include <QTimerEvent>
 
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 #include <ncurses.h>
 
 class ConsoleUI : public QObject {
diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc
similarity index 94%
rename from selfdrive/ui/replay/filereader.cc
rename to tools/replay/filereader.cc
index 5f862bec3..88879067c 100644
--- a/selfdrive/ui/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -1,9 +1,9 @@
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 #include <fstream>
 
 #include "common/util.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h
similarity index 100%
rename from selfdrive/ui/replay/filereader.h
rename to tools/replay/filereader.h
diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc
similarity index 98%
rename from selfdrive/ui/replay/framereader.cc
rename to tools/replay/framereader.cc
index 38d98bddc..bfa85a062 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 #include "libyuv.h"
diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h
similarity index 97%
rename from selfdrive/ui/replay/framereader.h
rename to tools/replay/framereader.h
index 443636e27..10bf34a24 100644
--- a/selfdrive/ui/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>
 
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc
similarity index 97%
rename from selfdrive/ui/replay/logreader.cc
rename to tools/replay/logreader.cc
index 579fe5064..f27224ac5 100644
--- a/selfdrive/ui/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,7 +1,7 @@
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/logreader.h"
 
 #include <algorithm>
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
   words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h
similarity index 97%
rename from selfdrive/ui/replay/logreader.h
rename to tools/replay/logreader.h
index b4a38a572..fb63bf391 100644
--- a/selfdrive/ui/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -7,7 +7,7 @@
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc
similarity index 96%
rename from selfdrive/ui/replay/main.cc
rename to tools/replay/main.cc
index e09587023..d3d689487 100644
--- a/selfdrive/ui/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,8 +1,8 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
-#include "selfdrive/ui/replay/consoleui.h"
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/consoleui.h"
+#include "tools/replay/replay.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 
diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc
similarity index 99%
rename from selfdrive/ui/replay/replay.cc
rename to tools/replay/replay.cc
index cf7520b36..c886a7e18 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 
 #include <QDebug>
 #include <QtConcurrent>
@@ -8,7 +8,7 @@
 #include "common/params.h"
 #include "common/timing.h"
 #include "system/hardware/hw.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
     : sm(sm_), flags_(flags), QObject(parent) {
diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h
similarity index 97%
rename from selfdrive/ui/replay/replay.h
rename to tools/replay/replay.h
index c89a835f6..13269d3ec 100644
--- a/selfdrive/ui/replay/replay.h
+++ b/tools/replay/replay.h
@@ -4,8 +4,8 @@
 
 #include <QThread>
 
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/route.h"
 
 // one segment uses about 100M of memory
 constexpr int FORWARD_SEGS = 5;
diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc
similarity index 97%
rename from selfdrive/ui/replay/route.cc
rename to tools/replay/route.cc
index 3d595141c..5b4709022 100644
--- a/selfdrive/ui/replay/route.cc
+++ b/tools/replay/route.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/route.h"
 
 #include <QDir>
 #include <QEventLoop>
@@ -11,8 +11,8 @@
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) {
   route_ = parseRoute(route);
diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h
similarity index 92%
rename from selfdrive/ui/replay/route.h
rename to tools/replay/route.h
index ac8fba75c..6ca9c3b88 100644
--- a/selfdrive/ui/replay/route.h
+++ b/tools/replay/route.h
@@ -2,9 +2,9 @@
 
 #include <QFutureSynchronizer>
 
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
+#include "tools/replay/util.h"
 
 struct RouteIdentifier {
   QString dongle_id;
diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
similarity index 98%
rename from selfdrive/ui/replay/tests/test_replay.cc
rename to tools/replay/tests/test_replay.cc
index bf984f5f3..bd5dee013 100644
--- a/selfdrive/ui/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -6,8 +6,8 @@
 
 #include "catch2/catch.hpp"
 #include "common/util.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc
similarity index 100%
rename from selfdrive/ui/replay/tests/test_runner.cc
rename to tools/replay/tests/test_runner.cc
diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc
similarity index 99%
rename from selfdrive/ui/replay/util.cc
rename to tools/replay/util.cc
index 099219ccd..a6ebbec61 100644
--- a/selfdrive/ui/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 #include <bzlib.h>
 #include <curl/curl.h>
diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h
similarity index 100%
rename from selfdrive/ui/replay/util.h
rename to tools/replay/util.h

From 42d51a1b959fbd00cd43b7fb36cd5dce00f22c55 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 17:20:37 +0200
Subject: [PATCH 085/435] Properly pass KF dependencies to rednose (#24985)

* Fix rednose dependencies

* bump rednose

* bump rednose
---
 SConstruct   | 21 +++++++++++++--------
 rednose_repo |  2 +-
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/SConstruct b/SConstruct
index 425ce3d76..1209894ba 100644
--- a/SConstruct
+++ b/SConstruct
@@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
   },
 }
 
 if arch != "larch64":
   rednose_config['to_build'].update({
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
diff --git a/rednose_repo b/rednose_repo
index a79a87300..225dbacba 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20
+Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47

From 712445c5314d0634e1f6a78a95901dd14ac6bc57 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 28 Jun 2022 17:39:22 +0200
Subject: [PATCH 086/435] build.py: remove retry logic (#24986)

---
 selfdrive/manager/build.py | 101 ++++++++++++++++---------------------
 1 file changed, 43 insertions(+), 58 deletions(-)

diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 10b4c0a4b..12f894061 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-import sys
-import time
 import textwrap
 from pathlib import Path
 
@@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None:
   nproc = os.cpu_count()
   j_flag = "" if nproc is None else f"-j{nproc - 1}"
 
-  for retry in [True, False]:
-    scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
-
-    compile_output = []
-
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-        line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
-        elif len(line):
-          compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
-
-    if scons.returncode != 0:
-      # Read remaining output
-      r = scons.stderr.read().split(b'\n')
-      compile_output += r
-
-      if retry and (not dirty):
-        if not os.getenv("CI"):
-          print("scons build failed, cleaning in")
-          for i in range(3, -1, -1):
-            print("....%d" % i)
-            time.sleep(1)
-          subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
-        else:
-          print("scons build failed after retry")
-          sys.exit(1)
-      else:
-        # Build failed log errors
-        errors = [line.decode('utf8', 'replace') for line in compile_output
-                  if any(err in line for err in [b'error: ', b'not found, needed by target'])]
-        error_s = "\n".join(errors)
-        add_file_handler(cloudlog)
-        cloudlog.error("scons build failed\n" + error_s)
-
-        # Show TextWindow
-        spinner.close()
-        if not os.getenv("CI"):
-          error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
-          with TextWindow("openpilot failed to build\n \n" + error_s) as t:
-            t.wait_for_exit()
-        exit(1)
-    else:
-      break
+  scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+  assert scons.stderr is not None
+
+  compile_output = []
+
+  # Read progress from stderr and update spinner
+  while scons.poll() is None:
+    try:
+      line = scons.stderr.readline()
+      if line is None:
+        continue
+      line = line.rstrip()
+
+      prefix = b'progress: '
+      if line.startswith(prefix):
+        i = int(line[len(prefix):])
+        spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+      elif len(line):
+        compile_output.append(line)
+        print(line.decode('utf8', 'replace'))
+    except Exception:
+      pass
+
+  if scons.returncode != 0:
+    # Read remaining output
+    r = scons.stderr.read().split(b'\n')
+    compile_output += r
+
+    # Build failed log errors
+    errors = [line.decode('utf8', 'replace') for line in compile_output
+              if any(err in line for err in [b'error: ', b'not found, needed by target'])]
+    error_s = "\n".join(errors)
+    add_file_handler(cloudlog)
+    cloudlog.error("scons build failed\n" + error_s)
+
+    # Show TextWindow
+    spinner.close()
+    if not os.getenv("CI"):
+      error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
+      with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+        t.wait_for_exit()
+    exit(1)
+
 
   # enforce max cache size
   cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]

From 75f5282e832a844aafccac3bfa53ffb029c53a2b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 28 Jun 2022 14:19:17 -0700
Subject: [PATCH 087/435] Chrysler: fix steering angle signals (#24926)

* Chrysler_Update

* only steering

* revert other changes for now

only steering

* bump

* Update ref_commit

* bump opendbc

* update refs

Co-authored-by: Jonathan <jraycec@gmail.com>
---
 opendbc                                  | 2 +-
 selfdrive/car/chrysler/carstate.py       | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/opendbc b/opendbc
index 82be71072..47b79c4d5 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11
+Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index f71a30026..202526df0 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -47,8 +47,6 @@ class CarState(CarStateBase):
 
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
-    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
     ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
@@ -58,6 +56,8 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
     ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3e02830bf..946ddce19 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2ee969b34585f8055bb3eabab2dcc4061cc4bef9
\ No newline at end of file
+a0b5ce7b2e0b9c073e51ac8908402d53e1d99722
\ No newline at end of file

From 4db3ca4cf2eca777c1cff7cb5a3010569f6cc7d5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 28 Jun 2022 20:38:08 -0700
Subject: [PATCH 088/435] Toyota: Add missing 2021 RAV4 TSS2 esp FW (#24989)

Add missing Canadian TRD 2021 RAV4
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 76f84302c..c7a26257f 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1262,6 +1262,7 @@ FW_VERSIONS = {
       b'\x01F152642711\x00\x00\x00\x00\x00\x00',
       b'\x01F152642750\x00\x00\x00\x00\x00\x00',
       b'\x01F152642751\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B42170\x00\x00\x00\x00\x00\x00',

From e0cd3bf5fc56229c2a0b835d0ef43a0bf683bfa5 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 29 Jun 2022 17:27:37 +0800
Subject: [PATCH 089/435] framereader.cc: remove nv12toyuv_buffer (#24991)

remove nv12toyuv_buffer
---
 tools/replay/framereader.cc | 9 +++------
 tools/replay/framereader.h  | 1 -
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index bfa85a062..ecde9ad5d 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
   if (has_hw_decoder && !no_hw_decoder) {
     if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
       rWarning("No device with hardware decoder found. fallback to CPU decoding.");
-    } else {
-      nv12toyuv_buffer.resize(getYUVSize());
     }
   }
 
@@ -227,17 +225,16 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
 }
 
 bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) {
+  assert(f != nullptr && yuv != nullptr);
+  uint8_t *y = yuv;
+  uint8_t *uv = y + width * height;
   if (hw_pix_fmt == HW_PIX_FMT) {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     for (int i = 0; i < height/2; i++) {
       memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width);
       memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width);
       memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width);
     }
   } else {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     libyuv::I420ToNV12(f->data[0], f->linesize[0],
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index 10bf34a24..e50b61d7f 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -46,7 +46,6 @@ private:
 
   AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
   AVBufferRef *hw_device_ctx = nullptr;
-  std::vector<uint8_t> nv12toyuv_buffer;
   int prev_idx = -1;
   inline static std::atomic<bool> has_hw_decoder = true;
 };

From 67cf20977d8fc250ac9d43261554712e1b74c689 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 29 Jun 2022 11:36:03 +0200
Subject: [PATCH 090/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 3fef4f786..df0856831 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1
+Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4

From bef5350fa3cc99a79af75a108f50d6a76ce07988 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 29 Jun 2022 12:19:37 +0200
Subject: [PATCH 091/435] don't log LaikadEphemeris in initData

---
 common/params.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index b8526bc23..f93c87cd9 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -128,7 +128,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT},
+    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},

From 879a7c3201a037c27c92ad6b92143114f52f29d3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 29 Jun 2022 14:47:46 -0700
Subject: [PATCH 092/435] UI: wrap all text for translation (#24961)

* rough multiple language demo

* more wrappings

* stash

* add some bad translations

* updates

* map from french to spanish still has same problem of needing to call setText on everything

* add files

* restart UI

* use return code

* relative path

* more translations

* don't loop restart

* Toggle and prime translations

* try on device

* try QComboBox with readable style

* stash

* not yet scrollable

* stash

* dynamic translations (doesn't work for dynamic widget strings yet)

* clean up multiple option selector

* store languages in json

* try transparent

* Try transparent popup

* see how this looks

* tweaks

* clean up

* clean up

* clean up 2 and missing tr

* wrap more strings

* missing updater

* fixes

* add basic test to ensure all strings wrapped

* try in CI

* clean up

* test name

* fix test

* always install qt dev tools

* fix deps

* fast test

* add section so it prints multiple errors

* debug

* debug

get rid of those

* make any difference?

* comment

* oh...

* run with offscreen platform

* try out section

* clean up

* fix missing wrappings (it works!)

* move down

* space

* clear relevant params, set TICI=1
---
 .github/workflows/selfdrive_tests.yaml        |   2 +
 selfdrive/ui/SConscript                       |   3 +
 selfdrive/ui/installer/installer.cc           |   8 +-
 selfdrive/ui/qt/home.cc                       |   4 +-
 selfdrive/ui/qt/maps/map_settings.cc          |  16 +--
 selfdrive/ui/qt/offroad/driverview.cc         |   2 +-
 selfdrive/ui/qt/offroad/networking.cc         |  32 ++---
 selfdrive/ui/qt/offroad/onboarding.cc         |  14 +--
 selfdrive/ui/qt/offroad/settings.cc           | 110 +++++++++---------
 selfdrive/ui/qt/onroad.cc                     |  14 +--
 selfdrive/ui/qt/setup/reset.cc                |  18 +--
 selfdrive/ui/qt/setup/setup.cc                |  42 +++----
 selfdrive/ui/qt/setup/updater.cc              |  16 +--
 selfdrive/ui/qt/sidebar.cc                    |  16 +--
 selfdrive/ui/qt/text.cc                       |   4 +-
 selfdrive/ui/qt/util.cc                       |   8 +-
 selfdrive/ui/qt/widgets/drive_stats.cc        |   8 +-
 selfdrive/ui/qt/widgets/drive_stats.h         |   2 +-
 selfdrive/ui/qt/widgets/input.cc              |  10 +-
 selfdrive/ui/qt/widgets/offroad_alerts.cc     |   6 +-
 selfdrive/ui/qt/widgets/prime.cc              |  28 ++---
 selfdrive/ui/qt/widgets/ssh_keys.cc           |  18 +--
 selfdrive/ui/qt/widgets/ssh_keys.h            |   2 +-
 selfdrive/ui/tests/.gitignore                 |   1 +
 .../ui/tests/create_test_translations.sh      |  18 +++
 selfdrive/ui/tests/test_runner.cc             |  19 ++-
 selfdrive/ui/tests/test_translations.cc       |  51 ++++++++
 tools/ubuntu_setup.sh                         |   1 +
 28 files changed, 282 insertions(+), 191 deletions(-)
 create mode 100755 selfdrive/ui/tests/create_test_translations.sh
 create mode 100644 selfdrive/ui/tests/test_translations.cc

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a40aa3134..f5edfe592 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -305,6 +305,8 @@ jobs:
                         $UNIT_TEST selfdrive/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 970f715f5..0835c1637 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -58,6 +58,9 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
+if GetOption('test'):
+  qt_src.remove("main.cc")  # replaced by test_runner
+  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
 
 # setup and factory resetter
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 3588026ba..fe31a2dcb 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) {
   layout->setContentsMargins(150, 290, 150, 150);
   layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Installing...");
+  QLabel *title = new QLabel(tr("Installing..."));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   layout->addWidget(title, 0, Qt::AlignTop);
 
@@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) {
 void Installer::readProgress() {
   const QVector<QPair<QString, int>> stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    {tr("Receiving objects: "), 91},
+    {tr("Resolving deltas: "), 2},
+    {tr("Updating files: "), 7},
   };
 
   auto line = QString(proc.readAllStandardError());
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index aec9bffbc..0edeb252b 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -111,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   date = new QLabel();
   header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
 
-  update_notif = new QPushButton("UPDATE");
+  update_notif = new QPushButton(tr("UPDATE"));
   update_notif->setVisible(false);
   update_notif->setStyleSheet("background-color: #364DEF;");
   QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
@@ -202,6 +202,6 @@ void OffroadHome::refresh() {
   update_notif->setVisible(updateAvailable);
   alert_notif->setVisible(alerts);
   if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT"));
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
   }
 }
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 674c7fa7c..eaa8b1f70 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     current_widget = new QWidget(this);
     QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
 
-    QLabel *title = new QLabel("Current Destination");
+    QLabel *title = new QLabel(tr("Current Destination"));
     title->setStyleSheet("font-size: 55px");
     current_layout->addWidget(title);
 
-    current_route = new ButtonControl("", "CLEAR");
+    current_route = new ButtonControl("", tr("CLEAR"));
     current_route->setStyleSheet("padding-left: 40px;");
     current_layout->addWidget(current_route);
     QObject::connect(current_route, &ButtonControl::clicked, [=]() {
@@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   main_layout->addWidget(current_widget);
 
   // Recents
-  QLabel *recents_title = new QLabel("Recent Destinations");
+  QLabel *recents_title = new QLabel(tr("Recent Destinations"));
   recents_title->setStyleSheet("font-size: 55px");
   main_layout->addWidget(recents_title);
   main_layout->addSpacing(20);
@@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   QWidget * no_prime_widget = new QWidget;
   {
     QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
-    QLabel *signup_header = new QLabel("Try the Navigation Beta");
+    QLabel *signup_header = new QLabel(tr("Try the Navigation Beta"));
     signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)");
     signup_header->setAlignment(Qt::AlignCenter);
 
@@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
     no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
 
-    QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai");
+    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"));
     signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
     signup->setAlignment(Qt::AlignCenter);
 
@@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) {
 void MapPanel::clear() {
   home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
   home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  home_address->setText("No home\nlocation set");
+  home_address->setText(tr("No home\nlocation set"));
   home_button->disconnect();
 
   work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
   work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  work_address->setText("No work\nlocation set");
+  work_address->setText(tr("No work\nlocation set"));
   work_button->disconnect();
 
   clearLayout(recent_layout);
@@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) {
   }
 
   if (!has_recents) {
-    QLabel *no_recents = new QLabel("no recent destinations");
+    QLabel *no_recents = new QLabel(tr("no recent destinations"));
     no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
     recent_layout->addWidget(no_recents);
   }
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index dc9f292df..5bf70584a 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -53,7 +53,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
     configFont(p, "Inter", 100, "Bold");
-    p.drawText(geometry(), Qt::AlignCenter, "camera starting");
+    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
     return;
   }
 
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 418ccd317..536ca495c 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -27,7 +27,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
   vlayout->setContentsMargins(20, 20, 20, 20);
   if (show_advanced) {
-    QPushButton* advancedSettings = new QPushButton("Advanced");
+    QPushButton* advancedSettings = new QPushButton(tr("Advanced"));
     advancedSettings->setObjectName("advanced_btn");
     advancedSettings->setStyleSheet("margin-right: 30px;");
     advancedSettings->setFixedSize(400, 100);
@@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) {
   } else if (n.security_type == SecurityType::OPEN) {
     wifi->connect(n);
   } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8);
+    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) {
 void Networking::wrongPassword(const QString &ssid) {
   if (wifi->seenNetworks.contains(ssid)) {
     const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8);
+    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -118,7 +118,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   main_layout->setSpacing(20);
 
   // Back button
-  QPushButton* back = new QPushButton("Back");
+  QPushButton* back = new QPushButton(tr("Back"));
   back->setObjectName("back_btn");
   back->setFixedSize(400, 100);
   connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
@@ -126,14 +126,14 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   ListWidget *list = new ListWidget(this);
   // Enable tethering layout
-  tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled());
+  tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled());
   list->addItem(tetheringToggle);
   QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
 
   // Change tethering password
-  ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT");
+  ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT"));
   connect(editPasswordButton, &ButtonControl::clicked, [=]() {
-    QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword());
+    QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword());
     if (!pass.isEmpty()) {
       wifi->changeTetheringPassword(pass);
     }
@@ -141,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(editPasswordButton);
 
   // IP address
-  ipLabel = new LabelControl("IP Address", wifi->ipv4_address);
+  ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
   // SSH keys
@@ -150,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
-  ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled);
+  ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
   QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) {
     params.putBool("GsmRoaming", state);
     wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")));
@@ -158,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(roamingToggle);
 
   // APN settings
-  ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT");
+  ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT"));
   connect(editApnButton, &ButtonControl::clicked, [=]() {
     const bool roamingEnabled = params.getBool("GsmRoaming");
     const QString cur_apn = QString::fromStdString(params.get("GsmApn"));
-    QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed();
+    QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed();
 
     if (apn.isEmpty()) {
       params.remove("GsmApn");
@@ -207,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
   checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation);
   circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation);
 
-  QLabel *scanning = new QLabel("Scanning for networks...");
+  QLabel *scanning = new QLabel(tr("Scanning for networks..."));
   scanning->setStyleSheet("font-size: 65px;");
   main_layout->addWidget(scanning, 0, Qt::AlignCenter);
 
@@ -260,7 +260,7 @@ void WifiUI::refresh() {
   clearLayout(main_layout);
 
   if (wifi->seenNetworks.size() == 0) {
-    QLabel *scanning = new QLabel("Scanning for networks...");
+    QLabel *scanning = new QLabel(tr("Scanning for networks..."));
     scanning->setStyleSheet("font-size: 65px;");
     main_layout->addWidget(scanning, 0, Qt::AlignCenter);
     return;
@@ -286,17 +286,17 @@ void WifiUI::refresh() {
     hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1);
 
     if (network.connected == ConnectedType::CONNECTING) {
-      QPushButton *connecting = new QPushButton("CONNECTING...");
+      QPushButton *connecting = new QPushButton(tr("CONNECTING..."));
       connecting->setObjectName("connecting");
       hlayout->addWidget(connecting, 2, Qt::AlignLeft);
     }
 
     // Forget button
     if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) {
-      QPushButton *forgetBtn = new QPushButton("FORGET");
+      QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
       forgetBtn->setObjectName("forgetBtn");
       QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) {
+        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) {
           wifi->forgetConnection(network.ssid);
         }
       });
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index d32cc26e4..77e84293b 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) {
   main_layout->setContentsMargins(45, 35, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Terms & Conditions");
+  QLabel *title = new QLabel(tr("Terms & Conditions"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title);
 
@@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *decline_btn = new QPushButton("Decline");
+  QPushButton *decline_btn = new QPushButton(tr("Decline"));
   buttons->addWidget(decline_btn);
   QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
 
-  accept_btn = new QPushButton("Scroll to accept");
+  accept_btn = new QPushButton(tr("Scroll to accept"));
   accept_btn->setEnabled(false);
   accept_btn->setStyleSheet(R"(
     QPushButton {
@@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) {
 }
 
 void TermsPage::enableAccept() {
-  accept_btn->setText("Agree");
+  accept_btn->setText(tr("Agree"));
   accept_btn->setEnabled(true);
 }
 
@@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
   main_layout->setSpacing(40);
 
   QLabel *text = new QLabel(this);
-  text->setText("You must accept the Terms and Conditions in order to use openpilot.");
+  text->setText(tr("You must accept the Terms and Conditions in order to use openpilot."));
   text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
   text->setWordWrap(true);
   main_layout->addWidget(text, 0, Qt::AlignCenter);
@@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *back_btn = new QPushButton("Back");
+  QPushButton *back_btn = new QPushButton(tr("Back"));
   buttons->addWidget(back_btn);
 
   QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
 
-  QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand()));
+  QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand()));
   uninstall_btn->setStyleSheet("background-color: #B73D3D");
   buttons->addWidget(uninstall_btn);
   QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 175e6cf5a..392287d65 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -29,45 +29,45 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<std::tuple<QString, QString, QString, QString>> toggles{
     {
       "OpenpilotEnabledToggle",
-      "Enable openpilot",
-      "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
+      tr("Enable openpilot"),
+      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/offroad/icon_openpilot.png",
     },
     {
       "IsLdwEnabled",
-      "Enable Lane Departure Warnings",
-      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).",
+      tr("Enable Lane Departure Warnings"),
+      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
     },
     {
       "IsRHD",
-      "Enable Right-Hand Drive",
-      "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
+      tr("Enable Right-Hand Drive"),
+      tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."),
       "../assets/offroad/icon_openpilot_mirrored.png",
     },
     {
       "IsMetric",
-      "Use Metric System",
-      "Display speed in km/h instead of mph.",
+      tr("Use Metric System"),
+      tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
     {
       "RecordFront",
-      "Record and Upload Driver Camera",
-      "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+      tr("Record and Upload Driver Camera"),
+      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/offroad/icon_monitoring.png",
     },
     {
       "DisengageOnAccelerator",
-      "Disengage On Accelerator Pedal",
-      "When enabled, pressing the accelerator pedal will disengage openpilot.",
+      tr("Disengage On Accelerator Pedal"),
+      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",
-      "Show ETA in 24h format",
-      "Use 24h format instead of am/pm",
+      tr("Show ETA in 24h format"),
+      tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
     },
 #endif
@@ -79,8 +79,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   if (params.getBool("DisableRadar_Allow")) {
     toggles.push_back({
       "DisableRadar",
-      "openpilot Longitudinal Control",
-      "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
+      tr("openpilot Longitudinal Control"),
+      tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"),
       "../assets/offroad/icon_speed_limit.png",
     });
   }
@@ -95,29 +95,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
 DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   setSpacing(50);
-  addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
-  addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str()));
+  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
+  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
   // offroad-only buttons
 
-  auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
-                                   "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
+  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
+                                   tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"));
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
-  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " ");
+  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) {
       params.remove("CalibrationParams");
     }
   });
   addItem(resetCalibBtn);
 
   if (!params.getBool("Passive")) {
-    auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
+    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
     connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-      if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) {
         emit reviewTrainingGuide();
       }
     });
@@ -125,7 +125,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   if (Hardware::TICI()) {
-    auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
+    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
     connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
       const std::string txt = util::read_file("../assets/offroad/fcc.html");
       RichTextDialog::alert(QString::fromStdString(txt), this);
@@ -143,12 +143,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);
 
-  QPushButton *reboot_btn = new QPushButton("Reboot");
+  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
   reboot_btn->setObjectName("reboot_btn");
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
-  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
   QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
@@ -168,8 +168,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
 void DevicePanel::updateCalibDescription() {
   QString desc =
-      "openpilot requires the device to be mounted within 4° left or right and "
-      "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.";
+      tr("openpilot requires the device to be mounted within 4° left or right and "
+         "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = Params().get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
@@ -179,9 +179,9 @@ void DevicePanel::updateCalibDescription() {
       if (calib.getCalStatus() != 0) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += QString(" Your device is pointed %1° %2 and %3° %4.")
-                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
-                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
+        desc += QString(tr(" Your device is pointed %1° %2 and %3° %4."))
+                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
+                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
       }
     } catch (kj::Exception) {
       qInfo() << "invalid CalibrationParams";
@@ -192,51 +192,51 @@ void DevicePanel::updateCalibDescription() {
 
 void DevicePanel::reboot() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoReboot", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Reboot", this);
+    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
   }
 }
 
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoShutdown", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Power Off", this);
+    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
   }
 }
 
 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
-  gitBranchLbl = new LabelControl("Git Branch");
-  gitCommitLbl = new LabelControl("Git Commit");
-  osVersionLbl = new LabelControl("OS Version");
-  versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
-  lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off.");
-  updateBtn = new ButtonControl("Check for Update", "");
+  gitBranchLbl = new LabelControl(tr("Git Branch"));
+  gitCommitLbl = new LabelControl(tr("Git Commit"));
+  osVersionLbl = new LabelControl(tr("OS Version"));
+  versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
+  lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off."));
+  updateBtn = new ButtonControl(tr("Check for Update"), "");
   connect(updateBtn, &ButtonControl::clicked, [=]() {
     if (params.getBool("IsOffroad")) {
       fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
       fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
-      updateBtn->setText("CHECKING");
+      updateBtn->setText(tr("CHECKING"));
       updateBtn->setEnabled(false);
     }
     std::system("pkill -1 -f selfdrive.updated");
   });
 
 
-  auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
+  auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
       params.putBool("DoUninstall", true);
     }
   });
@@ -250,8 +250,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   fs_watch = new QFileSystemWatcher(this);
   QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
     if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) {
-      lastUpdateLbl->setText("failed to fetch update");
-      updateBtn->setText("CHECK");
+      lastUpdateLbl->setText(tr("failed to fetch update"));
+      updateBtn->setText(tr("CHECK"));
       updateBtn->setEnabled(true);
     } else if (path.contains("LastUpdateTime")) {
       updateLabels();
@@ -272,7 +272,7 @@ void SoftwarePanel::updateLabels() {
 
   versionLbl->setText(getBrandVersion());
   lastUpdateLbl->setText(lastUpdate);
-  updateBtn->setText("CHECK");
+  updateBtn->setText(tr("CHECK"));
   updateBtn->setEnabled(true);
   gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch")));
   gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10));
@@ -301,7 +301,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   )");
 
   // close button
-  QPushButton *close_btn = new QPushButton("×");
+  QPushButton *close_btn = new QPushButton(tr("×"));
   close_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 140px;
@@ -327,15 +327,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
   QList<QPair<QString, QWidget *>> panels = {
-    {"Device", device},
-    {"Network", network_panel(this)},
-    {"Toggles", new TogglesPanel(this)},
-    {"Software", new SoftwarePanel(this)},
+    {tr("Device"), device},
+    {tr("Network"), network_panel(this)},
+    {tr("Toggles"), new TogglesPanel(this)},
+    {tr("Software"), new SoftwarePanel(this)},
   };
 
 #ifdef ENABLE_MAPS
   auto map_panel = new MapPanel(this);
-  panels.push_back({"Navigation", map_panel});
+  panels.push_back({tr("Navigation"), map_panel});
   QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
 #endif
 
@@ -367,7 +367,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     nav_btns->addButton(btn);
     sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
 
-    const int lr_margin = name != "Network" ? 50 : 0;  // Network panel handles its own margins
+    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
     panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
 
     ScrollView *panel_frame = new ScrollView(panel, this);
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ecd6d6147..7032fc751 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -199,7 +199,7 @@ void NvgWindow::updateState(const UIState &s) {
   setProperty("is_metric", s.scene.is_metric);
   setProperty("speed", cur_speed);
   setProperty("setSpeed", set_speed);
-  setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
+  setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph"));
   setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   setProperty("status", s.status);
 
@@ -266,10 +266,10 @@ void NvgWindow::drawHud(QPainter &p) {
     p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
   }
   configFont(p, "Inter", 40, "SemiBold");
-  QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
+  QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX"));
   max_rect.moveCenter({set_speed_rect.center().x(), 0});
   max_rect.moveTop(set_speed_rect.top() + 27);
-  p.drawText(max_rect, Qt::AlignCenter, "MAX");
+  p.drawText(max_rect, Qt::AlignCenter, tr("MAX"));
 
   // Draw set speed
   if (is_cruise_set) {
@@ -313,16 +313,16 @@ void NvgWindow::drawHud(QPainter &p) {
 
     // "SPEED"
     configFont(p, "Inter", 28, "SemiBold");
-    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
+    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED"));
     text_speed_rect.moveCenter({sign_rect.center().x(), 0});
     text_speed_rect.moveTop(sign_rect_outer.top() + 22);
-    p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
+    p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED"));
 
     // "LIMIT"
-    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
+    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT"));
     text_limit_rect.moveCenter({sign_rect.center().x(), 0});
     text_limit_rect.moveTop(sign_rect_outer.top() + 51);
-    p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
+    p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT"));
 
     // Speed limit value
     configFont(p, "Inter", 70, "Bold");
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 9ffcf7f6c..582217c1d 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -26,16 +26,16 @@ void Reset::doReset() {
   if (rm == 0 || fmt == 0) {
     std::system("sudo reboot");
   }
-  body->setText("Reset failed. Reboot to try again.");
+  body->setText(tr("Reset failed. Reboot to try again."));
   rebootBtn->show();
 }
 
 void Reset::confirm() {
-  const QString confirm_txt = "Are you sure you want to reset your device?";
+  const QString confirm_txt = tr("Are you sure you want to reset your device?");
   if (body->text() != confirm_txt) {
     body->setText(confirm_txt);
   } else {
-    body->setText("Resetting device...");
+    body->setText(tr("Resetting device..."));
     rejectBtn->hide();
     rebootBtn->hide();
     confirmBtn->hide();
@@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->setContentsMargins(45, 220, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("System Reset");
+  QLabel *title = new QLabel(tr("System Reset"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(60);
 
-  body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.");
+  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
   body->setWordWrap(true);
   body->setStyleSheet("font-size: 80px; font-weight: light;");
   main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  rejectBtn = new QPushButton("Cancel");
+  rejectBtn = new QPushButton(tr("Cancel"));
   blayout->addWidget(rejectBtn);
   QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit);
 
-  rebootBtn = new QPushButton("Reboot");
+  rebootBtn = new QPushButton(tr("Reboot"));
   blayout->addWidget(rebootBtn);
 #ifdef __aarch64__
   QObject::connect(rebootBtn, &QPushButton::clicked, [=]{
@@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   });
 #endif
 
-  confirmBtn = new QPushButton("Confirm");
+  confirmBtn = new QPushButton(tr("Confirm"));
   confirmBtn->setStyleSheet("background-color: #465BEA;");
   blayout->addWidget(confirmBtn);
   QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
@@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   rejectBtn->setVisible(!recover);
   rebootBtn->setVisible(recover);
   if (recover) {
-    body->setText("Unable to mount data partition. Press confirm to reset your device.");
+    body->setText(tr("Unable to mount data partition. Press confirm to reset your device."));
   }
 
   setStyleSheet(R"(
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 10a2d05f3..69dafcf74 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() {
   inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
   inner_layout->addSpacing(80);
 
-  QLabel *title = new QLabel("WARNING: Low Voltage");
+  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
   title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
   inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   inner_layout->addSpacing(25);
 
-  QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk.");
+  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300;");
@@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *poweroff = new QPushButton("Power off");
+  QPushButton *poweroff = new QPushButton(tr("Power off"));
   poweroff->setObjectName("navBtn");
   blayout->addWidget(poweroff);
   QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
     Hardware::poweroff();
   });
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   blayout->addWidget(cont);
   QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
@@ -114,12 +114,12 @@ QWidget * Setup::getting_started() {
   vlayout->setContentsMargins(165, 280, 100, 0);
   main_layout->addLayout(vlayout);
 
-  QLabel *title = new QLabel("Getting Started");
+  QLabel *title = new QLabel(tr("Getting Started"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   vlayout->addSpacing(90);
-  QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details.");
+  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
   desc->setWordWrap(true);
   desc->setStyleSheet("font-size: 80px; font-weight: 300;");
   vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
@@ -144,7 +144,7 @@ QWidget * Setup::network_setup() {
   main_layout->setContentsMargins(55, 50, 55, 50);
 
   // title
-  QLabel *title = new QLabel("Connect to Wi-Fi");
+  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -162,7 +162,7 @@ QWidget * Setup::network_setup() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
@@ -179,9 +179,9 @@ QWidget * Setup::network_setup() {
     cont->setEnabled(success);
     if (success) {
       const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL;
-      cont->setText(cell ? "Continue without Wi-Fi" : "Continue");
+      cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue"));
     } else {
-      cont->setText("Waiting for internet");
+      cont->setText(tr("Waiting for internet"));
     }
     repaint();
   });
@@ -235,7 +235,7 @@ QWidget * Setup::software_selection() {
   main_layout->setSpacing(0);
 
   // title
-  QLabel *title = new QLabel("Choose Software to Install");
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -245,12 +245,12 @@ QWidget * Setup::software_selection() {
   QButtonGroup *group = new QButtonGroup(widget);
   group->setExclusive(true);
 
-  QWidget *dashcam = radio_button("Dashcam", group);
+  QWidget *dashcam = radio_button(tr("Dashcam"), group);
   main_layout->addWidget(dashcam);
 
   main_layout->addSpacing(30);
 
-  QWidget *custom = radio_button("Custom Software", group);
+  QWidget *custom = radio_button(tr("Custom Software"), group);
   main_layout->addWidget(custom);
 
   main_layout->addStretch();
@@ -260,12 +260,12 @@ QWidget * Setup::software_selection() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   cont->setEnabled(false);
   cont->setProperty("primary", true);
@@ -278,7 +278,7 @@ QWidget * Setup::software_selection() {
     });
     QString url = DASHCAM_URL;
     if (group->checkedButton() != dashcam) {
-      url = InputDialog::getText("Enter URL", this, "for Custom Software");
+      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
     }
     if (!url.isEmpty()) {
       QTimer::singleShot(1000, this, [=]() {
@@ -300,7 +300,7 @@ QWidget * Setup::software_selection() {
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel("Downloading...");
+  QLabel *txt = new QLabel(tr("Downloading..."));
   txt->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(txt, 0, Qt::AlignCenter);
   return widget;
@@ -312,13 +312,13 @@ QWidget * Setup::download_failed() {
   main_layout->setContentsMargins(55, 225, 55, 55);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Download Failed");
+  QLabel *title = new QLabel(tr("Download Failed"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(67);
 
-  QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good.");
+  QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
@@ -331,14 +331,14 @@ QWidget * Setup::download_failed() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *reboot = new QPushButton("Reboot device");
+  QPushButton *reboot = new QPushButton(tr("Reboot device"));
   reboot->setObjectName("navBtn");
   blayout->addWidget(reboot);
   QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
     Hardware::reboot();
   });
 
-  QPushButton *restart = new QPushButton("Start over");
+  QPushButton *restart = new QPushButton(tr("Start over"));
   restart->setObjectName("navBtn");
   restart->setProperty("primary", true);
   blayout->addWidget(restart);
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
index 6e8189f4b..fd7148c53 100644
--- a/selfdrive/ui/qt/setup/updater.cc
+++ b/selfdrive/ui/qt/setup/updater.cc
@@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     QVBoxLayout *layout = new QVBoxLayout(prompt);
     layout->setContentsMargins(100, 250, 100, 100);
 
-    QLabel *title = new QLabel("Update Required");
+    QLabel *title = new QLabel(tr("Update Required"));
     title->setStyleSheet("font-size: 80px; font-weight: bold;");
     layout->addWidget(title);
 
     layout->addSpacing(75);
 
-    QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.");
+    QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."));
     desc->setWordWrap(true);
     desc->setStyleSheet("font-size: 65px;");
     layout->addWidget(desc);
@@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     hlayout->setSpacing(30);
     layout->addLayout(hlayout);
 
-    QPushButton *connect = new QPushButton("Connect to Wi-Fi");
+    QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi"));
     connect->setObjectName("navBtn");
     QObject::connect(connect, &QPushButton::clicked, [=]() {
       setCurrentWidget(wifi);
     });
     hlayout->addWidget(connect);
 
-    QPushButton *install = new QPushButton("Install");
+    QPushButton *install = new QPushButton(tr("Install"));
     install->setObjectName("navBtn");
     install->setStyleSheet("background-color: #465BEA;");
     QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
@@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
     layout->addWidget(networking, 1);
 
-    QPushButton *back = new QPushButton("Back");
+    QPushButton *back = new QPushButton(tr("Back"));
     back->setObjectName("navBtn");
     back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(back, &QPushButton::clicked, [=]() {
@@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     layout->setContentsMargins(150, 330, 150, 150);
     layout->setSpacing(0);
 
-    text = new QLabel("Loading...");
+    text = new QLabel(tr("Loading..."));
     text->setStyleSheet("font-size: 90px; font-weight: 600;");
     layout->addWidget(text, 0, Qt::AlignTop);
 
@@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
 
     layout->addStretch();
 
-    reboot = new QPushButton("Reboot");
+    reboot = new QPushButton(tr("Reboot"));
     reboot->setObjectName("navBtn");
     reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(reboot, &QPushButton::clicked, [=]() {
@@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   if (exitCode == 0) {
     Hardware::reboot();
   } else {
-    text->setText("Update failed");
+    text->setText(tr("Update failed"));
     reboot->show();
   }
 }
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 00e72b352..accab67bf 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -64,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
-    connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color};
+    connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color};
+    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
 
-  ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color};
+  ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{"TEMP", "GOOD"}, good_color};
+    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
-    tempStatus = {{"TEMP", "OK"}, warning_color};
+    tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    pandaStatus = {{"NO", "PANDA"}, danger_color};
+    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {{"GPS", "SEARCH"}, warning_color};
+    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index ac8e7bcd1..21ec5eedc 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -33,12 +33,12 @@ int main(int argc, char *argv[]) {
 
   QPushButton *btn = new QPushButton();
 #ifdef __aarch64__
-  btn->setText("Reboot");
+  btn->setText(QObject::tr("Reboot"));
   QObject::connect(btn, &QPushButton::clicked, [=]() {
     Hardware::reboot();
   });
 #else
-  btn->setText("Exit");
+  btn->setText(QObject::tr("Exit"));
   QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
 #endif
   main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 366aa76f4..f82d9bf49 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -15,7 +15,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return Params().getBool("Passive") ? "dashcam" : "openpilot";
+  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
 }
 
 QString getBrandVersion() {
@@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : "");
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
+    s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : "");
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
+    s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : "");
   } else {
     s = date.date().toString();
   }
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
index 61d47db1c..31009f03c 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
     grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
 
-    grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
 
     main_layout->addLayout(grid_layout);
   };
 
-  add_stats_layouts("ALL TIME", all_);
+  add_stats_layouts(tr("ALL TIME"), all_);
   main_layout->addStretch();
-  add_stats_layouts("PAST WEEK", week_);
+  add_stats_layouts(tr("PAST WEEK"), week_);
 
   if (auto dongleId = getDongleId()) {
     QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
index 944629451..5e2d96b24 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.h
+++ b/selfdrive/ui/qt/widgets/drive_stats.h
@@ -12,7 +12,7 @@ public:
 private:
   void showEvent(QShowEvent *event) override;
   void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; }
+  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
 
   bool metric_;
   QJsonDocument stats_;
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 8a5d49280..755ccfe8c 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -67,7 +67,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
     vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft);
   }
 
-  QPushButton* cancel_btn = new QPushButton("Cancel");
+  QPushButton* cancel_btn = new QPushButton(tr("Cancel"));
   cancel_btn->setFixedSize(386, 125);
   cancel_btn->setStyleSheet(R"(
     font-size: 48px;
@@ -164,7 +164,7 @@ void InputDialog::handleEnter() {
     done(QDialog::Accepted);
     emitText(line->text());
   } else {
-    setMessage("Need at least "+QString::number(minLength)+" characters!", false);
+    setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false);
   }
 }
 
@@ -217,12 +217,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
 }
 
 bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent);
   return d.exec();
 }
 
 bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent);
   return d.exec();
 }
 
@@ -254,6 +254,6 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te
 }
 
 bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
-  auto d = RichTextDialog(prompt_text, "Ok", parent);
+  auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
   return d.exec();
 }
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index 433193df5..937ea02f8 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   QHBoxLayout *footer_layout = new QHBoxLayout();
   main_layout->addLayout(footer_layout);
 
-  QPushButton *dismiss_btn = new QPushButton("Close");
+  QPushButton *dismiss_btn = new QPushButton(tr("Close"));
   dismiss_btn->setFixedSize(400, 125);
   footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
   QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
 
-  snooze_btn = new QPushButton("Snooze Update");
+  snooze_btn = new QPushButton(tr("Snooze Update"));
   snooze_btn->setVisible(false);
   snooze_btn->setFixedSize(550, 125);
   footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");
 
   if (hasRebootBtn) {
-    QPushButton *rebootBtn = new QPushButton("Reboot and Update");
+    QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update"));
     rebootBtn->setFixedSize(600, 125);
     footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight);
     QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); });
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 8a208bf3c..d2529821f 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -83,18 +83,18 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
 
     vlayout->addSpacing(30);
 
-    QLabel *title = new QLabel("Pair your device to your comma account", this);
+    QLabel *title = new QLabel(tr("Pair your device to your comma account"), this);
     title->setStyleSheet("font-size: 75px; color: black;");
     title->setWordWrap(true);
     vlayout->addWidget(title);
 
-    QLabel *instructions = new QLabel(R"(
+    QLabel *instructions = new QLabel(tr(R"(
       <ol type='1' style='margin-left: 15px;'>
         <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
         <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
         <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
       </ol>
-    )", this);
+    )"), this);
     instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
     instructions->setWordWrap(true);
     vlayout->addWidget(instructions);
@@ -120,19 +120,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   primeLayout->setMargin(0);
   primeWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* subscribed = new QLabel("✓ SUBSCRIBED");
+  QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED"));
   subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
   primeLayout->addWidget(subscribed, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(60);
 
-  QLabel* commaPrime = new QLabel("comma prime");
+  QLabel* commaPrime = new QLabel(tr("comma prime"));
   commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
   primeLayout->addWidget(commaPrime, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(20);
 
-  QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI");
+  QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI"));
   connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
   primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
 
@@ -145,7 +145,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   pointsLayout->setMargin(0);
   pointsWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* commaPoints = new QLabel("COMMA POINTS");
+  QLabel* commaPoints = new QLabel(tr("COMMA POINTS"));
   commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;");
   pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop);
 
@@ -181,24 +181,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(80, 90, 80, 60);
   main_layout->setSpacing(0);
 
-  QLabel *upgrade = new QLabel("Upgrade Now");
+  QLabel *upgrade = new QLabel(tr("Upgrade Now"));
   upgrade->setStyleSheet("font-size: 75px; font-weight: bold;");
   main_layout->addWidget(upgrade, 0, Qt::AlignTop);
   main_layout->addSpacing(50);
 
-  QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai");
+  QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai"));
   description->setStyleSheet("font-size: 60px; font-weight: light; color: white;");
   description->setWordWrap(true);
   main_layout->addWidget(description, 0, Qt::AlignTop);
 
   main_layout->addStretch();
 
-  QLabel *features = new QLabel("PRIME FEATURES:");
+  QLabel *features = new QLabel(tr("PRIME FEATURES:"));
   features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;");
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {"Remote access", "1 year of storage", "Developer perks"};
+  QVector<QString> bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")};
   for (auto &b: bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -227,20 +227,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   finishRegistationLayout->setContentsMargins(30, 75, 30, 45);
   finishRegistationLayout->setSpacing(0);
 
-  QLabel* registrationTitle = new QLabel("Finish Setup");
+  QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationTitle);
 
   finishRegistationLayout->addSpacing(30);
 
-  QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.");
+  QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationDescription);
 
   finishRegistationLayout->addStretch();
 
-  QPushButton* pair = new QPushButton("Pair device");
+  QPushButton* pair = new QPushButton(tr("Pair device"));
   pair->setFixedHeight(220);
   pair->setStyleSheet(R"(
     QPushButton {
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 46ccf6aee..1f48c7273 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -4,16 +4,16 @@
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 
-SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") {
+SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
   username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
   username_label.setStyleSheet("color: #aaaaaa");
   hlayout->insertWidget(1, &username_label);
 
   QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == "ADD") {
-      QString username = InputDialog::getText("Enter your GitHub username", this);
+    if (text() == tr("ADD")) {
+      QString username = InputDialog::getText(tr("Enter your GitHub username"), this);
       if (username.length() > 0) {
-        setText("LOADING");
+        setText(tr("LOADING"));
         setEnabled(false);
         getUserKeys(username);
       }
@@ -31,10 +31,10 @@ void SshControl::refresh() {
   QString param = QString::fromStdString(params.get("GithubSshKeys"));
   if (param.length()) {
     username_label.setText(QString::fromStdString(params.get("GithubUsername")));
-    setText("REMOVE");
+    setText(tr("REMOVE"));
   } else {
     username_label.setText("");
-    setText("ADD");
+    setText(tr("ADD"));
   }
   setEnabled(true);
 }
@@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) {
         params.put("GithubUsername", username.toStdString());
         params.put("GithubSshKeys", resp.toStdString());
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this);
+        ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this);
       }
     } else {
       if (request->timeout()) {
-        ConfirmationDialog::alert("Request timed out", this);
+        ConfirmationDialog::alert(tr("Request timed out"), this);
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this);
+        ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this);
       }
     }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 596d1d83b..01e2ab83c 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -10,7 +10,7 @@ class SshToggle : public ToggleControl {
   Q_OBJECT
 
 public:
-  SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) {
+  SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) {
     QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) {
       Hardware::set_ssh_enabled(state);
     });
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 7765bab17..26335744f 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,3 +1,4 @@
 test
 playsound
 test_sound
+test_translations
diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh
new file mode 100755
index 000000000..451a3cbfb
--- /dev/null
+++ b/selfdrive/ui/tests/create_test_translations.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -e
+
+UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/..
+TEST_TEXT="(WRAPPED_SOURCE_TEXT)"
+TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts
+TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm
+
+# translation strings
+UNFINISHED="<translation type=\"unfinished\"><\/translation>"
+TRANSLATED="<translation>$TEST_TEXT<\/translation>"
+
+mkdir -p $UI_DIR/translations
+rm -f $TEST_TS_FILE $TEST_QM_FILE
+lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE
+sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE
+lrelease $TEST_TS_FILE
diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc
index b20ac86c6..ac63139d1 100644
--- a/selfdrive/ui/tests/test_runner.cc
+++ b/selfdrive/ui/tests/test_runner.cc
@@ -1,10 +1,25 @@
 #define CATCH_CONFIG_RUNNER
 #include "catch2/catch.hpp"
-#include <QCoreApplication>
+
+#include <QApplication>
+#include <QDebug>
+#include <QDir>
+#include <QTranslator>
 
 int main(int argc, char **argv) {
   // unit tests for Qt
-  QCoreApplication app(argc, argv);
+  QApplication app(argc, argv);
+
+  QString language_file = "main_test_en";
+  qDebug() << "Loading language:" << language_file;
+
+  QTranslator translator;
+  QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations");
+  if (!translator.load(language_file, translationsPath)) {
+    qDebug() << "Failed to load translation file!";
+  }
+  app.installTranslator(&translator);
+
   const int res = Catch::Session().run(argc, argv);
   return (res < 0xff ? res : 0xff);
 }
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
new file mode 100644
index 000000000..fecb9da44
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -0,0 +1,51 @@
+#include "catch2/catch.hpp"
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/window.h"
+
+const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)";  // what each string should be translated to
+QRegExp RE_NUM("\\d*");
+
+QStringList getParentWidgets(QWidget* widget){
+  QStringList parentWidgets;
+  while (widget->parentWidget() != Q_NULLPTR) {
+    widget = widget->parentWidget();
+    parentWidgets.append(widget->metaObject()->className());
+  }
+  return parentWidgets;
+}
+
+template <typename T>
+void checkWidgetTrWrap(MainWindow &w) {
+  int i = 0;
+  for (auto widget : w.findChildren<T>()) {
+    const QString text = widget->text();
+    SECTION(text.toStdString() + "-" + std::to_string(i)) {
+      bool isNumber = RE_NUM.exactMatch(text);
+      bool wrapped = text.contains(TEST_TEXT);
+      QString parentWidgets = getParentWidgets(widget).join("->");
+
+      if (!text.isEmpty() && !isNumber && !wrapped) {
+        FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
+      }
+
+      // warn if source string wrapped, but UI adds text
+      // TODO: add way to ignore this
+      if (wrapped && text != TEST_TEXT) {
+        WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
+      }
+    }
+    i++;
+  }
+}
+
+// Tests all strings in the UI are wrapped with tr()
+TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("HardwareSerial");
+  Params().remove("DongleId");
+  qputenv("TICI", "1");
+
+  MainWindow w;
+  checkWidgetTrWrap<QPushButton*>(w);
+  checkWidgetTrWrap<QLabel*>(w);
+}
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 60d41a477..5bc363076 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -59,6 +59,7 @@ function install_ubuntu_common_requirements() {
     qtmultimedia5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
+    qttools5-dev-tools \
     libqt5sql5-sqlite \
     libqt5svg5-dev \
     libqt5x11extras5-dev \

From f79b068a71607700c4bbcc9e33f1bb2d10bb8e60 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 29 Jun 2022 20:31:22 -0700
Subject: [PATCH 093/435] Honda Civic 2022: remove LKAS fault reinitialization
 (#24979)

* no lkas problem

* remove frame
---
 selfdrive/car/honda/carcontroller.py | 2 +-
 selfdrive/car/honda/hondacan.py      | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4d04927b2..14049c999 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -241,7 +241,7 @@ class CarController:
       idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 5de29b4f3..7246b9868 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -141,8 +141,6 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     lkas_hud_values['LANE_LINES'] = 3
     lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
-    # TODO: understand this better, does car need to see it fall after start up?
-    lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48

From e643f8e6815eee04511dceecd23b434e5255f15b Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Thu, 30 Jun 2022 01:52:56 -0700
Subject: [PATCH 094/435] docs: ssh.comma.ai (#25000)

---
 tools/ssh/README.md | 49 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/tools/ssh/README.md b/tools/ssh/README.md
index 66f030de5..29d334932 100644
--- a/tools/ssh/README.md
+++ b/tools/ssh/README.md
@@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
 See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+
+# Connecting to ssh.comma.ai
+SSH into your comma device from anywhere with `ssh.comma.ai`.
+
+## Setup
+
+With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
+
+Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM.
+
+## Recommended .ssh/config
+
+With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`.
+
+```
+Host comma-*
+  Port 22
+  User comma
+  IdentityFile ~/.ssh/my_github_key
+  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+Host ssh.comma.ai
+  Hostname ssh.comma.ai
+  Port 22
+  IdentityFile ~/.ssh/my_github_key
+```
+
+## One-off connection
+
+```
+ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
+```
+(Replace `ffffffffffffffff` with your dongle_id)
+
+## ssh.comma.ai host key fingerprint
+
+```
+Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
++---[RSA 4096]----+
+|                 |
+|                 |
+|        .        |
+|         +   o   |
+|        S = + +..|
+|         + @ = .=|
+|        . B @ ++=|
+|         o * B XE|
+|         .o o OB/|
++----[SHA256]-----+
+```

From 8d53e2c2b4e549119538d1baf36d202dbe33d012 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 16:55:49 +0800
Subject: [PATCH 095/435] Multilang: remove redundant QString() around tr()
 (#25003)

remove qstring
---
 selfdrive/ui/qt/offroad/onboarding.cc | 2 +-
 selfdrive/ui/qt/offroad/settings.cc   | 2 +-
 selfdrive/ui/qt/util.cc               | 6 +++---
 selfdrive/ui/qt/widgets/ssh_keys.cc   | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 77e84293b..f3e50b572 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -151,7 +151,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
 
   QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
 
-  QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand()));
+  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
   uninstall_btn->setStyleSheet("background-color: #B73D3D");
   buttons->addWidget(uninstall_btn);
   QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 392287d65..547ad168f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -179,7 +179,7 @@ void DevicePanel::updateCalibDescription() {
       if (calib.getCalStatus() != 0) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += QString(tr(" Your device is pointed %1° %2 and %3° %4."))
+        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
                     .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
                          QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
       }
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index f82d9bf49..cab7299cd 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : "");
+    s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : "");
+    s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
   } else {
     s = date.date().toString();
   }
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 1f48c7273..f17604b3e 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) {
         params.put("GithubUsername", username.toStdString());
         params.put("GithubSshKeys", resp.toStdString());
       } else {
-        ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this);
       }
     } else {
       if (request->timeout()) {
         ConfirmationDialog::alert(tr("Request timed out"), this);
       } else {
-        ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this);
       }
     }
 

From 867a1cf35a200c10c9ea513140b74be04ce4bb83 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 16:57:47 +0800
Subject: [PATCH 096/435] ui: replace line_vertices_data with QPolygonF
 (#25001)

use QPolygonF

use push_front
---
 selfdrive/ui/qt/onroad.cc |  6 +++---
 selfdrive/ui/ui.cc        | 20 +++++++-------------
 selfdrive/ui/ui.h         | 12 ++++--------
 3 files changed, 14 insertions(+), 24 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7032fc751..604d3c09a 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -430,13 +430,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+    painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
+    painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
   // paint path
@@ -455,7 +455,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
+  painter.drawPolygon(scene.track_vertices);
 
   painter.restore();
 }
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c8fc645cf..f6193f97a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
 }
 
 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
-                             float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) {
+                             float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
-  std::vector<QPointF> left_points, right_points;
+  QPolygonF left_points, right_points;
+  left_points.reserve(max_idx + 1);
+  right_points.reserve(max_idx + 1);
+
   for (int i = 0; i <= max_idx; i++) {
     QPointF left, right;
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
@@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
         continue;
       }
       left_points.push_back(left);
-      right_points.push_back(right);
+      right_points.push_front(right);
     }
   }
-
-  pvd->cnt = 2 * left_points.size();
-  assert(left_points.size() == right_points.size());
-  assert(pvd->cnt <= std::size(pvd->v));
-
-  for (int left_idx = 0; left_idx < left_points.size(); left_idx++){
-    int right_idx = 2 * left_points.size() - left_idx - 1;
-    pvd->v[left_idx] = left_points[left_idx];
-    pvd->v[right_idx] = right_points[left_idx];
-  }
+  *pvd = left_points + right_points;
 }
 
 static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 7364b81a4..1aee3df9a 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -8,6 +8,7 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
+#include <QPolygonF>
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
@@ -84,11 +85,6 @@ const QColor bg_colors [] = {
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
 
-typedef struct {
-  QPointF v[TRAJECTORY_SIZE * 2];
-  int cnt;
-} line_vertices_data;
-
 typedef struct UIScene {
   bool calibration_valid = false;
   mat3 view_from_calib = DEFAULT_CALIBRATION;
@@ -97,9 +93,9 @@ typedef struct UIScene {
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];
-  line_vertices_data track_vertices;
-  line_vertices_data lane_line_vertices[4];
-  line_vertices_data road_edge_vertices[2];
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4];
+  QPolygonF road_edge_vertices[2];
 
   // lead
   QPointF lead_vertices[2];

From b3f4e94169f459fc5cd6ad45fd69baffdef838da Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 16:58:37 +0800
Subject: [PATCH 097/435] remove selfdrive/common (#24997)

---
 selfdrive/common/tests/.gitignore | 2 --
 1 file changed, 2 deletions(-)
 delete mode 100644 selfdrive/common/tests/.gitignore

diff --git a/selfdrive/common/tests/.gitignore b/selfdrive/common/tests/.gitignore
deleted file mode 100644
index 1350b3b82..000000000
--- a/selfdrive/common/tests/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-test_util
-test_swaglog

From 1ac1fe632f8945a24c12413cfad7aa93fac17f9b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 16:59:08 +0800
Subject: [PATCH 098/435] swaglog.cc/cloudlog_common: pass json object by
 reference (#24996)

* pass json object by reference

* space between functions
---
 common/swaglog.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/common/swaglog.cc b/common/swaglog.cc
index 6b0028326..22682dc54 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   char levelnum_c = levelnum;
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
+
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, json11::Json::object msg_j={}) {
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
   if (!s.initialized) s.initialize();
 

From 7178800d844469601cb779d8f76b568ff82ac766 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 30 Jun 2022 02:02:53 -0700
Subject: [PATCH 099/435] Multilang prerequisites (#24999)

* some supporting code for multilang

* for now just english

* test for missing language files

* test for checking if ts file is up to date

* Skip test if causes exception, other test catches this

Test test

Should also work

should now fail

revert

rmn

* add to files_common

* fix files_common

* newlines

* no need to not update

* comment

* only english

* double quotes

* switch around
---
 .github/workflows/selfdrive_tests.yaml   |  1 +
 release/files_common                     |  7 ++--
 selfdrive/ui/tests/test_translations.py  | 50 ++++++++++++++++++++++++
 selfdrive/ui/translations/languages.json |  3 ++
 selfdrive/ui/update_translations.py      | 37 ++++++++++++++++++
 5 files changed, 94 insertions(+), 4 deletions(-)
 create mode 100755 selfdrive/ui/tests/test_translations.py
 create mode 100644 selfdrive/ui/translations/languages.json
 create mode 100755 selfdrive/ui/update_translations.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index f5edfe592..0ff0092b0 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -307,6 +307,7 @@ jobs:
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
diff --git a/release/files_common b/release/files_common
index 7e8dbd37a..acf74e213 100644
--- a/release/files_common
+++ b/release/files_common
@@ -60,6 +60,8 @@ release/*
 
 tools/lib/*
 tools/joystick/*
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/__init__.py
 selfdrive/sentry.py
@@ -287,6 +289,7 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
+selfdrive/ui/translations/*
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -295,10 +298,6 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-
-tools/replay/*.cc
-tools/replay/*.h
-
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
new file mode 100755
index 000000000..ccea748e2
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import json
+import os
+import unittest
+
+from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+
+
+class TestTranslations(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    with open(LANGUAGES_FILE, "r") as f:
+      cls.translation_files = json.load(f)
+
+  def test_missing_translation_files(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
+                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")),
+                        f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
+
+  def test_translations_updated(self):
+    suffix = "_test"
+    update_translations(suffix=suffix)
+
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts")
+        new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+        elif not os.path.exists(cur_tr_file):
+          self.skipTest(f"{name} missing translation file")  # caught by test_missing_translation_files
+
+        with open(cur_tr_file, "r") as f:
+          cur_translations = f.read()
+        with open(new_tr_file, "r") as f:
+          new_translations = f.read()
+
+        self.assertEqual(cur_translations, new_translations,
+                         f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
new file mode 100644
index 000000000..f2f9400d6
--- /dev/null
+++ b/selfdrive/ui/translations/languages.json
@@ -0,0 +1,3 @@
+{
+  "English": ""
+}
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
new file mode 100755
index 000000000..5d57fa39d
--- /dev/null
+++ b/selfdrive/ui/update_translations.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import json
+
+from common.basedir import BASEDIR
+
+UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
+TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
+LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
+
+
+def update_translations(release=False, suffix=""):
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  for name, file in translation_files.items():
+    if not len(file):
+      print(f"{name} has no translation file, skipping...")
+      continue
+
+    tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    assert ret == 0
+
+    if release:
+      ret = os.system(f"lrelease {tr_file}")
+      assert ret == 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update translation files for UI",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
+  args = parser.parse_args()
+
+  update_translations(args.release)

From e20d2cfa9b80e41c6af3b7879c15c6df1cfb81c1 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 17:05:49 +0800
Subject: [PATCH 100/435] Camerad: small cleanup (#24992)

* remove CameraExpInfo

* remove release callback
---
 system/camerad/cameras/camera_common.cc |  7 ++-----
 system/camerad/cameras/camera_common.h  | 10 +---------
 2 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 34dde9389..506b3fb99 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -66,11 +66,10 @@ private:
   bool hdr_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) {
   vipc_server = v;
   this->rgb_type = init_rgb_type;
   this->yuv_type = init_yuv_type;
-  this->release_callback = init_release_callback;
 
   const CameraInfo *ci = &s->ci;
   camera_state = s;
@@ -169,9 +168,7 @@ bool CameraBuf::acquire() {
 }
 
 void CameraBuf::release() {
-  if (release_callback) {
-    release_callback((void*)camera_state, cur_buf_idx);
-  }
+  // Empty
 }
 
 void CameraBuf::queue(size_t buf_idx) {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 6b483372b..4695d4e2c 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -48,8 +48,6 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 
-typedef void (*release_cb)(void *cookie, int buf_idx);
-
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
@@ -85,11 +83,6 @@ typedef struct FrameMetadata {
   float processing_time;
 } FrameMetadata;
 
-typedef struct CameraExpInfo {
-  int op_id;
-  float grey_frac;
-} CameraExpInfo;
-
 struct MultiCameraState;
 struct CameraState;
 class Debayer;
@@ -108,7 +101,6 @@ private:
   SafeQueue<int> safe_queue;
 
   int frame_buf_count;
-  release_cb release_callback;
 
 public:
   cl_command_queue q;
@@ -124,7 +116,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type);
   bool acquire();
   void release();
   void queue(size_t buf_idx);

From d13137a83f2036d436c4bc56b4a65fa6962b519d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 30 Jun 2022 17:29:25 +0800
Subject: [PATCH 101/435] camerad: reduce cpu usage (#24993)

wait for 50ms
---
 system/camerad/cameras/camera_common.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 506b3fb99..04f313648 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -126,7 +126,7 @@ CameraBuf::~CameraBuf() {
 }
 
 bool CameraBuf::acquire() {
-  if (!safe_queue.try_pop(cur_buf_idx, 1)) return false;
+  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");

From 30ddadc8b4d510c824221d2010e4aef853741a92 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 30 Jun 2022 13:25:42 +0200
Subject: [PATCH 102/435] test onroad: lower camerad cpu usage

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f10c79313..a7ab55fe2 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -24,7 +24,7 @@ PROCS = {
   "selfdrive.controls.controlsd": 35.0,
   "./loggerd": 10.0,
   "./encoderd": 12.5,
-  "./camerad": 16.5,
+  "./camerad": 14.5,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
   "./_ui": 19.2,

From af7d3c115a4780ad734c3f3a8d0084dd506aefec Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 30 Jun 2022 14:22:55 +0200
Subject: [PATCH 103/435] cameraview.cc: prev_frame_id static -> class member

---
 selfdrive/ui/qt/widgets/cameraview.cc | 7 +++----
 selfdrive/ui/qt/widgets/cameraview.h  | 1 +
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 0bc90b530..305f8a3ab 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -243,13 +243,12 @@ void CameraViewWidget::paintGL() {
   // }
 
   // Log duplicate/dropped frames
-  static int prev_id = 0;
-  if (frames[frame_idx].first == prev_id) {
+  if (frames[frame_idx].first == prev_frame_id) {
     qInfo() << "Drawing same frame twice" << frames[frame_idx].first;
-  } else if (frames[frame_idx].first != prev_id + 1) {
+  } else if (frames[frame_idx].first != prev_frame_id + 1) {
     qInfo() << "Skipped frame" << frames[frame_idx].first;
   }
-  prev_id = frames[frame_idx].first;
+  prev_frame_id = frames[frame_idx].first;
 
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index cc11ec2c2..016522b05 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -78,6 +78,7 @@ protected:
 
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
+  int prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);

From ca800da8951f83892a3593b2203e74be6af53844 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 30 Jun 2022 14:25:32 +0200
Subject: [PATCH 104/435] cameraview.cc: qInfo -> qDebug

---
 selfdrive/ui/qt/widgets/cameraview.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 305f8a3ab..63d15660a 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -244,9 +244,9 @@ void CameraViewWidget::paintGL() {
 
   // Log duplicate/dropped frames
   if (frames[frame_idx].first == prev_frame_id) {
-    qInfo() << "Drawing same frame twice" << frames[frame_idx].first;
+    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
   } else if (frames[frame_idx].first != prev_frame_id + 1) {
-    qInfo() << "Skipped frame" << frames[frame_idx].first;
+    qDebug() << "Skipped frame" << frames[frame_idx].first;
   }
   prev_frame_id = frames[frame_idx].first;
 

From c49f997be505760a18e85a241e6d45b98952c894 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Thu, 30 Jun 2022 17:39:12 +0200
Subject: [PATCH 105/435] Add laikadOffline subtest to process replay. 
 (#24995)

* Add subtests to process replay.
Adds laikadOffline subtest

* Update cpp.

* Update ref

* Update ref again

* Update ref again

* update ref

* Fix disabling fetching orbits

* Add proc name to event exception

* update ref

* Update setup_env

* Fix offline test and update refs
---
 selfdrive/locationd/laikad.py                 | 15 ++++---
 .../test/process_replay/process_replay.py     | 41 +++++++++++++++----
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     |  4 +-
 4 files changed, 47 insertions(+), 15 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 5098b25d3..d51ac1081 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import math
 import os
 import time
 from collections import defaultdict
@@ -29,11 +30,12 @@ CACHE_VERSION = 0.1
 
 
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
                save_ephemeris=False, last_known_position=None):
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
 
+    self.auto_fetch_orbits = auto_fetch_orbits
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
 
@@ -41,6 +43,7 @@ class Laikad:
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
+
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
     self.last_pos_fix = last_known_position if last_known_position is not None else []
     self.last_pos_residual = []
@@ -85,7 +88,8 @@ class Laikad:
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
-        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+        if self.auto_fetch_orbits:
+          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
       new_meas = read_raw_ublox(report)
       processed_measurements = process_measurements(new_meas, self.astro_dog)
@@ -146,8 +150,8 @@ class Laikad:
 
   def kf_valid(self, t: float) -> List[bool]:
     filter_time = self.gnss_kf.filter.get_filter_time()
-    return [filter_time is not None,
-            filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
+    return [not math.isnan(filter_time),
+            abs(t - filter_time) < MAX_TIME_GAP,
             all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
 
   def init_gnss_localizer(self, est_pos):
@@ -275,7 +279,8 @@ def main(sm=None, pm=None):
 
   replay = "REPLAY" in os.environ
   # todo get last_known_position
-  laikad = Laikad(save_ephemeris=not replay)
+  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
   while True:
     sm.update()
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index def61a10a..fc83b4b61 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -27,14 +27,14 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, ""))
 
 
 def wait_for_event(evt):
   if not evt.wait(TIMEOUT):
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
+      raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
     else:
       # done testing this process, let it die
       sys.exit(0)
@@ -190,6 +190,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint):
     _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
+
 def controlsd_rcv_callback(msg, CP, cfg, fsm):
   # no sendcan until controlsd is initialized
   socks = [s for s in cfg.pub_sub[msg.which()] if
@@ -198,6 +199,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm):
     socks.remove("sendcan")
   return socks, len(socks) > 0
 
+
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
     return [], False
@@ -240,7 +242,7 @@ def laika_rcv_callback(msg, CP, cfg, fsm):
   if msg.ubloxGnss.which() == "measurementReport":
     return ["gnssMeasurements"], True
   else:
-    return [], False
+    return [], True
 
 
 CONFIGS = [
@@ -345,6 +347,19 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
+  ProcessConfig(
+    proc_name="laikad",
+    subtest_name="Offline",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+    environ={"LAIKAD_NO_INTERNET": "1"},
+  ),
   ProcessConfig(
     proc_name="laikad",
     pub_sub={
@@ -366,7 +381,8 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False, CP=None):
+
+def setup_env(simulation=False, CP=None, cfg=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -380,6 +396,16 @@ def setup_env(simulation=False, CP=None):
   os.environ['SKIP_FW_QUERY'] = ""
   os.environ['FINGERPRINT'] = ""
 
+  if cfg is not None:
+    # Clear all custom processConfig environment variables
+    for cfg in CONFIGS:
+      for k, _ in cfg.environ.items():
+        if k in os.environ:
+          del os.environ[k]
+
+    os.environ.update(cfg.environ)
+    os.environ['PROC_NAME'] = cfg.proc_name
+
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
@@ -396,6 +422,7 @@ def setup_env(simulation=False, CP=None):
       os.environ['SKIP_FW_QUERY'] = "1"
       os.environ['FINGERPRINT'] = CP.carFingerprint
 
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -413,10 +440,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
-    setup_env()
+    setup_env(cfg=cfg)
   else:
     CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP)
+    setup_env(CP=CP, cfg=cfg)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -477,7 +504,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   log_msgs = []
 
   # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True)
+  setup_env(simulation=True, cfg=cfg)
 
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 946ddce19..c3e8eca42 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a0b5ce7b2e0b9c073e51ac8908402d53e1d99722
\ No newline at end of file
+a9adebff7ce27d6233d443217a30337b761898ee
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 25fbd210c..4e7ba4a6d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -200,11 +200,11 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]

From dd43ae2856e144ec13eff462556d8e681aa57789 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Thu, 30 Jun 2022 14:49:17 -0700
Subject: [PATCH 106/435] Full localizer: Use standard naming conventions
 (#25007)

Use standard naming conventions
---
 selfdrive/locationd/models/loc_kf.py | 32 ++++++++++++++--------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 6b0882869..b1ed8599f 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -25,15 +25,15 @@ class States():
   ODO_SCALE_UNUSED = slice(18, 19)  # odometer scale
   ACCELERATION = slice(19, 22)  # Acceleration in device frame in m/s**2
   FOCAL_SCALE_UNUSED = slice(22, 23)  # focal length scale
-  IMU_OFFSET = slice(23, 26)  # imu offset angles in radians
+  IMU_FROM_DEVICE_EULER = slice(23, 26)  # imu offset angles in radians
   GLONASS_BIAS = slice(26, 27)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   GLONASS_FREQ_SLOPE = slice(27, 28)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   CLOCK_ACCELERATION = slice(28, 29)  # clock acceleration in light-meters/s**2,
   ACCELEROMETER_SCALE_UNUSED = slice(29, 30)  # scale of mems accelerometer
   ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
   # TODO the offset is likely a translation of the sensor, not a rotation of the camera
-  WIDE_CAM_OFFSET = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET).
+  WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
+  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
   # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
 
   # Error-state has different slices because it is an ESKF
@@ -47,13 +47,13 @@ class States():
   ODO_SCALE_ERR_UNUSED = slice(17, 18)
   ACCELERATION_ERR = slice(18, 21)
   FOCAL_SCALE_ERR_UNUSED = slice(21, 22)
-  IMU_OFFSET_ERR = slice(22, 25)
+  IMU_FROM_DEVICE_EULER_ERR = slice(22, 25)
   GLONASS_BIAS_ERR = slice(25, 26)
   GLONASS_FREQ_SLOPE_ERR = slice(26, 27)
   CLOCK_ACCELERATION_ERR = slice(27, 28)
   ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29)
   ACCELEROMETER_BIAS_ERR = slice(29, 32)
-  WIDE_CAM_OFFSET_ERR = slice(32, 35)
+  WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35)
 
 
 class LocKalman():
@@ -140,15 +140,15 @@ class LocKalman():
     cd = state[States.CLOCK_DRIFT, :]
     roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
     acceleration = state[States.ACCELERATION, :]
-    imu_angles = state[States.IMU_OFFSET, :]
-    imu_angles[0, 0] = 0  # not observable enough
-    imu_angles[2, 0] = 0  # not observable enough
+    imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :]
+    imu_from_device_euler[0, 0] = 0  # not observable enough
+    imu_from_device_euler[2, 0] = 0  # not observable enough
     glonass_bias = state[States.GLONASS_BIAS, :]
     glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
     ca = state[States.CLOCK_ACCELERATION, :]
     accel_bias = state[States.ACCELEROMETER_BIAS, :]
-    wide_cam_angles = state[States.WIDE_CAM_OFFSET, :]
-    wide_cam_angles[0, 0] = 0  # not observable enough
+    wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :]
+    wide_from_device_euler[0, 0] = 0  # not observable enough
 
     dt = sp.Symbol('dt')
 
@@ -273,15 +273,15 @@ class LocKalman():
                                         los_vector[2] * (sat_vz - vz) +
                                         cd[0]])
 
-    imu_rot = euler_rotate(*imu_angles)
-    h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias,
+    imu_from_device = euler_rotate(*imu_from_device_euler)
+    h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias,
                                       vpitch + pitch_bias,
                                       vyaw + yaw_bias])
 
     pos = sp.Matrix([x, y, z])
     # add 1 for stability, prevent division by 0
     gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos)
-    h_acc_sym = imu_rot * (gravity + acceleration + accel_bias)
+    h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias)
     h_acc_stationary_sym = acceleration
     h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
     h_relative_motion = sp.Matrix(quat_rot.T * v)
@@ -297,7 +297,7 @@ class LocKalman():
                [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
                [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
 
-    wide_cam_rot = euler_rotate(*wide_cam_angles)
+    wide_from_device = euler_rotate(*wide_from_device_euler)
     # MSCKF configuration
     if N > 0:
       # experimentally found this is correct value for imx298 with 910 focal length
@@ -312,7 +312,7 @@ class LocKalman():
 
       track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
       track_pos_rot_sym = quat_rot.T * track_pos_sym
-      track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+      track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
       h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                        focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
       h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
@@ -329,7 +329,7 @@ class LocKalman():
         quat_rot = quat_rotate(*q)
         track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
         track_pos_rot_sym = quat_rot.T * track_pos_sym
-        track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+        track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
         h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                                      focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
         h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),

From f0062f624260bcbdadeec643c993ac597b73c4fc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 30 Jun 2022 15:01:52 -0700
Subject: [PATCH 107/435] Toyota: fix BSM detection (#24964)

* revert to 1 second

* Revert "revert to 1 second"

This reverts commit 6ab3f75cb73fdfe254431c479b6d337030b0d538.

* Revert "remove toyota can fingerprinting exceptions (#22803)"

This reverts commit d8f5e8b7a4b6c9132ce2515a9106aeb971ee2579.

fix static analysis

* Revert "Revert "remove toyota can fingerprinting exceptions (#22803)""

This reverts commit fc359fc9b2db146d77b6533be9e7434f08a665df.

* 1 second for all brands

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/car_helpers.py             | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 8c0fd7c90..7f8373215 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -115,7 +115,7 @@ def fingerprint(logcan, sendcan):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 25  # 0.25s
+  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c3e8eca42..b9ba47e8f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a9adebff7ce27d6233d443217a30337b761898ee
\ No newline at end of file
+a98dfc72bb4c5624c2223ca65d52b151f419460c
\ No newline at end of file

From 2027d5311d419addfb67ad94d45a198592b2e459 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 30 Jun 2022 15:03:15 -0700
Subject: [PATCH 108/435] tools: add support for nv12 in compressed_vipc
 (#24962)

reshape for nv12
---
 tools/camerastream/compressed_vipc.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 290610e45..d321d6fd2 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -73,6 +73,10 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
           continue
         assert len(frames) == 1
         img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
+        uv_offset = H*W
+        y = img_yuv[:uv_offset]
+        uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
+        img_yuv = np.hstack((y, uv))
 
       vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
       cnt += 1

From 8b32e1b060e8c2c3c084393a569d4e78992ca598 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Thu, 30 Jun 2022 18:26:25 -0400
Subject: [PATCH 109/435] GM: Lower LKA loopback CAN Error timing threshold to
 accommodate dropped packets (#24927)

* LKA loopback timing to 10Hz

* Typo

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 selfdrive/car/gm/carstate.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 48b9f2544..3605dab48 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -133,7 +133,9 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 50),
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). 
+      #                             While active 50 Hz (every 20 ms) is normal
+      #                             EPS will tolerate around 200ms when active before faulting 
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)

From 11b5d51da61cac111fb4e5af3b1df6091d860dfc Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Jun 2022 15:36:40 -0700
Subject: [PATCH 110/435] remove mypy ignore from a few scripts

---
 selfdrive/debug/check_freq.py    | 11 +++++++----
 selfdrive/debug/check_lag.py     |  4 ++--
 selfdrive/debug/check_timings.py |  5 +++--
 3 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index 424ad67b6..b6f3c91bd 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
-# type: ignore
-
 import argparse
 import numpy as np
 from collections import defaultdict, deque
+from typing import DefaultDict, Deque
+
 from common.realtime import sec_since_boot
 import cereal.messaging as messaging
 
@@ -19,8 +19,8 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times = defaultdict(lambda: deque(maxlen=100))
-  valids = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
+  valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = sec_since_boot()
   for name in socket_names:
@@ -31,6 +31,9 @@ if __name__ == "__main__":
   while True:
     for socket in poller.poll(100):
       msg = messaging.recv_one(socket)
+      if msg is None:
+        continue
+
       name = msg.which()
 
       t = sec_since_boot()
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
index c92264298..141156db9 100755
--- a/selfdrive/debug/check_lag.py
+++ b/selfdrive/debug/check_lag.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# type: ignore
+from typing import Dict
 
 import cereal.messaging as messaging
 from cereal.services import service_list
@@ -10,7 +10,7 @@ TO_CHECK = ['carState']
 if __name__ == "__main__":
   sm = messaging.SubMaster(TO_CHECK)
 
-  prev_t = {}
+  prev_t: Dict[str, float] = {}
 
   while True:
     sm.update()
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 03e39fd70..69304f97b 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
-# type: ignore
+
 import sys
 import time
 import numpy as np
+from typing import DefaultDict, Deque
 from collections import defaultdict, deque
 
 import cereal.messaging as messaging
 
 socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts = defaultdict(lambda: deque(maxlen=100))
+ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:

From 9279c02258e7ab2f60b4e5ea0198bdcb757bf533 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Thu, 30 Jun 2022 18:47:26 -0400
Subject: [PATCH 111/435] GM: prep and cleanup for future ports (#24910)

* Interface radarOffCan set, comments

* pass pcmCruise value to common events

* add transType and networkLoc to iface

* carstate use transtype to detect EV

* ctrl: limit sends by config

* Add clarifying comments for new vals

* clean up

* comment on new line

* these have the same frequency

* remove 25hz

* add to upper comment

* update refs

* update refs

* move into same block

move into same block

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/gm/carcontroller.py        | 94 ++++++++++++------------
 selfdrive/car/gm/carstate.py             |  8 +-
 selfdrive/car/gm/interface.py            | 19 +++--
 selfdrive/test/process_replay/ref_commit |  2 +-
 4 files changed, 67 insertions(+), 56 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index ae2a188e3..8ad5049e3 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -8,10 +8,12 @@ from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
@@ -24,9 +26,9 @@ class CarController:
 
     self.params = CarControllerParams()
 
-    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
-    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
+    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
   def update(self, CC, CS):
     actuators = CC.actuators
@@ -60,48 +62,48 @@ class CarController:
 
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # Gas/regen and brakes - all at 25Hz
-    if (self.frame % 4) == 0:
-      if not CC.longActive:
-        # Stock ECU sends max regen when not enabled
-        self.apply_gas = self.params.MAX_ACC_REGEN
-        self.apply_brake = 0
-      else:
-        self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-        self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-
-      idx = (self.frame // 4) % 4
-
-      at_full_stop = CC.longActive and CS.out.standstill
-      near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
-      # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-
-    # Send dashboard UI commands (ACC status), 25hz
-    if (self.frame % 4) == 0:
-      send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                          hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
-
-    # Radar needs to know current speed and yaw rate (50hz),
-    # and that ADAS is alive (10hz)
-    time_and_headlights_step = 10
-    tt = self.frame * DT_CTRL
-
-    if self.frame % time_and_headlights_step == 0:
-      idx = (self.frame // time_and_headlights_step) % 4
-      can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-    speed_and_accelerometer_step = 2
-    if self.frame % speed_and_accelerometer_step == 0:
-      idx = (self.frame // speed_and_accelerometer_step) % 4
-      can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-      can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-
-    if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
-      can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+    if self.CP.openpilotLongitudinalControl:
+      # Gas/regen, brakes, and UI commands - all at 25Hz
+      if self.frame % 4 == 0:
+        if not CC.longActive:
+          # Stock ECU sends max regen when not enabled
+          self.apply_gas = self.params.MAX_ACC_REGEN
+          self.apply_brake = 0
+        else:
+          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+        idx = (self.frame // 4) % 4
+
+        at_full_stop = CC.longActive and CS.out.standstill
+        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+
+        # Send dashboard UI commands (ACC status)
+        send_fcw = hud_alert == VisualAlert.fcw
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+
+      # Radar needs to know current speed and yaw rate (50hz),
+      # and that ADAS is alive (10hz)
+      if not self.CP.radarOffCan:
+        tt = self.frame * DT_CTRL
+        time_and_headlights_step = 10
+        if self.frame % time_and_headlights_step == 0:
+          idx = (self.frame // time_and_headlights_step) % 4
+          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+
+        speed_and_accelerometer_step = 2
+        if self.frame % speed_and_accelerometer_step == 0:
+          idx = (self.frame // speed_and_accelerometer_step) % 4
+          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
@@ -110,7 +112,7 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 3605dab48..c28abc603 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -3,7 +3,9 @@ from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
+from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+
+TransmissionType = car.CarParams.TransmissionType
 
 
 class CarState(CarStateBase):
@@ -35,7 +37,7 @@ class CarState(CarStateBase):
     ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
 
     # Regen braking is braking
-    if self.car_fingerprint == CAR.VOLT:
+    if self.CP.transmissionType == TransmissionType.direct:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
     ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -120,7 +122,7 @@ class CarState(CarStateBase):
       ("EBCMBrakePedalPosition", 100),
     ]
 
-    if CP.carFingerprint == CAR.VOLT:
+    if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9c1744dfb..282844d09 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
@@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # stock cruise control is kept off
+    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
+    ret.radarOffCan = False  # For ASCM, radar exists
+    ret.transmissionType = TransmissionType.automatic
+    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
+    ret.networkLocation = NetworkLocation.gateway
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -77,17 +83,18 @@ class CarInterface(CarInterfaceBase):
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
 
     if candidate == CAR.VOLT:
+      ret.transmissionType = TransmissionType.direct
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
-      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
+      tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
+      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
       ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
@@ -160,7 +167,7 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    events = self.create_common_events(ret, pcm_enable=False)
+    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
@@ -170,7 +177,7 @@ class CarInterface(CarInterfaceBase):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents))
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b9ba47e8f..a1cb2bf36 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a98dfc72bb4c5624c2223ca65d52b151f419460c
\ No newline at end of file
+d7c610172f3ff10b68403abc19b260c91c848ebb
\ No newline at end of file

From 61d21ff00ae6d4b5f510c5880d2ca747272da754 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 30 Jun 2022 15:52:53 -0700
Subject: [PATCH 112/435] update release notes

---
 RELEASES.md | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 5d81b4308..5b71fc337 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,5 @@
-Version 0.8.15 (2022-XX-XX)
+Version 0.8.15 (2022-07-XX)
 ========================
-* New driving model
 * New lateral controller based on physical wheel torque model
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll
@@ -10,8 +9,12 @@ Version 0.8.15 (2022-XX-XX)
   * takes a larger input frame
   * outputs a driver state for both driver and passenger
   * automatically determines which side the driver is on (soon)
-* Display speed limit while navigating
 * Reduced power usage: device runs cooler and fan spins less
+* Minor UI updates
+  * New font
+  * Refreshed max speed design
+  * Speed limits shown while navigating
+  * More consistent camera view perspective across cars
 * AGNOS 5
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!

From d2c2154a32db0876036f4f6b61b912de0c90fc5a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 30 Jun 2022 17:23:12 -0700
Subject: [PATCH 113/435] Clean up CarControllers (#25008)

* do VW

* Do the rest

* unused

* ford cc formatting

* final clean ups

* also just return update output
---
 selfdrive/car/body/carcontroller.py       |  4 +--
 selfdrive/car/ford/carcontroller.py       | 15 +++++----
 selfdrive/car/ford/interface.py           |  4 +--
 selfdrive/car/gm/carcontroller.py         |  2 +-
 selfdrive/car/gm/interface.py             |  3 +-
 selfdrive/car/hyundai/carcontroller.py    |  6 ++--
 selfdrive/car/hyundai/interface.py        |  3 +-
 selfdrive/car/mazda/carcontroller.py      | 31 ++++++++++--------
 selfdrive/car/mazda/interface.py          |  4 +--
 selfdrive/car/nissan/carcontroller.py     | 33 ++++++++++---------
 selfdrive/car/nissan/interface.py         | 11 ++-----
 selfdrive/car/subaru/carcontroller.py     | 21 +++++++-----
 selfdrive/car/subaru/interface.py         | 10 ++----
 selfdrive/car/tesla/interface.py          |  3 +-
 selfdrive/car/toyota/interface.py         |  3 +-
 selfdrive/car/volkswagen/carcontroller.py | 40 +++++++++++++----------
 selfdrive/car/volkswagen/interface.py     | 10 +-----
 17 files changed, 97 insertions(+), 106 deletions(-)

diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 5714445f6..c13acebac 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 from common.realtime import DT_CTRL
-from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.body import bodycan
 from selfdrive.car.body.values import SPEED_FROM_RPM
 from selfdrive.controls.lib.pid import PIDController
 
@@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index c2f87a480..d7666c1d6 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from opendbc.can.packer import CANPacker
 from selfdrive.car.ford import fordcan
 from selfdrive.car.ford.values import CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,11 +17,12 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
   return apply_steer
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
     self.steer_rate_limited = False
@@ -29,7 +30,7 @@ class CarController():
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     actuators = CC.actuators
@@ -48,7 +49,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
-    if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
@@ -69,15 +70,14 @@ class CarController():
       can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
                                                   path_offset, path_angle, curvature_rate, curvature))
 
-
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
-    if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
-    if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
@@ -87,4 +87,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index c608cc08d..1af04bee4 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -78,6 +78,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 8ad5049e3..f763a5853 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,7 +1,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.realtime import DT_CTRL
 from common.numpy_fast import interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 282844d09..e0dd10d4a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -184,5 +184,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index fb3579464..4fbb5ce0e 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,11 +1,11 @@
 from cereal import car
-from common.realtime import DT_CTRL
-from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hda2can, hyundaican
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 58a67f58c..97119c77b 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -349,5 +349,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index d003079d6..0e43a11ce 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,46 +1,48 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
-from selfdrive.car import apply_std_steer_torque_limits
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
     self.brake_counter = 0
+    self.frame = 0
 
-  def update(self, c, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     apply_steer = 0
     self.steer_rate_limited = False
 
-    if c.latActive:
+    if CC.latActive:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-    if c.enabled:
-      if CS.out.standstill and frame % 5 == 0:
+    if CC.enabled:
+      if CS.out.standstill and self.frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel:
+    if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
       # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
@@ -50,18 +52,19 @@ class CarController():
     self.apply_steer_last = apply_steer
 
     # send HUD alerts
-    if frame % 50 == 0:
-      ldw = c.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+    if self.frame % 50 == 0:
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
       # TODO: find a way to silence audible warnings so we can add more hud alerts
       steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                      frame, apply_steer, CS.cam_lkas))
+                                                      self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = c.actuators.copy()
+    new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index cbeb910de..35e3c1bb0 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -90,6 +90,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 4ceb142d4..7d9dad669 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -1,25 +1,27 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams
 
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
 
     self.lkas_max_torque = 0
     self.last_angle = 0
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert,
-             left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
@@ -28,9 +30,9 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if c.latActive:
+    if CC.latActive:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
@@ -57,25 +59,25 @@ class CarController():
 
     self.last_angle = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
     if lkas_hud_msg and lkas_hud_info_msg:
-      if frame % 2 == 0:
+      if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
-      if frame % 50 == 0:
+      if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
           self.packer, lkas_hud_info_msg, steer_hud_alert
         ))
@@ -83,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_angle
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 436cef68b..9c04d975f 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.nissan.values import CAR
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -67,10 +68,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index d37b82eed..dca86c30a 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,10 +1,10 @@
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
-from opendbc.can.packer import CANPacker
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -12,16 +12,20 @@ class CarController():
     self.es_lkas_cnt = -1
     self.cruise_button_prev = 0
     self.steer_rate_limited = False
+    self.frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
     # *** steering ***
-    if (frame % self.p.STEER_STEP) == 0:
+    if (self.frame % self.p.STEER_STEP) == 0:
 
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
@@ -31,13 +35,13 @@ class CarController():
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if not c.latActive:
+      if not CC.latActive:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 
@@ -70,10 +74,11 @@ class CarController():
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 8c5cab86e..952885a75 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -117,9 +118,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index d4eda38e6..5e78c72b6 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -64,5 +64,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index fdb923f69..337c03956 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -274,5 +274,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 842eb6d13..4614463c6 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,15 +1,17 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
 from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
-    self.apply_steer_last = 0
     self.CP = CP
+    self.apply_steer_last = 0
+    self.frame = 0
 
     self.packer_pt = CANPacker(DBC_FILES.mqb)
 
@@ -22,14 +24,15 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
-    """ Controls thread """
+  def update(self, CC, CS, ext_bus):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
 
     can_sends = []
 
     # **** Steering Controls ************************************************ #
 
-    if frame % P.HCA_STEP == 0:
+    if self.frame % P.HCA_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -40,7 +43,7 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if c.latActive:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
@@ -66,34 +69,34 @@ class CarController():
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame / P.HCA_STEP) % 16
+      idx = (self.frame / P.HCA_STEP) % 16
       can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
                                                                  idx, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
-    if frame % P.LDW_STEP == 0:
-      if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
+    if self.frame % P.LDW_STEP == 0:
+      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
-                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                            right_lane_visible, CS.ldw_stock_values,
-                                                            left_lane_depart, right_lane_depart))
+      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
+                                                            CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
+                                                            hud_control.rightLaneVisible, CS.ldw_stock_values,
+                                                            hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
     # **** ACC Button Controls ********************************************** #
 
     # FIXME: this entire section is in desperate need of refactoring
 
     if self.CP.pcmCruise:
-      if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if c.cruiseControl.cancel:
+      if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
+        if CC.cruiseControl.cancel:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.out.cruiseState.standstill:
+        elif CC.enabled and CS.out.cruiseState.standstill:
           # Blip the Resume button if we're engaged at standstill.
           # FIXME: This is a naive implementation, improve with visiond or radar input.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
@@ -103,7 +106,7 @@ class CarController():
         self.graMsgBusCounterPrev = CS.graMsgBusCounter
         if self.graButtonStatesToSend is not None:
           if self.graMsgSentCount == 0:
-            self.graMsgStartFramePrev = frame
+            self.graMsgStartFramePrev = self.frame
           idx = (CS.graMsgBusCounter + 1) % 16
           can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
           self.graMsgSentCount += 1
@@ -114,4 +117,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / P.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 6782105c1..c2b077b6d 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -193,12 +193,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators,
-                         hud_control.visualAlert,
-                         hud_control.leftLaneVisible,
-                         hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart,
-                         hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS, self.ext_bus)

From 38ff2982eb2e72b634af26e2adb0ac7a363999ce Mon Sep 17 00:00:00 2001
From: realfast <jraycec@gmail.com>
Date: Thu, 30 Jun 2022 19:27:35 -0500
Subject: [PATCH 114/435] Chrysler: carState signals update (#24760)

* carstate update

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 opendbc                                  |  2 +-
 selfdrive/car/chrysler/carcontroller.py  |  4 +-
 selfdrive/car/chrysler/carstate.py       | 58 ++++++++++++------------
 selfdrive/car/chrysler/chryslercan.py    |  9 ++--
 selfdrive/test/process_replay/ref_commit |  2 +-
 5 files changed, 37 insertions(+), 38 deletions(-)

diff --git a/opendbc b/opendbc
index 47b79c4d5..7fbf7c2a6 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49
+Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 3d6295d77..49525646c 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import CAR, CarControllerParams
 
 
@@ -49,7 +49,7 @@ class CarController:
     # *** control msgs ***
 
     if CC.cruiseControl.cancel:
-      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True))
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 202526df0..444557191 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -16,13 +16,13 @@ class CarState(CarStateBase):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
+    self.frame = int(cp.vl["EPS_2"]["COUNTER"])
 
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
+    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
     ret.brake = 0
@@ -35,10 +35,10 @@ class CarState(CarStateBase):
     ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
 
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
     ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
@@ -51,17 +51,17 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
     ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
+    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2)
     ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
+    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
+    steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
     ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
@@ -73,7 +73,7 @@ class CarState(CarStateBase):
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
-    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
@@ -90,10 +90,10 @@ class CarState(CarStateBase):
       ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
       ("SPEED_RIGHT", "SPEED_1"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_FL", "ESP_6"),
+      ("WHEEL_SPEED_RR", "ESP_6"),
+      ("WHEEL_SPEED_RL", "ESP_6"),
+      ("WHEEL_SPEED_FR", "ESP_6"),
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
@@ -101,31 +101,31 @@ class CarState(CarStateBase):
       ("ACC_ACTIVE", "DAS_3"),
       ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
-      ("CRUISE_STATE", "DASHBOARD"),
-      ("TORQUE_DRIVER", "EPS_STATUS"),
-      ("TORQUE_MOTOR", "EPS_STATUS"),
-      ("LKAS_STATE", "EPS_STATUS"),
-      ("COUNTER", "EPS_STATUS",),
+      ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
+      ("CRUISE_STATE", "DAS_4"),
+      ("COLUMN_TORQUE", "EPS_2"),
+      ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_STATE", "EPS_2"),
+      ("COUNTER", "EPS_2",),
       ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
-      ("COUNTER", "WHEEL_BUTTONS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
     checks = [
       # sig_address, frequency
       ("ESP_1", 50),
-      ("EPS_STATUS", 100),
+      ("EPS_2", 100),
       ("SPEED_1", 100),
-      ("WHEEL_SPEEDS", 50),
+      ("ESP_6", 50),
       ("STEERING", 100),
       ("DAS_3", 50),
       ("GEAR", 50),
       ("ECM_5", 50),
-      ("WHEEL_BUTTONS", 50),
-      ("DASHBOARD", 15),
+      ("CRUISE_BUTTONS", 50),
+      ("DAS_4", 15),
       ("STEERING_LEVERS", 10),
-      ("SEATBELT_STATUS", 2),
+      ("ORC_1", 2),
       ("BCM_1", 1),
       ("TRACTION_BUTTON", 1),
     ]
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 896a6b15d..53b79cab7 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(packer, frame, cancel=False):
-  # WHEEL_BUTTONS (571) Message sent to cancel ACC.
+def create_cruise_buttons(packer, frame, cancel=False):
   values = {
-    "ACC_CANCEL": cancel,
-    "COUNTER": frame % 0x10
+    "ACC_Cancel": cancel,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", 0, values)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a1cb2bf36..90444b1fa 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d7c610172f3ff10b68403abc19b260c91c848ebb
\ No newline at end of file
+806984d4206056fb132625c5dad6c0ca1835a2d6
\ No newline at end of file

From ab8592187f36ea9fda6767e86a0651366c12c487 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 30 Jun 2022 17:55:22 -0700
Subject: [PATCH 115/435] Chrysler Pacifica 2019 is supported (#25010)

19 is secretly supported
---
 docs/CARS.md                     | 2 +-
 selfdrive/car/chrysler/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index fb163b44e..25de6a254 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -154,7 +154,7 @@ How We Rate The Cars
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index bdd80757f..6faa76a47 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -39,7 +39,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
+  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
 }

From c21ee5b76411de1bea1b95a0d71b48be879d7734 Mon Sep 17 00:00:00 2001
From: TheWizard1328 <the.wizard@live.ca>
Date: Thu, 30 Jun 2022 21:06:49 -0600
Subject: [PATCH 116/435] Chrysler: add missing 2022 Pacifica Hybrid
 fingerprint (#24685)

* Added 2022 PacHy info

Didn't really need to add this but thought it would be useful.

* Added 2022 PacHy info

* Added 2022 PacHy info

Added 2022 PacHy FP

* add to current platform

* generate docs

* should only need this

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/chrysler/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 6faa76a47..d624bd272 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -88,7 +88,7 @@ FINGERPRINTS = {
   },
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8

From b51a90b5a87e0b6388191f7cc5857af8d72e79de Mon Sep 17 00:00:00 2001
From: Yu Yamaguchi <yfa57653@gmail.com>
Date: Fri, 1 Jul 2022 15:35:37 +0900
Subject: [PATCH 117/435] Mazda: add missing FW version for CX-5 2022 (#24925)

---
 selfdrive/car/mazda/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 5c80303db..f5d63418f 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -65,6 +65,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -77,6 +78,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {

From 20ccfed9c1d75de2a589294a5407e15304fd3f4a Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 1 Jul 2022 16:43:36 +0200
Subject: [PATCH 118/435] laikad: Improve logging, fix warning and more
 exception handling (#25005)

* change logs and add some debugging. Add test

* Less logging and better check for exceptions when parsing orbits

* Fix debug log and fix kf initialization
---
 selfdrive/locationd/laikad.py           | 28 ++++++++++++++++---------
 selfdrive/locationd/laikad_helpers.py   |  2 +-
 selfdrive/locationd/test/test_laikad.py | 12 +++++++++++
 3 files changed, 31 insertions(+), 11 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index d51ac1081..427eb3dbe 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -31,7 +31,14 @@ CACHE_VERSION = 0.1
 
 class Laikad:
   def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
-               save_ephemeris=False, last_known_position=None):
+               save_ephemeris=False):
+    """
+    valid_const: GNSS constellation which can be used
+    auto_fetch_orbits: If true fetch orbits from internet when needed
+    auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
+    valid_ephem_types: Valid ephemeris types to be used by AstroDog
+    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
+    """
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
 
@@ -45,7 +52,7 @@ class Laikad:
     self.load_cache()
 
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-    self.last_pos_fix = last_known_position if last_known_position is not None else []
+    self.last_pos_fix = []
     self.last_pos_residual = []
     self.last_pos_fix_t = None
 
@@ -64,12 +71,16 @@ class Laikad:
       self.last_fetch_orbits_t = cache['last_fetch_orbits_t']
     except json.decoder.JSONDecodeError:
       cloudlog.exception("Error parsing cache")
+    timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
+    cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+                  f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
 
   def cache_ephemeris(self, t: GPSTime):
     if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
       put_nonblocking(EPHEMERIS_CACHE, json.dumps(
         {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav},
         cls=CacheSerializer))
+      cloudlog.debug("Cache saved")
       self.last_cached_t = t
 
   def get_est_pos(self, t, processed_measurements):
@@ -130,9 +141,8 @@ class Laikad:
     # Check time and outputs are valid
     valid = self.kf_valid(t)
     if not all(valid):
-      if not valid[0]:
-        cloudlog.info("Kalman filter uninitialized")
-      elif not valid[1]:
+
+      if not valid[1]:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
@@ -140,7 +150,6 @@ class Laikad:
         cloudlog.info(f"Reset kalman filter with {est_pos}")
         self.init_gnss_localizer(est_pos)
       else:
-        cloudlog.info("Could not reset kalman filter")
         return
     if len(measurements) > 0:
       kf_add_observations(self.gnss_kf, t, measurements)
@@ -189,8 +198,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
   try:
     astro_dog.get_orbit_data(t, only_predictions=True)
     data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
-  except RuntimeError as e:
-    cloudlog.warning(f"No orbit data found. {e}")
+  except (RuntimeError, ValueError, IOError) as e:
+    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
   cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
   return data
 
@@ -241,7 +250,7 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
   ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
   ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
   for kind, data in ekf_data.items():
-    if len(data) >0:
+    if len(data) > 0:
       gnss_kf.predict_and_observe(t, kind, data)
 
 
@@ -278,7 +287,6 @@ def main(sm=None, pm=None):
     pm = messaging.PubMaster(['gnssMeasurements'])
 
   replay = "REPLAY" in os.environ
-  # todo get last_known_position
   use_internet = "LAIKAD_NO_INTERNET" not in os.environ
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
   while True:
diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py
index 81f5ac3dd..f13e8e73b 100644
--- a/selfdrive/locationd/laikad_helpers.py
+++ b/selfdrive/locationd/laikad_helpers.py
@@ -86,4 +86,4 @@ def get_posfix_sympy_fun(constellation):
 
   res = [res] + [sympy.diff(res, v) for v in var]
 
-  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res)
+  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index c353da962..26c1d2882 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -120,6 +120,18 @@ class TestLaikad(unittest.TestCase):
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
+  def test_kf_becomes_valid(self):
+    laikad = Laikad(auto_update=False)
+    m = self.logs[0]
+    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
+    kf_valid = False
+    for m in self.logs:
+      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
+      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
+      if kf_valid:
+        break
+    self.assertTrue(kf_valid)
+
   def test_laika_online_nav_only(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
     # Disable fetch_orbits to test NAV only

From c8e5912b6173c64fae18f79109eb72e8499908c9 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 1 Jul 2022 16:43:44 +0200
Subject: [PATCH 119/435] bump laika

---
 laika_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/laika_repo b/laika_repo
index 27a0d8a77..6e87f536d 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0
+Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d

From 12f8237bfbdea668ae96ce6389cbe33ce1bea7f3 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 1 Jul 2022 16:50:18 +0200
Subject: [PATCH 120/435] process replay: Fix setting environment vars (#25015)

Fix setting environments in process replay
---
 selfdrive/test/process_replay/process_replay.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index fc83b4b61..9c45281b0 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -398,8 +398,8 @@ def setup_env(simulation=False, CP=None, cfg=None):
 
   if cfg is not None:
     # Clear all custom processConfig environment variables
-    for cfg in CONFIGS:
-      for k, _ in cfg.environ.items():
+    for config in CONFIGS:
+      for k, _ in config.environ.items():
         if k in os.environ:
           del os.environ[k]
 

From f10283072e4519ad95566dd0d54dbc7f52566f6d Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 1 Jul 2022 16:49:56 +0200
Subject: [PATCH 121/435] Laikad: dont log when filter is not initialized

---
 selfdrive/locationd/laikad.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 427eb3dbe..da00c7aa6 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -141,8 +141,9 @@ class Laikad:
     # Check time and outputs are valid
     valid = self.kf_valid(t)
     if not all(valid):
-
-      if not valid[1]:
+      if not valid[0]:  # Filter not initialized
+        pass
+      elif not valid[1]:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")

From cdc7a6dbea75f10316e45833be6bade9f2e1694d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 1 Jul 2022 17:26:41 +0200
Subject: [PATCH 122/435] enable laikad (#25013)

* enable laikad

* increase logprint for onroad test
---
 selfdrive/controls/controlsd.py     | 2 +-
 selfdrive/manager/process_config.py | 2 +-
 selfdrive/test/test_onroad.py       | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67eaf1588..cceb47947 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -38,7 +38,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
+                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \
                    {k for k, v in managed_processes.items() if not v.enabled}
 
 ThermalStatus = log.DeviceState.ThermalStatus
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 7e4029664..dec51966a 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -41,6 +41,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
+  PythonProcess("laikad", "selfdrive.locationd.laikad"),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
@@ -57,7 +58,6 @@ procs = [
 
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
-  PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index a7ab55fe2..8007afb84 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    os.environ['LOGPRINT'] = 'debug'
 
     params = Params()
     params.clear_all()

From 8d6799d95a0a0ab9b2b0bc4ed6998abf6cabf266 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 1 Jul 2022 17:44:10 +0200
Subject: [PATCH 123/435] Laikad: Allow fetching orbits every minute (#25016)

* Allow fetching orbits every minute

* Small cleanup
---
 selfdrive/locationd/laikad.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index da00c7aa6..0df48dd89 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -13,7 +13,7 @@ import numpy as np
 from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
-from laika.constants import SECS_IN_HR, SECS_IN_MIN
+from laika.constants import SECS_IN_MIN
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@@ -171,7 +171,7 @@ class Laikad:
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
   def fetch_orbits(self, t: GPSTime, block):
-    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR):
+    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN):
       astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
 
       ret = None
@@ -195,14 +195,12 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
   astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
   cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
   start_time = time.monotonic()
-  data = None
   try:
     astro_dog.get_orbit_data(t, only_predictions=True)
-    data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
+    cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+    return astro_dog.orbits, astro_dog.orbit_fetched_times
   except (RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")
-  cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
-  return data
 
 
 def create_measurement_msg(meas: GNSSMeasurement):

From fcc5b3d70c14b05e642eda93a528f7583f986468 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Fri, 1 Jul 2022 16:45:32 -0400
Subject: [PATCH 124/435] GM: values.py cleanup & minor updates (#24908)

* Comment update on static limits

* Astra FP cleanup

* DBC autogen & customizable

* Add new Escalade FP, disable bad

* Add DROPPED CanBus value

* Update/cleanup CarInfo

* DBC -> defaultdict

* Fix DBC typing issue

* Revert Escalade fix

* clean up

* comment spacing

* revert this for now

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/gm/values.py | 43 ++++++++++++++++++--------------------
 1 file changed, 20 insertions(+), 23 deletions(-)

diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 8ef33e829..328ca7c28 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,4 +1,5 @@
-from dataclasses import dataclass
+from collections import defaultdict
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
@@ -9,9 +10,9 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
-  STEER_STEP = 2  # control frames per command
-  STEER_DELTA_UP = 7
+  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_STEP = 2  # Control frames per command (50hz)
+  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
   MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
@@ -24,19 +25,20 @@ class CarControllerParams:
   CAMERA_KEEPALIVE_STEP = 100
 
   # Volt gasbrake lookups
-  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048 # Coasting
-  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+  # TODO: These values should be confirmed on non-Volt vehicles
+  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048  # Coasting
+  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
+  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2. # m/s^2
-  ACCEL_MIN = -4. # m/s^2
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
 
-  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
   GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
   BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
@@ -67,16 +69,17 @@ class Footnote(Enum):
 class GMCarInfo(CarInfo):
   package: str = "Adaptive Cruise"
   harness: Enum = Harness.none
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
 
 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom),
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"),
 }
 
 
@@ -100,10 +103,12 @@ class CanBus:
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
+  DROPPED = 192
 
 FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [
   # Astra BK MY17, ASCM unplugged
-  CAR.HOLDEN_ASTRA: [{
+  {
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
   }],
   CAR.VOLT: [
@@ -145,12 +150,4 @@ FINGERPRINTS = {
   }],
 }
 
-DBC = {
-  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-}
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))

From e11bb76a6408c0ceeacd0b4dd7e6ccb7a133387a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Jul 2022 19:11:28 -0700
Subject: [PATCH 125/435] car docs: remove steering torque hard-coding (#25019)

remove good torque hardcoding
---
 selfdrive/car/docs_definitions.py  | 4 ++--
 selfdrive/car/hyundai/values.py    | 1 -
 selfdrive/car/mazda/values.py      | 4 ++--
 selfdrive/car/subaru/values.py     | 2 +-
 selfdrive/car/toyota/values.py     | 1 -
 selfdrive/car/volkswagen/values.py | 1 -
 6 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 618c986d1..1efa23037 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -55,7 +55,6 @@ class CarInfo:
   footnotes: Optional[List[Enum]] = None
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  good_torque: bool = False
   harness: Optional[Enum] = None
 
   def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
@@ -82,10 +81,11 @@ class CarInfo:
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
       Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
       Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
+      # Column.STEERING_TORQUE set below
       Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
+    # Set steering torque star from max lateral acceleration
     if not math.isnan(CP.maxLateralAccel):
       if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
         self.row[Column.STEERING_TORQUE] = Star.FULL
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 645d2f523..0717ed1fb 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -89,7 +89,6 @@ class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
   # HKG and for others, it's likely packaged together with SCC
   package: str = "SCC + LKAS"
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index f5d63418f..09b9b7732 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -40,8 +40,8 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9badc3ca5..45358eb3a 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index c7a26257f..43d923338 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -99,7 +99,6 @@ class Footnote(Enum):
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
   harness: Enum = Harness.toyota
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 0148a138a..6e64f705b 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -114,7 +114,6 @@ class Footnote(Enum):
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Driver Assistance"
-  good_torque: bool = True
   harness: Enum = Harness.vw
 
 

From 0c95493dc0cbc5d3dec59a50ac5476573041942d Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 1 Jul 2022 19:14:21 -0700
Subject: [PATCH 126/435] Torque control: max torque warning (#25018)

* New steer torque warning

* typo
---
 selfdrive/controls/controlsd.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cceb47947..3ee47c620 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -317,7 +317,7 @@ class Controls:
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
-      else: # invalid or can_rcv_error.
+      else:  # invalid or can_rcv_error.
         self.events.add(EventName.commIssue)
 
       logs = {
@@ -598,7 +598,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
+      undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
+      turning = abs(lac_log.desiredLateralAccel) > 1.0
+      good_speed = CS.vEgo > 5
+      max_torque = abs(self.last_actuators.steer) > 0.99
+      if undershooting and turning and good_speed and max_torque:
+        self.events.add(EventName.steerSaturated)
+    elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path

From 5f794fe49a1e0f2849e6a979c7bd12ca5ddb060a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 4 Jul 2022 19:55:00 +0800
Subject: [PATCH 127/435] settings.cc: remove function network_panel (#25030)

remove function network_panel
---
 selfdrive/ui/qt/offroad/settings.cc | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 547ad168f..a03af2395 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -279,10 +279,6 @@ void SoftwarePanel::updateLabels() {
   osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed());
 }
 
-QWidget *network_panel(QWidget *parent) {
-  return new Networking(parent);
-}
-
 void SettingsWindow::showEvent(QShowEvent *event) {
   panel_widget->setCurrentIndex(0);
   nav_btns->buttons()[0]->setChecked(true);
@@ -328,7 +324,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
-    {tr("Network"), network_panel(this)},
+    {tr("Network"), new Networking(this)},
     {tr("Toggles"), new TogglesPanel(this)},
     {tr("Software"), new SoftwarePanel(this)},
   };

From 735387d5eea7e76d1940a82b0b5dcaddf1eb264a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 4 Jul 2022 13:57:25 +0200
Subject: [PATCH 128/435] bump opendbc

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 7fbf7c2a6..9c7248ceb 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278
+Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156

From d4cc13c88a8a9a9215777709fe2eccade1fd0ccd Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 4 Jul 2022 17:13:30 +0200
Subject: [PATCH 129/435] controlsd: avoid lag on first iteration due to
 get_short_branch (#25031)

* controlsd: avoid lag on first iteration due to get_short_branch

* always cache
---
 selfdrive/controls/controlsd.py  | 4 ++++
 selfdrive/controls/lib/events.py | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3ee47c620..9e3af9eb6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -12,6 +12,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
+from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -62,6 +63,9 @@ class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     config_realtime_process(4, Priority.CTRL_HIGH)
 
+    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
+    self.branch = get_short_branch("")
+
     # Setup sockets
     self.pm = pm
     if self.pm is None:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index cc63d4995..95ccb7b7e 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -222,7 +222,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   return func
 
 def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  branch = get_short_branch("")
+  branch = get_short_branch("")  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 

From 39007810927faa309d06e6ad9586302341547f64 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 5 Jul 2022 16:55:32 +0200
Subject: [PATCH 130/435] add casync support to agnos updater (#23654)

* add casync option to agnos updater

* open if necessary

* add python implementation

* last chunk can be small

* check flags

* cleaner check

* add remote and file stores

* remote caibx file

* print stats

* use python implementation

* clean up imports

* add progress

* fix logging

* fix duplicate chunks

* add comments

* json stats

* cleanup tmp

* normal image is still sparse

* Update system/hardware/tici/agnos.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update system/hardware/tici/agnos.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* add some types

* remove comment

* create Chunk type

* make readers a class

* try agnos 5.2

* add download retries

* catch all exceptions

* sleep between retry

* revert agnos.json changes

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 system/hardware/tici/agnos.py  |  95 ++++++++++++----
 system/hardware/tici/casync.py | 192 +++++++++++++++++++++++++++++++++
 2 files changed, 265 insertions(+), 22 deletions(-)
 create mode 100755 system/hardware/tici/casync.py

diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index e664654c6..527422aca 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -1,13 +1,16 @@
 #!/usr/bin/env python3
+import hashlib
 import json
 import lzma
-import hashlib
-import requests
+import os
 import struct
 import subprocess
 import time
-import os
-from typing import Dict, Generator, Union
+from typing import Dict, Generator, List, Tuple, Union
+
+import requests
+
+import system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
@@ -74,6 +77,7 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
     else:
       raise Exception("Unhandled sparse chunk type")
 
+
 # noop wrapper with same API as unsparsify() for non sparse images
 def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
   while not f.eof:
@@ -99,8 +103,8 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str:
   return path
 
 
-def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]]) -> bool:
-  full_check = partition['full_check']
+def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool:
+  full_check = partition['full_check'] or force_full_check
   path = get_partition_path(target_slot_number, partition)
   if not isinstance(partition['size'], int):
     return False
@@ -135,21 +139,10 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
     os.sync()
 
 
-def flash_partition(target_slot_number: int, partition: dict, cloudlog):
-  cloudlog.info(f"Downloading and writing {partition['name']}")
-
-  if verify_partition(target_slot_number, partition):
-    cloudlog.info(f"Already flashed {partition['name']}")
-    return
-
+def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
   downloader = StreamingDecompressor(partition['url'])
 
-  # Clear hash before flashing in case we get interrupted
-  full_check = partition['full_check']
-  if not full_check:
-    clear_partition_hash(target_slot_number, partition)
-
-  path = get_partition_path(target_slot_number, partition)
   with open(path, 'wb+') as out:
     # Flash partition
     last_p = 0
@@ -172,9 +165,67 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog):
     if out.tell() != partition['size']:
       raise Exception("Uncompressed size mismatch")
 
-    # Write hash after successfull flash
     os.sync()
-    if not full_check:
+
+
+def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
+  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
+
+  target = casync.parse_caibx(partition['casync_caibx'])
+
+  sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
+
+  # First source is the current partition. Index file for current version is provided in the manifest
+  if 'casync_seed_caibx' in partition:
+    sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(partition['casync_seed_caibx'])))]
+
+  # Second source is the target partition, this allows for resuming
+  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
+
+  # Finally we add the remote source to download any missing chunks
+  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
+
+  last_p = 0
+
+  def progress(cur):
+    nonlocal last_p
+    p = int(cur / partition['size'] * 100)
+    if p != last_p:
+      last_p = p
+      print(f"Installing {partition['name']}: {p}", flush=True)
+
+  stats = casync.extract(target, sources, path, progress)
+  cloudlog.error(f'casync done {json.dumps(stats)}')
+
+  os.sync()
+  if not verify_partition(target_slot_number, partition, force_full_check=True):
+    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
+
+
+def flash_partition(target_slot_number: int, partition: dict, cloudlog):
+  cloudlog.info(f"Downloading and writing {partition['name']}")
+
+  if verify_partition(target_slot_number, partition):
+    cloudlog.info(f"Already flashed {partition['name']}")
+    return
+
+  # Clear hash before flashing in case we get interrupted
+  full_check = partition['full_check']
+  if not full_check:
+    clear_partition_hash(target_slot_number, partition)
+
+  path = get_partition_path(target_slot_number, partition)
+
+  if 'casync_caibx' in partition:
+    extract_casync_image(target_slot_number, partition, cloudlog)
+  else:
+    extract_compressed_image(target_slot_number, partition, cloudlog)
+
+  # Write hash after successfull flash
+  if not full_check:
+    with open(path, 'wb+') as out:
+      out.seek(partition['size'])
       out.write(partition['hash_raw'].lower().encode())
 
 
@@ -228,8 +279,8 @@ def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
 
 
 if __name__ == "__main__":
-  import logging
   import argparse
+  import logging
 
   parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
new file mode 100755
index 000000000..e77f47363
--- /dev/null
+++ b/system/hardware/tici/casync.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import io
+import lzma
+import os
+import struct
+import sys
+import time
+from abc import ABC, abstractmethod
+from collections import defaultdict, namedtuple
+from typing import Callable, Dict, List, Optional, Tuple
+
+import requests
+from Crypto.Hash import SHA512
+
+CA_FORMAT_INDEX = 0x96824d9c7b129ff9
+CA_FORMAT_TABLE = 0xe75b9e112f17417d
+CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417
+FLAGS = 0xb000000000000000
+
+CA_HEADER_LEN = 48
+CA_TABLE_HEADER_LEN = 16
+CA_TABLE_ENTRY_LEN = 40
+CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
+
+CHUNK_DOWNLOAD_TIMEOUT = 10
+CHUNK_DOWNLOAD_RETRIES = 3
+
+CAIBX_DOWNLOAD_TIMEOUT = 120
+
+Chunk = namedtuple('Chunk', ['sha', 'offset', 'length'])
+ChunkDict = Dict[bytes, Chunk]
+
+
+class ChunkReader(ABC):
+  @abstractmethod
+  def read(self, chunk: Chunk) -> bytes:
+    ...
+
+
+class FileChunkReader(ChunkReader):
+  """Reads chunks from a local file"""
+  def __init__(self, fn: str) -> None:
+
+    super().__init__()
+    self.f = open(fn, 'rb')
+
+  def read(self, chunk: Chunk) -> bytes:
+    self.f.seek(chunk.offset)
+    return self.f.read(chunk.length)
+
+
+class RemoteChunkReader(ChunkReader):
+  """Reads lzma compressed chunks from a remote store"""
+
+  def __init__(self, url: str) -> None:
+    super().__init__()
+    self.url = url
+
+  def read(self, chunk: Chunk) -> bytes:
+    sha_hex = chunk.sha.hex()
+    url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
+
+    for i in range(CHUNK_DOWNLOAD_RETRIES):
+      try:
+        resp = requests.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
+        break
+      except Exception:
+        if i == CHUNK_DOWNLOAD_RETRIES - 1:
+          raise
+        time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
+
+    resp.raise_for_status()
+
+    decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+    return decompressor.decompress(resp.content)
+
+
+def parse_caibx(caibx_path: str) -> List[Chunk]:
+  """Parses the chunks from a caibx file. Can handle both local and remote files.
+  Returns a list of chunks with hash, offset and length"""
+  if os.path.isfile(caibx_path):
+    caibx = open(caibx_path, 'rb')
+  else:
+    resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT)
+    resp.raise_for_status()
+    caibx = io.BytesIO(resp.content)
+
+  caibx.seek(0, os.SEEK_END)
+  caibx_len = caibx.tell()
+  caibx.seek(0, os.SEEK_SET)
+
+  # Parse header
+  length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN))
+  assert flags == flags
+  assert length == CA_HEADER_LEN
+  assert magic == CA_FORMAT_INDEX
+
+  # Parse table header
+  length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN))
+  assert magic == CA_FORMAT_TABLE
+
+  # Parse chunks
+  num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN
+  chunks = []
+
+  offset = 0
+  for i in range(num_chunks):
+    new_offset = struct.unpack("<Q", caibx.read(8))[0]
+
+    sha = caibx.read(32)
+    length = new_offset - offset
+
+    assert length <= max_size
+
+    # Last chunk can be smaller
+    if i < num_chunks - 1:
+      assert length >= min_size
+
+    chunks.append(Chunk(sha, offset, length))
+    offset = new_offset
+
+  return chunks
+
+
+def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict:
+  """Turn a list of chunks into a dict for faster lookups based on hash"""
+  return {c.sha: c for c in chunks}
+
+
+def extract(target: List[Chunk],
+            sources: List[Tuple[str, ChunkReader, ChunkDict]],
+            out_path: str,
+            progress: Optional[Callable[[int], None]] = None):
+  stats: Dict[str, int] = defaultdict(int)
+
+  with open(out_path, 'wb') as out:
+    for cur_chunk in target:
+
+      # Find source for desired chunk
+      for name, chunk_reader, store_chunks in sources:
+        if cur_chunk.sha in store_chunks:
+          bts = chunk_reader.read(store_chunks[cur_chunk.sha])
+
+          # Check length
+          if len(bts) != cur_chunk.length:
+            continue
+
+          # Check hash
+          if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha:
+            continue
+
+          # Write to output
+          out.seek(cur_chunk.offset)
+          out.write(bts)
+
+          stats[name] += cur_chunk.length
+
+          if progress is not None:
+            progress(sum(stats.values()))
+
+          break
+      else:
+        raise RuntimeError("Desired chunk not found in provided stores")
+
+  return stats
+
+
+def print_stats(stats: Dict[str, int]):
+  total_bytes = sum(stats.values())
+  print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
+  for name, total in stats.items():
+    print(f"  {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)")
+
+
+def extract_simple(caibx_path, out_path, store_path):
+  # (name, callback, chunks)
+  target = parse_caibx(caibx_path)
+  sources = [
+    # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)),
+    (store_path, FileChunkReader(store_path), build_chunk_dict(target)),
+  ]
+
+  return extract(target, sources, out_path)
+
+
+if __name__ == "__main__":
+  caibx = sys.argv[1]
+  out = sys.argv[2]
+  store = sys.argv[3]
+
+  stats = extract_simple(caibx, out, store)
+  print_stats(stats)

From 06a8ac627c0b8cf00b3bd4ea7186f5c876f71561 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 5 Jul 2022 18:06:08 +0200
Subject: [PATCH 131/435] casync: build_chunk_dict optimize for resuming
 (#25038)

---
 system/hardware/tici/casync.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
index e77f47363..b857c0479 100755
--- a/system/hardware/tici/casync.py
+++ b/system/hardware/tici/casync.py
@@ -123,8 +123,13 @@ def parse_caibx(caibx_path: str) -> List[Chunk]:
 
 
 def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict:
-  """Turn a list of chunks into a dict for faster lookups based on hash"""
-  return {c.sha: c for c in chunks}
+  """Turn a list of chunks into a dict for faster lookups based on hash.
+  Keep first chunk since it's more likely to be already downloaded."""
+  r = {}
+  for c in chunks:
+    if c.sha not in r:
+      r[c.sha] = c
+  return r
 
 
 def extract(target: List[Chunk],

From 0bf1462ad0a459f8a2cc863f58089540789922f1 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Tue, 5 Jul 2022 20:33:20 +0300
Subject: [PATCH 132/435] Update path for github workflow hardware unit tests
 (#25035)

* Update hardware path for github workflow unit tests

* Update release/files_common

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0ff0092b0..35a08d4fe 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -302,7 +302,7 @@ jobs:
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \

From d4f4809992c5c73e36ec1041445e6a11b2c68448 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Jul 2022 14:28:54 -0700
Subject: [PATCH 133/435] always show avg power

---
 tools/zookeeper/power_monitor.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f88741813..fa1f442bb 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -27,8 +27,10 @@ if __name__ == "__main__":
     while duration is None or time.monotonic() - start_time < duration:
       fltr.update(z.read_power())
       if rk.frame % rate == 0:
-        print(f"{fltr.x:.2f} W")
         measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
       rk.keep_time()
   except KeyboardInterrupt:
     pass

From 88a30004e0bf96601e5b8fc4c084219c52a46e15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Jul 2022 16:40:47 -0700
Subject: [PATCH 134/435] Chrysler: prep for Ram port (#25040)

* Chrysler: prep for Ram port

* bump opendbc

* opendbc master

* bump panda
---
 opendbc                               |  2 +-
 panda                                 |  2 +-
 release/files_common                  |  4 +---
 selfdrive/car/chrysler/carstate.py    | 20 ++++++++++----------
 selfdrive/car/chrysler/chryslercan.py |  6 +++---
 selfdrive/car/chrysler/values.py      | 14 +++++++-------
 6 files changed, 23 insertions(+), 25 deletions(-)

diff --git a/opendbc b/opendbc
index 9c7248ceb..b2895650c 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156
+Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271
diff --git a/panda b/panda
index 265245389..6c0d0b43c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c
+Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e
diff --git a/release/files_common b/release/files_common
index acf74e213..e32277dfd 100644
--- a/release/files_common
+++ b/release/files_common
@@ -35,7 +35,6 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
-common/SConscript
 
 common/kalman/.gitignore
 common/kalman/*
@@ -217,7 +216,6 @@ selfdrive/locationd/generated/gps.h
 
 selfdrive/locationd/laikad.py
 selfdrive/locationd/laikad_helpers.py
-selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
@@ -475,7 +473,7 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
-opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
 opendbc/gm_global_a_powertrain_generated.dbc
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 444557191..aa46ea0d9 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -64,14 +64,14 @@ class CarState(CarStateBase):
     steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
     ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
+    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
 
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
+      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
+    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
@@ -100,7 +100,7 @@ class CarState(CarStateBase):
       ("ACC_AVAILABLE", "DAS_3"),
       ("ACC_ACTIVE", "DAS_3"),
       ("ACC_FAULTED", "DAS_3"),
-      ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
+      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
       ("CRUISE_STATE", "DAS_4"),
       ("COLUMN_TORQUE", "EPS_2"),
@@ -132,10 +132,10 @@ class CarState(CarStateBase):
 
     if CP.enableBsm:
       signals += [
-        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
-        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
+        ("RIGHT_STATUS", "BSM_1"),
+        ("LEFT_STATUS", "BSM_1"),
       ]
-      checks.append(("BLIND_SPOT_WARNINGS", 2))
+      checks.append(("BSM_1", 2))
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
@@ -144,13 +144,13 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("COUNTER", "LKAS_COMMAND"),
-      ("CAR_MODEL", "LKAS_HUD"),
+      ("CAR_MODEL", "DAS_6"),
       ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
     ]
     checks = [
       ("LKAS_COMMAND", 100),
       ("LKAS_HEARTBIT", 10),
-      ("LKAS_HUD", 4),
+      ("DAS_6", 4),
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 53b79cab7..adcd411d3 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -35,14 +35,14 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
     "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
     }
 
-  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)  # 0x2a6
 
 
 def create_lkas_command(packer, apply_steer, moving_fast, frame):
   # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
   values = {
-    "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": int(moving_fast),
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": int(moving_fast),
     "COUNTER": frame % 0x10,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index d624bd272..5537b383d 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -101,13 +101,13 @@ FINGERPRINTS = {
 
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
 }
 
 STEER_THRESHOLD = 120

From eaa8b08510057c089520f4ba410218be261c9158 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Wed, 6 Jul 2022 02:42:53 +0300
Subject: [PATCH 135/435] Subaru: XV is supported (#25034)

* Subaru: add XV to supported models

* Update docs
---
 docs/CARS.md                   | 6 ++++--
 selfdrive/car/subaru/values.py | 2 ++
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 25de6a254..0cf384df1 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -71,7 +71,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 67 cars
+# Silver - 68 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -120,6 +120,7 @@ How We Rate The Cars
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -143,7 +144,7 @@ How We Rate The Cars
 |Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 78 cars
+# Bronze - 79 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -199,6 +200,7 @@ How We Rate The Cars
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 45358eb3a..ea923b1b5 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -45,10 +45,12 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+    SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
   ],
   CAR.IMPREZA_2020: [
     SubaruCarInfo("Subaru Impreza 2020-21"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
+    SubaruCarInfo("Subaru XV 2020-21"),
   ],
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),

From f21b56f25af5ee0930dc8f991aac4e9c438b3cda Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 5 Jul 2022 20:04:48 -0700
Subject: [PATCH 136/435] regen migration: use Panda safety parameters (#25043)

no magic numbers
---
 selfdrive/test/process_replay/regen.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index d2f239c24..793e54870 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -15,6 +15,8 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
+from panda.python import Panda
+from selfdrive.car.toyota.values import EPS_SCALE
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -30,8 +32,8 @@ def replay_panda_states(s, msgs):
 
   # TODO: new safety params from flags, remove after getting new routes for Toyota
   safety_param_migration = {
-    "TOYOTA PRIUS 2017": 578,
-    "TOYOTA RAV4 2017": 329
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
   }
 
   # Migrate safety param base on carState

From 972e24ee263d7c86b865632f4bb110bbde1b16ac Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Wed, 6 Jul 2022 00:06:25 -0500
Subject: [PATCH 137/435] Add new LEXUS_RX_TSS2 engine f/w (#25041)

`@ibby1137#8978` 2022 Lexus RX350L AWD  DongleID|route abc09032f402f271|2022-07-05--17-34-41
---
 selfdrive/car/toyota/values.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 43d923338..283c137c9 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1761,13 +1761,14 @@ FW_VERSIONS = {
       b'\x01896630EB0000\x00\x00\x00\x00',
       b'\x01896630EC9000\x00\x00\x00\x00',
       b'\x01896630ED0000\x00\x00\x00\x00',
+      b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
-      b'\x01896630ED0100\x00\x00\x00\x00',
+      b'\x01896634D44000\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',

From 73a6348be7f20fd2c4e303ca7ff7490b71bff59f Mon Sep 17 00:00:00 2001
From: haram-KONA <88036668+haram-KONA@users.noreply.github.com>
Date: Wed, 6 Jul 2022 14:08:36 +0900
Subject: [PATCH 138/435] car docs: add video for Hyundai Kona Hybrid 2020
 (#25029)

* Update values.py

Added the following video link "https://www.youtube.com/watch?v=0dwpAHiZgFo"

* Update values.py

* Update selfdrive/car/hyundai/values.py

* Update selfdrive/car/hyundai/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 0717ed1fb..f6efedb24 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -105,7 +105,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),

From 38427e6fbbe1eb09c8a335f8c9aa90460d6bbfde Mon Sep 17 00:00:00 2001
From: BirdZhang <0312birdzhang@gmail.com>
Date: Wed, 6 Jul 2022 13:11:21 +0800
Subject: [PATCH 139/435] Toyota: add missing esp FW version for 2021 Toyota
 Corolla (#25026)

2021 Toyota Levin hybrid (aka Corolla)
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 283c137c9..86283bc48 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -816,6 +816,7 @@ FW_VERSIONS = {
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
       b'F152612D00\x00\x00\x00\x00\x00\x00',
+      b'F152612842\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',

From f797567ef8c574027eec8da72a2c76cfb2fdafe1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 5 Jul 2022 22:19:20 -0700
Subject: [PATCH 140/435] long planner: run when using stock longitudinal
 (#25017)

* Squashed commit of the following:

commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:10:06 2022 -0700

    remove this test

    remove this test

commit c3c10af82222ea4641d94c53a3a07b486cca8452
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:08:15 2022 -0700

    only planner changes

commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4
Merge: e088fde67 fcc5b3d70
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:05:36 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner2

commit e088fde67edcc32ccfeea23b4ae9e44845240429
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 30 13:58:38 2022 -0700

    no walrus

commit b7b425e530e949b9cc427833562473cc241d1367
Merge: f8634266b c49f997be
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 30 13:54:30 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit f8634266b49c3f692b255e6cfac66cccc438ae20
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 29 16:07:35 2022 -0700

    stricter test, speeds[-1] is 0.14 when starting here

commit c9e446ad2183feba9d03ee39f9801091ab791c08
Merge: e6c4106ea 879a7c320
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 29 16:01:32 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit e6c4106ea185c68a6c7b3d59d5bde664df8bdc9c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Sat Jun 25 03:28:41 2022 -0700

    fix test

commit 0520c7f21613b57b804e08a8e8d10950ac059074
Author: Shane Smiskol <shane@smiskol.com>
Date:   Sat Jun 25 03:26:16 2022 -0700

    add test for resuming

commit 04db5f80bff4a002f5241765a625d7cf57b74364
Merge: e23b37d3f d8bfe2f00
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 22 20:15:50 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit e23b37d3fe8dd3dd07b46a32a4f0564fabade1aa
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 12:46:04 2022 -0700

    0.1 should be pretty safe

commit e7dc3960da3d713753f28732f50dbd25811fad28
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 12:39:30 2022 -0700

    try 0.2

commit ff0597ec92a0d2c52915316961ec123b0183c5cf
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:34:00 2022 -0700

    Always run planner if not opLong

commit 13997c55271f79fd3ca62d6db45ec3790b09aa60
Merge: d2f51ee55 95d8517a8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:29:22 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit d2f51ee55fd3bde38275371e76714d7741bc6f6b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:27:45 2022 -0700

    same for non-HDA2

commit 6a63bd60f09a0abd9185049cd173100d3ef6fefa
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Jun 20 23:37:07 2022 -0700

    mazda: ensure no resume if cancelling

commit 5771cdecab7999765d9f5203c75a67f1555cf975
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Jun 20 23:27:58 2022 -0700

    maintain original button msg rate

commit 6c1fe0606fd0a0819ffeaac92526e43b3110f2f4
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 23:45:26 2022 -0700

    rename to resume

commit 00b1df652f1679137c769f9db61eed7dd14e1542
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:57:54 2022 -0700

    remove comments

commit 325ea9bbd5e0dd946961ede0cdcc446ad5e5bbdb
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:56:20 2022 -0700

    vw

commit 2c9061042b36fe1d6b029a4216655be69a980849
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:54:37 2022 -0700

    do rest but vw

commit 3dc51f663dfdd4ea1fd72d239bcd5db8c7da4b47
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 16:34:48 2022 -0700

    only spam resume when future is > vEgoStarting

commit 5f32cd1fcb402bee425d866a9dc76b6feea3d241
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 16:09:43 2022 -0700

    always log leads, we hide them in ui

* reset when not CS.enabled

remove comment

* update refs
---
 selfdrive/controls/lib/longitudinal_planner.py |  4 ++--
 selfdrive/controls/radard.py                   | 16 ++++++----------
 selfdrive/test/process_replay/ref_commit       |  2 +-
 3 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d4a6aaef8..cf5113677 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -66,11 +66,11 @@ class Planner:
     v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
-    long_control_state = sm['controlsState'].longControlState
+    long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_state == LongCtrlState.off
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index b2c991445..3d958139d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -102,7 +102,7 @@ class RadarD():
 
     self.ready = False
 
-  def update(self, sm, rr, enable_lead):
+  def update(self, sm, rr):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     if sm.updated['carState']:
@@ -169,11 +169,10 @@ class RadarD():
     radarState.radarErrors = list(rr.errors)
     radarState.carStateMonoTime = sm.logMonoTime['carState']
 
-    if enable_lead:
-      leads_v3 = sm['modelV2'].leadsV3
-      if len(leads_v3) > 1:
-        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
-        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
+    leads_v3 = sm['modelV2'].leadsV3
+    if len(leads_v3) > 1:
+      radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
+      radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
     return dat
 
 
@@ -203,9 +202,6 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
   RD = RadarD(CP.radarTimeStep, RI.delay)
 
-  # TODO: always log leads once we can hide them conditionally
-  enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan
-
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
     rr = RI.update(can_strings)
@@ -215,7 +211,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(sm, rr, enable_lead)
+    dat = RD.update(sm, rr)
     dat.radarState.cumLagMs = -rk.remaining*1000.
 
     pm.send('radarState', dat)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 90444b1fa..999081b4d 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-806984d4206056fb132625c5dad6c0ca1835a2d6
\ No newline at end of file
+a57bbbffbee434e59e08b98b667dc13b6b505f08
\ No newline at end of file

From 59c28611a4c385c487d5d0c8a219fe20eaeadeaf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Jul 2022 23:01:57 -0700
Subject: [PATCH 141/435] bump opendbc

---
 opendbc                            | 2 +-
 selfdrive/car/chrysler/carstate.py | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc b/opendbc
index b2895650c..1e9693ce0 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271
+Subproject commit 1e9693ce0916b896568dcd5558a670e67843c299
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index aa46ea0d9..61fe1f7ec 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -51,9 +51,9 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
     ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2)
+    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["ACC_STATE"] in (1, 2)
     ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
@@ -101,8 +101,8 @@ class CarState(CarStateBase):
       ("ACC_ACTIVE", "DAS_3"),
       ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
-      ("CRUISE_STATE", "DAS_4"),
+      ("ACC_SET_SPEED_KPH", "DAS_4"),
+      ("ACC_STATE", "DAS_4"),
       ("COLUMN_TORQUE", "EPS_2"),
       ("EPS_TORQUE_MOTOR", "EPS_2"),
       ("LKAS_STATE", "EPS_2"),

From 50434d612ee7becc09aef762a6c8fb8d8111af6d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 6 Jul 2022 12:08:51 +0200
Subject: [PATCH 142/435] casync: reuse requests session in RemoteChunkReader
 (#25045)

---
 system/hardware/tici/casync.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
index b857c0479..d0d0da3c6 100755
--- a/system/hardware/tici/casync.py
+++ b/system/hardware/tici/casync.py
@@ -55,6 +55,7 @@ class RemoteChunkReader(ChunkReader):
   def __init__(self, url: str) -> None:
     super().__init__()
     self.url = url
+    self.session = requests.Session()
 
   def read(self, chunk: Chunk) -> bytes:
     sha_hex = chunk.sha.hex()
@@ -62,7 +63,7 @@ class RemoteChunkReader(ChunkReader):
 
     for i in range(CHUNK_DOWNLOAD_RETRIES):
       try:
-        resp = requests.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
+        resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
         break
       except Exception:
         if i == CHUNK_DOWNLOAD_RETRIES - 1:

From 4080f729bea6092813331fb6d92c80e2f4c4f928 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 6 Jul 2022 13:04:25 +0200
Subject: [PATCH 143/435] casync: compute seed caibx url on the fly (#25046)

* compute seed hash on the fly

* more logging

* partition name in url

* fix comment
---
 system/hardware/tici/agnos.py | 41 ++++++++++++++++++++++++-----------
 1 file changed, 28 insertions(+), 13 deletions(-)

diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 527422aca..bd8ce2bf0 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -13,6 +13,7 @@ import requests
 import system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
+CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
 
 class StreamingDecompressor:
@@ -103,28 +104,37 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str:
   return path
 
 
+def get_raw_hash(path: str, partition_size: int) -> str:
+  raw_hash = hashlib.sha256()
+  pos, chunk_size = 0, 1024 * 1024
+
+  with open(path, 'rb+') as out:
+    while pos < partition_size:
+      n = min(chunk_size, partition_size - pos)
+      raw_hash.update(out.read(n))
+      pos += n
+
+  return raw_hash.hexdigest().lower()
+
+
 def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool:
   full_check = partition['full_check'] or force_full_check
   path = get_partition_path(target_slot_number, partition)
+
   if not isinstance(partition['size'], int):
     return False
+
   partition_size: int = partition['size']
 
   if not isinstance(partition['hash_raw'], str):
     return False
-  partition_hash: str = partition['hash_raw']
-  with open(path, 'rb+') as out:
-    if full_check:
-      raw_hash = hashlib.sha256()
 
-      pos, chunk_size = 0, 1024 * 1024
-      while pos < partition_size:
-        n = min(chunk_size, partition_size - pos)
-        raw_hash.update(out.read(n))
-        pos += n
+  partition_hash: str = partition['hash_raw']
 
-      return raw_hash.hexdigest().lower() == partition_hash.lower()
-    else:
+  if full_check:
+    return get_raw_hash(path, partition_size) == partition_hash.lower()
+  else:
+    with open(path, 'rb+') as out:
       out.seek(partition_size)
       return out.read(64) == partition_hash.lower().encode()
 
@@ -177,8 +187,13 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
   sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
 
   # First source is the current partition. Index file for current version is provided in the manifest
-  if 'casync_seed_caibx' in partition:
-    sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(partition['casync_seed_caibx'])))]
+  raw_hash = get_raw_hash(seed_path, partition['size'])
+  caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+  try:
+    cloudlog.info(f"casync fetching {caibx_url}")
+    sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
+  except requests.RequestException:
+    cloudlog.error(f"casync failed to load {caibx_url}")
 
   # Second source is the target partition, this allows for resuming
   sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]

From 6065871ad504f1b590d8de053b25ce1cf01f29ba Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 6 Jul 2022 14:03:31 +0200
Subject: [PATCH 144/435] add casync to release files

---
 release/files_common | 1 +
 1 file changed, 1 insertion(+)

diff --git a/release/files_common b/release/files_common
index e32277dfd..b46266fa9 100644
--- a/release/files_common
+++ b/release/files_common
@@ -196,6 +196,7 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
+system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater

From e336f254b1744f87119059189711b326ce8b7884 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Wed, 6 Jul 2022 15:50:28 +0200
Subject: [PATCH 145/435] bump laika

---
 laika_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/laika_repo b/laika_repo
index 6e87f536d..828612e1b 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d
+Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da

From b88d7c89fae448068aeaca65706d99aa145c8a74 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Wed, 6 Jul 2022 19:01:19 +0200
Subject: [PATCH 146/435] laikad: Filter unwanted pseudoranges (#25051)

Filter unwanted pseudoranges
---
 selfdrive/locationd/laikad.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 0df48dd89..40519da7b 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -103,6 +103,9 @@ class Laikad:
           self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
       new_meas = read_raw_ublox(report)
+      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+
       processed_measurements = process_measurements(new_meas, self.astro_dog)
 
       est_pos = self.get_est_pos(t, processed_measurements)

From 3e5e27f043bca856ff3f4aaa83355d964ca42fa5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Jul 2022 18:51:51 -0700
Subject: [PATCH 147/435] Add missing 2019 RAV4 Hybrid engine FW version
 (#25057)

add missing engine fw
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 86283bc48..9324e6baf 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1317,6 +1317,7 @@ FW_VERSIONS = {
       b'\x018966342X6000\x00\x00\x00\x00',
       b'\x01896634A25000\x00\x00\x00\x00',
       b'\x018966342W5000\x00\x00\x00\x00',
+      b'\x018966342W7000\x00\x00\x00\x00',
       b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',

From ea241bf3dc1d6dec2610bec9fceb1b8659014436 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Jul 2022 19:42:58 -0700
Subject: [PATCH 148/435] FW fingerprinting: log all FW versions (#25042)

* get_fw_versions returns all fw versions with request's brand

* keep track of everything received

* debug

* need to regen or write a hack in build_fw_dict

* to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)

to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later)

* update test_fw_query_on_routes

* clean up

* better name

* slightly cleaner

* fix test_startup unit test

del

* fix imports

* fix test_fw_fingerprint

fix test_fw_fingerprint

fix

* fingerprint on all FW_VERSIONS, not just brands with requests

* support old routes in test_fw_query_on_routes

* regen and update refs

* similar function style to before

* better comment

* space

switch name

* try to exact match first

* useless else

* fix debug script

* simpler dictionary

* bump cereal to master
---
 cereal                                        |  2 +-
 selfdrive/car/fw_versions.py                  | 45 ++++++++++++-------
 selfdrive/car/tests/test_fw_fingerprint.py    | 10 ++---
 selfdrive/controls/tests/test_startup.py      | 23 +++++-----
 selfdrive/debug/test_fw_query_on_routes.py    | 43 +++++++++++-------
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/process_replay/regen.py        | 16 ++++++-
 .../test/process_replay/test_processes.py     | 26 +++++------
 8 files changed, 101 insertions(+), 66 deletions(-)

diff --git a/cereal b/cereal
index df0856831..cda60ec96 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4
+Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 758485c39..b79f61d94 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -194,12 +194,13 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def build_fw_dict(fw_versions):
+def build_fw_dict(fw_versions, filter_brand=None):
   fw_versions_dict = {}
   for fw in fw_versions:
-    addr = fw.address
-    sub_addr = fw.subAddress if fw.subAddress != 0 else None
-    fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+    if filter_brand is None or fw.brand == filter_brand:
+      addr = fw.address
+      sub_addr = fw.subAddress if fw.subAddress != 0 else None
+      fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
   return fw_versions_dict
 
 
@@ -284,18 +285,27 @@ def match_fw_to_car_exact(fw_versions_dict):
 
 
 def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  fw_versions_dict = build_fw_dict(fw_versions)
-  matches = match_fw_to_car_exact(fw_versions_dict)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+
+  # Try exact matching first
+  exact_matches = [True]
+  if allow_fuzzy:
+    exact_matches.append(False)
+
+  for exact_match in exact_matches:
+    # For each brand, attempt to fingerprint using FW returned from its queries
+    for brand in versions.keys():
+      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
 
-  exact_match = True
-  if allow_fuzzy and len(matches) == 0:
-    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+      if exact_match:
+        matches = match_fw_to_car_exact(fw_versions_dict)
+      else:
+        matches = match_fw_to_car_fuzzy(fw_versions_dict)
 
-    # Fuzzy match found
-    if len(matches) == 1:
-      exact_match = False
+      if len(matches) == 1:
+        return exact_match, matches
 
-  return exact_match, matches
+  return True, []
 
 
 def get_present_ecus(logcan, sendcan):
@@ -372,20 +382,21 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
             t = 2 * timeout if i == 0 else timeout
-            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
+            fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()})
         except Exception:
           cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   # Build capnp list to put into CarParams
   car_fw = []
-  for addr, (version, request, rx_offset) in fw_versions.items():
+  for (brand, addr), (version, request) in fw_versions.items():
     f = car.CarParams.CarFw.new_message()
 
     f.ecu = ecu_types[addr]
     f.fwVersion = version
     f.address = addr[0]
-    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
-    f.request = request
+    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
+    f.request = request.request
+    f.brand = brand
 
     if addr[1] is not None:
       f.subAddress = addr[1]
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index ed7e420e1..49fa66d36 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
 
 
 class TestFwFingerprint(unittest.TestCase):
@@ -20,14 +21,14 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
     self.assertEqual(candidates[0], expected)
 
-  @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
-  def test_fw_fingerprint(self, car_model, ecus):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fw_fingerprint(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
         ecu_name, addr, sub_addr = ecu
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw)
@@ -60,10 +61,9 @@ class TestFwFingerprint(unittest.TestCase):
   def test_fw_request_ecu_whitelist(self):
     passed = True
     brands = set(r.brand for r in REQUESTS)
-    versions = get_interface_attr('FW_VERSIONS')
     for brand in brands:
       whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
-      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
+      brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
 
       # each ecu in brand's fw versions needs to be whitelisted at least once
       ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 9d1345304..a94311c8c 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -42,27 +42,27 @@ class TestStartup(unittest.TestCase):
     # TODO: test EventName.startup for release branches
 
     # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
     # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
 
     # unrecognized car with no fw
-    (EventName.startupNoFw, None, None),
-    (EventName.startupNoFw, None, None),
+    (EventName.startupNoFw, None, None, ""),
+    (EventName.startupNoFw, None, None, ""),
 
     # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
 
     # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
   ])
   @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions):
+  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
@@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase):
         f.ecu = ecu
         f.address = addr
         f.fwVersion = version
+        f.brand = brand
 
         if subaddress is not None:
           f.subAddress = subaddress
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 011dd6c9a..789baeca4 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -8,24 +8,15 @@ import traceback
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
-from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
-from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
-from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
-from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
-from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS
-from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS
 
 
 NO_API = "NO_API" in os.environ
-SUPPORTED_CARS = set(interface_names['toyota'])
-SUPPORTED_CARS |= set(interface_names['honda'])
-SUPPORTED_CARS |= set(interface_names['hyundai'])
-SUPPORTED_CARS |= set(interface_names['volkswagen'])
-SUPPORTED_CARS |= set(interface_names['mazda'])
-SUPPORTED_CARS |= set(interface_names['subaru'])
-SUPPORTED_CARS |= set(interface_names['nissan'])
+VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
+SUPPORTED_BRANDS = VERSIONS.keys()
+SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 
 try:
   from xx.pipeline.c.CarState import migration
@@ -97,9 +88,24 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          fw_versions_dict = build_fw_dict(car_fw)
-          exact_matches = match_fw_to_car_exact(fw_versions_dict)
-          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+          # Older routes only have carFw from their brand
+          old_route = not any([len(fw.brand) for fw in car_fw])
+          brands = SUPPORTED_BRANDS if not old_route else [None]
+
+          # Exact match
+          exact_matches, fuzzy_matches = [], []
+          for brand in brands:
+            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
+            exact_matches = match_fw_to_car_exact(fw_versions_dict)
+            if len(exact_matches) == 1:
+              break
+
+          # Fuzzy match
+          for brand in brands:
+            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
+            fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+            if len(fuzzy_matches) == 1:
+              break
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1
@@ -126,12 +132,15 @@ if __name__ == "__main__":
 
           print("Mismatches")
           found = False
-          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]:
+          for brand in SUPPORTED_BRANDS:
+            car_fws = VERSIONS[brand]
             if live_fingerprint in car_fws:
               found = True
               expected = car_fws[live_fingerprint]
               for (_, expected_addr, expected_sub_addr), v in expected.items():
                 for version in car_fw:
+                  if version.brand != brand and len(version.brand):
+                    continue
                   sub_addr = None if version.subAddress == 0 else version.subAddress
                   addr = version.address
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 999081b4d..0eeae1e3e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a57bbbffbee434e59e08b98b667dc13b6b505f08
\ No newline at end of file
+b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 793e54870..1a2d436f1 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -179,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   return vs, p
 
 
+def migrate_carparams(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carParams':
+      CP = messaging.new_message('carParams')
+      CP.carParams = msg.carParams.as_builder()
+      for car_fw in CP.carParams.carFw:
+        car_fw.brand = CP.carParams.carName
+      msg = CP.as_reader()
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
 def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
-  lr = list(lr)
+  lr = migrate_carparams(list(lr))
   if frs is None:
     frs = dict()
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 4e7ba4a6d..9cbf4439a 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -35,19 +35,19 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
-  ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
-  ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
-  ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
-  ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
-  ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
-  ("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
-  ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
-  ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
-  ("GM", "fakedata|2022-01-20--18-03-41--0"),
-  ("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
-  ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
-  ("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
+  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
+  ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
+  ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
+  ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
+  ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
+  ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
+  ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
+  ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
+  ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
+  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
+  ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
+  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
+  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

From 479b66c992fb2898418d866a1c61d993a9217d3d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 6 Jul 2022 19:57:44 -0700
Subject: [PATCH 149/435] VW FPv2: reduce number of ECU queries (#24939)

* only send valid/needed queries

* just do volkswagen

* clean up

* add parameter name

clean up

* add test for whitelist

* rename

* Update selfdrive/car/fw_versions.py

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>

* fix test

* log response addresses

* bump cereal

* handle response pending with IsoTpParallelQuery

* remove response pending stuff

* temporarily disregard cache for easier testing

* revert this

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
---
 selfdrive/car/fw_versions.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index b79f61d94..03dcece10 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -148,12 +148,14 @@ REQUESTS: List[Request] = [
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(

From 9b0acacf5e387593ce94dbad88000b5473511e22 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 6 Jul 2022 23:42:07 -0700
Subject: [PATCH 150/435] Ram 1500 (#24878)

* RamInit

* bump submodules

* lil cleanup

* clean up carstate formatting and platform grouping

make tuple

* give it a gold torque star (looks around 2.4 from rough data)

* Dasm Fault

* bump panda

* more cleanup

* cleanup car state

* more cleanup

* some fixes

* remove more stuff

* fix angle signal scaling and fix lkas control bit

* bump panda

* update those

* same limits as pacifica

* cleanup hud alert building

* better fault logic

* fix rate

* set ahb

* bring that back

* update refs

Co-authored-by: Jonathan <jraycec@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Comma Device <device@comma.ai>
---
 RELEASES.md                               |   1 +
 docs/CARS.md                              |   3 +-
 panda                                     |   2 +-
 release/files_common                      |   1 +
 selfdrive/car/chrysler/carcontroller.py   |  73 +++++-------
 selfdrive/car/chrysler/carstate.py        | 135 +++++++++++++++-------
 selfdrive/car/chrysler/chryslercan.py     |  79 +++++++------
 selfdrive/car/chrysler/interface.py       |  22 +++-
 selfdrive/car/chrysler/radar_interface.py |   9 +-
 selfdrive/car/chrysler/values.py          |  36 +++---
 selfdrive/car/tests/routes.py             |   1 +
 selfdrive/car/torque_data/override.yaml   |   3 +-
 selfdrive/test/process_replay/ref_commit  |   2 +-
 13 files changed, 226 insertions(+), 141 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 5b71fc337..fedff5dbf 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -19,6 +19,7 @@ Version 0.8.15 (2022-07-XX)
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
 
 Version 0.8.14 (2022-06-01)
 ========================
diff --git a/docs/CARS.md b/docs/CARS.md
index 0cf384df1..a1e89efe1 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -144,7 +144,7 @@ How We Rate The Cars
 |Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 79 cars
+# Bronze - 80 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -198,6 +198,7 @@ How We Rate The Cars
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Ram|1500 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/panda b/panda
index 6c0d0b43c..fae3ee2e8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e
+Subproject commit fae3ee2e8161d34a7c1939503e583db9b85e5402
diff --git a/release/files_common b/release/files_common
index b46266fa9..260e37e29 100644
--- a/release/files_common
+++ b/release/files_common
@@ -474,6 +474,7 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
+opendbc/chrysler_ram_dt_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 49525646c..606cb5117 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,8 +1,7 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import CAR, CarControllerParams
+from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -10,61 +9,51 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.frame = 0
-    self.prev_lkas_frame = -1
-    self.hud_count = 0
-    self.car_fingerprint = CP.carFingerprint
-    self.gone_fast_yet = False
     self.steer_rate_limited = False
 
-    self.packer = CANPacker(dbc_name)
-
-  def update(self, CC, CS):
-    # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    if self.prev_lkas_frame == CS.lkas_counter:
-      return car.CarControl.Actuators.new_message(), []
-
-    actuators = CC.actuators
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, CarControllerParams)
-    self.steer_rate_limited = new_steer != apply_steer
-
-    moving_fast = CS.out.vEgo > self.CP.minSteerSpeed  # for status message
-    if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5):  # for command high bit
-      self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
-        self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and CC.enabled
-
-    if not lkas_active:
-      apply_steer = 0
+    self.hud_count = 0
+    self.last_lkas_falling_edge = 0
+    self.lkas_active_prev = False
 
-    self.apply_steer_last = apply_steer
+    self.packer = CANPacker(dbc_name)
 
+  def update(self, CC, CS, low_speed_alert):
     can_sends = []
 
+    # EPS faults if LKAS re-enables too quickly
+    lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+
     # *** control msgs ***
 
     if CC.cruiseControl.cancel:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True))
 
-    # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
-    # frame is 100Hz (0.01s period)
-    if self.frame % 25 == 0:  # 0.25s period
+    # HUD alerts
+    if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
-        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
-                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
+        can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
-    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
+    # steering
+    if self.frame % 2 == 0:
+      # steer torque
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams)
+      if not lkas_active:
+        apply_steer = 0
+      self.steer_rate_limited = new_steer != apply_steer
+      self.apply_steer_last = apply_steer
+
+      idx = self.frame // 2
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
 
     self.frame += 1
-    self.prev_lkas_frame = CS.lkas_counter
+    if not lkas_active and self.lkas_active_prev:
+      self.last_lkas_falling_edge = self.frame
+    self.lkas_active_prev = lkas_active
 
-    new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators = CC.actuators.copy()
+    new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 61fe1f7ec..71b7e3462 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -3,21 +3,29 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
+from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
+
+    self.auto_high_beam = 0
+    self.button_counter = 0
+    self.lkas_car_model = -1
+
+    if CP.carFingerprint in RAM_CARS:
+      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
+    else:
+      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_2"]["COUNTER"])
-
+    # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RL"],
@@ -32,8 +40,15 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
     ret.gasPressed = ret.gas > 1e-5
 
-    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
-
+    # car speed
+    if self.CP.carFingerprint in RAM_CARS:
+      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
+    else:
+      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
       cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
@@ -41,55 +56,73 @@ class CarState(CarStateBase):
       cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
-    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
 
+    # button presses
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
-
-    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
-    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
-    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["ACC_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
+    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
 
+    # steering wheel
     ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
     ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
-    ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
+    # cruise state
+    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
+
+    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
+    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
+    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
+    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
+    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
+
+    if self.CP.carFingerprint in RAM_CARS:
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+    else:
+      steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
+      ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
+    # blindspot sensors
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
       ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
+  @staticmethod
+  def get_cruise_signals():
+    signals = [
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
+      ("ACC_STANDSTILL", "DAS_3"),
+      ("COUNTER", "DAS_3"),
+      ("ACC_SET_SPEED_KPH", "DAS_4"),
+      ("ACC_STATE", "DAS_4"),
+    ]
+    checks = [
+      ("DAS_3", 50),
+      ("DAS_4", 50),
+    ]
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("PRNDL", "GEAR"),
       ("DOOR_OPEN_FL", "BCM_1"),
       ("DOOR_OPEN_FR", "BCM_1"),
       ("DOOR_OPEN_RL", "BCM_1"),
       ("DOOR_OPEN_RR", "BCM_1"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
-      ("SPEED_LEFT", "SPEED_1"),
-      ("SPEED_RIGHT", "SPEED_1"),
       ("WHEEL_SPEED_FL", "ESP_6"),
       ("WHEEL_SPEED_RR", "ESP_6"),
       ("WHEEL_SPEED_RL", "ESP_6"),
@@ -97,18 +130,12 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
-      ("ACC_SET_SPEED_KPH", "DAS_4"),
-      ("ACC_STATE", "DAS_4"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "EPS_2",),
       ("COLUMN_TORQUE", "EPS_2"),
       ("EPS_TORQUE_MOTOR", "EPS_2"),
       ("LKAS_STATE", "EPS_2"),
-      ("COUNTER", "EPS_2",),
-      ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
       ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
@@ -116,18 +143,13 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("ESP_1", 50),
       ("EPS_2", 100),
-      ("SPEED_1", 100),
       ("ESP_6", 50),
       ("STEERING", 100),
-      ("DAS_3", 50),
-      ("GEAR", 50),
       ("ECM_5", 50),
       ("CRUISE_BUTTONS", 50),
-      ("DAS_4", 15),
       ("STEERING_LEVERS", 10),
       ("ORC_1", 2),
       ("BCM_1", 1),
-      ("TRACTION_BUTTON", 1),
     ]
 
     if CP.enableBsm:
@@ -137,20 +159,47 @@ class CarState(CarStateBase):
       ]
       checks.append(("BSM_1", 2))
 
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("DASM_FAULT", "EPS_3"),
+        ("Vehicle_Speed", "ESP_8"),
+        ("Gear_State", "Transmission_Status"),
+      ]
+      checks += [
+        ("ESP_8", 50),
+        ("EPS_3", 50),
+        ("Transmission_Status", 50),
+      ]
+    else:
+      signals += [
+        ("PRNDL", "GEAR"),
+        ("SPEED_LEFT", "SPEED_1"),
+        ("SPEED_RIGHT", "SPEED_1"),
+      ]
+      checks += [
+        ("GEAR", 50),
+        ("SPEED_1", 100),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     signals = [
-      # sig_name, sig_address
-      ("COUNTER", "LKAS_COMMAND"),
+      # sig_name, sig_address, default
       ("CAR_MODEL", "DAS_6"),
-      ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
     ]
     checks = [
-      ("LKAS_COMMAND", 100),
-      ("LKAS_HEARTBIT", 10),
       ("DAS_6", 4),
     ]
 
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index adcd411d3..e17e5d5b2 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,56 +1,69 @@
 from cereal import car
-from selfdrive.car import make_can_msg
-
+from selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
-  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
+
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
 
-  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
-    return make_can_msg(0x2a6, msg, 0)
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
 
-  color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
-  lines = 1
-  alerts = 0
+  color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
 
   if hud_count < (1 * 4):  # first 3 seconds, 4Hz
     alerts = 1
-  # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
-  # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
-  if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
-    if lkas_active:
-      color = 2  # control active, display green.
-      lines = 6
-    else:
-      color = 1  # control off, display white.
-      lines = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
 
   values = {
-    "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
-    "CAR_MODEL": lkas_car_model,  # byte 1
-    "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
-    "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
-    }
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
 
-  return packer.make_can_msg("DAS_6", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, apply_steer, moving_fast, frame):
-  # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
+def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
+  # LKAS_COMMAND Lane-keeping signal to turn the wheel
+  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
     "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": int(moving_fast),
-    "COUNTER": frame % 0x10,
+    "LKAS_CONTROL_BIT": enabled_val if lat_active else 0,
   }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values)
+  return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
 
 
-def create_cruise_buttons(packer, frame, cancel=False):
+def create_cruise_buttons(packer, frame, bus, cancel=False):
   values = {
     "ACC_Cancel": cancel,
-    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ebcb6b12..af202cdc4 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.chrysler.values import CAR, RAM_CARS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,7 +11,9 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+
+    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
@@ -39,6 +42,15 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    # Ram
+    elif candidate == CAR.RAM_1500:
+      ret.wheelbase = 3.88
+      ret.steerRatio = 16.3
+      ret.mass = 2493. + STD_CARGO_KG
+      ret.maxLateralAccel = 2.4
+      ret.minSteerSpeed = 14.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -64,9 +76,9 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
       self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = False
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
@@ -76,4 +88,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    return self.CC.update(c, self.CS)
+    return self.CC.update(c, self.CS, self.low_speed_alert)
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 8882dc2d9..348e3c363 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
 def _create_radar_can_parser(car_fingerprint):
+  dbc = DBC[car_fingerprint]['radar']
+  if dbc is None:
+    return None
+
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number), (...)]
   # [('RADAR_STATE', 1024),
@@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
@@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
+    return ret
\ No newline at end of file
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 5537b383d..40210e68e 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -2,19 +2,12 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union
 
+from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
 Ecu = car.CarParams.Ecu
 
 
-class CarControllerParams:
-  STEER_MAX = 261         # 262 faults
-  STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
-  STEER_DELTA_DOWN = 3    # no faults on the way down it seems
-  STEER_ERROR_MAX = 80
-
-
 class CAR:
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
@@ -24,16 +17,28 @@ class CAR:
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
   # Jeep
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"   # includes 2017 Trailhawk
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
+
+  # Ram
+  RAM_1500 = "RAM 1500 5TH GEN"
+
 
+class CarControllerParams:
+  STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
+  STEER_DELTA_UP = 3
+  STEER_DELTA_DOWN = 3
+  STEER_ERROR_MAX = 80
+
+STEER_THRESHOLD = 120
+
+RAM_CARS = {CAR.RAM_1500, }
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise"
   harness: Enum = Harness.fca
 
-
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
@@ -42,6 +47,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"),
 }
 
 # Unique CAN messages:
@@ -97,6 +103,11 @@ FINGERPRINTS = {
     # Jeep Grand Cherokee 2019, including most 2020 models
     55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
+  CAR.RAM_1500: [
+    {35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8,  129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8,  164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
+    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
+    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+  ],
 }
 
 
@@ -108,6 +119,5 @@ DBC = {
   CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
 }
-
-STEER_THRESHOLD = 120
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 19b1a05c2..96eb5f67b 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -38,6 +38,7 @@ routes = [
   TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
   TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
   TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
+  TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index a2200926c..be81af260 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -19,8 +19,9 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 # No steering wheel
 COMMA BODY: [.nan, 1000, .nan]
 
-# Totally new car
+# Totally new cars
 KIA EV6 2022: [3.0, 2.5, 0.0]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0eeae1e3e..b0136da88 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc
\ No newline at end of file
+ebe7f1285ec60f522179606d483a198535c0e83a
\ No newline at end of file

From fd2de54172b4a76f2ab8ac5d8f8eca5c41739351 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Jul 2022 00:24:03 -0700
Subject: [PATCH 151/435] Stock longitudinal: spam resume button when lead
 starts moving (#24873)

* always log leads, we hide them in ui

* only spam resume when future is > vEgoStarting

* do rest but vw

* vw

* remove comments

* rename to resume

* maintain original button msg rate

* mazda: ensure no resume if cancelling

* same for non-HDA2

* Always run planner if not opLong

* try 0.2

* 0.1 should be pretty safe

* add test for resuming

* fix test

* stricter test, speeds[-1] is 0.14 when starting here

* no walrus

* fixup mazda cc

* remove extra import
---
 selfdrive/car/honda/carcontroller.py                 |  2 +-
 selfdrive/car/hyundai/carcontroller.py               |  4 ++--
 selfdrive/car/mazda/carcontroller.py                 | 11 ++++-------
 selfdrive/car/volkswagen/carcontroller.py            |  5 ++---
 selfdrive/controls/controlsd.py                      |  4 ++++
 selfdrive/test/longitudinal_maneuvers/maneuver.py    |  5 +++++
 selfdrive/test/longitudinal_maneuvers/plant.py       |  3 +++
 .../test/longitudinal_maneuvers/test_longitudinal.py | 12 ++++++++++++
 8 files changed, 33 insertions(+), 13 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 14049c999..d47caaa9a 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -195,7 +195,7 @@ class CarController:
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CS.out.cruiseState.standstill:
+      elif CC.cruiseControl.resume:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
 
     else:
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4fbb5ce0e..f3066bda0 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -78,7 +78,7 @@ class CarController:
           self.last_button_frame = self.frame
 
         # cruise standstill resume
-        elif CC.enabled and CS.out.cruiseState.standstill:
+        elif CC.cruiseControl.resume:
           can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
           self.last_button_frame = self.frame
     else:
@@ -96,7 +96,7 @@ class CarController:
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
           can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-        elif CS.out.cruiseState.standstill:
+        elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 0e43a11ce..a83cef508 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -29,13 +29,6 @@ class CarController:
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-    if CC.enabled:
-      if CS.out.standstill and self.frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
-        # TODO: improve the resume trigger logic by looking at actual radar data
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
-
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
@@ -48,6 +41,10 @@ class CarController:
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
+      if CC.cruiseControl.resume and self.frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button when planner wants car to move
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 4614463c6..1643fbe9b 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -96,9 +96,8 @@ class CarController:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif CC.enabled and CS.out.cruiseState.standstill:
-          # Blip the Resume button if we're engaged at standstill.
-          # FIXME: This is a naive implementation, improve with visiond or radar input.
+        elif CC.cruiseControl.resume:
+          # Send Resume button when planner wants car to move
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["resumeCruise"] = True
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9e3af9eb6..6f0c9c2ae 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -658,6 +658,10 @@ class Controls:
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
+    speeds = self.sm['longitudinalPlan'].speeds
+    if len(speeds):
+      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+
     hudControl = CC.hudControl
     hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 9b4d01643..0d605a5fc 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -16,6 +16,7 @@ class Maneuver():
 
     self.only_lead2 = kwargs.get("only_lead2", False)
     self.only_radar = kwargs.get("only_radar", False)
+    self.ensure_start = kwargs.get("ensure_start", False)
 
     self.duration = duration
     self.title = title
@@ -52,5 +53,9 @@ class Maneuver():
         print("Crashed!!!!")
         valid = False
 
+      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
+        print('Planner not starting!')
+        valid = False
+
     print("maneuver end", valid)
     return valid, np.array(logs)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 13025a9f0..3bd50ebcf 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -28,6 +28,7 @@ class Plant():
     self.distance = 0.
     self.speed = speed
     self.acceleration = 0.0
+    self.speeds = []
 
     # lead car
     self.distance_lead = distance_lead
@@ -98,6 +99,7 @@ class Plant():
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
     self.acceleration = self.planner.a_desired
+    self.speeds = self.planner.v_desired_trajectory.tolist()
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
@@ -129,6 +131,7 @@ class Plant():
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
+      "speeds": self.speeds,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
     }
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 698877dd3..ec698d88f 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -3,6 +3,7 @@ import os
 import unittest
 
 from common.params import Params
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -106,6 +107,17 @@ maneuvers = [
     breakpoints=[1., 1.01, 11.],
     cruise_values=[float("nan"), 15., 15.],
   ),
+  # controls relies on planner commanding to move for stock-ACC resume spamming
+  Maneuver(
+    "resume from a stop",
+    duration=20.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=STOP_DISTANCE,
+    speed_lead_values=[0., 0., 2.],
+    breakpoints=[1., 10., 15.],
+    ensure_start=True,
+  ),
 ]
 
 

From 30cb9ac962395a86464fdfc079b5f0030c7b9b9d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Jul 2022 00:28:21 -0700
Subject: [PATCH 152/435] FW query debug script: print version brand (#25058)

* test_fw_query_on_routes: print brand

* dynamic paddign
---
 selfdrive/debug/test_fw_query_on_routes.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 789baeca4..8c8c631c3 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -126,9 +126,10 @@ if __name__ == "__main__":
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
 
-          for version in car_fw:
+          padding = max([len(fw.brand) for fw in car_fw])
+          for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False

From edf170103ed0d244e0483794feee6c3b4023ccc2 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Thu, 7 Jul 2022 11:14:31 +0200
Subject: [PATCH 153/435] Process replay: Fix subtest diff (#25054)

Fix subtest diff
---
 selfdrive/test/process_replay/test_processes.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 9cbf4439a..04bf51e2e 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -71,7 +71,7 @@ def run_test_process(data):
     assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
     upload_file(cur_log_fn, os.path.basename(cur_log_fn))
     os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, res)
+  return (segment, cfg.proc_name, cfg.subtest_name, res)
 
 
 def get_log_data(segment):
@@ -212,9 +212,9 @@ if __name__ == "__main__":
 
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+    for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       if isinstance(result, list):
-        results[segment][proc] = result
+        results[segment][proc + subtest_name] = result
 
   diff1, diff2, failed = format_diff(results, ref_commit)
   if not upload:

From a3a9a0685c63ea57dc936e496cd5e6be5a71512e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 7 Jul 2022 12:02:31 +0200
Subject: [PATCH 154/435] onroad.cc: fix mutcd sign width for metric speed
 limit

---
 selfdrive/ui/qt/onroad.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 604d3c09a..ca39a89ae 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -296,7 +296,7 @@ void NvgWindow::drawHud(QPainter &p) {
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
     const int border_width = 6;
-    const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
+    const int sign_width = rect_width - 24;
     const int sign_height = 186;
 
     // White outer square

From eaf7eb42784732136e52cd031035e9c5ab520e6e Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Thu, 7 Jul 2022 13:06:51 +0200
Subject: [PATCH 155/435] Laikad: Use clocks for faster fetching orbits
 (#25060)

* Use clocks msg to for first fetch of orbits. Which is sent earlier than ublox msgs

* refactor last_fetch_orbits

* Add comment.
Add test

* increase timeout

* Add clocks to process replay
---
 selfdrive/locationd/laikad.py                 | 39 ++++++++++++-------
 selfdrive/locationd/test/test_laikad.py       | 26 ++++++++++++-
 .../test/process_replay/process_replay.py     |  4 +-
 3 files changed, 53 insertions(+), 16 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 40519da7b..e262407e0 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -5,6 +5,7 @@ import os
 import time
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
+from datetime import datetime
 from enum import IntEnum
 from typing import List, Optional
 
@@ -13,7 +14,7 @@ import numpy as np
 from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
-from laika.constants import SECS_IN_MIN
+from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@@ -30,7 +31,8 @@ CACHE_VERSION = 0.1
 
 
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False,
+               valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
                save_ephemeris=False):
     """
     valid_const: GNSS constellation which can be used
@@ -47,6 +49,7 @@ class Laikad:
     self.orbit_fetch_future: Optional[Future] = None
 
     self.last_fetch_orbits_t = None
+    self.got_first_ublox_msg = False
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
@@ -72,8 +75,9 @@ class Laikad:
     except json.decoder.JSONDecodeError:
       cloudlog.exception("Error parsing cache")
     timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
-    cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
-                  f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
+    cloudlog.debug(
+      f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+      f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
 
   def cache_ephemeris(self, t: GPSTime):
     if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
@@ -98,9 +102,10 @@ class Laikad:
       t = ublox_mono_time * 1e-9
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
+        self.got_first_ublox_msg = True
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
         if self.auto_fetch_orbits:
-          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+          self.fetch_orbits(latest_msg_t, block)
 
       new_meas = read_raw_ublox(report)
       # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
@@ -174,24 +179,26 @@ class Laikad:
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
   def fetch_orbits(self, t: GPSTime, block):
-    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN):
+    # Download new orbits if 1 hour of orbits data left
+    if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN):
       astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
-
       ret = None
 
-      if block:
+      if block:  # Used for testing purposes
         ret = get_orbit_data(t, *astro_dog_vars)
       elif self.orbit_fetch_future is None:
         self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
         self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
       elif self.orbit_fetch_future.done():
-        self.last_fetch_orbits_t = t
         ret = self.orbit_fetch_future.result()
         self.orbit_fetch_executor = self.orbit_fetch_future = None
 
       if ret is not None:
-        self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
-        self.cache_ephemeris(t=t)
+        if ret[0] is None:
+          self.last_fetch_orbits_t = ret[2]
+        else:
+          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times, self.last_fetch_orbits_t = ret
+          self.cache_ephemeris(t=t)
 
 
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
@@ -201,9 +208,10 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
   try:
     astro_dog.get_orbit_data(t, only_predictions=True)
     cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
-    return astro_dog.orbits, astro_dog.orbit_fetched_times
+    return astro_dog.orbits, astro_dog.orbit_fetched_times, t
   except (RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")
+  return None, None, t
 
 
 def create_measurement_msg(meas: GNSSMeasurement):
@@ -284,7 +292,7 @@ class EphemerisSourceType(IntEnum):
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['ubloxGnss'])
+    sm = messaging.SubMaster(['ubloxGnss', 'clocks'])
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
@@ -299,6 +307,11 @@ def main(sm=None, pm=None):
       msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)
+    if not laikad.got_first_ublox_msg and sm.updated['clocks']:
+      clocks_msg = sm['clocks']
+      t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
+      if laikad.auto_fetch_orbits:
+        laikad.fetch_orbits(t, block=replay)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 26c1d2882..3a7c073b5 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -67,7 +67,7 @@ class TestLaikad(unittest.TestCase):
     gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
     laikad = Laikad()
     laikad.fetch_orbits(gpstime, block=False)
-    laikad.orbit_fetch_future.result(5)
+    laikad.orbit_fetch_future.result(30)
     # Get results and save orbits to laikad:
     laikad.fetch_orbits(gpstime, block=False)
 
@@ -75,7 +75,7 @@ class TestLaikad(unittest.TestCase):
     self.assertIsNotNone(ephem)
 
     laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
-    laikad.orbit_fetch_future.result(5)
+    laikad.orbit_fetch_future.result(30)
     # Get results and save orbits to laikad:
     laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
 
@@ -83,6 +83,28 @@ class TestLaikad(unittest.TestCase):
     self.assertIsNotNone(ephem)
     self.assertNotEqual(ephem, ephem2)
 
+  def test_fetch_orbits_with_wrong_clocks(self):
+    laikad = Laikad()
+
+    def check_has_orbits():
+      self.assertGreater(len(laikad.astro_dog.orbits), 0)
+      ephem = laikad.astro_dog.orbits['G01'][0]
+      self.assertIsNotNone(ephem)
+    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    wrong_future_clock_time = real_current_time + SECS_IN_DAY
+
+    laikad.fetch_orbits(wrong_future_clock_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time)
+
+    # Test fetching orbits with earlier time
+    assert real_current_time < laikad.last_fetch_orbits_t
+
+    laikad.astro_dog.orbits = {}
+    laikad.fetch_orbits(real_current_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, real_current_time)
+
   def test_ephemeris_source_in_msg(self):
     data_mock = defaultdict(str)
     data_mock['sv_id'] = 1
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 9c45281b0..c667aa388 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -239,7 +239,7 @@ def ublox_rcv_callback(msg):
 
 
 def laika_rcv_callback(msg, CP, cfg, fsm):
-  if msg.ubloxGnss.which() == "measurementReport":
+  if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
     return ["gnssMeasurements"], True
   else:
     return [], True
@@ -352,6 +352,7 @@ CONFIGS = [
     subtest_name="Offline",
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,
@@ -364,6 +365,7 @@ CONFIGS = [
     proc_name="laikad",
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,

From 356190f6712b68218237147deddf90fbe6268b6e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 7 Jul 2022 16:13:05 +0200
Subject: [PATCH 156/435] fix MacOS buid: replay frameworks (#25061)

* replay: fix macos build

* here too

* keep original frameworks
---
 tools/replay/SConscript | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 4a85f46d6..d3967708f 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -2,8 +2,14 @@ import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
        'cereal', 'transformations')
 
+base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks.append('OpenCL')
+else:
+  base_libs.append('OpenCL')
 
 qt_libs = ['qt_util'] + base_libs
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
@@ -11,9 +17,9 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
 
   replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 
-  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs)
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks)
   replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
-  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs)
+  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
   if GetOption('test'):
     qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])

From 7e187426c7f02b8d63bce394f08219307e5900ca Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 7 Jul 2022 18:00:07 +0200
Subject: [PATCH 157/435] athena: skip duplicate upload requests (#25062)

* athena: skip duplicate upload requests

* cleanup

* keep simple

* just ignore
---
 selfdrive/athena/athenad.py            |  5 +++++
 selfdrive/athena/tests/test_athenad.py | 23 +++++++++++++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index b0e138c49..6ccd6c3de 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -364,6 +364,11 @@ def uploadFilesToUrls(files_data):
       failed.append(fn)
       continue
 
+    # Skip item if already in queue
+    url = file['url'].split('?')[0]
+    if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
+      continue
+
     item = UploadItem(
       path=path,
       url=file['url'],
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 382b549c1..7f511eecf 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -124,7 +124,7 @@ class TestAthenadMethods(unittest.TestCase):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
     if fn.endswith('.bz2'):
-      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
 
   @with_http_server
@@ -142,9 +142,6 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
-
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
 
@@ -155,6 +152,24 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
+  @with_http_server
+  def test_uploadFileToUrl_duplicate(self, host):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+
+    url1 = f"{host}/qlog.bz2?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+
+    # Upload same file again, but with different signature
+    url2 = f"{host}/qlog.bz2?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    self.assertEqual(resp, {'enqueued': 0, 'items': []})
+
+  @with_http_server
+  def test_uploadFileToUrl_does_not_exist(self, host):
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
+    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
+
   @with_http_server
   def test_upload_handler(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')

From ea80ee0845b619cc20309228611c01ed4c717fd1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 09:40:04 -0700
Subject: [PATCH 158/435] Chrysler: resume from cruise standstill (#25009)

* Chrysler: resume from cruise standstill

* bump panda

* resume isn't set yet
---
 panda                                   | 2 +-
 selfdrive/car/chrysler/carcontroller.py | 6 ++++--
 selfdrive/car/chrysler/chryslercan.py   | 3 ++-
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/panda b/panda
index fae3ee2e8..53466f093 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit fae3ee2e8161d34a7c1939503e583db9b85e5402
+Subproject commit 53466f09344c8ff6cdce3b19df76b5bca79e1327
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 606cb5117..e0eb979e6 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -25,9 +25,11 @@ class CarController:
 
     # *** control msgs ***
 
+    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
     if CC.cruiseControl.cancel:
-      bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True))
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+    elif CC.enabled and CS.out.cruiseState.standstill:
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index e17e5d5b2..632c0d2bc 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -62,8 +62,9 @@ def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
   return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
 
 
-def create_cruise_buttons(packer, frame, bus, cancel=False):
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
+    "ACC_Resume": resume,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)

From 8d98d8c6578830e28ea8f39fce3844a7e493c019 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 10:28:55 -0700
Subject: [PATCH 159/435] process replay: add Ram route (#25063)

---
 selfdrive/car/chrysler/interface.py             | 4 +++-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 2 ++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index af202cdc4..920000b27 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, RAM_CARS
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -12,6 +12,8 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
 
+    ret.radarOffCan = DBC[candidate]['radar'] is None
+
     param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b0136da88..0521fd829 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ebe7f1285ec60f522179606d483a198535c0e83a
\ No newline at end of file
+cf46781e405a01c96307d30d1266d46e0fa92255
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 04bf51e2e..96d101400 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -24,6 +24,7 @@ original_segments = [
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),         # CHRYSLER.RAM_1500
   ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"),      # SUBARU.IMPREZA
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
@@ -43,6 +44,7 @@ segments = [
   ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
   ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
   ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),
   ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
   ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
   ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),

From 568cc0f892d650bd5906b59e1ab169158a7a6bf7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 8 Jul 2022 01:54:56 +0800
Subject: [PATCH 160/435] loggerd: remove 'enable' from struct LogCameraInfo
 (#25052)

remove enalbe
---
 selfdrive/loggerd/encoderd.cc | 6 ++----
 selfdrive/loggerd/loggerd.cc  | 6 ++----
 selfdrive/loggerd/loggerd.h   | 5 -----
 3 files changed, 4 insertions(+), 13 deletions(-)

diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc
index 87cf4a492..9bd8e2f1d 100644
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@@ -124,10 +124,8 @@ void encoderd_thread() {
 
   std::vector<std::thread> encoder_threads;
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
-      s.max_waiting++;
-    }
+    encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
+    s.max_waiting++;
   }
   for (auto &t : encoder_threads) t.join();
 }
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index a75ab2c92..e0892e68b 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -204,10 +204,8 @@ void loggerd_thread() {
   // init encoders
   s.last_camera_seen_tms = millis_since_boot();
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      s.max_waiting++;
-      if (cam.has_qcamera) { s.max_waiting++; }
-    }
+    s.max_waiting++;
+    if (cam.has_qcamera) { s.max_waiting++; }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 2c4990086..6eafbe08d 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -50,7 +50,6 @@ struct LogCameraInfo {
   int bitrate;
   bool is_h265;
   bool has_qcamera;
-  bool enable;
   bool record;
 };
 
@@ -63,7 +62,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = true,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -76,7 +74,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = DCAM_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = Params().getBool("RecordFront"),
     .frame_width = 1928,
     .frame_height = 1208,
@@ -89,7 +86,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -100,7 +96,6 @@ const LogCameraInfo qcam_info = {
   .fps = MAIN_FPS,
   .bitrate = 256000,
   .is_h265 = false,
-  .enable = true,
   .record = true,
   .frame_width = 526,
   .frame_height = 330,

From 836e2a4d98b587b7ae083bb710190ed1dfa9dccf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 13:20:42 -0700
Subject: [PATCH 161/435] Chrysler: fix steer fault detection (#25068)

---
 selfdrive/car/chrysler/carstate.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 71b7e3462..47b28f9e0 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -83,8 +83,7 @@ class CarState(CarStateBase):
       self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
       ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
-      steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
-      ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
     # blindspot sensors
     if self.CP.enableBsm:

From bd2ea158977f5c26658bed8ac683b72c2c592d06 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Jul 2022 14:19:30 -0700
Subject: [PATCH 162/435] Add Chinese (traditional) translations (#25064)

* Add Chinese translations

* wrap these

* add to languages.json

* fix tests

* use tmp dir for tests (doesn't change translation files in git repo)

* defaultdict not used

* update main_zh.ts (test outdated QM file)

* test outdated QM file (prev commit tests missing)

* update qm file

* add sidebar translations

* no need for function
---
 selfdrive/ui/qt/sidebar.h                |   14 +-
 selfdrive/ui/tests/test_translations.py  |   46 +-
 selfdrive/ui/translations/languages.json |    3 +-
 selfdrive/ui/translations/main_zh.qm     |  Bin 0 -> 17617 bytes
 selfdrive/ui/translations/main_zh.ts     | 1212 ++++++++++++++++++++++
 selfdrive/ui/update_translations.py      |    4 +-
 6 files changed, 1254 insertions(+), 25 deletions(-)
 create mode 100644 selfdrive/ui/translations/main_zh.qm
 create mode 100644 selfdrive/ui/translations/main_zh.ts

diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 98ae6564d..4c6d8f47e 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -34,13 +34,13 @@ protected:
 
   QPixmap home_img, settings_img;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
-    {cereal::DeviceState::NetworkType::NONE, "--"},
-    {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"},
-    {cereal::DeviceState::NetworkType::ETHERNET, "ETH"},
-    {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
-    {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
-    {cereal::DeviceState::NetworkType::CELL4_G, "LTE"},
-    {cereal::DeviceState::NetworkType::CELL5_G, "5G"}
+    {cereal::DeviceState::NetworkType::NONE, tr("--")},
+    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
+    {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")},
+    {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")},
+    {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")},
+    {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")},
+    {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")}
   };
 
   const QRect settings_btn = QRect(50, 35, 200, 117);
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index ccea748e2..2dedf3d78 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -1,10 +1,13 @@
 #!/usr/bin/env python3
 import json
 import os
+import shutil
 import unittest
 
 from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
 
+TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp")
+
 
 class TestTranslations(unittest.TestCase):
   @classmethod
@@ -12,11 +15,25 @@ class TestTranslations(unittest.TestCase):
     with open(LANGUAGES_FILE, "r") as f:
       cls.translation_files = json.load(f)
 
+    # Set up temp directory
+    shutil.copytree(TRANSLATIONS_DIR, TMP_TRANSLATIONS_DIR, dirs_exist_ok=True)
+
+  @classmethod
+  def tearDownClass(cls):
+    shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True)
+
+  @staticmethod
+  def _read_translation_file(path, file, file_ext):
+    tr_file = os.path.join(path, f"{file}.{file_ext}")
+    with open(tr_file, "rb") as f:
+      # fix relative path depth
+      return f.read().replace(b"filename=\"../../", b"filename=\"../")
+
   def test_missing_translation_files(self):
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
         if not len(file):
-          self.skipTest(f"{name} translation has no file")
+          self.skipTest(f"{name} translation has no defined file")
 
         self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
                         f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
@@ -24,26 +41,25 @@ class TestTranslations(unittest.TestCase):
                         f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
 
   def test_translations_updated(self):
-    suffix = "_test"
-    update_translations(suffix=suffix)
+    update_translations(release=True, translations_dir=TMP_TRANSLATIONS_DIR)
 
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
-        cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts")
-        new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
-
         if not len(file):
-          self.skipTest(f"{name} translation has no file")
-        elif not os.path.exists(cur_tr_file):
-          self.skipTest(f"{name} missing translation file")  # caught by test_missing_translation_files
+          self.skipTest(f"{name} translation has no defined file")
+
+        for file_ext in ["ts", "qm"]:
+          with self.subTest(file_ext=file_ext):
+
+            # caught by test_missing_translation_files
+            if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.{file_ext}")):
+              self.skipTest(f"{name} missing translation file")
 
-        with open(cur_tr_file, "r") as f:
-          cur_translations = f.read()
-        with open(new_tr_file, "r") as f:
-          new_translations = f.read()
+            cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, file_ext)
+            new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext)
 
-        self.assertEqual(cur_translations, new_translations,
-                         f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+            self.assertEqual(cur_translations, new_translations,
+                             f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index f2f9400d6..e62de24a1 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,3 +1,4 @@
 {
-  "English": ""
+  "English": "",
+  "中文（简体）": "main_zh"
 }
diff --git a/selfdrive/ui/translations/main_zh.qm b/selfdrive/ui/translations/main_zh.qm
new file mode 100644
index 0000000000000000000000000000000000000000..627f6afc204dba0b2c2a87f13cad266e9edcbd4f
GIT binary patch
literal 17617
zcmcIrdwf*&mH#D~S0<AL6cJgJ3yK6G32!x^?IeUGlH5sVCImLT=5c2-&CJ|!ULjI~
zU{Gklz*Z2cwc1L-wr;K4+Pbykwm_>E(QdWwQd+CxtF>-d7i}%ge$VgD+_^Kkf$bk#
zKK4##&N;vHJHPWg@4NH|{z=b$aR0uO)21BV@X(LW)H7y!kg?+PjLj@&tR#r%HF);n
zxg5`X@$6yDfZxk+Va!;|Sk-Pkm*DwJJi7tYr97v)88bh_nC<KM@289j0md2!8LM8+
z*eyFi=M~0UUBH{lSjRlTf^G-?yYwnNx8r+!PSW28nc=Q4F~&|S&yqpqDeP9BOMcG`
z2i|0?$jS`I7J}}l%y9Atz+c7;rwok!!x?7$g233U5Hmh{m@(^*nCXe%;CYsrg;k&*
zW#-x7y{wGQt;Ew>$(o+s#MpHUS<^e;V{G1R)?Dgkta5<evUnf(0Q-HA)6DNMNBE17
z!*tgEJFI`n$IQ9;BfxKB?&6=|dzrbtTe0p{Y~|sH8MC~{R<+!N^_ti}9{D_DOIz65
ze|r|cf0sr4(}Djy+jt)Mw$1FJ=U!m!rW*EmavfvW+Ssv69oWZ%?Ccj(`2FWa6K|Zu
z*tEu?Ne^7Z*wx327Tt~WseYxX<HRg{|8~*Am+}3g_lsU|8$fqk(W}K@V{G#LqIVYz
zGB#;;u{C&{u^F-A8E0Q-tmZ)Ra%&QN9WP!p4*RX%QvBs#mIA(~`1`xSS1l`ky5(-h
zD)txudk5%F{;>GWvpDD3ONw86@G{W5yX4A081em6CDVsKgZ=!rB-H_W3rkDBSpj~l
z9xZwNiFU}(Qu42l1HSsQl4COmpkvRKoPx|)QM%-l)FDW9mZ9<8?=Uw0%Z3ey{{{Sf
zXb837>&j(@{?~72?8?K2y9^&Pwjgad(DD@Y>{{hnu~2zVdEIdT!=K>Xo;Q5;O+WZ6
zF?{RPKE|eQHhj1DVaU^Oc+!S*v3+cK{;kva{<Puw_x=d_-!Q!XneRgH|7x@@hP>-u
zGnNnC3i;h<Y^az4{?8d#ZNPafuo{Ebr=cecjGwy({MHzZpCf%Ly%bOE!@SqnAJ~X(
zG#EE6tbo3M+c>lze3ag#Jf{>X&nssu&!rC=?;nO9Sifj|_|EN&O_*-{_D^49Y|azL
zAD@Sui?<tpGVLYEof%J`0UtuC@r^s4#rf`3o=Yo@e>o4nW<PE!p5}%=J!h);paybs
zn3leayK3q)H9h_##;$jpx{Dz9Y5!*W+9!Ww?5YW-r)us4zwes<;&>T)@E_*svmmD#
z%zS9_9oUy-{&w^Ytlw(>!1-0kZKwHvUcCZxdei*zdyq@Xx6Gd|d7H5-&RZI09m75N
zg5{PH@Lln|MSA~J=>2_`-Km54eaP~aZ-U-<pXGaJug2f)rRMVW(BtaTtM9ikHuvLF
z`+o-kf4sDF#hc*whovj;fZT5SMQQgM$a(r-OZ_M68N24y(!1H^P=qg+{_?a4y>gbG
z885@eJZiPihW#<wto|2IV&5j~&Ude5Y|2bLZvy`3tV3^C;_vO&d;W&=oxaa{;Hj^H
zpWj;Vf3*|mwA=c?Nt}1dpRAAWxCin(Z~fP~M%-Vg^~XWr8H=sQtXDxlpR^vExD@y7
zp!FSJ66?HGR`kRG;A3T1KXV*<alCBp>#zgD4Q03fy8&{nE8Ci$0KESxJMjmc&ox(+
z{j3dgx@5X-!ZTR+y1lk(kK_C4Cv4R>^+P{`w&e{t=NtcQyXA(pj4l4iwxS;Uzy5C9
z%6*_W#chj-#LsHmy?^Nf{(9TvdvVYHL9#vjAmlaY9ox@O<2m~_+vyYF%W!A8>CiP;
z&rx1`<*&fUjpa9<--&zrZ26-L@%vS$%D>--=i>VEW7A=q%}<pdtH<-||1N)SDfFQ9
zg^J4_IRw5RshE5h_B-y4is_#;KrY{@xZyR}ojG?^tk?y4jh|kz^GmqbGY(aJ`R&i*
z{MS`{<6+R9_xp+;ox{0baiZdd&%Ow~ZmqQZ7wn*UUgZQk?(O`el@s6k8|+HBviVKW
zsj04v2G2qs*H`X&bvw>EP<fve1t0q=kH-EAxjayL=A8#{U%yfL+VX$K-{ufwH(y=?
z$l{I!6bUMT|BMY`IU$+xsod^OB;y`m(jJ!L$sz)@?mg+Qb?*v%Bt51gjCV?2SxyR`
zs9)%e`8~<8kS&32?Q8N-%Uw}fzD>F?nvL06I}@2O^z@dfx@wudT@+kWG8u{niP=l+
z{<J6Rll-ET?33fY_?mNUa98YMDwd(%<LkX3_?C&odvoB8%UawQ0=KwpQ&sZp=nX1L
zMPt<C4NHPk_CzkinvIaRbPW8u<5uyTDuHns0&XeUBgHR9V)%<45)%{&sU%7pqe&?)
zKtdPdeFEW1kEI8*EOejPSftXJqR@y+eL^zJi4gN75)iKcLS!whg|&Ch?fR@r%G%N{
z*!}*vlt^3%(WcACC8`{R_W#4`6=L1i_nb%ewrz=~R^N7;%EQdC<Vj0{H|&Y_3IRDT
zcv49@;z@>lf=`YHLcvrVf5_1bF=%kT64{|rG&PXAg*ie4k%$vHIl3(53CkJXTfI3w
zs3H_Q6wMn8SYJ`gmPx*FC@Qskf)ZEgao%4HoEfpXHV$vb!Ovjx)CDfffX)$8(NHvz
z^n}C0jCsW1C?fMW99e(-z$V`z*RO(}-kaUKf*$dlx9#@xjxDJwkd;}CNi2&053w-*
zO3p1-muXlnr-Vo<fgA7hNwK5=Jr&$iJd)rh0NeA2NDv7j6cwN>(8Q!Hq!N-K$E0X1
z6qb`Ux=hVw!iFR1!J(&Dn|)^Ycx89&G5(y-1otlfX+h?jg&LOT2;eC$_@#8nCkdg1
z5R*f=0)A}&$Bzj!=5xkoETGQ|vuhJ*yC*7zxl|`?II=O?eQ@X2j>NwAQ;VW|+?S6`
zRkwV#JuV6T*mfe7`OxQyV&gIv>cjrzK;Sc(Esa5T?@8$~cdheC9$8^bvT<%wFG_Pu
zv}an!i9DLKFF-RPB?X@+9P%o<u1|haRuaLpePvyL9(vSgc6H?~vETwrq(fvdpb&5z
zA!uPx2&O`QNq?z|t@HYSD4xxVTow1kWub%=4MO8d#O++fjzB<H!WkM_`KmN7&7+~X
zC|v?J=Y!oR;=h7!wXkI>dg(Gb8iW~dS*D9*b$t@7^Dk>ZwR)k7Qobx6N<$eMJP|4G
z(M2<f<$H=#RVqq}SZmh>G#nTdH>hCdc4y<tmc}l9(2hi~P6aK!u(ba1z~IiG-RpIa
zKR9qO?Ov50RQ51p6VI-zaX#Xh<eEs=uY2c?;|`cm@$4PnUw?0qIT9K8mwbmEu7kVg
z7BgYQG8`DbldK4x-$<#-!d>lg+{26-_!XH1JU-F|9~TWBYL66-!5$<-kr4cU=Hf==
zRFwQVZdHPt5N@fx5=>2oPDGA|k}`QkLE0FDdz4^<YlNz_)D!aIxVTyJ!qNl+v-G94
z_oOC>FghDujoiV*LgwFGL-#|$v+ABq7dilni8PS>>gq3^ereM~Dx}pZ1yf-Uw$rZ*
zZ6Q|aeybRWwCD;q<gTzTqD^~qRpiT@%Bi@s7qf{jrY?awL;x3Jlowz^dT{44=M{5{
zoL{;9ynEOFcIRSsfg3Ul(Cv?>!ct<65Rg1cSWJAP;4qBCPI4cazyamFfi4dQasG~0
zmA1)+v-WUjJNl&h%EB+JkcKfYO0ig$gYwIL+}Dq$<_u}!!criq%ilIV>FnGZuFu||
zuBx?fc_+F)gd7)=%YvQTj(cXs-;3yP??jPgd_(p(x>I^I9g}@U1Mia_jM&!iSTp`!
zwsR|KhQ|FJQ5~xgmu^jkAaQPkGuH~&4OfC+F1W<LP_hS(c_Ex3Z4Mq<h=+nbO8lPr
zaS?t@;eN)28}Nx_Rg*g|@~?=Qa8XloDiQ9_xs+&d4j6!n@=FY`xF;?FAj6bj-}M^Y
z<6R%BCu8Ky=!zVGqE!VfPQ~=0q~z*ZDwM_E+A6qP+8PPg$}O}DI+);2-*oU+=aH2?
zDzJ(F&V$rKP{W!^>6{8^Y(}`D59ez5d@h$NUeTtz?(omnOpv~vBi9zfb<u+~h*o!w
zztVQQ%Pn*@Hm=ZvwWQ&bD8^9fR%YxiLcw@8Ppag5jIV@&cKM{J5>r~3(A~A^+L2uN
zZxehy9?Jcscw!o@R@M@YrIOm<cC2W46r`0@cI$_05YefuRfrOF(UXJ@dSKplSFn;B
zVm0(n#Vc=70$X^1ni{T8rI~M}I6qUH?~t@O9&)%wCTo_v)G7I-P@4RP?EReNOD5|0
znuW+a-{|<4RS)bvm4|!@%&r{f$bKoD^o)T^nXPn}crFij9M6bp-2k1j?y6SSz*<=&
zk~pWjPh&%Cquohjv9x(&xj5Cj-sNmd|1mw-HCKhbv>_FbONd98!Bd8!Y95o18K%&F
z&*iR<@A$s!mB7vYb%?az8aT20gMp)z(665C_}vDXS;Zwgw+?-Ezmd$*ZO^+B;deTA
zVMjeIiGMMcV09>D)-oSVRTTdud`jYk=<f*rdGOi8LMm_RCO9nkfM~V1znY$cALhxY
z<OlvxA{O@alOn)9L}bL)WPk(@>`Nr#5v;LzC?X-~_9lGs5P}66cE}Y9M#(ru<-R(h
zCz*^T>S}9YkD{Pj!|`f7q0xe?2tO1o?S6t;DX!U{^QjX=1S4`pvW8_Jmz)6mH5z>!
zp|3sbSffjT3Jw<`U>$xbIJNNLNGtQtjaz~IgR2;NIaSsD*KOBDRt&uyZ&pQnxjWv^
z&AjMIhk^?4^-_{Yp7|6w^FcQJQhKm}gNacY)|oTm&nb@%6Q+*l;nSLA){-r^kf^K$
zHJ3tQ)I_Krp{*ViqD*03EY5W*2sapm4khrf58uR@U)^#=R~%va1qoTiI`K}Bn64rj
zDczs0$EP7LelfPTv?<k|QZXIu3Ps`fxJj`D+3K15+t+<vC0WvDUqu8901bPlYJiNc
z_Qpn@J`{jiJHmT^&T8{KilH}B+oMC$y6sP+U`rw~Jx~~N@w%aa_mIk_NwBvzI+geq
z`BPl>_?w~X%BDs^n-ypmaZy$XZpf?KnL68-+1=cy7D5)^!YIVa{acDN4CC)4>*qy<
zo7hY?5B~``U-~W#8$#ca?TE7=3Jy_L&A$!c_d3AML%<Yc8`%;--CRJO)>#VZ&_(EZ
z!39|`vQk8I5u2N%*;VCT5v&ufLr3@h5x@PNwhrspat{7qc#A#R@u@H+@~QJd=`ji|
zg)2vF-d^7+*N2Y7;;w;@HWvN=uD`|viCo0mGeKIs{giVqRd2*4YaHu3DWP;6Z9lc{
zo>bLsW$T7T)^k1ipYA)x<d&pJnxc_nR*{R6R)PO-sT>xP{W0mLne%1}iDZ8mpCX=k
zFcht(Shh}>w<xx8$;_KG;DWF;94dhG%1IRd>V!peIb@T}v(Yi!h#*I)>;u!)BS)pB
zwc*g;LAoIv^7RVSJ$}DHRa7MypUz!f!sm%{)7{~OtMemYRsQ6$@87vhy)5@a2E7!M
z=lMX|7-yc`n*a|gNmxax#Dx%eg?c40BY0vl?TSll<*>3zvIDkuPl&SZb~%=cal0{P
zjVW8C6D#Nwg%rE5^<KZXt^3c}17p_`p0au_3E|8ro*k7#%Jub^u&{aSlHIG?bAjym
zc|yPBp*kB*Q;wrBM40966du_9T_Jx^Qu-5%z2ii>-WOF^g>MRW9FyIvRK9ELB`^rN
zWFinH0EtKuFZ>sx)j}DM!G?7`bG>xCv47Z^%S0+sVUWVe)SyjLyqEh}ogMH1EZ!e`
za%8f~Rb{&q8H}*J(eCa<#iDMERV~B6zO9UGn2K2Llp=Bx+d-jLDZcBhXh}TQRpn|L
zIIN<Tb;g2m57bhW`^H$yM91zlsVKGvM_Zd+Xm_-TZtg)U`QdaXq`2mI1Vp+Hv~om5
zyA8~ZSdsp2!#_Jd+gXcBZ(M^z6dN1dHJomZy@mMDrD-8fHVaZr#Vu2GjGx`uXfrQG
zM+t$hidOOZ{a+MZo%OB;XG^`}xOEpCM@4rgte%A@%F@m@m4a=?Ji+hjr+RZxrj^Yd
z4xVlBn{$bRM{a)<W;rl>U}!Fk>NMT+l~JgbKt-o1m6XOnHgx>O^@hr$p>bn~-@82C
z3}e->@}R6cT89HekFD?2<jiKjC((mEbJTWi>zQ=(`pN^p+0m-GV5MrQVibZ}c&6$`
z*2d%&o-bD0<_1QwH@x6%MB<h)3}g0gv@jc^Ll3KhGB+qq9pY09G?t_^FjHs;tLN>W
zK}l4$GA*9ndvfSyP1R;P=S~QCkQn-FgiIF|20Dqj-V;RmoaeV1x|j6&x~hma1p>G*
z+Qb+cZnp5ENFb9QYtSv9|8(HDgs$$<=IT!*r3lu}Bt07Fr90npy_ChEjrdAQK2Bl3
z-}~8MX~*{NC*8ZKC9C{K)qoA&)#X%x&}>r5tPrOau(MDwD8*^JC=w@l9f=xe<d#q~
zM~jGhRxq+jN{c8d%<L(lBJidg!2>@9OHHlkLOE4QuZ3Us6%TKgV!o);<f_ZDuhlIL
zn+=^x*A{enoebAF=|P@>vWb#)j$&8YkVfMQnK0-z|0<jzUyobbm{&-l(^QYd1UG@s
z6lq<BOR1zKG`Wa@5<wN%noIr0M4+y!ieS!UYGXnV%VMs~WpT-YWFKmHV}d))K5ve=
zTMnXU!abWF@5Ss_Ds1sj?j4h;ek0TfX=GxM8U*a)#XpGF-5-c6oNXhvp-1TN?p@w-
zR5DtZ7M~wD2`}@dffL)dX--+Jmyiph$RG&_7}TH(Y0(_ip^~rPeqRD*nrJA|gVrVQ
zpDI~3DWXrN-cEvo13!}NP&lC+c#f-adrH0U?%YZoqzCilIJu!m#!Q8f6(^~0rfNk(
z(Cn;Y_&2^o&biWS14r}DZ5)gd1$Ttm6{=p&3mh6e!@%1E@2kSK0Gi6P{M<B9LRS@)
zF%TbhAz`X!%PDP24{kW#@jbCDkHW+(1zwPmQ%T)bt=$KmiwpKz*?`Wl98vdLut8lH
zvMlF9G~8Omvf<5SMb&*(E<+_cjN=lPbE8>6yMoLkAr+X$iY!{LXsB6c;l`-r42?ph
z2O*eF=0q({2$o9CBQ_|~1iGBaYX0eV_m&PioNe;z%^H<zZ;bMuFf~13v&gmyoz7OO
zk*Cq7fnt&J(65SB<~l~b>39?x2unw&in<md1Z7z%k!!fK5NBIDG}9EB;SMZPuzf>^
zwC|mqtWbF4Wq6dk<7kDC0@mpoqH9(FHkT)DJ3D&TT?^gWJRA_K#k#C-c6=$d$UAZC
zdplaaTfD~)ys$r{5zKO>5vehdG!B5c8ex2<$cF-Rl$-#{GqJer%M^q;2F@8>i9~PV
z9YasdU7Kew5#sXcBSpLg>?5oRN~%b#ToeLb<N`R`P{4i5$Yh6@TI3p1;U{$2onnjF
zR425`eZoo^rC%lS(4Nnxmi603>y{1;mIpqA3clD^_M{8ev(UxKGZB{(^o6gEh3s42
z43urTVyw6gq9w}sCr!X@p{y)VUS&Kp%Sme#%78Y(%cN3DWw$V`5?Iwm6RlYYfWX4K
z^np8FuaM#tP>iAG6GBY}LrjiI8(z~W(5g`>Bv%_Hw$EG~p(^u1E&R^n_stjfgd$4%
zsmTSXD=fviN{!mJ0p_q;J;UPaY7(c}g$}9Lqcj!_2=<$D5c8XKAQosL7U)4N(n2iK
zfgl^Bu42w)L8F)2cg4^LDwwg+>2&aBK_15@@$BmBHb1U{l{C7WM^nlRQw&WG2QOLX
z6Jkx6z;opYHMR2`FAvCY@KsHH*wEb4G<q=;Y^$3!<_NVaMZ`Qp#bUV%P%Jt|bKL*K
zfukyf*|B_iYm3-88Z2*P#SY#x%Uj6QRW)!_!?VdD>QlP)3yIn4g2r~cxXeC!IscT+
zxtg=dh3-wmXaN|avosZAgS)Y<eKaMSt5BCSuWW2?K{IF+m^J6bRbZnU8{}<tTy~^~
zhQ{(Ts<8)~)DbeCNtI_qms}^xKtlq#l^dEH8@PydKrQ5$d!EtEQ&>1SY%6U`4}+ld
zO3vdNdL)$7$V_U6Oh>b2gRX{9=oOqMDL0j2Z9>JXK91ypSI%`-RPlT-in%0^<29fe
zrR2<dctPf_AWrl4H@=m+nhK)==X{Kf+WaRSYbeW#HwWja(zH5U!b)^r5g3et*D6|j
zr@@x$jA(erIlqz>UwTkFx9=lLe~3k1i9N13avIu^&JDk~qg7*bgKh*WVPYMFIhuJr
zwBUFJDUb?Nzn@M5aSojY3WzB_^IIbjuJRd$x+t~%Q<wql>p^<U10eGJh;m?rxe3;h
zrGfNQ6+&qzoUhA`2L2c_Fex*TDuT6B9eW%D!;mLs^Myrh3to5odEPA5PCHLj@^uQt
z15(o0liBiE3sT`;Ww6A)j2l<0E73y%c3f7553iyi&#{3!M@4&^S&Dg?kgD=t@6K7n
z$x0uMM@UfU=9HJlD&tX1Rnhu|WcjsoKBy6?xz%A`mbrC>(1ys4{kcvX2A<j+E4kGv
z1hfo&9IoHJT{8}WxujcDG^Isa;}?)F=&@sCF8pi8sKJSQaxTu|ay1Jpq<)??7A|#7
z<}zo*AzH=q?p0k?idcjxR8SMHRK+`ks*NNJVdf0<2mG>>h|Wx6P%H%25MnDL(_`(r
ze2QH(0-JXbqLsIgwTxe#zgmwcftIw;i=A9}t#2u@=J0>4G5L0gJG%c|xE6(YVl}U^
zgzq`Tl_DcJs_h0F_P5i0cAA|dq&6FlY<+L-pWx{yj-@^XO*K;Ys<mgsHw^z;EO$(%
zL8T2xNIAt<#6OIUsmk`5E(Gg{YU^;#DOG_fO(q07JEgWv_kn6Rv6L5W4@C@!_qD2;
z$W$|G1QC_+xRNd*BPh^hK}NQOk>MVgmTWFiBiNBE(MW(4iG}5Ui3SC*n%KCq(J6Qm
zy#&cwK(htt=sgrr<tC?4z4!n=#Lva6Zq=F@z{loDS4weNmBI$E;u_pGPo)ZLv<J~v
z;b3l>fL5op4Lf3**AC2?$!r}!OY}dTM`#XPr8&;!gJD3U3lfFZjq%G=nor)Eo7z_K
zFey(n*w+d$Etv^yo%L?%un+w}-*N0ob?;dF7TSsr@0q;e1IN(1H2MN)Gt%tmy2GN?
z8{E;Fn*-IjjgUPYMuw!8c8PV_EA{gMvuYe94khjh1e9U>H1cFV9!}q*6#_RB(V6eW
zh2`zA>`w{I67o~DWy(ysP{bA-SkIgf?wNXbWpIlskE?PMz>cV3hbZwH3yoU}?UG-a
zB^*uaT8!zb-TB*XVtJr8*MX<08EWxswmt)k&<u-^h*ACum8V8NFCR&$Q=nmmX8jm!
zkE8cLh68(C?T-E*l2ypDo>9S8%%@|jhw6|tc%Hd~+*FQcooln}L+=WjYEwyFo_!yM
zX8fv~N#=Y4j8tPZjY-6ko_478vahG8hpkU&aJ`GNJql$}lR3M4`|wXeb^$d`a`GIp
z@IJhdllVv}8gq~^6fG^Cqo6Ue!a0}d>~Reo6|Hh{|EIUx$QH}bM3xMP-Qyj<bA2qG
z8{uPLz8ClYlX!Ocmn(lm@S0QlsxtmX<z>9dgyBdTeMAXX#*5d1C`m`roku<pcV7?M
zq}=dihl>62Pyk500O+CWA4)bjYrIN=U<t2gs5LSVpL7xum{9VBae0%WG~R~7$R&?~
zKt>rrBjdLKO`BMcP_<|-SD0C2sK^BBwzzkRR)?T7aXuB>!V4BW<?V!Bgu*G)eVQ5c
z(Pw;>cos)7A5*CU^`d%~uCFA;#&?ZK&g|+*PjvO*Qa8Hoq}B5m_E5ZsS6uYZd$IV!
z=&^EQn@aGgq+z&Rx^eh)&U|dTH>_=jbZ7YIb$3jvpd~;xGrj3?Qei$m9*UrBgqM0W
zkec~$PdJD{@nlbA4ABaiS6x&=I2Vg=1V%)wtC`h`Wv<+y)l_(TjR3Tl+Y_mc@z&R9
zF<Xd!M_4l;J)Y>aNoa!j1f?yaFUvbKoaw~&lqn3K-qE`Cy*<V2?pgc0ZP)n@I~Tim
zk-j_5_=*(y4sUlpLSA3|)X^!OYrkU8d78l7a3uVWr;=#*`e}SSlNH?9>!*lA$qJ-L
zQ;Vc?si{)4=Jx!8_$DE%cV0*+eIuR$_&u1+!!h{cDZIA9yEpJ(Tq*e#>6N5d_9XEJ
z7lJYB;nXOv?0AyY>d6#9vvb1KX{TU<!byHvQ=9?B9hrgh8st=-D8@d5;0s@8LJJ}3
z=>>v>G7n1S{2~+EnZ$#?szc#vCIK0JWOK>-xhqC&ch3^b!cXpdhy2MJ)6O^c`}J(1
zMnucI$ZANuiG-SOjG9{tcS`d;>v>}2d6d`%!;hJFTvV}+p{Y~!vb=%sxyRGltJn1^
zl?=+2kWDh>$1G@=q5(=Y^i^%89_clv{;erq?M)Bv|9JT6b!p$BO%IVg+`F7N4hPbM
zv@oepHk5TtCJe~P4jWRh86%G6nBoB&HqGCT%pA*18WHy+FQhxo0q6u3ON+`L@l7r?
zh}fDS@ZJ*6w<hZc>y*RK&`b#S#`<ac+uT6<pUt!>6DH<!bxx(}0`}Fm2+c1kufDAR
zeR_~Evah}Hro_xOl>=YrgC_HkC)8^cVc3p$-VoHFaRlYeToWZLrsOxP;ZWdALx+1B
zr5sCci5GBqW=$drAQh*)Dnmf~%8Q%KW40ZVpqFSs9<w}gd1DAxn#S(uHPv&CGI#O}
zJyXWi@2=&+{9RqBJWK<1zf_epYnohnV7ya9nQ1|%#@Y%W2Ek=|*LgT&k0@xjXQ7j(
z^HQ0pRDMQ}o4*;s8zFgwEd-v|XDZL2D5*ZFR2~B7o^+;w`|?b+772D{1E#J}Ak^8S
zBo6Ce9m;WKTJCT*DX$)BfhG}<RuP#%eL&4L>%`@9oSK)4qGZ~+%6O}m5FZtwIYEw|
ZKPoWEh4C}~ZXVfh^r2{cIZ?p!{{qG<2A}`{

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/translations/main_zh.ts b/selfdrive/ui/translations/main_zh.ts
new file mode 100644
index 000000000..7bcee2c23
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh.ts
@@ -0,0 +1,1212 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>关</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暂停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重启和更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>后退</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>启用网络共享</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>网络共享密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>编辑</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>输入新的网络共享密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>启用漫游</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>输入 APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>为自动配置留空</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="220"/>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必须接受条款和条件才能使用 openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>后退</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒绝，卸载 %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>Dongle ID</source>
+        <translation>加密狗 ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>N/A</source>
+        <translation>不适用</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Serial</source>
+        <translation>串行</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>Driver Camera</source>
+        <translation>司机摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>PREVIEW</source>
+        <translation>预习</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
+        <translation>预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭）</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>Reset Calibration</source>
+        <translation>重置校准</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您确定要重置校准吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review Training Guide</source>
+        <translation>查看培训指南</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>REVIEW</source>
+        <translation>审查</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>查看 openpilot 的规则、功能和限制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您确定要查看培训指南吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>Regulatory</source>
+        <translation>监管</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>VIEW</source>
+        <translation>看法</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation type="vanished">改变语言</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation type="vanished">改变</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="vanished">选择语言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <source>Power Off</source>
+        <translation>关机</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 您的设备指向 %1° %2 和 %3° %4。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>up</source>
+        <translation>向上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>left</source>
+        <translation>剩下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>right</source>
+        <translation>向右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您确定要重新启动吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <source>Disengage to Reboot</source>
+        <translation>脱离以重新启动</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您确定要关闭电源吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <source>Disengage to Power Off</source>
+        <translation>脱离以关闭电源</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>驱动器</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>整天</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>上周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>千米</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>迈尔斯</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>相机启动</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="70"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source>Need at least </source>
+        <translation>需要至少 </translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source> characters!</source>
+        <translation> 字符！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>安装...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>接收物体： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>解决增量： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>更新文件： </translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>当前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>CLEAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>近期目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>试用导航测试版</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma 
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>使用逗号获取显示的详细路线和更多信息
+主要订阅。 立即注册：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>没有家
+位置集</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>没有工作
+位置集</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>没有最近的目的地</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="vanished">选择</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="vanished">取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>先进的</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>先进的</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;</source>
+        <translation>为了 &quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>Wrong password</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>公里/小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>英里/小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最大限度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>限制</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 个警报</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 个警报</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>将您的设备与您的逗号账户配对</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="91"/>
+        <source>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
+      &lt;/ol&gt;
+    </source>
+        <translation>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;在手机上访问 https://connect.comma.ai&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;点击“添加新设备”，扫描右侧二维码&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它&lt;/li&gt;
+      &lt;/ol&gt;
+    </translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <source>Upgrade Now</source>
+        <translation>现在升级</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>成为 connect.comma.ai 的逗号主要会员</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <source>PRIME FEATURES:</source>
+        <translation>主要特点：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Remote access</source>
+        <translation>远程访问</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>1 year of storage</source>
+        <translation>1年存储</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Developer perks</source>
+        <translation>开发者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 订阅</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <source>comma prime</source>
+        <translation>逗号素数</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <source>COMMA POINTS</source>
+        <translation>逗号分</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>出口</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>dashcam</source>
+        <translation>行车记录器</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>openpilot</source>
+        <translation>开放式飞行员</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="66"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 分钟%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="69"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 小时%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="72"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 天%2 前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失败。 重新启动以重试。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您确定要重置您的设备吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>正在重置设备...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>系统重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>触发系统重置。 按确认删除所有内容和设置。 按取消恢复启动。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>确认</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>无法挂载数据分区。 按确认重置您的设备。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="257"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <source>Device</source>
+        <translation>设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="327"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Network</source>
+        <translation>网络</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <source>Toggles</source>
+        <translation>切换</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <source>Software</source>
+        <translation>软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <source>Navigation</source>
+        <translation>导航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低电压</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>使用安全带在汽车中为您的设备供电或自行承担风险。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>关机</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>入门</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>在我们上路之前，让我们完成安装并介绍一些细节。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到无线网络</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>后退</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>在没有 Wi-Fi 的情况下继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>等待上网</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>选择要安装的软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>行车记录器</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>定制的软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>输入网址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>定制软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>正在下载...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下载失败</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>确保输入的 URL 有效，并且设备的互联网连接良好。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重启设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重来</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <source>Finish Setup</source>
+        <translation>完成设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>将您的设备与 comma connect (connect.comma.ai) 配对并领取您的 comma prime 优惠。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <source>Pair device</source>
+        <translation>配对设备</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>连接</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>离线</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>在线的</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>错误</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>高的</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>好的</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>好的</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>车辆</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>不</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>熊猫</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>搜索</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>以太網</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <source>Git Branch</source>
+        <translation>Git 分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <source>Git Commit</source>
+        <translation>Git 提交</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <source>OS Version</source>
+        <translation>操作系统版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Version</source>
+        <translation>版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Last Update Check</source>
+        <translation>最后更新检查</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <source>Check for Update</source>
+        <translation>检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>CHECKING</source>
+        <translation>正在检查</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Uninstall </source>
+        <translation>卸载 </translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>UNINSTALL</source>
+        <translation>卸载</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您确定要卸载吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>failed to fetch update</source>
+        <translation>未能获取更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <source>CHECK</source>
+        <translation>查看</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：这将授予对 GitHub 设置中所有公钥的 SSH 访问权限。 切勿输入您自己以外的 GitHub 用户名。 逗号员工永远不会要求您添加他们的 GitHub 用户名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>添加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>输入你的 GitHub 用户名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>正在加载</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>消除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>用户名“%1”在 GitHub 上没有密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>请求超时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub 上不存在用户名“%1”</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>启用 SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>条款和条件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>衰退</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滚动接受</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <source>Enable openpilot</source>
+        <translation>启用 openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>启用车道偏离警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>启用右手驱动</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <source>Use Metric System</source>
+        <translation>使用公制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>以公里/小时而不是英里/小时显示速度。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>记录和上传司机摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>松开加速踏板</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>启用后，踩下油门踏板将解除 openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <source>Show ETA in 24h format</source>
+        <translation>以 24 小时格式显示 ETA</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用 24 小时制代替上午/下午</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot 纵向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 AEB！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>需要更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>需要操作系统更新。 将您的设备连接到 Wi-Fi，以获得最快的更新体验。 下载大小约为 1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到无线网络</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安装</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>后退</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>正在加载...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失败</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>正在扫描网络...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>正在连接...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>忘记</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;</source>
+        <translation>忘记 Wi-Fi 网络&quot;</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 5d57fa39d..263eb5e67 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
 
 
-def update_translations(release=False, suffix=""):
+def update_translations(release=False, translations_dir=TRANSLATIONS_DIR):
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
@@ -19,7 +19,7 @@ def update_translations(release=False, suffix=""):
       print(f"{name} has no translation file, skipping...")
       continue
 
-    tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+    tr_file = os.path.join(translations_dir, f"{file}.ts")
     ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
     assert ret == 0
 

From b035b538ec5dc4ae837fe26ab900a34828525647 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 14:54:14 -0700
Subject: [PATCH 163/435] chill ram tune (#25071)

---
 selfdrive/car/chrysler/interface.py      | 5 ++++-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 920000b27..697fb9b83 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -51,7 +51,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2493. + STD_CARGO_KG
       ret.maxLateralAccel = 2.4
       ret.minSteerSpeed = 14.5
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]]
+      ret.lateralTuning.pid.kf = 0.00003
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0521fd829..4908b8618 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cf46781e405a01c96307d30d1266d46e0fa92255
\ No newline at end of file
+bd2ea158977f5c26658bed8ac683b72c2c592d06
\ No newline at end of file

From dc3d94d662654a6bb2bf40560c2a17ed2303fa80 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 8 Jul 2022 06:01:02 +0800
Subject: [PATCH 164/435] UI: fix unable to scroll on 'Regulatory' page
 (#25014)

* fix unable to scroll on 'Regulatory' page

deleteLater after hide

* remove alert

* override exec

* set MousePressEventDelay to 0

* set to 0.01

* cleanup

* check event->pos()
---
 selfdrive/ui/qt/widgets/controls.cc   | 4 +++-
 selfdrive/ui/qt/widgets/controls.h    | 6 +++++-
 selfdrive/ui/qt/widgets/scrollview.cc | 2 +-
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 89c95843f..a86c05a3c 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -125,7 +125,9 @@ void ElidedLabel::paintEvent(QPaintEvent *event) {
 ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
 
 void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
-  emit clicked();
+  if (rect().contains(event->pos())) {
+    emit clicked();
+  }
 }
 
 // Fix stylesheets
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index b6684e28b..aed99edae 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -24,7 +24,11 @@ signals:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void resizeEvent(QResizeEvent* event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void mouseReleaseEvent(QMouseEvent *event) override { 
+    if (rect().contains(event->pos())) {
+      emit clicked(); 
+    }
+  }
   QString lastText_, elidedText_;
 };
 
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index 1aa05b415..bd4309d8d 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -37,7 +37,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
 
   sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
   sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
-
+  sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01);
   scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture);
   scroller->setScrollerProperties(sp);
 }

From ff3f6de149475ce995c21f8308da0bbc08922c54 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 16:53:34 -0700
Subject: [PATCH 165/435] UI: fix reset calibration description

---
 selfdrive/ui/qt/widgets/controls.cc | 30 +++++++++++++++--------------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index a86c05a3c..3264fd3aa 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -45,21 +45,23 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   main_layout->addLayout(hlayout);
 
   // description
-  if (!desc.isEmpty()) {
-    description = new QLabel(desc);
-    description->setContentsMargins(40, 20, 40, 20);
-    description->setStyleSheet("font-size: 40px; color: grey");
-    description->setWordWrap(true);
-    description->setVisible(false);
-    main_layout->addWidget(description);
-
-    connect(title_label, &QPushButton::clicked, [=]() {
-      if (!description->isVisible()) {
-        emit showDescription();
-      }
+  description = new QLabel(desc);
+  description->setContentsMargins(40, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  connect(title_label, &QPushButton::clicked, [=]() {
+    if (!description->isVisible()) {
+      emit showDescription();
+    }
+
+    if (!description->text().isEmpty()) {
       description->setVisible(!description->isVisible());
-    });
-  }
+    }
+  });
+
   main_layout->addStretch();
 }
 

From a4c90765813e1cc3ab7afbe58cf23b392ec8181c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 17:09:36 -0700
Subject: [PATCH 166/435] Hyundai: limit Kona torque (#25074)

---
 selfdrive/car/hyundai/values.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f6efedb24..c55a0dc63 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -32,6 +32,12 @@ class CarControllerParams:
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    elif CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+      self.STEER_MAX = 270
+
+    # Default for most HKG
     else:
       self.STEER_MAX = 384
 

From bd432eb76bf4c2d99a0f66b3a1df0067adb81a1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 17:27:59 -0700
Subject: [PATCH 167/435] move kona limit to car controller

---
 selfdrive/car/hyundai/carcontroller.py | 7 ++++++-
 selfdrive/car/hyundai/values.py        | 4 ----
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index f3066bda0..73635375a 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -52,7 +52,12 @@ class CarController:
     hud_control = CC.hudControl
 
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    steer = actuators.steer
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+      steer = clip(steer, -0.7, 0.7)
+    new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
     self.steer_rate_limited = new_steer != apply_steer
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c55a0dc63..4b3acf3f2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -33,10 +33,6 @@ class CarControllerParams:
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
 
-    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
-    elif CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
-      self.STEER_MAX = 270
-
     # Default for most HKG
     else:
       self.STEER_MAX = 384

From 1382e28aa0b32923a44efa28c5b25d9b02c41d68 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 7 Jul 2022 20:02:07 -0700
Subject: [PATCH 168/435] add pandas and tabulate packages (#25076)

* add pandas and tabulate packages

* remove that
---
 Pipfile                      |    4 +-
 Pipfile.lock                 | 1226 ++++++++++++++++++----------------
 selfdrive/debug/can_table.py |    2 +-
 3 files changed, 647 insertions(+), 585 deletions(-)

diff --git a/Pipfile b/Pipfile
index b8545b1a2..81669e480 100644
--- a/Pipfile
+++ b/Pipfile
@@ -41,6 +41,8 @@ tenacity = "*"
 mpld3 = "*"
 carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
+pandas = "*"
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
@@ -86,8 +88,6 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
-PyQt5 = "==5.15.4"
-PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index cc347a60f..0612d0ff3 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
+            "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -79,75 +79,89 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7",
-                "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a"
+                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
+                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.5.18.1"
+            "version": "==2022.6.15"
         },
         "cffi": {
             "hashes": [
-                "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3",
-                "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2",
-                "sha256:06c48159c1abed75c2e721b1715c379fa3200c7784271b3c46df01383b593636",
-                "sha256:0808014eb713677ec1292301ea4c81ad277b6cdf2fdd90fd540af98c0b101d20",
-                "sha256:10dffb601ccfb65262a27233ac273d552ddc4d8ae1bf93b21c94b8511bffe728",
-                "sha256:14cd121ea63ecdae71efa69c15c5543a4b5fbcd0bbe2aad864baca0063cecf27",
-                "sha256:17771976e82e9f94976180f76468546834d22a7cc404b17c22df2a2c81db0c66",
-                "sha256:181dee03b1170ff1969489acf1c26533710231c58f95534e3edac87fff06c443",
-                "sha256:23cfe892bd5dd8941608f93348c0737e369e51c100d03718f108bf1add7bd6d0",
-                "sha256:263cc3d821c4ab2213cbe8cd8b355a7f72a8324577dc865ef98487c1aeee2bc7",
-                "sha256:2756c88cbb94231c7a147402476be2c4df2f6078099a6f4a480d239a8817ae39",
-                "sha256:27c219baf94952ae9d50ec19651a687b826792055353d07648a5695413e0c605",
-                "sha256:2a23af14f408d53d5e6cd4e3d9a24ff9e05906ad574822a10563efcef137979a",
-                "sha256:31fb708d9d7c3f49a60f04cf5b119aeefe5644daba1cd2a0fe389b674fd1de37",
-                "sha256:3415c89f9204ee60cd09b235810be700e993e343a408693e80ce7f6a40108029",
-                "sha256:3773c4d81e6e818df2efbc7dd77325ca0dcb688116050fb2b3011218eda36139",
-                "sha256:3b96a311ac60a3f6be21d2572e46ce67f09abcf4d09344c49274eb9e0bf345fc",
-                "sha256:3f7d084648d77af029acb79a0ff49a0ad7e9d09057a9bf46596dac9514dc07df",
-                "sha256:41d45de54cd277a7878919867c0f08b0cf817605e4eb94093e7516505d3c8d14",
-                "sha256:4238e6dab5d6a8ba812de994bbb0a79bddbdf80994e4ce802b6f6f3142fcc880",
-                "sha256:45db3a33139e9c8f7c09234b5784a5e33d31fd6907800b316decad50af323ff2",
-                "sha256:45e8636704eacc432a206ac7345a5d3d2c62d95a507ec70d62f23cd91770482a",
-                "sha256:4958391dbd6249d7ad855b9ca88fae690783a6be9e86df65865058ed81fc860e",
-                "sha256:4a306fa632e8f0928956a41fa8e1d6243c71e7eb59ffbd165fc0b41e316b2474",
-                "sha256:57e9ac9ccc3101fac9d6014fba037473e4358ef4e89f8e181f8951a2c0162024",
-                "sha256:59888172256cac5629e60e72e86598027aca6bf01fa2465bdb676d37636573e8",
-                "sha256:5e069f72d497312b24fcc02073d70cb989045d1c91cbd53979366077959933e0",
-                "sha256:64d4ec9f448dfe041705426000cc13e34e6e5bb13736e9fd62e34a0b0c41566e",
-                "sha256:6dc2737a3674b3e344847c8686cf29e500584ccad76204efea14f451d4cc669a",
-                "sha256:74fdfdbfdc48d3f47148976f49fab3251e550a8720bebc99bf1483f5bfb5db3e",
-                "sha256:75e4024375654472cc27e91cbe9eaa08567f7fbdf822638be2814ce059f58032",
-                "sha256:786902fb9ba7433aae840e0ed609f45c7bcd4e225ebb9c753aa39725bb3e6ad6",
-                "sha256:8b6c2ea03845c9f501ed1313e78de148cd3f6cad741a75d43a29b43da27f2e1e",
-                "sha256:91d77d2a782be4274da750752bb1650a97bfd8f291022b379bb8e01c66b4e96b",
-                "sha256:91ec59c33514b7c7559a6acda53bbfe1b283949c34fe7440bcf917f96ac0723e",
-                "sha256:920f0d66a896c2d99f0adbb391f990a84091179542c205fa53ce5787aff87954",
-                "sha256:a5263e363c27b653a90078143adb3d076c1a748ec9ecc78ea2fb916f9b861962",
-                "sha256:abb9a20a72ac4e0fdb50dae135ba5e77880518e742077ced47eb1499e29a443c",
-                "sha256:c2051981a968d7de9dd2d7b87bcb9c939c74a34626a6e2f8181455dd49ed69e4",
-                "sha256:c21c9e3896c23007803a875460fb786118f0cdd4434359577ea25eb556e34c55",
-                "sha256:c2502a1a03b6312837279c8c1bd3ebedf6c12c4228ddbad40912d671ccc8a962",
-                "sha256:d4d692a89c5cf08a8557fdeb329b82e7bf609aadfaed6c0d79f5a449a3c7c023",
-                "sha256:da5db4e883f1ce37f55c667e5c0de439df76ac4cb55964655906306918e7363c",
-                "sha256:e7022a66d9b55e93e1a845d8c9eba2a1bebd4966cd8bfc25d9cd07d515b33fa6",
-                "sha256:ef1f279350da2c586a69d32fc8733092fd32cc8ac95139a00377841f59a3f8d8",
-                "sha256:f54a64f8b0c8ff0b64d18aa76675262e1700f3995182267998c31ae974fbc382",
-                "sha256:f5c7150ad32ba43a07c4479f40241756145a1f03b43480e058cfd862bf5041c7",
-                "sha256:f6f824dc3bce0edab5f427efcfb1d63ee75b6fcb7282900ccaf925be84efb0fc",
-                "sha256:fd8a250edc26254fe5b33be00402e6d287f562b6a5b2152dec302fa15bb3e997",
-                "sha256:ffaa5c925128e29efbde7301d8ecaf35c8c60ffbcd6a1ffd3a552177c8e5e796"
-            ],
-            "index": "pypi",
-            "version": "==1.15.0"
+                "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5",
+                "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef",
+                "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104",
+                "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426",
+                "sha256:173379135477dc8cac4bc58f45db08ab45d228b3363adb7af79436135d028405",
+                "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375",
+                "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a",
+                "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e",
+                "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc",
+                "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf",
+                "sha256:285d29981935eb726a4399badae8f0ffdff4f5050eaa6d0cfc3f64b857b77185",
+                "sha256:30d78fbc8ebf9c92c9b7823ee18eb92f2e6ef79b45ac84db507f52fbe3ec4497",
+                "sha256:320dab6e7cb2eacdf0e658569d2575c4dad258c0fcc794f46215e1e39f90f2c3",
+                "sha256:33ab79603146aace82c2427da5ca6e58f2b3f2fb5da893ceac0c42218a40be35",
+                "sha256:3548db281cd7d2561c9ad9984681c95f7b0e38881201e157833a2342c30d5e8c",
+                "sha256:3799aecf2e17cf585d977b780ce79ff0dc9b78d799fc694221ce814c2c19db83",
+                "sha256:39d39875251ca8f612b6f33e6b1195af86d1b3e60086068be9cc053aa4376e21",
+                "sha256:3b926aa83d1edb5aa5b427b4053dc420ec295a08e40911296b9eb1b6170f6cca",
+                "sha256:3bcde07039e586f91b45c88f8583ea7cf7a0770df3a1649627bf598332cb6984",
+                "sha256:3d08afd128ddaa624a48cf2b859afef385b720bb4b43df214f85616922e6a5ac",
+                "sha256:3eb6971dcff08619f8d91607cfc726518b6fa2a9eba42856be181c6d0d9515fd",
+                "sha256:40f4774f5a9d4f5e344f31a32b5096977b5d48560c5592e2f3d2c4374bd543ee",
+                "sha256:4289fc34b2f5316fbb762d75362931e351941fa95fa18789191b33fc4cf9504a",
+                "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2",
+                "sha256:4f2c9f67e9821cad2e5f480bc8d83b8742896f1242dba247911072d4fa94c192",
+                "sha256:50a74364d85fd319352182ef59c5c790484a336f6db772c1a9231f1c3ed0cbd7",
+                "sha256:54a2db7b78338edd780e7ef7f9f6c442500fb0d41a5a4ea24fff1c929d5af585",
+                "sha256:5635bd9cb9731e6d4a1132a498dd34f764034a8ce60cef4f5319c0541159392f",
+                "sha256:59c0b02d0a6c384d453fece7566d1c7e6b7bae4fc5874ef2ef46d56776d61c9e",
+                "sha256:5d598b938678ebf3c67377cdd45e09d431369c3b1a5b331058c338e201f12b27",
+                "sha256:5df2768244d19ab7f60546d0c7c63ce1581f7af8b5de3eb3004b9b6fc8a9f84b",
+                "sha256:5ef34d190326c3b1f822a5b7a45f6c4535e2f47ed06fec77d3d799c450b2651e",
+                "sha256:6975a3fac6bc83c4a65c9f9fcab9e47019a11d3d2cf7f3c0d03431bf145a941e",
+                "sha256:6c9a799e985904922a4d207a94eae35c78ebae90e128f0c4e521ce339396be9d",
+                "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c",
+                "sha256:7473e861101c9e72452f9bf8acb984947aa1661a7704553a9f6e4baa5ba64415",
+                "sha256:8102eaf27e1e448db915d08afa8b41d6c7ca7a04b7d73af6514df10a3e74bd82",
+                "sha256:87c450779d0914f2861b8526e035c5e6da0a3199d8f1add1a665e1cbc6fc6d02",
+                "sha256:8b7ee99e510d7b66cdb6c593f21c043c248537a32e0bedf02e01e9553a172314",
+                "sha256:91fc98adde3d7881af9b59ed0294046f3806221863722ba7d8d120c575314325",
+                "sha256:94411f22c3985acaec6f83c6df553f2dbe17b698cc7f8ae751ff2237d96b9e3c",
+                "sha256:98d85c6a2bef81588d9227dde12db8a7f47f639f4a17c9ae08e773aa9c697bf3",
+                "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914",
+                "sha256:a0b71b1b8fbf2b96e41c4d990244165e2c9be83d54962a9a1d118fd8657d2045",
+                "sha256:a0f100c8912c114ff53e1202d0078b425bee3649ae34d7b070e9697f93c5d52d",
+                "sha256:a591fe9e525846e4d154205572a029f653ada1a78b93697f3b5a8f1f2bc055b9",
+                "sha256:a5c84c68147988265e60416b57fc83425a78058853509c1b0629c180094904a5",
+                "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2",
+                "sha256:a8c4917bd7ad33e8eb21e9a5bbba979b49d9a97acb3a803092cbc1133e20343c",
+                "sha256:b3bbeb01c2b273cca1e1e0c5df57f12dce9a4dd331b4fa1635b8bec26350bde3",
+                "sha256:cba9d6b9a7d64d4bd46167096fc9d2f835e25d7e4c121fb2ddfc6528fb0413b2",
+                "sha256:cc4d65aeeaa04136a12677d3dd0b1c0c94dc43abac5860ab33cceb42b801c1e8",
+                "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d",
+                "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d",
+                "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9",
+                "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162",
+                "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76",
+                "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4",
+                "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
+                "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9",
+                "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6",
+                "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b",
+                "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01",
+                "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
+            ],
+            "index": "pypi",
+            "version": "==1.15.1"
         },
         "charset-normalizer": {
             "hashes": [
-                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
-                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
+                "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5",
+                "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413"
             ],
-            "markers": "python_full_version >= '3.5.0'",
-            "version": "==2.0.12"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.1.0"
         },
         "click": {
             "hashes": [
@@ -169,31 +183,31 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:093cb351031656d3ee2f4fa1be579a8c69c754cf874206be1d4cf3b542042804",
-                "sha256:0cc20f655157d4cfc7bada909dc5cc228211b075ba8407c46467f63597c78178",
-                "sha256:1b9362d34363f2c71b7853f6251219298124aa4cc2075ae2932e64c91a3e2717",
-                "sha256:1f3bfbd611db5cb58ca82f3deb35e83af34bb8cf06043fa61500157d50a70982",
-                "sha256:2bd1096476aaac820426239ab534b636c77d71af66c547b9ddcd76eb9c79e004",
-                "sha256:31fe38d14d2e5f787e0aecef831457da6cec68e0bb09a35835b0b44ae8b988fe",
-                "sha256:3b8398b3d0efc420e777c40c16764d6870bcef2eb383df9c6dbb9ffe12c64452",
-                "sha256:3c81599befb4d4f3d7648ed3217e00d21a9341a9a688ecdd615ff72ffbed7336",
-                "sha256:419c57d7b63f5ec38b1199a9521d77d7d1754eb97827bbb773162073ccd8c8d4",
-                "sha256:46f4c544f6557a2fefa7ac8ac7d1b17bf9b647bd20b16decc8fbcab7117fbc15",
-                "sha256:471e0d70201c069f74c837983189949aa0d24bb2d751b57e26e3761f2f782b8d",
-                "sha256:59b281eab51e1b6b6afa525af2bd93c16d49358404f814fe2c2410058623928c",
-                "sha256:731c8abd27693323b348518ed0e0705713a36d79fdbd969ad968fbef0979a7e0",
-                "sha256:95e590dd70642eb2079d280420a888190aa040ad20f19ec8c6e097e38aa29e06",
-                "sha256:a68254dd88021f24a68b613d8c51d5c5e74d735878b9e32cc0adf19d1f10aaf9",
-                "sha256:a7d5137e556cc0ea418dca6186deabe9129cee318618eb1ffecbd35bee55ddc1",
-                "sha256:aeaba7b5e756ea52c8861c133c596afe93dd716cbcacae23b80bc238202dc023",
-                "sha256:dc26bb134452081859aa21d4990474ddb7e863aa39e60d1592800a8865a702de",
-                "sha256:e53258e69874a306fcecb88b7534d61820db8a98655662a3dd2ec7f1afd9132f",
-                "sha256:ef15c2df7656763b4ff20a9bc4381d8352e6640cfeb95c2972c38ef508e75181",
-                "sha256:f224ad253cc9cea7568f49077007d2263efa57396a2f2f78114066fd54b5c68e",
-                "sha256:f8ec91983e638a9bcd75b39f1396e5c0dc2330cbd9ce4accefe68717e6779e0a"
-            ],
-            "index": "pypi",
-            "version": "==37.0.2"
+                "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59",
+                "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596",
+                "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3",
+                "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5",
+                "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab",
+                "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884",
+                "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82",
+                "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b",
+                "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441",
+                "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa",
+                "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d",
+                "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b",
+                "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a",
+                "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6",
+                "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157",
+                "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280",
+                "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282",
+                "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67",
+                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
+                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
+                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
+                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
+            ],
+            "index": "pypi",
+            "version": "==37.0.4"
         },
         "cython": {
             "hashes": [
@@ -347,31 +361,31 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_full_version >= '3.5.0'",
+            "markers": "python_version >= '3.5'",
             "version": "==3.3"
         },
         "importlib-metadata": {
             "hashes": [
-                "sha256:5d26852efe48c0a32b0509ffbc583fda1a2266545a78d104a6f4aff3db17d700",
-                "sha256:c58c8eb8a762858f49e18436ff552e83914778e50e9d2f1660535ffb364552ec"
+                "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670",
+                "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"
             ],
             "markers": "python_version < '3.10'",
-            "version": "==4.11.4"
+            "version": "==4.12.0"
         },
         "importlib-resources": {
             "hashes": [
-                "sha256:b6062987dfc51f0fcb809187cffbd60f35df7acb4589091f154214af6d0d49d3",
-                "sha256:e447dc01619b1e951286f3929be820029d48c75eb25d265c28b92a16548212b8"
+                "sha256:568c9f16cb204f9decc8d6d24a572eeea27dacbb4cee9e6b03a8025736769751",
+                "sha256:7952325ffd516c05a8ad0858c74dff2c3343f136fe66a6002b2623dd1d43f223"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==5.7.1"
+            "version": "==5.8.0"
         },
         "isort": {
             "hashes": [
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "itsdangerous": {
@@ -563,62 +577,58 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:0791fbd1e43bf74b3502133207e378901272f3c156c4df4954cad833b1380207",
-                "sha256:1ce7ab2053e36c0a71e7a13a7475bd3b1f54750b4b433adc96313e127b870887",
-                "sha256:2d487e06ecbf1dc2f18e7efce82ded4f705f4bd0cd02677ffccfb39e5c284c7e",
-                "sha256:37431a77ceb9307c28382c9773da9f306435135fae6b80b62a11c53cfedd8802",
-                "sha256:3e1ffa4748168e1cc8d3cde93f006fe92b5421396221a02f2274aab6ac83b077",
-                "sha256:425b390e4619f58d8526b3dcf656dde069133ae5c240229821f01b5f44ea07af",
-                "sha256:43a8ca7391b626b4c4fe20aefe79fec683279e31e7c79716863b4b25021e0e74",
-                "sha256:4c6036521f11a731ce0648f10c18ae66d7143865f19f7299943c985cdc95afb5",
-                "sha256:59d55e634968b8f77d3fd674a3cf0b96e85147cd6556ec64ade018f27e9479e1",
-                "sha256:64f56fc53a2d18b1924abd15745e30d82a5782b2cab3429aceecc6875bd5add0",
-                "sha256:7228ad13744f63575b3a972d7ee4fd61815b2879998e70930d4ccf9ec721dce0",
-                "sha256:9ce7df0abeabe7fbd8ccbf343dc0db72f68549856b863ae3dd580255d009648e",
-                "sha256:a911e317e8c826ea632205e63ed8507e0dc877dcdc49744584dfc363df9ca08c",
-                "sha256:b89bf9b94b3d624e7bb480344e91f68c1c6c75f026ed6755955117de00917a7c",
-                "sha256:ba9ead61dfb5d971d77b6c131a9dbee62294a932bf6a356e48c75ae684e635b3",
-                "sha256:c1d937820db6e43bec43e8d016b9b3165dcb42892ea9f106c70fb13d430ffe72",
-                "sha256:cc7f00008eb7d3f2489fca6f334ec19ca63e31371be28fd5dad955b16ec285bd",
-                "sha256:d4c5d5eb2ec8da0b4f50c9a843393971f31f1d60be87e0fb0917a49133d257d6",
-                "sha256:e96d7f3096a36c8754207ab89d4b3282ba7b49ea140e4973591852c77d09eb76",
-                "sha256:f0725df166cf4785c0bc4cbfb320203182b1ecd30fee6e541c8752a92df6aa32",
-                "sha256:f3eb268dbd5cfaffd9448113539e44e2dd1c5ca9ce25576f7c04a5453edc26fa",
-                "sha256:fb7a980c81dd932381f8228a426df8aeb70d59bbcda2af075b627bbc50207cba"
-            ],
-            "index": "pypi",
-            "version": "==1.22.4"
+                "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450",
+                "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0",
+                "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160",
+                "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171",
+                "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a",
+                "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38",
+                "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10",
+                "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5",
+                "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f",
+                "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860",
+                "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd",
+                "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d",
+                "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05",
+                "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66",
+                "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187",
+                "sha256:d6ca8dabe696c2785d0c8c9b0d8a9b6e5fdbe4f922bde70d57fa1a2848134f95",
+                "sha256:d8cc87bed09de55477dba9da370c1679bd534df9baa171dd01accbb09687dac3",
+                "sha256:f0f18804df7370571fb65db9b98bf1378172bd4e962482b857e612d1fec0f53e",
+                "sha256:f1d88ef79e0a7fa631bb2c3dda1ea46b32b1fe614e10fedd611d3d5398447f2f",
+                "sha256:f9c3fc2adf67762c9fe1849c859942d23f8d3e0bee7b5ed3d4a9c3eeb50a2f07",
+                "sha256:fc431493df245f3c627c0c05c2bd134535e7929dbe2e602b80e42bf52ff760bc",
+                "sha256:fe8b9683eb26d2c4d5db32cd29b38fdcf8381324ab48313b5b69088e0e355379"
+            ],
+            "index": "pypi",
+            "version": "==1.23.0"
         },
         "onnx": {
             "hashes": [
-                "sha256:0cf47c205b376b3763beef92a6de4152f3b1552d6f640d93044938500baf5958",
-                "sha256:3403884c482859f8cf2e0c276da84bd9ac2235d266726f4ddc9625d3fd263218",
-                "sha256:43b32a2f20c94aa98866deae9e4218faf0495144ad05402e918fa279674b6df9",
-                "sha256:4454906de80a351de6929b0896ad605d106c324c3112c92249240e531f68fbba",
-                "sha256:4aa899f74acd4c5543f0efed8bfe98a3b701df75c5ffa179212e3088c51971bb",
-                "sha256:58d4873ec587ac14c44227d8027787edc88cd61596e646e3417f2a826a920898",
-                "sha256:593ca9e11f15afa26b3aaf2d170bb803d4bd86dbd560aa7be4e5f535d03f83d5",
-                "sha256:67c6d2654c1c203e5c839a47900b51f588fd0de71bbd497fb193d30a0b3ec1e9",
-                "sha256:7924d9baa13dbbf335737229f6d068f380d153679f357e495da60007b61cf56d",
-                "sha256:7a2f5d6998fe79aed80fad9d4522140d02c4d29513047e335d5c5355c1ebda5e",
-                "sha256:82221a07707b1ccf71fb18c6abb77f2566517a55d5185809775b5ff008bfb35c",
-                "sha256:89420e5b824d7e182846fe2aa09190ddb41162b261465c6ca928174bc2ac10b7",
-                "sha256:997d91ffd7b7ae7aee09c6d652a896d906be430d425865c759b51a8de5df9fe0",
-                "sha256:9b9f58ea01c1b20b057f55f628df4fc0403bbc160b7282a56e3bb4df5c7fb96f",
-                "sha256:a6e9135f1d02539ca7573f699fb0d31d3c43d10fac1d2d2239a9a1c553506c29",
-                "sha256:ae74bf8fa343b64e2b7fe205091b7f3728887c018ae061d161dd86ec95eb66a8",
-                "sha256:b2de0b117ad77689d308824a0c9eb89539ec28a799b4e2e05b3bb977b0da0b45",
-                "sha256:c3d3503110f2cab2c818f4a7b2bc8abc3bc79649daa39e70d5fb504b208ddb1e",
-                "sha256:d6581dd2122525549d1d8b431b8bf375298993c77bddb8fd0bf0d92611df76a1",
-                "sha256:d6ddbe89e32f885db736d36fcb132784e368331a18c3b6168ac9f561eb462057",
-                "sha256:df85666ab2b88fd9cf9b2504bcb551da39422eab65a143926a8db58f81b09164",
-                "sha256:ea06dbf57a287657b6dc4e189918e4cb451450308589d482117216194d6f83d6",
-                "sha256:eb46f31f12bb0bfdcfb68497d10b20447cf8fa6c4f693120c013e052645357b8",
-                "sha256:eca224c7c2c8ee4072a0743e4898a84a9bdf8297b5e5910a2632e4c4182ffb2a",
-                "sha256:f335d982b8ed201cf767459b993630acfd20c32b100529f70af9f28a26e72167"
-            ],
-            "index": "pypi",
-            "version": "==1.11.0"
+                "sha256:13b3e77d27523b9dbf4f30dfc9c959455859d5e34e921c44f712d69b8369eff9",
+                "sha256:213e73610173f6b2e99f99a4b0636f80b379c417312079d603806e48ada4ca8b",
+                "sha256:23781594bb8b7ee985de1005b3c601648d5b0568a81e01365c48f91d1f5648e4",
+                "sha256:2d9a7db54e75529160337232282a4816cc50667dc7dc34be178fd6f6b79d4705",
+                "sha256:341c7016e23273e9ffa9b6e301eee95b8c37d0f04df7cedbdb169d2c39524c96",
+                "sha256:3c6e6bcffc3f5c1e148df3837dc667fa4c51999788c1b76b0b8fbba607e02da8",
+                "sha256:5578b93dc6c918cec4dee7fb7d9dd3b09d338301ee64ca8b4f28bc217ed42dca",
+                "sha256:56ceb7e094c43882b723cfaa107d85ad673cfdf91faeb28d7dcadacca4f43a07",
+                "sha256:81a3555fd67be2518bf86096299b48fb9154652596219890abfe90bd43a9ec13",
+                "sha256:8a7aa61aea339bd28f310f4af4f52ce6c4b876386228760b16308efd58f95059",
+                "sha256:9fd2f4e23078df197bb76a59b9cd8f5a43a6ad2edc035edb3ecfb9042093e05a",
+                "sha256:af90427ca04c6b7b8107c2021e1273227a3ef1a7a01f3073039cae7855a59833",
+                "sha256:b3629e8258db15d4e2c9b7f1be91a3186719dd94661c218c6f5fde3cc7de3d4d",
+                "sha256:bdbd2578424c70836f4d0f9dda16c21868ddb07cc8192f9e8a176908b43d694b",
+                "sha256:c11162ffc487167da140f1112f49c4f82d815824f06e58bc3095407699f05863",
+                "sha256:c39a7a0352c856f1df30dccf527eb6cb4909052e5eaf6fa2772a637324c526aa",
+                "sha256:c7a9b3ea02c30efc1d2662337e280266aca491a8e86be0d8a657f874b7cccd1e",
+                "sha256:f66d2996e65f490a57b3ae952e4e9189b53cc9fe3f75e601d50d4db2dc1b1cd9",
+                "sha256:f8800f28c746ab06e51ef8449fd1215621f4ddba91be3ffc264658937d38a2af",
+                "sha256:fab13feb4d94342aae6d357d480f2e47d41b9f4e584367542b21ca6defda9e0a",
+                "sha256:fea5156a03398fe0e23248042d8651c1eaac5f6637d4dd683b4c1f1320b9f7b4"
+            ],
+            "index": "pypi",
+            "version": "==1.12.0"
         },
         "onnxruntime-gpu": {
             "hashes": [
@@ -635,47 +645,67 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:088df396b047477dd1bbc7de6e22f58400dae2f21310d9e2ec2933b2ef7dfa4f",
-                "sha256:09e67ef6e430f90caa093528bd758b0616f8165e57ed8d8ce014ae32df6a831d",
-                "sha256:0b4d5ad2cd3a1f0d1df882d926b37dbb2ab6c823ae21d041b46910c8f8cd844b",
-                "sha256:0b525a356680022b0af53385944026d3486fc8c013638cf9900eb87c866afb4c",
-                "sha256:1d4331aeb12f6b3791911a6da82de72257a99ad99726ed6b63f481c0184b6fb9",
-                "sha256:20d514c989fa28e73a5adbddd7a171afa5824710d0ab06d4e1234195d2a2e546",
-                "sha256:2b291cab8a888658d72b575a03e340509b6b050b62db1f5539dd5cd18fd50578",
-                "sha256:3f6c1716c473ebd1649663bf3b42702d0d53e27af8b64642be0dd3598c761fb1",
-                "sha256:42dfefbef90eb67c10c45a73a9bc1599d4dac920f7dfcbf4ec6b80cb620757fe",
-                "sha256:488f3383cf5159907d48d32957ac6f9ea85ccdcc296c14eca1a4e396ecc32098",
-                "sha256:4d45dbe4b21a9679c3e8b3f7f4f42a45a7d3ddff8a4a16109dff0e1da30a35b2",
-                "sha256:53c27bd452e0f1bc4bfed07ceb235663a1df7c74df08e37fd6b03eb89454946a",
-                "sha256:55e74faf8359ddda43fee01bffbc5bd99d96ea508d8a08c527099e84eb708f45",
-                "sha256:59789a7d06c742e9d13b883d5e3569188c16acb02eeed2510fd3bfdbc1bd1530",
-                "sha256:5b650dbbc0969a4e226d98a0b440c2f07a850896aed9266b6fedc0f7e7834108",
-                "sha256:66daa16952d5bf0c9d5389c5e9df562922a59bd16d77e2a276e575d32e38afd1",
-                "sha256:6e760cf01259a1c0a50f3c845f9cad1af30577fd8b670339b1659c6d0e7a41dd",
-                "sha256:7502539939b53d7565f3d11d87c78e7ec900d3c72945d4ee0e2f250d598309a0",
-                "sha256:769a7f131a2f43752455cc72f9f7a093c3ff3856bf976c5fb53a59d0ccc704f6",
-                "sha256:7c150dbbb4a94ea4825d1e5f2c5501af7141ea95825fadd7829f9b11c97aaf6c",
-                "sha256:8844217cdf66eabe39567118f229e275f0727e9195635a15e0e4b9227458daaf",
-                "sha256:8a66fe50386162df2da701b3722781cbe90ce043e7d53c1fd6bd801bca6b48d4",
-                "sha256:9370d6744d379f2de5d7fa95cdbd3a4d92f0b0ef29609b4b1687f16bc197063d",
-                "sha256:937a54e5694684f74dcbf6e24cc453bfc5b33940216ddd8f4cd8f0f79167f765",
-                "sha256:9c857532c719fb30fafabd2371ce9b7031812ff3889d75273827633bca0c4602",
-                "sha256:a4165205a13b16a29e1ac57efeee6be2dfd5b5408122d59ef2145bc3239fa340",
-                "sha256:b3fe2ff1e1715d4475d7e2c3e8dabd7c025f4410f79513b4ff2de3d51ce0fa9c",
-                "sha256:b6617221ff08fbd3b7a811950b5c3f9367f6e941b86259843eab77c8e3d2b56b",
-                "sha256:b761727ed7d593e49671d1827044b942dd2f4caae6e51bab144d4accf8244a84",
-                "sha256:baf3be0b9446a4083cc0c5bb9f9c964034be5374b5bc09757be89f5d2fa247b8",
-                "sha256:c17770a62a71718a74b7548098a74cd6880be16bcfff5f937f900ead90ca8e92",
-                "sha256:c67db410508b9de9c4694c57ed754b65a460e4812126e87f5052ecf23a011a54",
-                "sha256:d78ca526a559fb84faaaf84da2dd4addef5edb109db8b81677c0bb1aad342601",
-                "sha256:e9ed59d1b6ee837f4515b9584f3d26cf0388b742a11ecdae0d9237a94505d03a",
-                "sha256:f054b020c4d7e9786ae0404278ea318768eb123403b18453e28e47cdb7a0a4bf",
-                "sha256:f372d0f08eff1475ef426344efe42493f71f377ec52237bf153c5713de987251",
-                "sha256:f3f6a6034140e9e17e9abc175fc7a266a6e63652028e157750bd98e804a8ed9a",
-                "sha256:ffde4c6fabb52891d81606411cbfaf77756e3b561b566efd270b3ed3791fde4e"
-            ],
-            "index": "pypi",
-            "version": "==9.1.1"
+                "sha256:0030fdbd926fb85844b8b92e2f9449ba89607231d3dd597a21ae72dc7fe26927",
+                "sha256:030e3460861488e249731c3e7ab59b07c7853838ff3b8e16aac9561bb345da14",
+                "sha256:0ed2c4ef2451de908c90436d6e8092e13a43992f1860275b4d8082667fbb2ffc",
+                "sha256:136659638f61a251e8ed3b331fc6ccd124590eeff539de57c5f80ef3a9594e58",
+                "sha256:13b725463f32df1bfeacbf3dd197fb358ae8ebcd8c5548faa75126ea425ccb60",
+                "sha256:1536ad017a9f789430fb6b8be8bf99d2f214c76502becc196c6f2d9a75b01b76",
+                "sha256:15928f824870535c85dbf949c09d6ae7d3d6ac2d6efec80f3227f73eefba741c",
+                "sha256:17d4cafe22f050b46d983b71c707162d63d796a1235cdf8b9d7a112e97b15bac",
+                "sha256:1802f34298f5ba11d55e5bb09c31997dc0c6aed919658dfdf0198a2fe75d5490",
+                "sha256:1cc1d2451e8a3b4bfdb9caf745b58e6c7a77d2e469159b0d527a4554d73694d1",
+                "sha256:1fd6f5e3c0e4697fa7eb45b6e93996299f3feee73a3175fa451f49a74d092b9f",
+                "sha256:254164c57bab4b459f14c64e93df11eff5ded575192c294a0c49270f22c5d93d",
+                "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f",
+                "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069",
+                "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402",
+                "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885",
+                "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e",
+                "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be",
+                "sha256:408673ed75594933714482501fe97e055a42996087eeca7e5d06e33218d05aa8",
+                "sha256:4134d3f1ba5f15027ff5c04296f13328fecd46921424084516bdb1b2548e66ff",
+                "sha256:4ad2f835e0ad81d1689f1b7e3fbac7b01bb8777d5a985c8962bedee0cc6d43da",
+                "sha256:50dff9cc21826d2977ef2d2a205504034e3a4563ca6f5db739b0d1026658e004",
+                "sha256:510cef4a3f401c246cfd8227b300828715dd055463cdca6176c2e4036df8bd4f",
+                "sha256:5aed7dde98403cd91d86a1115c78d8145c83078e864c1de1064f52e6feb61b20",
+                "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d",
+                "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c",
+                "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544",
+                "sha256:727dd1389bc5cb9827cbd1f9d40d2c2a1a0c9b32dd2261db522d22a604a6eec9",
+                "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3",
+                "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04",
+                "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c",
+                "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5",
+                "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4",
+                "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb",
+                "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4",
+                "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c",
+                "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467",
+                "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e",
+                "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421",
+                "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b",
+                "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
+                "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
+                "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
+                "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
+                "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
+                "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28",
+                "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0",
+                "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1",
+                "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8",
+                "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd",
+                "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4",
+                "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8",
+                "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f",
+                "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013",
+                "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59",
+                "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc",
+                "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"
+            ],
+            "index": "pypi",
+            "version": "==9.2.0"
         },
         "platformdirs": {
             "hashes": [
@@ -803,39 +833,39 @@
         },
         "pycryptodome": {
             "hashes": [
-                "sha256:028dcbf62d128b4335b61c9fbb7dd8c376594db607ef36d5721ee659719935d5",
-                "sha256:12ef157eb1e01a157ca43eda275fa68f8db0dd2792bc4fe00479ab8f0e6ae075",
-                "sha256:2562de213960693b6d657098505fd4493c45f3429304da67efcbeb61f0edfe89",
-                "sha256:27e92c1293afcb8d2639baf7eb43f4baada86e4de0f1fb22312bfc989b95dae2",
-                "sha256:36e3242c4792e54ed906c53f5d840712793dc68b726ec6baefd8d978c5282d30",
-                "sha256:50a5346af703330944bea503106cd50c9c2212174cfcb9939db4deb5305a8367",
-                "sha256:53dedbd2a6a0b02924718b520a723e88bcf22e37076191eb9b91b79934fb2192",
-                "sha256:69f05aaa90c99ac2f2af72d8d7f185f729721ad7c4be89e9e3d0ab101b0ee875",
-                "sha256:75a3a364fee153e77ed889c957f6f94ec6d234b82e7195b117180dcc9fc16f96",
-                "sha256:766a8e9832128c70012e0c2b263049506cbf334fb21ff7224e2704102b6ef59e",
-                "sha256:7fb90a5000cc9c9ff34b4d99f7f039e9c3477700e309ff234eafca7b7471afc0",
-                "sha256:893f32210de74b9f8ac869ed66c97d04e7d351182d6d39ebd3b36d3db8bda65d",
-                "sha256:8b5c28058102e2974b9868d72ae5144128485d466ba8739abd674b77971454cc",
-                "sha256:924b6aad5386fb54f2645f22658cb0398b1f25bc1e714a6d1522c75d527deaa5",
-                "sha256:9924248d6920b59c260adcae3ee231cd5af404ac706ad30aa4cd87051bf09c50",
-                "sha256:9ec761a35dbac4a99dcbc5cd557e6e57432ddf3e17af8c3c86b44af9da0189c0",
-                "sha256:a36ab51674b014ba03da7f98b675fcb8eabd709a2d8e18219f784aba2db73b72",
-                "sha256:aae395f79fa549fb1f6e3dc85cf277f0351e15a22e6547250056c7f0c990d6a5",
-                "sha256:c880a98376939165b7dc504559f60abe234b99e294523a273847f9e7756f4132",
-                "sha256:ce7a875694cd6ccd8682017a7c06c6483600f151d8916f2b25cf7a439e600263",
-                "sha256:d1b7739b68a032ad14c5e51f7e4e1a5f92f3628bba024a2bda1f30c481fc85d8",
-                "sha256:dcd65355acba9a1d0fc9b923875da35ed50506e339b35436277703d7ace3e222",
-                "sha256:e04e40a7f8c1669195536a37979dd87da2c32dbdc73d6fe35f0077b0c17c803b",
-                "sha256:e0c04c41e9ade19fbc0eff6aacea40b831bfcb2c91c266137bcdfd0d7b2f33ba",
-                "sha256:e24d4ec4b029611359566c52f31af45c5aecde7ef90bf8f31620fd44c438efe7",
-                "sha256:e64738207a02a83590df35f59d708bf1e7ea0d6adce712a777be2967e5f7043c",
-                "sha256:ea56a35fd0d13121417d39a83f291017551fa2c62d6daa6b04af6ece7ed30d84",
-                "sha256:f2772af1c3ef8025c85335f8b828d0193fa1e43256621f613280e2c81bfad423",
-                "sha256:f403a3e297a59d94121cb3ee4b1cf41f844332940a62d71f9e4a009cc3533493",
-                "sha256:f572a3ff7b6029dd9b904d6be4e0ce9e309dcb847b03e3ac8698d9d23bb36525"
-            ],
-            "index": "pypi",
-            "version": "==3.14.1"
+                "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79",
+                "sha256:0926f7cc3735033061ef3cf27ed16faad6544b14666410727b31fea85a5b16eb",
+                "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e",
+                "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88",
+                "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763",
+                "sha256:2ea63d46157386c5053cfebcdd9bd8e0c8b7b0ac4a0507a027f5174929403884",
+                "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13",
+                "sha256:2ffd8b31561455453ca9f62cb4c24e6b8d119d6d531087af5f14b64bee2c23e6",
+                "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2",
+                "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667",
+                "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a",
+                "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d",
+                "sha256:60b4faae330c3624cc5a546ba9cfd7b8273995a15de94ee4538130d74953ec2e",
+                "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b",
+                "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83",
+                "sha256:9135dddad504592bcc18b0d2d95ce86c3a5ea87ec6447ef25cfedea12d6018b8",
+                "sha256:9c772c485b27967514d0df1458b56875f4b6d025566bf27399d0c239ff1b369f",
+                "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f",
+                "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676",
+                "sha256:a8f06611e691c2ce45ca09bbf983e2ff2f8f4f87313609d80c125aff9fad6e7f",
+                "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8",
+                "sha256:b9cc96e274b253e47ad33ae1fccc36ea386f5251a823ccb50593a935db47fdd2",
+                "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f",
+                "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9",
+                "sha256:d2a39a66057ab191e5c27211a7daf8f0737f23acbf6b3562b25a62df65ffcb7b",
+                "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1",
+                "sha256:ecaaef2d21b365d9c5ca8427ffc10cebed9d9102749fd502218c23cb9a05feb5",
+                "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c",
+                "sha256:ff287bcba9fbeb4f1cccc1f2e90a08d691480735a611ee83c80a7d74ad72b9d9",
+                "sha256:ff7ae90e36c1715a54446e7872b76102baa5c63aa980917f4aa45e8c78d1a3ec"
+            ],
+            "index": "pypi",
+            "version": "==3.15.0"
         },
         "pyflakes": {
             "hashes": [
@@ -855,101 +885,54 @@
         },
         "pylint": {
             "hashes": [
-                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
-                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
+                "sha256:47705453aa9dce520e123a7d51843d5f0032cbfa06870f89f00927aa1f735a4a",
+                "sha256:89b61867db16eefb7b3c5b84afc94081edaf11544189e2b238154677529ad69f"
             ],
             "index": "pypi",
-            "version": "==2.14.1"
+            "version": "==2.14.4"
         },
         "pyopencl": {
             "hashes": [
-                "sha256:01030054c201b021715deb3d6f1355844f9795429dfa0591b59b6f8000ec2d38",
-                "sha256:02997935ac164f519be65c371f9dd2267a2b7532247dc0a2ef43f435cf76cf4b",
-                "sha256:07482df440e1246cba6dc46ef70d3ebf1a6c8157a3c6456091026c7f9e4d18d2",
-                "sha256:0b179591c60b4446846fbea035cb3d1acd2685b0226ba91724109882dc59af2c",
-                "sha256:15ebc3f3eb2df1d196a7dcefd68d0e9ffa11e275f8a6c57a1145a1d0ff36c382",
-                "sha256:1a5fb7dc32cf24cdeab1205bc075710d7112656720c2bf9972bebe906e28ec4b",
-                "sha256:1b649637d608e8dabdec0e0f85392f727fdf622463b425cf7587bdd313b4d9eb",
-                "sha256:22eed49903178bc686287192a8319ce763129b4e5d42a9dfb5d8f763ba5d6bd6",
-                "sha256:2deef59d73d0bdd11ba40613ab0798c767214a669a1a5a672500787fb7da63d3",
-                "sha256:3736bfdc946068be66fe4b5c680926c84366b724b3c4b649b2a1940f7bd6afde",
-                "sha256:3dd0b5ff24d12ad4c13446d8e5439e63914496dfcf9e23a26baeaa65ec3c7039",
-                "sha256:5430b938e9391309be2ffaefb6269a0a3c016af5d729121cf8a5fce62a5146c2",
-                "sha256:5e89596e7f18824fc1f84e2cb0ae059fbfe187d1e2e3919ab0cd701cc634eb03",
-                "sha256:65e406603fbe47ca72298e022a3c3855b2e1732cb9d04ecbb411025050d0bc57",
-                "sha256:6f9f91594358af6a9728908c31c5ed4bec3fe1a0d25c6292e37e40c92903fe36",
-                "sha256:77a70b76789aac85566cb0e3ff6b60c4c00729bbd7f0edd24ac4b3b43e4627e2",
-                "sha256:799355c27463bf801260e3398643c3c9359627fa9e6ac621cfb5dc1d6e77d859",
-                "sha256:7ae4825562f7c5956b8926cb99882df1631c5e28aa1310d896c22a8471cf8f56",
-                "sha256:7b17906a4821a30aa1ce7a9d783bba2564230ea6a55ff31eb3f0e2a4aa5b80af",
-                "sha256:7d4bf4c858554e9e3af9e7f18b06e8d6c39b25d7a80c28db6e5dd412dc457aee",
-                "sha256:8981a9274796272508158b08a3cb1a5711318cf32b5f0e4829edecb1a9efcf93",
-                "sha256:8da3ef5a03cfd0a9859a5ebe623f3c43037e9f0dffd2b658e944bbc381beb529",
-                "sha256:94c744997f4aff86e68fa3a5d383dc8b5f1e529a360156b82c7583a757eddaa5",
-                "sha256:9a7fb5769bce7ec09a2d264a233ec9c730b15b391c830d04a381df3fc85bdaca",
-                "sha256:a6ce276a42caedd3a9a7be00031cfe6bf5d1796efdac40e47f1b707846c96d86",
-                "sha256:a84310ae508f998ed31825b6e3ab888098cb69a2c627bf5970706620a8d4b127",
-                "sha256:ad08e37cdeda5d38ac3ca9820400da62ce3a67aab76a5eefa5d089ef3a4877c9",
-                "sha256:b6e426b5fdce61051b112825da20df4cb78429967e491223bfedaf95c025273a",
-                "sha256:bb363f9993013b04c0b146e269a73b3d5ebef30f78d5fa542f317cc2440e15b6",
-                "sha256:c58f05b050ae4ac3b0584d97738ae7ac4381e611567b9d67fe7cf4210c0a7b62",
-                "sha256:c84ef85cf6b83dbcef4e034390fc1ed6bd8eadf5260b5ae89515d3b9744ef207",
-                "sha256:c9a841b80ef4c332a6133377fc295fe5376f90f8f2e7c63d36903b07b8ea7262",
-                "sha256:cd5871aff617d3c9d338fd94c9187382390db82452be0868055b8c519a73445d",
-                "sha256:cf45c232bf818ef54ee831eb41f4edbd5dfe4c67d894b1e65fc17a690a63c81e",
-                "sha256:e90bd1ed69cca2a750ffabafc70b4f9eb4d109299e986c3c8fdc4c40fee36ef2",
-                "sha256:ea5b6ef0e4ad23a3ccbdb382f7cccadbb200a47ceb6ff3e965a3c6c46360b4c2",
-                "sha256:f433ddd7bfd688b591ea95b6971e5e6cb00f8d5f2dc5db833e528e5ede6909d6"
-            ],
-            "index": "pypi",
-            "version": "==2022.1.5"
-        },
-        "pyqt5": {
-            "hashes": [
-                "sha256:213bebd51821ed89b4d5b35bb10dbe67564228b3568f463a351a08e8b1677025",
-                "sha256:2a69597e0dd11caabe75fae133feca66387819fc9bc050f547e5551bce97e5be",
-                "sha256:883a549382fc22d29a0568f3ef20b38c8e7ab633a59498ac4eb63a3bf36d3fd3",
-                "sha256:8c0848ba790a895801d5bfd171da31cad3e551dbcc4e59677a3b622de2ceca98",
-                "sha256:a88526a271e846e44779bb9ad7a738c6d3c4a9d01e15a128ecfc6dd4696393b7"
-            ],
-            "index": "pypi",
-            "version": "==5.15.4"
-        },
-        "pyqt5-qt5": {
-            "hashes": [
-                "sha256:1988f364ec8caf87a6ee5d5a3a5210d57539988bf8e84714c7d60972692e2f4a",
-                "sha256:750b78e4dba6bdf1607febedc08738e318ea09e9b10aea9ff0d73073f11f6962",
-                "sha256:76980cd3d7ae87e3c7a33bfebfaee84448fd650bad6840471d6cae199b56e154",
-                "sha256:9cc7a768b1921f4b982ebc00a318ccb38578e44e45316c7a4a850e953e1dd327"
-            ],
-            "version": "==5.15.2"
-        },
-        "pyqt5-sip": {
-            "hashes": [
-                "sha256:055581c6fed44ba4302b70eeb82e979ff70400037358908f251cd85cbb3dbd93",
-                "sha256:0fc9aefacf502696710b36cdc9fa2a61487f55ee883dbcf2c2a6477e261546f7",
-                "sha256:42274a501ab4806d2c31659170db14c282b8313d2255458064666d9e70d96206",
-                "sha256:4347bd81d30c8e3181e553b3734f91658cfbdd8f1a19f254777f906870974e6d",
-                "sha256:485972daff2fb0311013f471998f8ec8262ea381bded244f9d14edaad5f54271",
-                "sha256:4f8e05fe01d54275877c59018d8e82dcdd0bc5696053a8b830eecea3ce806121",
-                "sha256:69a3ad4259172e2b1aa9060de211efac39ddd734a517b1924d9c6c0cc4f55f96",
-                "sha256:6a8701892a01a5a2a4720872361197cc80fdd5f49c8482d488ddf38c9c84f055",
-                "sha256:6d5bca2fc222d58e8093ee8a81a6e3437067bb22bc3f86d06ec8be721e15e90a",
-                "sha256:83c3220b1ca36eb8623ba2eb3766637b19eb0ce9f42336ad8253656d32750c0a",
-                "sha256:a25b9843c7da6a1608f310879c38e6434331aab1dc2fe6cb65c14f1ecf33780e",
-                "sha256:ac57d796c78117eb39edd1d1d1aea90354651efac9d3590aac67fa4983f99f1f",
-                "sha256:b09f4cd36a4831229fb77c424d89635fa937d97765ec90685e2f257e56a2685a",
-                "sha256:c446971c360a0a1030282a69375a08c78e8a61d568bfd6dab3dcc5cf8817f644",
-                "sha256:c5216403d4d8d857ec4a61f631d3945e44fa248aa2415e9ee9369ab7c8a4d0c7",
-                "sha256:d3e4489d7c2b0ece9d203ae66e573939f7f60d4d29e089c9f11daa17cfeaae32",
-                "sha256:d59af63120d1475b2bf94fe8062610720a9be1e8940ea146c7f42bb449d49067",
-                "sha256:d85002238b5180bce4b245c13d6face848faa1a7a9e5c6e292025004f2fd619a",
-                "sha256:d8b2bdff7bbf45bc975c113a03b14fd669dc0c73e1327f02706666a7dd51a197",
-                "sha256:dd05c768c2b55ffe56a9d49ce6cc77cdf3d53dbfad935258a9e347cbfd9a5850",
-                "sha256:fc43f2d7c438517ee33e929e8ae77132749c15909afab6aeece5fcf4147ffdb5"
-            ],
-            "index": "pypi",
-            "version": "==12.9.0"
+                "sha256:069e7eb1a223d88c13eafa54d6ae896fa892e75ba3d56ff2135a26107ef1142b",
+                "sha256:1490e6cdeaecba42854013c273685d65fd9102ee6dc6bc3bcb814e9e2b8179e5",
+                "sha256:15f7b3d29c9359e1e440e4f52f70de031f8d0d8d0f8de53a3bc01501b89360c0",
+                "sha256:1a2029b7fda6709eca077f618f997372c3d6f2780ad45512632b0d056e6305f9",
+                "sha256:25e87b4ccc0cc53487d445bea07ce9bdb478a335725df16986aead2ff65b68a4",
+                "sha256:2c9ad1cbc3f540afc52038851be8e06640aacfece051c89408bc3aece605a7ee",
+                "sha256:2df01c95ea9ae3dd66b277f0df47144cf7535a27b48a8d49fdd98e0583e368ce",
+                "sha256:316f59d0c40bfce4f6c160dbaf6501883b33880370bb1819f360dad747e52dfe",
+                "sha256:4836bc4619be967d6c28627adac151223037fdca056c4ab54da16b591f719347",
+                "sha256:4b53f7f3ed85ab671c8bfc61a0bbc5476725a7a5f51a94bba5512c3962b2d609",
+                "sha256:5304cb336af7316ae0650abb7467c076032635bfe4710b8df191612d245dca28",
+                "sha256:55e9302b8f0b1964c87b0fdab7b853aa2b2f10b4188f5b4618782d4380448c11",
+                "sha256:6032bef8a35f6df727a0b66e3c9faedb3f560318052848b28d2f72622cfbeace",
+                "sha256:6ec55934057e99461f684ccd293d87db59a452f5834c13ae36b19d31dfe38599",
+                "sha256:7176f96728be9b43024bd71704f60849cbfcf0fafd20270181b68ea4730ceb2d",
+                "sha256:730901d409d8251cd6e9dc59e6c518dff5cdb20a3a0b728344bfd2c707f28b64",
+                "sha256:75be43c7f33fb86f9d18b7b6f8e9081d8bd5b6331a90aec0d2cad3e81e72bc8f",
+                "sha256:7bef8e8bcfff574b481565390113ea0a37cf33fd2587ade7f2980f15e73f7b08",
+                "sha256:7ca9597877e1f8bdb4a49810988230f538b2d7aac389c33418a21cf4358f2fd4",
+                "sha256:814389b3eb9e6930cf43b984283c94a955edf20ec286402da5acfa503d3ae790",
+                "sha256:8efc3467454ce8c644f09029a3308496f9cb6e93ca5e8c08f6b79e7825da72c5",
+                "sha256:98bad7035f27b6de5c9268f52c1e10bffe3a2874994e862468a1792b699a4884",
+                "sha256:9bbfe94bb6e9d0458693183334e73c973e2fcba01568f42db15b453b926fb816",
+                "sha256:9d112a4426f5b356641c1312bf1004247dc4019e649502589b86333557203c01",
+                "sha256:a845779f505ed57b83f279307ae6307d886f3e41fb24dcf7889da27daa726118",
+                "sha256:aca3581f1a7f6b809b8cdc78b0e66587848b38b143bf2983e91ff8fb9a41bc8f",
+                "sha256:af5664b98140a29966c5fb12e9d29b85b6c6310efa97d82aee58310774917e8f",
+                "sha256:b85fa5ba1678dd40713587fd437787b6aa940000c2ddffa360884431be21723a",
+                "sha256:bcabfb5217ca8f8770f9c69298f79576080bb994b1883a99494b4c2668b04836",
+                "sha256:c00989bed1e7e5b32ad498fec3deb1c93403ab802cd99b7c78b9c692bd0910ef",
+                "sha256:d0ddc3b74ad1804eb3fe238dfa3b844b997e88b1ca5164a717c16b362b4f34c3",
+                "sha256:d8bb2eea4e960917e0a6132dedd34c8ec0b7a384f22713f775d50dbce154263a",
+                "sha256:db833ebb1e756969a8f851f15486598eb9e3fb27b0535c2a8193cc1c71455016",
+                "sha256:dc2d78cb5da0081ada1c263aaa773fd5479b3da5e2c421547bf7f3258d3239a5",
+                "sha256:dd2728e59ae088c900ed68f68d953476d0ff07189f182f917b74de2ac7b3972e",
+                "sha256:ea4eff6b922fa4ad2077ef90b3254d78597d050ada09bfbe74c22dd22d10c6ac",
+                "sha256:f8887d54e654598f3854472540b2eb228ac56b56a2491b95bdfac8f15be1c943"
+            ],
+            "index": "pypi",
+            "version": "==2022.1.6"
         },
         "pyserial": {
             "hashes": [
@@ -969,10 +952,10 @@
         },
         "pytools": {
             "hashes": [
-                "sha256:3393d25029982080e3fb94c47bf627a1e553ccd174fe2edef6c1c5ec723918ff"
+                "sha256:4d62875e9a2ab2a24e393a9a8b799492f1a721bffa840af3807bfd42871dd1f4"
             ],
             "markers": "python_version ~= '3.6'",
-            "version": "==2022.1.9"
+            "version": "==2022.1.12"
         },
         "pyyaml": {
             "hashes": [
@@ -1015,74 +998,74 @@
         },
         "pyzmq": {
             "hashes": [
-                "sha256:057176dd3f5ccf5aad4abd662d76b6a39bbf799baaf2f39cd4fdaf2eab326e43",
-                "sha256:05ec90a8da618f2398f9d1aa20b18a9ef332992c6ac23e8c866099faad6ef0d6",
-                "sha256:154de02b15422af28b53d29a02de72121ba503634955017255573fc1f995143d",
-                "sha256:16b832adb5d8716f46051da5533c480250bf126984ce86804db6137a3a7f931b",
-                "sha256:1df26aa854bdd3a8341bf199064dd6aa6e240f2eaa3c9fa8d217e5d8b868c73e",
-                "sha256:28f9164fb2658b7b414fa0894c75b1a9c61375774cdc1bdb7298beb042a2cd87",
-                "sha256:2951c29b8649f3672af9dca8ff61d86310d3664d9629788b1c66422fb13b1239",
-                "sha256:2b08774057ae7ce8a2eb4e7d54db05358234440706ce43a85814500c5d7bd22e",
-                "sha256:2e2ac40f7a91c740ec68d6db07ae19ea9259c959333c68bee56ab2c799a67d66",
-                "sha256:312e56799410c34797417a4060a8bd37d4db1f06d1ec0c54f7c8fd81e0d90376",
-                "sha256:38f778a74e3889392e949326cfd0e9b2eb37dcbb2980d98fad2c51703d523db2",
-                "sha256:3955dd5bbbe02f454655296ee36a66c334c7102a29b8458223d168c0380edfd5",
-                "sha256:425ba851a6f9892bde1da2024d82e2fe6796bd77e3391fb96665c50fe9d4c6a5",
-                "sha256:48bbc2db041ab28eeee4a3e8ada0ed336640946dd5a8e53dbd3805f9dbdcf0dc",
-                "sha256:4fbcd657cda75574fd1315a4c44bd322bc2e219039fb09f146bbe6f8aef039e9",
-                "sha256:523ba7fd4d8fe75ad09c1e574a648892b75a97d0cfc8005727681053ac19555b",
-                "sha256:53b2c1326c2e484d450932d2be739f064b7cb572faabec38386098a28516a529",
-                "sha256:540d7146c3cdc9bbffab039ea067f494eba24d1abe5bd33eb9f963c01e3305d4",
-                "sha256:563d4281c4dbdf647d93114420151d33f895afc4c46b7115a67a0aa5347e6624",
-                "sha256:67a049bcf967a39993858beed873ed3405536019820922d4efacfe35ab3da51a",
-                "sha256:67ec63ae3c9c1fa2e077fcb42e77035e2121a04f987464bdf9945a28535d30ad",
-                "sha256:68e22c5d3be451e87d47f956b397a7823bfbde2176341bc902fba30f96831d7e",
-                "sha256:6ab4b6108e69f63c917cd7ef7217c5727955b1ac90600e44a13ed5312019a014",
-                "sha256:6bd7f18bd4cf51ea8d7e54825902cf36f9d2f35cc51ef618373988d5398b8dd0",
-                "sha256:6cd53e861bccc0bdc4620f68fb4a91d5bcfe9f4213cf8e200fa498044d33a6dc",
-                "sha256:6d346e551fa64b89d57a4ac74b9bc66703413f02f50093e089e861999ec5cccc",
-                "sha256:6ff8708fabc9f9bc2949f457d39b4088c9656c4c9ac15fbbbbaafce8f6d07833",
-                "sha256:7626e8384275a7dea6f3d1f749fb5e00299042e9c895fc3dbe24cb154909c242",
-                "sha256:7e7346b2b33dcd4a2171dd8a9870ae283eec8f6231dcbcf237a0f41e74751a50",
-                "sha256:81623c67cb71b93b5f7e06c9107f3781738ae86866db830c950223d87af2a235",
-                "sha256:83f1c76068faf62c32a36dd62dc4db642c2027bbbd960f8f6345b59e9d4dc472",
-                "sha256:8679bb1dd723ecbea03b1f96c98972815775fd8ec756c440a14f289c436c472e",
-                "sha256:86fb683cb9a9c0bb7476988b7957393ecdd22777d87d804442c66e62c99197f9",
-                "sha256:8757c62f7960cd26122f7aaaf86eda1e016fa85734c3777b8054dd334d7dea4d",
-                "sha256:894be7d17228e7328cc188096c0162697211ec91761f6812fff12790cbe11c66",
-                "sha256:8a0f240bf43c29be1bd82d77e602a61c798e9de02e5f8bb7bb414cb814f43236",
-                "sha256:8c3abf7eab5b76ae162c4fbb16d514a947fc57fd995b64e5ea8ef8ba3b888a69",
-                "sha256:93332c6972e4c91522c4810e907f3aea067424338071161b39cacded022559df",
-                "sha256:97d6c676dc97d593625d9fc48154f2ffeabb619a1e6fe8d2a5b53f97e3e9bdee",
-                "sha256:99dd85f0ca1db8d17a01a25c2bbb7784d25a2d39497c6beddbe96bff74194e04",
-                "sha256:9c7fb691fb07ec7ab99fd173bb0e7e0248d31bf83d484a87b917a342f63812c9",
-                "sha256:b3bc3cf200aab74f3d758586ac50295214eda496ac6a6636e0c881c5958d9123",
-                "sha256:bba54f97578943f48f621b4a7afb8eb022370da26a88b88ccc9fee9f3ef7ce45",
-                "sha256:bd2a13a0f8367e50347cbac87ae230ae1953935443240238f956bf10668bead6",
-                "sha256:cbc1184349ca6e5112898aa7fc3efa1b1bbae24ab1edc774cfd09cbfd3b091d7",
-                "sha256:cd82cca9c489e441574804dbda2dd8e114cf3be7935b03de11dade2c9478aea6",
-                "sha256:ce8ba5ed8b0a7a203922d61cff45ee6001a41a9359f04f00d055a4e988755569",
-                "sha256:cfee22e072a382b92ee0709dbb8203dabd52d54258051e770d9d2a81b162530b",
-                "sha256:d977df6f7c4109ed1d96ffb6795f6af77114be606ae4556efbfc9cac725db65d",
-                "sha256:da72a384a1d7e87490ca71182f3ab469ed21d847adc16b70c34faac5a3b12801",
-                "sha256:ddf4ad1d651e6c9234945061e1a31fe27a4be0dea21c498b87b186fadf8f5919",
-                "sha256:eb0ae5dfda83bbce660179d7b41c1c38fd833a54d2e6d9b258c644f3b75ef94d",
-                "sha256:f4c7d370badc60ac94a554bc571a46d03e39d8aacfba8006b334512e184aed59",
-                "sha256:f6c378b435a26fda8996579c0e324b108d2ca0d01b4661503a75634e5155559f",
-                "sha256:f6c9d30888503f2f5f87d6d41f016301352dd98da4a861bd10663c3a2d99d3b5",
-                "sha256:fab8a7877275060f7b303e1f91c218069a2814a616b6a5ee2d8a3737deb15915",
-                "sha256:fc32e7d7f98cac3d8d5153ed2cb583158ae3d446a6efb8e28ccb1c54a09f4169"
-            ],
-            "index": "pypi",
-            "version": "==23.1.0"
+                "sha256:004a431dfa0459123e6f4660d7e3c4ac19217d134ca38bacfffb2e78716fe944",
+                "sha256:057b154471e096e2dda147f7b057041acc303bb7ca4aa24c3b88c6cecdd78717",
+                "sha256:0e08671dc202a1880fa522f921f35ca5925ba30da8bc96228d74a8f0643ead9c",
+                "sha256:1b2a21f595f8cc549abd6c8de1fcd34c83441e35fb24b8a59bf161889c62a486",
+                "sha256:21552624ce69e69f7924f413b802b1fb554f4c0497f837810e429faa1cd4f163",
+                "sha256:22ac0243a41798e3eb5d5714b28c2f28e3d10792dffbc8a5fca092f975fdeceb",
+                "sha256:2b054525c9f7e240562185bf21671ca16d56bde92e9bd0f822c07dec7626b704",
+                "sha256:30c365e60c39c53f8eea042b37ea28304ffa6558fb7241cf278745095a5757da",
+                "sha256:3a4d87342c2737fbb9eee5c33c792db27b36b04957b4e6b7edd73a5b239a2a13",
+                "sha256:420b9abd1a7330687a095373b8280a20cdee04342fbc8ccb3b56d9ec8efd4e62",
+                "sha256:444f7d615d5f686d0ef508b9edfa8a286e6d89f449a1ba37b60ef69d869220a3",
+                "sha256:558f5f636e3e65f261b64925e8b190e8689e334911595394572cc7523879006d",
+                "sha256:5592fb4316f895922b1cacb91b04a0fa09d6f6f19bbab4442b4d0a0825177b93",
+                "sha256:59928dfebe93cf1e203e3cb0fd5d5dd384da56b99c8305f2e1b0a933751710f6",
+                "sha256:5cb642e94337b0c76c9c8cb9bfb0f8a78654575847d080d3e1504f312d691fc3",
+                "sha256:5d57542429df6acff02ff022067aa75b677603cee70e3abb9742787545eec966",
+                "sha256:5d92e7cbeab7f70b08cc0f27255b0bb2500afc30f31075bca0b1cb87735d186c",
+                "sha256:602835e5672ca9ca1d78e6c148fb28c4f91b748ebc41fbd2f479d8763d58bc9b",
+                "sha256:60746a7e8558655420a69441c0a1d47ed225ed3ac355920b96a96d0554ef7e6b",
+                "sha256:61b97f624da42813f74977425a3a6144d604ea21cf065616d36ea3a866d92c1c",
+                "sha256:693c96ae4d975eb8efa1639670e9b1fac0c3f98b7845b65c0f369141fb4bb21f",
+                "sha256:814e5aaf0c3be9991a59066eafb2d6e117aed6b413e3e7e9be45d4e55f5e2748",
+                "sha256:83005d8928f8a5cebcfb33af3bfb84b1ad65d882b899141a331cc5d07d89f093",
+                "sha256:831da96ba3f36cc892f0afbb4fb89b28b61b387261676e55d55a682addbd29f7",
+                "sha256:8355744fdbdeac5cfadfa4f38b82029b5f2b8cab7472a33453a217a7f3a9dce2",
+                "sha256:8496a2a5efd055c61ac2c6a18116c768a25c644b6747dcfde43e91620ab3453c",
+                "sha256:859059caf564f0c9398c9005278055ed3d37af4d73de6b1597821193b04ca09b",
+                "sha256:8c0f4d6f8c985bab83792be26ff3233940ba42e22237610ac50cbcfc10a5c235",
+                "sha256:8c2d8b69a2bf239ae3d987537bf3fbc2b044a405394cf4c258fc684971dd48b2",
+                "sha256:984b232802eddf9f0be264a4d57a10b3a1fd7319df14ee6fc7b41c6d155a3e6c",
+                "sha256:99cedf38eaddf263cf7e2a50e405f12c02cedf6d9df00a0d9c5d7b9417b57f76",
+                "sha256:a3dc339f7bc185d5fd0fd976242a5baf35de404d467e056484def8a4dd95868b",
+                "sha256:a51f12a8719aad9dcfb55d456022f16b90abc8dde7d3ca93ce3120b40e3fa169",
+                "sha256:bbabd1df23bf63ae829e81200034c0e433499275a6ed29ca1a912ea7629426d9",
+                "sha256:bcc6953e47bcfc9028ddf9ab2a321a3c51d7cc969db65edec092019bb837959f",
+                "sha256:c0a5f987d73fd9b46c3d180891f829afda714ab6bab30a1218724d4a0a63afd8",
+                "sha256:c223a13555444707a0a7ebc6f9ee63053147c8c082bd1a31fd1207a03e8b0500",
+                "sha256:c616893a577e9d6773a3836732fd7e2a729157a108b8fccd31c87512fa01671a",
+                "sha256:c882f1d4f96fbd807e92c334251d8ebd159a1ef89059ccd386ddea83fdb91bd8",
+                "sha256:c8dec8a2f3f0bb462e6439df436cd8c7ec37968e90b4209ac621e7fbc0ed3b00",
+                "sha256:c9638e0057e3f1a8b7c5ce33c7575349d9183a033a19b5676ad55096ae36820b",
+                "sha256:ce4f71e17fa849de41a06109030d3f6815fcc33338bf98dd0dde6d456d33c929",
+                "sha256:ced12075cdf3c7332ecc1960f77f7439d5ebb8ea20bbd3c34c8299e694f1b0a1",
+                "sha256:d11628212fd731b8986f1561d9bb3f8c38d9c15b330c3d8a88963519fbcd553b",
+                "sha256:d1610260cc672975723fcf7705c69a95f3b88802a594c9867781bedd9b13422c",
+                "sha256:d4651de7316ec8560afe430fb042c0782ed8ac54c0be43a515944d7c78fddac8",
+                "sha256:da338e2728410d74ddeb1479ec67cfba73311607037455a40f92b6f5c62bf11d",
+                "sha256:de727ea906033b30527b4a99498f19aca3f4d1073230a958679a5b726e2784e0",
+                "sha256:e2e2db5c6ef376e97c912733dfc24406f5949474d03e800d5f07b6aca4d870af",
+                "sha256:e669913cb2179507628419ec4f0e453e48ce6f924de5884d396f18c31836089c",
+                "sha256:eb4a573a8499685d62545e806d8fd143c84ac8b3439f925cd92c8763f0ed9bd7",
+                "sha256:f146648941cadaaaf01254a75651a23c08159d009d36c5af42a7cc200a5e53ec",
+                "sha256:f3ff6abde52e702397949054cb5b06c1c75b5d6542f6a2ce029e46f71ffbbbf2",
+                "sha256:f5aa9da520e4bb8cee8189f2f541701405e7690745094ded7a37b425d60527ea",
+                "sha256:f5fdb00d65ec44b10cc6b9b6318ef1363b81647a4aa3270ca39565eadb2d1201",
+                "sha256:f685003d836ad0e5d4f08d1e024ee3ac7816eb2f873b2266306eef858f058133",
+                "sha256:fee86542dc4ee8229e023003e3939b4d58cc2453922cf127778b69505fc9064b"
+            ],
+            "index": "pypi",
+            "version": "==23.2.0"
         },
         "requests": {
             "hashes": [
-                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
+                "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983",
+                "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"
             ],
             "index": "pypi",
-            "version": "==2.28.0"
+            "version": "==2.28.1"
         },
         "scons": {
             "hashes": [
@@ -1094,11 +1077,11 @@
         },
         "sentry-sdk": {
             "hashes": [
-                "sha256:259535ba66933eacf85ab46524188c84dcb4c39f40348455ce15e2c0aca68863",
-                "sha256:778b53f0a6c83b1ee43d3b7886318ba86d975e686cb2c7906ccc35b334360be1"
+                "sha256:b82ad57306d5546713f15d5d70daea0408cf7f998c7566db16e0e6257e51e561",
+                "sha256:ddbd191b6f4e696b7845b4d87389898ae1207981faf114f968a57363aa6be03c"
             ],
             "index": "pypi",
-            "version": "==1.5.12"
+            "version": "==1.6.0"
         },
         "setproctitle": {
             "hashes": [
@@ -1179,11 +1162,11 @@
         },
         "setuptools": {
             "hashes": [
-                "sha256:5a844ad6e190dccc67d6d7411d119c5152ce01f7c76be4d8a1eaa314501bba77",
-                "sha256:bf8a748ac98b09d32c9a64a995a6b25921c96cc5743c1efa82763ba80ff54e91"
+                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
+                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==62.4.0"
+            "version": "==63.1.0"
         },
         "six": {
             "hashes": [
@@ -1227,11 +1210,11 @@
         },
         "tomlkit": {
             "hashes": [
-                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
-                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
+                "sha256:1c5bebdf19d5051e2e1de6cf70adfc5948d47221f097fcff7a3ffc91e953eaf5",
+                "sha256:61901f81ff4017951119cd0d1ed9b7af31c821d6845c8c477587bbdcd5e5854e"
             ],
-            "markers": "python_version >= '3.6' and python_version < '4.0'",
-            "version": "==0.11.0"
+            "markers": "python_version >= '3.6' and python_version < '4'",
+            "version": "==0.11.1"
         },
         "tqdm": {
             "hashes": [
@@ -1243,19 +1226,19 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
+                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
+                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
             ],
             "index": "pypi",
-            "version": "==1.26.9"
+            "version": "==1.26.10"
         },
         "utm": {
             "hashes": [
@@ -1266,11 +1249,11 @@
         },
         "websocket-client": {
             "hashes": [
-                "sha256:50b21db0058f7a953d67cc0445be4b948d7fc196ecbeb8083d68d94628e4abf6",
-                "sha256:722b171be00f2b90e1d4fb2f2b53146a536ca38db1da8ff49c972a4e1365d0ef"
+                "sha256:5d55652dc1d0b3c734f044337d929aaf83f4f9138816ec680c1aefefb4dc4877",
+                "sha256:d58c5f284d6a9bf8379dab423259fe8f85b70d5fa5d2916d5791a84594b122b1"
             ],
             "index": "pypi",
-            "version": "==1.3.2"
+            "version": "==1.3.3"
         },
         "werkzeug": {
             "hashes": [
@@ -1443,11 +1426,11 @@
         },
         "babel": {
             "hashes": [
-                "sha256:7aed055f0c04c9e7f51a2f75261e41e1c804efa724cb65b60a970dd4448d469d",
-                "sha256:81a3beca4d0cd40a9cfb9e2adb2cf39261c2f959b92e7a74750befe5d79afd7b"
+                "sha256:7614553711ee97490f732126dc077f8d0ae084ebc6a96e23db1482afabdb2c51",
+                "sha256:ff56f4892c1c4bf0d814575ea23471c230d544203c7748e8c68f0089478d48eb"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.10.2"
+            "version": "==2.10.3"
         },
         "bcrypt": {
             "hashes": [
@@ -1468,11 +1451,11 @@
         },
         "breathe": {
             "hashes": [
-                "sha256:553aeffb00efc2cf96c4c9ed388d6ee8036ecd6d1bd9bd0c656fc25ca271bd3c",
-                "sha256:c4b9ff4d5298fd91518d336ede28b6a2d8cacc685d0eae17eb20e760e06bb904"
+                "sha256:48804dcf0e607a89fb6ad88c729ef12743a42db03ae9489be4ef8f7c4011774a",
+                "sha256:ac0768a5e84addad3e632028fe67749c567aba2b29088493b64c2c1634bcdba1"
             ],
             "index": "pypi",
-            "version": "==4.33.1"
+            "version": "==4.34.0"
         },
         "carla": {
             "hashes": [
@@ -1490,67 +1473,81 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7",
-                "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a"
+                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
+                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.5.18.1"
+            "version": "==2022.6.15"
         },
         "cffi": {
             "hashes": [
-                "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3",
-                "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2",
-                "sha256:06c48159c1abed75c2e721b1715c379fa3200c7784271b3c46df01383b593636",
-                "sha256:0808014eb713677ec1292301ea4c81ad277b6cdf2fdd90fd540af98c0b101d20",
-                "sha256:10dffb601ccfb65262a27233ac273d552ddc4d8ae1bf93b21c94b8511bffe728",
-                "sha256:14cd121ea63ecdae71efa69c15c5543a4b5fbcd0bbe2aad864baca0063cecf27",
-                "sha256:17771976e82e9f94976180f76468546834d22a7cc404b17c22df2a2c81db0c66",
-                "sha256:181dee03b1170ff1969489acf1c26533710231c58f95534e3edac87fff06c443",
-                "sha256:23cfe892bd5dd8941608f93348c0737e369e51c100d03718f108bf1add7bd6d0",
-                "sha256:263cc3d821c4ab2213cbe8cd8b355a7f72a8324577dc865ef98487c1aeee2bc7",
-                "sha256:2756c88cbb94231c7a147402476be2c4df2f6078099a6f4a480d239a8817ae39",
-                "sha256:27c219baf94952ae9d50ec19651a687b826792055353d07648a5695413e0c605",
-                "sha256:2a23af14f408d53d5e6cd4e3d9a24ff9e05906ad574822a10563efcef137979a",
-                "sha256:31fb708d9d7c3f49a60f04cf5b119aeefe5644daba1cd2a0fe389b674fd1de37",
-                "sha256:3415c89f9204ee60cd09b235810be700e993e343a408693e80ce7f6a40108029",
-                "sha256:3773c4d81e6e818df2efbc7dd77325ca0dcb688116050fb2b3011218eda36139",
-                "sha256:3b96a311ac60a3f6be21d2572e46ce67f09abcf4d09344c49274eb9e0bf345fc",
-                "sha256:3f7d084648d77af029acb79a0ff49a0ad7e9d09057a9bf46596dac9514dc07df",
-                "sha256:41d45de54cd277a7878919867c0f08b0cf817605e4eb94093e7516505d3c8d14",
-                "sha256:4238e6dab5d6a8ba812de994bbb0a79bddbdf80994e4ce802b6f6f3142fcc880",
-                "sha256:45db3a33139e9c8f7c09234b5784a5e33d31fd6907800b316decad50af323ff2",
-                "sha256:45e8636704eacc432a206ac7345a5d3d2c62d95a507ec70d62f23cd91770482a",
-                "sha256:4958391dbd6249d7ad855b9ca88fae690783a6be9e86df65865058ed81fc860e",
-                "sha256:4a306fa632e8f0928956a41fa8e1d6243c71e7eb59ffbd165fc0b41e316b2474",
-                "sha256:57e9ac9ccc3101fac9d6014fba037473e4358ef4e89f8e181f8951a2c0162024",
-                "sha256:59888172256cac5629e60e72e86598027aca6bf01fa2465bdb676d37636573e8",
-                "sha256:5e069f72d497312b24fcc02073d70cb989045d1c91cbd53979366077959933e0",
-                "sha256:64d4ec9f448dfe041705426000cc13e34e6e5bb13736e9fd62e34a0b0c41566e",
-                "sha256:6dc2737a3674b3e344847c8686cf29e500584ccad76204efea14f451d4cc669a",
-                "sha256:74fdfdbfdc48d3f47148976f49fab3251e550a8720bebc99bf1483f5bfb5db3e",
-                "sha256:75e4024375654472cc27e91cbe9eaa08567f7fbdf822638be2814ce059f58032",
-                "sha256:786902fb9ba7433aae840e0ed609f45c7bcd4e225ebb9c753aa39725bb3e6ad6",
-                "sha256:8b6c2ea03845c9f501ed1313e78de148cd3f6cad741a75d43a29b43da27f2e1e",
-                "sha256:91d77d2a782be4274da750752bb1650a97bfd8f291022b379bb8e01c66b4e96b",
-                "sha256:91ec59c33514b7c7559a6acda53bbfe1b283949c34fe7440bcf917f96ac0723e",
-                "sha256:920f0d66a896c2d99f0adbb391f990a84091179542c205fa53ce5787aff87954",
-                "sha256:a5263e363c27b653a90078143adb3d076c1a748ec9ecc78ea2fb916f9b861962",
-                "sha256:abb9a20a72ac4e0fdb50dae135ba5e77880518e742077ced47eb1499e29a443c",
-                "sha256:c2051981a968d7de9dd2d7b87bcb9c939c74a34626a6e2f8181455dd49ed69e4",
-                "sha256:c21c9e3896c23007803a875460fb786118f0cdd4434359577ea25eb556e34c55",
-                "sha256:c2502a1a03b6312837279c8c1bd3ebedf6c12c4228ddbad40912d671ccc8a962",
-                "sha256:d4d692a89c5cf08a8557fdeb329b82e7bf609aadfaed6c0d79f5a449a3c7c023",
-                "sha256:da5db4e883f1ce37f55c667e5c0de439df76ac4cb55964655906306918e7363c",
-                "sha256:e7022a66d9b55e93e1a845d8c9eba2a1bebd4966cd8bfc25d9cd07d515b33fa6",
-                "sha256:ef1f279350da2c586a69d32fc8733092fd32cc8ac95139a00377841f59a3f8d8",
-                "sha256:f54a64f8b0c8ff0b64d18aa76675262e1700f3995182267998c31ae974fbc382",
-                "sha256:f5c7150ad32ba43a07c4479f40241756145a1f03b43480e058cfd862bf5041c7",
-                "sha256:f6f824dc3bce0edab5f427efcfb1d63ee75b6fcb7282900ccaf925be84efb0fc",
-                "sha256:fd8a250edc26254fe5b33be00402e6d287f562b6a5b2152dec302fa15bb3e997",
-                "sha256:ffaa5c925128e29efbde7301d8ecaf35c8c60ffbcd6a1ffd3a552177c8e5e796"
-            ],
-            "index": "pypi",
-            "version": "==1.15.0"
+                "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5",
+                "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef",
+                "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104",
+                "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426",
+                "sha256:173379135477dc8cac4bc58f45db08ab45d228b3363adb7af79436135d028405",
+                "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375",
+                "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a",
+                "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e",
+                "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc",
+                "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf",
+                "sha256:285d29981935eb726a4399badae8f0ffdff4f5050eaa6d0cfc3f64b857b77185",
+                "sha256:30d78fbc8ebf9c92c9b7823ee18eb92f2e6ef79b45ac84db507f52fbe3ec4497",
+                "sha256:320dab6e7cb2eacdf0e658569d2575c4dad258c0fcc794f46215e1e39f90f2c3",
+                "sha256:33ab79603146aace82c2427da5ca6e58f2b3f2fb5da893ceac0c42218a40be35",
+                "sha256:3548db281cd7d2561c9ad9984681c95f7b0e38881201e157833a2342c30d5e8c",
+                "sha256:3799aecf2e17cf585d977b780ce79ff0dc9b78d799fc694221ce814c2c19db83",
+                "sha256:39d39875251ca8f612b6f33e6b1195af86d1b3e60086068be9cc053aa4376e21",
+                "sha256:3b926aa83d1edb5aa5b427b4053dc420ec295a08e40911296b9eb1b6170f6cca",
+                "sha256:3bcde07039e586f91b45c88f8583ea7cf7a0770df3a1649627bf598332cb6984",
+                "sha256:3d08afd128ddaa624a48cf2b859afef385b720bb4b43df214f85616922e6a5ac",
+                "sha256:3eb6971dcff08619f8d91607cfc726518b6fa2a9eba42856be181c6d0d9515fd",
+                "sha256:40f4774f5a9d4f5e344f31a32b5096977b5d48560c5592e2f3d2c4374bd543ee",
+                "sha256:4289fc34b2f5316fbb762d75362931e351941fa95fa18789191b33fc4cf9504a",
+                "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2",
+                "sha256:4f2c9f67e9821cad2e5f480bc8d83b8742896f1242dba247911072d4fa94c192",
+                "sha256:50a74364d85fd319352182ef59c5c790484a336f6db772c1a9231f1c3ed0cbd7",
+                "sha256:54a2db7b78338edd780e7ef7f9f6c442500fb0d41a5a4ea24fff1c929d5af585",
+                "sha256:5635bd9cb9731e6d4a1132a498dd34f764034a8ce60cef4f5319c0541159392f",
+                "sha256:59c0b02d0a6c384d453fece7566d1c7e6b7bae4fc5874ef2ef46d56776d61c9e",
+                "sha256:5d598b938678ebf3c67377cdd45e09d431369c3b1a5b331058c338e201f12b27",
+                "sha256:5df2768244d19ab7f60546d0c7c63ce1581f7af8b5de3eb3004b9b6fc8a9f84b",
+                "sha256:5ef34d190326c3b1f822a5b7a45f6c4535e2f47ed06fec77d3d799c450b2651e",
+                "sha256:6975a3fac6bc83c4a65c9f9fcab9e47019a11d3d2cf7f3c0d03431bf145a941e",
+                "sha256:6c9a799e985904922a4d207a94eae35c78ebae90e128f0c4e521ce339396be9d",
+                "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c",
+                "sha256:7473e861101c9e72452f9bf8acb984947aa1661a7704553a9f6e4baa5ba64415",
+                "sha256:8102eaf27e1e448db915d08afa8b41d6c7ca7a04b7d73af6514df10a3e74bd82",
+                "sha256:87c450779d0914f2861b8526e035c5e6da0a3199d8f1add1a665e1cbc6fc6d02",
+                "sha256:8b7ee99e510d7b66cdb6c593f21c043c248537a32e0bedf02e01e9553a172314",
+                "sha256:91fc98adde3d7881af9b59ed0294046f3806221863722ba7d8d120c575314325",
+                "sha256:94411f22c3985acaec6f83c6df553f2dbe17b698cc7f8ae751ff2237d96b9e3c",
+                "sha256:98d85c6a2bef81588d9227dde12db8a7f47f639f4a17c9ae08e773aa9c697bf3",
+                "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914",
+                "sha256:a0b71b1b8fbf2b96e41c4d990244165e2c9be83d54962a9a1d118fd8657d2045",
+                "sha256:a0f100c8912c114ff53e1202d0078b425bee3649ae34d7b070e9697f93c5d52d",
+                "sha256:a591fe9e525846e4d154205572a029f653ada1a78b93697f3b5a8f1f2bc055b9",
+                "sha256:a5c84c68147988265e60416b57fc83425a78058853509c1b0629c180094904a5",
+                "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2",
+                "sha256:a8c4917bd7ad33e8eb21e9a5bbba979b49d9a97acb3a803092cbc1133e20343c",
+                "sha256:b3bbeb01c2b273cca1e1e0c5df57f12dce9a4dd331b4fa1635b8bec26350bde3",
+                "sha256:cba9d6b9a7d64d4bd46167096fc9d2f835e25d7e4c121fb2ddfc6528fb0413b2",
+                "sha256:cc4d65aeeaa04136a12677d3dd0b1c0c94dc43abac5860ab33cceb42b801c1e8",
+                "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d",
+                "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d",
+                "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9",
+                "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162",
+                "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76",
+                "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4",
+                "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
+                "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9",
+                "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6",
+                "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b",
+                "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01",
+                "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
+            ],
+            "index": "pypi",
+            "version": "==1.15.1"
         },
         "cfgv": {
             "hashes": [
@@ -1562,11 +1559,11 @@
         },
         "charset-normalizer": {
             "hashes": [
-                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
-                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
+                "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5",
+                "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413"
             ],
-            "markers": "python_full_version >= '3.5.0'",
-            "version": "==2.0.12"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.1.0"
         },
         "control": {
             "hashes": [
@@ -1624,31 +1621,31 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:093cb351031656d3ee2f4fa1be579a8c69c754cf874206be1d4cf3b542042804",
-                "sha256:0cc20f655157d4cfc7bada909dc5cc228211b075ba8407c46467f63597c78178",
-                "sha256:1b9362d34363f2c71b7853f6251219298124aa4cc2075ae2932e64c91a3e2717",
-                "sha256:1f3bfbd611db5cb58ca82f3deb35e83af34bb8cf06043fa61500157d50a70982",
-                "sha256:2bd1096476aaac820426239ab534b636c77d71af66c547b9ddcd76eb9c79e004",
-                "sha256:31fe38d14d2e5f787e0aecef831457da6cec68e0bb09a35835b0b44ae8b988fe",
-                "sha256:3b8398b3d0efc420e777c40c16764d6870bcef2eb383df9c6dbb9ffe12c64452",
-                "sha256:3c81599befb4d4f3d7648ed3217e00d21a9341a9a688ecdd615ff72ffbed7336",
-                "sha256:419c57d7b63f5ec38b1199a9521d77d7d1754eb97827bbb773162073ccd8c8d4",
-                "sha256:46f4c544f6557a2fefa7ac8ac7d1b17bf9b647bd20b16decc8fbcab7117fbc15",
-                "sha256:471e0d70201c069f74c837983189949aa0d24bb2d751b57e26e3761f2f782b8d",
-                "sha256:59b281eab51e1b6b6afa525af2bd93c16d49358404f814fe2c2410058623928c",
-                "sha256:731c8abd27693323b348518ed0e0705713a36d79fdbd969ad968fbef0979a7e0",
-                "sha256:95e590dd70642eb2079d280420a888190aa040ad20f19ec8c6e097e38aa29e06",
-                "sha256:a68254dd88021f24a68b613d8c51d5c5e74d735878b9e32cc0adf19d1f10aaf9",
-                "sha256:a7d5137e556cc0ea418dca6186deabe9129cee318618eb1ffecbd35bee55ddc1",
-                "sha256:aeaba7b5e756ea52c8861c133c596afe93dd716cbcacae23b80bc238202dc023",
-                "sha256:dc26bb134452081859aa21d4990474ddb7e863aa39e60d1592800a8865a702de",
-                "sha256:e53258e69874a306fcecb88b7534d61820db8a98655662a3dd2ec7f1afd9132f",
-                "sha256:ef15c2df7656763b4ff20a9bc4381d8352e6640cfeb95c2972c38ef508e75181",
-                "sha256:f224ad253cc9cea7568f49077007d2263efa57396a2f2f78114066fd54b5c68e",
-                "sha256:f8ec91983e638a9bcd75b39f1396e5c0dc2330cbd9ce4accefe68717e6779e0a"
-            ],
-            "index": "pypi",
-            "version": "==37.0.2"
+                "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59",
+                "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596",
+                "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3",
+                "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5",
+                "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab",
+                "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884",
+                "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82",
+                "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b",
+                "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441",
+                "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa",
+                "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d",
+                "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b",
+                "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a",
+                "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6",
+                "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157",
+                "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280",
+                "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282",
+                "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67",
+                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
+                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
+                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
+                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
+            ],
+            "index": "pypi",
+            "version": "==37.0.4"
         },
         "cycler": {
             "hashes": [
@@ -1742,11 +1739,11 @@
         },
         "fonttools": {
             "hashes": [
-                "sha256:c0fdcfa8ceebd7c1b2021240bd46ef77aa8e7408cf10434be55df52384865f8e",
-                "sha256:f829c579a8678fa939a1d9e9894d01941db869de44390adb49ce67055a06cc2a"
+                "sha256:9a1c52488045cd6c6491fd07711a380f932466e317cb8e016fc4e99dc7eac2f0",
+                "sha256:d73f25b283cd8033367451122aa868a23de0734757a01984e4b30b18b9050c72"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==4.33.3"
+            "version": "==4.34.4"
         },
         "ft4222": {
             "hashes": [
@@ -1805,24 +1802,24 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_full_version >= '3.5.0'",
+            "markers": "python_version >= '3.5'",
             "version": "==3.3"
         },
         "imagesize": {
             "hashes": [
-                "sha256:1db2f82529e53c3e929e8926a1fa9235aa82d0bd0c580359c67ec31b2fddaa8c",
-                "sha256:cd1750d452385ca327479d45b64d9c7729ecf0b3969a58148298c77092261f9d"
+                "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b",
+                "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==1.3.0"
+            "version": "==1.4.1"
         },
         "importlib-metadata": {
             "hashes": [
-                "sha256:5d26852efe48c0a32b0509ffbc583fda1a2266545a78d104a6f4aff3db17d700",
-                "sha256:c58c8eb8a762858f49e18436ff552e83914778e50e9d2f1660535ffb364552ec"
+                "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670",
+                "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"
             ],
             "markers": "python_version < '3.10'",
-            "version": "==4.11.4"
+            "version": "==4.12.0"
         },
         "iniconfig": {
             "hashes": [
@@ -2076,38 +2073,39 @@
         },
         "nodeenv": {
             "hashes": [
-                "sha256:3ef13ff90291ba2a4a7a4ff9a979b63ffdd00a464dbe04acf0ea6471517a4c2b",
-                "sha256:621e6b7076565ddcacd2db0294c0381e01fd28945ab36bcf00f41c5daf63bef7"
+                "sha256:27083a7b96a25f2f5e1d8cb4b6317ee8aeda3bdd121394e5ac54e498028a042e",
+                "sha256:e0e7f7dfb85fc5394c6fe1e8fa98131a2473e04311a45afb6508f7cf1836fa2b"
             ],
-            "version": "==1.6.0"
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6'",
+            "version": "==1.7.0"
         },
         "numpy": {
             "hashes": [
-                "sha256:0791fbd1e43bf74b3502133207e378901272f3c156c4df4954cad833b1380207",
-                "sha256:1ce7ab2053e36c0a71e7a13a7475bd3b1f54750b4b433adc96313e127b870887",
-                "sha256:2d487e06ecbf1dc2f18e7efce82ded4f705f4bd0cd02677ffccfb39e5c284c7e",
-                "sha256:37431a77ceb9307c28382c9773da9f306435135fae6b80b62a11c53cfedd8802",
-                "sha256:3e1ffa4748168e1cc8d3cde93f006fe92b5421396221a02f2274aab6ac83b077",
-                "sha256:425b390e4619f58d8526b3dcf656dde069133ae5c240229821f01b5f44ea07af",
-                "sha256:43a8ca7391b626b4c4fe20aefe79fec683279e31e7c79716863b4b25021e0e74",
-                "sha256:4c6036521f11a731ce0648f10c18ae66d7143865f19f7299943c985cdc95afb5",
-                "sha256:59d55e634968b8f77d3fd674a3cf0b96e85147cd6556ec64ade018f27e9479e1",
-                "sha256:64f56fc53a2d18b1924abd15745e30d82a5782b2cab3429aceecc6875bd5add0",
-                "sha256:7228ad13744f63575b3a972d7ee4fd61815b2879998e70930d4ccf9ec721dce0",
-                "sha256:9ce7df0abeabe7fbd8ccbf343dc0db72f68549856b863ae3dd580255d009648e",
-                "sha256:a911e317e8c826ea632205e63ed8507e0dc877dcdc49744584dfc363df9ca08c",
-                "sha256:b89bf9b94b3d624e7bb480344e91f68c1c6c75f026ed6755955117de00917a7c",
-                "sha256:ba9ead61dfb5d971d77b6c131a9dbee62294a932bf6a356e48c75ae684e635b3",
-                "sha256:c1d937820db6e43bec43e8d016b9b3165dcb42892ea9f106c70fb13d430ffe72",
-                "sha256:cc7f00008eb7d3f2489fca6f334ec19ca63e31371be28fd5dad955b16ec285bd",
-                "sha256:d4c5d5eb2ec8da0b4f50c9a843393971f31f1d60be87e0fb0917a49133d257d6",
-                "sha256:e96d7f3096a36c8754207ab89d4b3282ba7b49ea140e4973591852c77d09eb76",
-                "sha256:f0725df166cf4785c0bc4cbfb320203182b1ecd30fee6e541c8752a92df6aa32",
-                "sha256:f3eb268dbd5cfaffd9448113539e44e2dd1c5ca9ce25576f7c04a5453edc26fa",
-                "sha256:fb7a980c81dd932381f8228a426df8aeb70d59bbcda2af075b627bbc50207cba"
-            ],
-            "index": "pypi",
-            "version": "==1.22.4"
+                "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450",
+                "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0",
+                "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160",
+                "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171",
+                "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a",
+                "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38",
+                "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10",
+                "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5",
+                "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f",
+                "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860",
+                "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd",
+                "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d",
+                "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05",
+                "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66",
+                "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187",
+                "sha256:d6ca8dabe696c2785d0c8c9b0d8a9b6e5fdbe4f922bde70d57fa1a2848134f95",
+                "sha256:d8cc87bed09de55477dba9da370c1679bd534df9baa171dd01accbb09687dac3",
+                "sha256:f0f18804df7370571fb65db9b98bf1378172bd4e962482b857e612d1fec0f53e",
+                "sha256:f1d88ef79e0a7fa631bb2c3dda1ea46b32b1fe614e10fedd611d3d5398447f2f",
+                "sha256:f9c3fc2adf67762c9fe1849c859942d23f8d3e0bee7b5ed3d4a9c3eeb50a2f07",
+                "sha256:fc431493df245f3c627c0c05c2bd134535e7929dbe2e602b80e42bf52ff760bc",
+                "sha256:fe8b9683eb26d2c4d5db32cd29b38fdcf8381324ab48313b5b69088e0e355379"
+            ],
+            "index": "pypi",
+            "version": "==1.23.0"
         },
         "opencv-python-headless": {
             "hashes": [
@@ -2130,6 +2128,33 @@
             "markers": "python_version >= '3.6'",
             "version": "==21.3"
         },
+        "pandas": {
+            "hashes": [
+                "sha256:07238a58d7cbc8a004855ade7b75bbd22c0db4b0ffccc721556bab8a095515f6",
+                "sha256:0daf876dba6c622154b2e6741f29e87161f844e64f84801554f879d27ba63c0d",
+                "sha256:16ad23db55efcc93fa878f7837267973b61ea85d244fc5ff0ccbcfa5638706c5",
+                "sha256:1d9382f72a4f0e93909feece6fef5500e838ce1c355a581b3d8f259839f2ea76",
+                "sha256:24ea75f47bbd5574675dae21d51779a4948715416413b30614c1e8b480909f81",
+                "sha256:2893e923472a5e090c2d5e8db83e8f907364ec048572084c7d10ef93546be6d1",
+                "sha256:2ff7788468e75917574f080cd4681b27e1a7bf36461fe968b49a87b5a54d007c",
+                "sha256:41fc406e374590a3d492325b889a2686b31e7a7780bec83db2512988550dadbf",
+                "sha256:48350592665ea3cbcd07efc8c12ff12d89be09cd47231c7925e3b8afada9d50d",
+                "sha256:605d572126eb4ab2eadf5c59d5d69f0608df2bf7bcad5c5880a47a20a0699e3e",
+                "sha256:6dfbf16b1ea4f4d0ee11084d9c026340514d1d30270eaa82a9f1297b6c8ecbf0",
+                "sha256:6f803320c9da732cc79210d7e8cc5c8019aad512589c910c66529eb1b1818230",
+                "sha256:721a3dd2f06ef942f83a819c0f3f6a648b2830b191a72bbe9451bcd49c3bd42e",
+                "sha256:755679c49460bd0d2f837ab99f0a26948e68fa0718b7e42afbabd074d945bf84",
+                "sha256:78b00429161ccb0da252229bcda8010b445c4bf924e721265bec5a6e96a92e92",
+                "sha256:958a0588149190c22cdebbc0797e01972950c927a11a900fe6c2296f207b1d6f",
+                "sha256:a3924692160e3d847e18702bb048dc38e0e13411d2b503fecb1adf0fcf950ba4",
+                "sha256:d51674ed8e2551ef7773820ef5dab9322be0828629f2cbf8d1fc31a0c4fed640",
+                "sha256:d5ebc990bd34f4ac3c73a2724c2dcc9ee7bf1ce6cf08e87bb25c6ad33507e318",
+                "sha256:d6c0106415ff1a10c326c49bc5dd9ea8b9897a6ca0c8688eb9c30ddec49535ef",
+                "sha256:e48fbb64165cda451c06a0f9e4c7a16b534fcabd32546d531b3c240ce2844112"
+            ],
+            "index": "pypi",
+            "version": "==1.4.3"
+        },
         "parameterized": {
             "hashes": [
                 "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c",
@@ -2148,47 +2173,67 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:088df396b047477dd1bbc7de6e22f58400dae2f21310d9e2ec2933b2ef7dfa4f",
-                "sha256:09e67ef6e430f90caa093528bd758b0616f8165e57ed8d8ce014ae32df6a831d",
-                "sha256:0b4d5ad2cd3a1f0d1df882d926b37dbb2ab6c823ae21d041b46910c8f8cd844b",
-                "sha256:0b525a356680022b0af53385944026d3486fc8c013638cf9900eb87c866afb4c",
-                "sha256:1d4331aeb12f6b3791911a6da82de72257a99ad99726ed6b63f481c0184b6fb9",
-                "sha256:20d514c989fa28e73a5adbddd7a171afa5824710d0ab06d4e1234195d2a2e546",
-                "sha256:2b291cab8a888658d72b575a03e340509b6b050b62db1f5539dd5cd18fd50578",
-                "sha256:3f6c1716c473ebd1649663bf3b42702d0d53e27af8b64642be0dd3598c761fb1",
-                "sha256:42dfefbef90eb67c10c45a73a9bc1599d4dac920f7dfcbf4ec6b80cb620757fe",
-                "sha256:488f3383cf5159907d48d32957ac6f9ea85ccdcc296c14eca1a4e396ecc32098",
-                "sha256:4d45dbe4b21a9679c3e8b3f7f4f42a45a7d3ddff8a4a16109dff0e1da30a35b2",
-                "sha256:53c27bd452e0f1bc4bfed07ceb235663a1df7c74df08e37fd6b03eb89454946a",
-                "sha256:55e74faf8359ddda43fee01bffbc5bd99d96ea508d8a08c527099e84eb708f45",
-                "sha256:59789a7d06c742e9d13b883d5e3569188c16acb02eeed2510fd3bfdbc1bd1530",
-                "sha256:5b650dbbc0969a4e226d98a0b440c2f07a850896aed9266b6fedc0f7e7834108",
-                "sha256:66daa16952d5bf0c9d5389c5e9df562922a59bd16d77e2a276e575d32e38afd1",
-                "sha256:6e760cf01259a1c0a50f3c845f9cad1af30577fd8b670339b1659c6d0e7a41dd",
-                "sha256:7502539939b53d7565f3d11d87c78e7ec900d3c72945d4ee0e2f250d598309a0",
-                "sha256:769a7f131a2f43752455cc72f9f7a093c3ff3856bf976c5fb53a59d0ccc704f6",
-                "sha256:7c150dbbb4a94ea4825d1e5f2c5501af7141ea95825fadd7829f9b11c97aaf6c",
-                "sha256:8844217cdf66eabe39567118f229e275f0727e9195635a15e0e4b9227458daaf",
-                "sha256:8a66fe50386162df2da701b3722781cbe90ce043e7d53c1fd6bd801bca6b48d4",
-                "sha256:9370d6744d379f2de5d7fa95cdbd3a4d92f0b0ef29609b4b1687f16bc197063d",
-                "sha256:937a54e5694684f74dcbf6e24cc453bfc5b33940216ddd8f4cd8f0f79167f765",
-                "sha256:9c857532c719fb30fafabd2371ce9b7031812ff3889d75273827633bca0c4602",
-                "sha256:a4165205a13b16a29e1ac57efeee6be2dfd5b5408122d59ef2145bc3239fa340",
-                "sha256:b3fe2ff1e1715d4475d7e2c3e8dabd7c025f4410f79513b4ff2de3d51ce0fa9c",
-                "sha256:b6617221ff08fbd3b7a811950b5c3f9367f6e941b86259843eab77c8e3d2b56b",
-                "sha256:b761727ed7d593e49671d1827044b942dd2f4caae6e51bab144d4accf8244a84",
-                "sha256:baf3be0b9446a4083cc0c5bb9f9c964034be5374b5bc09757be89f5d2fa247b8",
-                "sha256:c17770a62a71718a74b7548098a74cd6880be16bcfff5f937f900ead90ca8e92",
-                "sha256:c67db410508b9de9c4694c57ed754b65a460e4812126e87f5052ecf23a011a54",
-                "sha256:d78ca526a559fb84faaaf84da2dd4addef5edb109db8b81677c0bb1aad342601",
-                "sha256:e9ed59d1b6ee837f4515b9584f3d26cf0388b742a11ecdae0d9237a94505d03a",
-                "sha256:f054b020c4d7e9786ae0404278ea318768eb123403b18453e28e47cdb7a0a4bf",
-                "sha256:f372d0f08eff1475ef426344efe42493f71f377ec52237bf153c5713de987251",
-                "sha256:f3f6a6034140e9e17e9abc175fc7a266a6e63652028e157750bd98e804a8ed9a",
-                "sha256:ffde4c6fabb52891d81606411cbfaf77756e3b561b566efd270b3ed3791fde4e"
-            ],
-            "index": "pypi",
-            "version": "==9.1.1"
+                "sha256:0030fdbd926fb85844b8b92e2f9449ba89607231d3dd597a21ae72dc7fe26927",
+                "sha256:030e3460861488e249731c3e7ab59b07c7853838ff3b8e16aac9561bb345da14",
+                "sha256:0ed2c4ef2451de908c90436d6e8092e13a43992f1860275b4d8082667fbb2ffc",
+                "sha256:136659638f61a251e8ed3b331fc6ccd124590eeff539de57c5f80ef3a9594e58",
+                "sha256:13b725463f32df1bfeacbf3dd197fb358ae8ebcd8c5548faa75126ea425ccb60",
+                "sha256:1536ad017a9f789430fb6b8be8bf99d2f214c76502becc196c6f2d9a75b01b76",
+                "sha256:15928f824870535c85dbf949c09d6ae7d3d6ac2d6efec80f3227f73eefba741c",
+                "sha256:17d4cafe22f050b46d983b71c707162d63d796a1235cdf8b9d7a112e97b15bac",
+                "sha256:1802f34298f5ba11d55e5bb09c31997dc0c6aed919658dfdf0198a2fe75d5490",
+                "sha256:1cc1d2451e8a3b4bfdb9caf745b58e6c7a77d2e469159b0d527a4554d73694d1",
+                "sha256:1fd6f5e3c0e4697fa7eb45b6e93996299f3feee73a3175fa451f49a74d092b9f",
+                "sha256:254164c57bab4b459f14c64e93df11eff5ded575192c294a0c49270f22c5d93d",
+                "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f",
+                "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069",
+                "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402",
+                "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885",
+                "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e",
+                "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be",
+                "sha256:408673ed75594933714482501fe97e055a42996087eeca7e5d06e33218d05aa8",
+                "sha256:4134d3f1ba5f15027ff5c04296f13328fecd46921424084516bdb1b2548e66ff",
+                "sha256:4ad2f835e0ad81d1689f1b7e3fbac7b01bb8777d5a985c8962bedee0cc6d43da",
+                "sha256:50dff9cc21826d2977ef2d2a205504034e3a4563ca6f5db739b0d1026658e004",
+                "sha256:510cef4a3f401c246cfd8227b300828715dd055463cdca6176c2e4036df8bd4f",
+                "sha256:5aed7dde98403cd91d86a1115c78d8145c83078e864c1de1064f52e6feb61b20",
+                "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d",
+                "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c",
+                "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544",
+                "sha256:727dd1389bc5cb9827cbd1f9d40d2c2a1a0c9b32dd2261db522d22a604a6eec9",
+                "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3",
+                "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04",
+                "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c",
+                "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5",
+                "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4",
+                "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb",
+                "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4",
+                "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c",
+                "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467",
+                "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e",
+                "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421",
+                "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b",
+                "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
+                "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
+                "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
+                "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
+                "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
+                "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28",
+                "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0",
+                "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1",
+                "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8",
+                "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd",
+                "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4",
+                "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8",
+                "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f",
+                "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013",
+                "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59",
+                "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc",
+                "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"
+            ],
+            "index": "pypi",
+            "version": "==9.2.0"
         },
         "platformdirs": {
             "hashes": [
@@ -2426,11 +2471,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
+                "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983",
+                "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"
             ],
             "index": "pypi",
-            "version": "==2.28.0"
+            "version": "==2.28.1"
         },
         "reverse-geocoder": {
             "hashes": [
@@ -2468,6 +2513,14 @@
             "index": "pypi",
             "version": "==1.8.1"
         },
+        "setuptools": {
+            "hashes": [
+                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
+                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==63.1.0"
+        },
         "six": {
             "hashes": [
                 "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926",
@@ -2492,11 +2545,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:7bf8ca9637a4ee15af412d1a1d9689fec70523a68ca9bb9127c2f3eeb344e2e6",
-                "sha256:ebf612653238bcc8f4359627a9b7ce44ede6fdd75d9d30f68255c7383d3a6226"
+                "sha256:b18e978ea7565720f26019c702cd85c84376e948370f1cd43d60265010e1c7b0",
+                "sha256:d3e57663eed1d7c5c50895d191fdeda0b54ded6f44d5621b50709466c338d1e8"
             ],
             "index": "pypi",
-            "version": "==4.5.0"
+            "version": "==5.0.2"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2570,6 +2623,15 @@
             "index": "pypi",
             "version": "==3.5.4"
         },
+        "tabulate": {
+            "hashes": [
+                "sha256:0ba055423dbaa164b9e456abe7920c5e8ed33fcc16f6d1b2f2d152c8e1e8b4fc",
+                "sha256:436f1c768b424654fce8597290d2764def1eea6a77cfa5c33be00b1bc0f4f63d",
+                "sha256:6c57f3f3dd7ac2782770155f3adb2db0b1a269637e42f27599925e64b114f519"
+            ],
+            "index": "pypi",
+            "version": "==0.8.10"
+        },
         "tenacity": {
             "hashes": [
                 "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f",
@@ -2596,27 +2658,27 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
+                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
+                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
             ],
             "index": "pypi",
-            "version": "==1.26.9"
+            "version": "==1.26.10"
         },
         "virtualenv": {
             "hashes": [
-                "sha256:e617f16e25b42eb4f6e74096b9c9e37713cf10bf30168fb4a739f3fa8f898a3a",
-                "sha256:ef589a79795589aada0c1c5b319486797c03b67ac3984c48c669c0e4f50df3a5"
+                "sha256:288171134a2ff3bfb1a2f54f119e77cd1b81c29fc1265a2356f3e8d14c7d58c4",
+                "sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==20.14.1"
+            "version": "==20.15.1"
         },
         "zipp": {
             "hashes": [
diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py
index e8cd084a3..11d070e70 100755
--- a/selfdrive/debug/can_table.py
+++ b/selfdrive/debug/can_table.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import argparse
-import pandas as pd  # pylint: disable=import-error
+import pandas as pd
 
 import cereal.messaging as messaging
 

From d8089fb94e9ad1ab54bc3baf1acbb430b305f612 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 7 Jul 2022 23:07:21 -0700
Subject: [PATCH 169/435] Add video for 2020 Lexus ES Hybrid

---
 selfdrive/car/toyota/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9324e6baf..8149bfd06 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -152,7 +152,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
+  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),

From ed47032a6d51d1aeaf4cd553ae9b350e04672558 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Fri, 8 Jul 2022 16:03:57 +0900
Subject: [PATCH 170/435] Add Korean translations (#25073)

* Add Korean translations

Signed-off-by: crwusiz <crwusiz@gmail.com>

* line error fix

Signed-off-by: crwusiz <crwusiz@gmail.com>

* space error retry

Signed-off-by: crwusiz <crwusiz@gmail.com>

* &quot fix

Signed-off-by: crwusiz <crwusiz@gmail.com>

* translation --release

* main_ko.qm remove

* main_ko.qm remake

* Update ko and fix zh

* fix Linguist warnings

* commit noun

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/languages.json |    3 +-
 selfdrive/ui/translations/main_ko.qm     |  Bin 0 -> 19159 bytes
 selfdrive/ui/translations/main_ko.ts     | 1212 ++++++++++++++++++++++
 3 files changed, 1214 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/ui/translations/main_ko.qm
 create mode 100644 selfdrive/ui/translations/main_ko.ts

diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index e62de24a1..b8c3a50fd 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,4 +1,5 @@
 {
   "English": "",
-  "中文（简体）": "main_zh"
+  "中文（简体）": "main_zh",
+  "한국어": "main_ko"
 }
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
new file mode 100644
index 0000000000000000000000000000000000000000..62ddb3be2b89c6c73e82458ae86c02825c925de5
GIT binary patch
literal 19159
zcmcJ0eSB2ang2;Llb6Zlg;yyJcnKh|LP!LZB338K0D+LiWCF3qT_%~EWXxn{oVf#J
zOZR7g>QAlc;ucrBOI_E(s=pmrNP;97Xp&|!i3=FOQ2P;fS(aMt+ScysuG?ze?{m(b
zJ9l0Z+dtNP<j&lA&U2pgoaa36XML|@&Rf4a_`<mb1wY*Jx2La`GM4@_W2v7r_D7F0
zmez{rD|qh0a~RJT@qC{#1AfmPWz4vevE|u#-i>Dio(}@%N%1VagRzVOz)6gm!;CGo
zF=l<7u@Wm|o1bFrc6_g_!}I%$-Cx33W&xgUjLrNA&nNI6^C<W}%gqc={xxIl*W#Jh
zBc2PtDV~-eGsA%!jHO7-FuWS$I+@{IFP=lp@V0@m`L{FUcR<7PPnhw@tBhrTz|!CN
zC(tyFWk{fTRyoVK{T+P&8Y|AjGy8V7aqOFntr%h(Z=PUm&9iJ%Ruf~>Ol<R=FMtk^
zzYBc2eI=`QeHZI{nbrIY=AZc^R{O1w0e_X*Qh$W^zhJheZ)4t9*tS;>F_v|MHB{`!
ze7CS~ytaq2(lzX%!7<EpAM0=wV*Gd6?$0qk=M(m~Z=GkX>^9b={4rz8USh*Dsu`R2
z5&P+P0>E3IGW%=G8Cz7HGUug5j4hd!vgSGLPsy2-`$v{Bwm2o_uO{$*-HDX*HUse1
zq`aH@1I7w=q<paIamMB@Nj0^G7+d;&>f)bXXY7vuo4UcIfUXx(8}qT=lJ?Z^zmo;{
z*HTaJ1zmUiXX=@X=NQW`OuckJ@XoWOULC_e7rmW&?d4g(w=Zqphep7EmR9)8y;x6s
zTHt=*Tl>AVzt07|%U7gzy-|bl`_oQ!0lxUxX~RqY3^Ml1w6~}K7xwMBv`+(v!PVOh
z)(?&|HlxC@<JE4^GiY#D;C24Eq4WCJ8I!(Zc+&76jNSD+!-0x^$k{gW%sV5Vx0V_X
z9{Ln?J!E+0h6B$R4Z*ixV65;#Lr?o5@bepnJ~Qo0!0?anzlZlfH2mYwe~Ep)({TOX
z9>y~M&S<(5{J!rcW6m>=fPeMIvfRa>|4)q#JFp*j?K8HT&OlD=#)lVy-jbWfhe@7H
zd3a(SnO0+G%WlA*Gk$Y*F690D#%KN#beQfD&-vBjdFwOcS^Avu;GaVdvQHWh{l6!$
z-d`I3A$$$|`3vLF=iqbdVdIY$TwpBkJI42}f{wyp8~^pOG3@&f#MAOy<8M9(T`Mco
zQy17EPj95>{;G(vTaTx&|6l{wV@%)Jb(*pDrRfi*fbWamOaH;AzXKolruP?p5A?p8
z{+sFv$X7>3;WF@P>9&l+b05Qg-=Fah?tjJn4`=+U_7(8$v5ZgN{R;Tx%lNOKgD+`U
zGJbpa&#>PMGs~6@W7{$_H>ZK_{0B1SU;GyIel_#iz+W-;)mJnB=I?=TMo#95pDx7r
zhqE$r{si*#t*nIyGjUEH$g=!<E8r`#>bKkgy$@t<dklOlyO{N0BlvvVA7wd4N<r7s
ztmoJ*5QOfmciyXlTwTw)I?V$;HP2+h8D!~uO^)$%Sa*x*=?~`Nyzj#E9-M={re}VZ
zhwuMv+W$N3@8UO22l{^idj7_A@ZEaI=~qlIox^?`7MPAawIBTZmFZNm5p?yKhFUSs
z_^@f%G#~PL!8AO3J?MGgbhB9j|Gtr(^2VP5zA<~@KnV2IWj}NsdSKyg*^gW@fZl`I
z-`+VB{L9H6`4IcF#FIU`6?~d;-8^#u^A^oBFX+Pi#s6+zaZe}Y!)e}7hJC*G|Cl$g
zeTcEUub8)#V*TqMHE(+X_~yT6?x-Sq!sZu$vmJE*!rb*d&e^;Z=CPN-ui|0z+4t~V
zIotf+2<S4rlaqdU5zc*1&dPZ|2L07JU;F%NoYS{+j;zM-3%;Fmau=R=n{$Q>{|<7X
z<P4YMxui7bt@V%t)0Ny=uOG(u-{#JJ66>A*bZ+6NWsKc<OYYih&^yJ=xm)&vU(?^p
zefqC)u9tl+_xnG)5BqpC_x~RP-aEJCp8ikl`&WOSd;Y$0#%34fWqt%bnDH-pGc7o`
zcio*g`~BZBw#uEi=?3uJF)h#C`cv@3nz!%WC$P`Hyzj|w(D7p4551p(FNVCUH(!GM
zKb3cF!%@b*UhibAd|nzL4PF0sv>2iUA;AB}GMC3MXW&zgrOB`O?9GbBCHs^V0-YHO
zb$i3g#a<@$=P@Z9JpJe;qc(I}t=#1CD3aankm|h-yD}M?=}|P{JwsQ<ri~3~NOJ1j
z9?zf3QzI}l3#(yOOd4D?I!haxZK<h}>SRT6x?5=h(=Cpjc6YPvsFIak9$!0N^Hmsn
z4)r!_qYS0?=JqMUFZGUHh=N<oD{NDNn|d4jbC@&`9C=+Elxua{n_RL~>#=uy3328N
zmEE?!!8io@Dgv9Vw8_3NLlNOl_=(=d8Vy-iw<7x_@MtRP=MIcADMG@T@_yF;)aA9<
zX+5R_fypiJl9UKNlGpC{gUODmkegTqwoMxSY;dnemZ_pfvN#+*+3%lfXns6R8iMH>
zPo$dPgNC``eceA{(h=8SNw^#fGfXH<I#WJ!wr7Wia*0c}@06t`m)+eiwRn7zJ)n3x
z?25BlYWBEWoUH*LzIfbI5o|bjQ@6_WG7>}=A5cape1y*9E_d2p9#twY*N1m&B&1dg
znVbwbxd>;M%grvQTduLU%3Rd*gWl21FU$i+Mhlq47PAs<f>|o)aw*_;y8VjX<&qYc
z5P=CuYP$Y==vw$bocTFDSB9=IDfF!)EHuuf?w^DkCX~>gzOz8?VO}OPH~w`p7rrUP
zUOEL6JD4;y2dsW-=tS3O*9}&r5mEMlCm?kM{LmTA&9YaKAl;Hp_I3EV62amfPGXZ^
za=Il57vxv*NCCerdAzdQ>vVaPqNF5m7E_1!g&UZ3wD@Ro5GIG#&yMlu9YTTO%_{ZH
z>b^Zp3bMZ7_@Usnq{J?lK&?-5$UB|QvgGtjUXK$;$^o_w9g`N{!AV}ciaxK7P(`3M
zcDL-}yD@jvFfvYT8GWMn>_o%RmEg<7lB1Ph+^Vr;p~WXlonVVUpnlk8cY`q=Ot%Z`
z_q4R!t1dYf`D~$$nKTJvX;Q>KuC|k7U3C6HU+|2%H#4jZHt+)zB%M3S9Jfy~hhJ8t
zX1mMTB+gFq>2AB&OH*}SrM(C%Jy&Q~x^4_z>Hjz>w^mIt;Z7$hC<qjcm=iMIDzyfj
z4mtV6^JBNBchM=Rg$ZS}V4`7g?Z|#@duEqA{j$3i=Zm(ahHpuAOH0xnnH$}aN%75y
z!6yu8Qe@LvIS!SZwc>Eekl_ket`U`0?s2!myi}AY9hy7RGinI$W72u$l<njmZCFmZ
z&$$yKRc7yyefFe7(_v&+GK)4Ot!kwuDPZQCpY{d&Kh`-C88x-mZ57t-Nx@CTZgCDY
z+*wm|^DkppL4rYZ;vj!~N*OF*(z(Xb6gut^xKponjb11wQyM%y@orSvlRCfwKYVr>
zssHm0go(ypwoUAa)l*>e(z8oXj_Gw@*T03zLl`mP<hpE`M*fpEK4=D2<Q#&tE%s)T
zyJpT{5|}pG<%RB2oE=X1II1e?@C4lCv*3jLxw_*vr%8rdRPl6p+)l+qc3+Zrd*J}c
zuqH*)(w%afvl$!DRcI5mVoS@ir2I|~^JA+KYpk`_S-BenZ6B*gGR1Mz?PU5C8wtcQ
zK4AJ3B5XKvWwbye!Bi`^23&S5t1~IdGxeGWI~BVC_?o0p%AyJ-DU!MI`Xr)FbjzDn
zEB4J6Q4<?UO(aFPI*FBo#2vYE{sFd}3{BTzdO~Y7CYflhIuYq4U%(~%mrE_OU4fp*
zCvuuy5DSI-1%7O0)W#*H#mwrU2z;=%cIMK!nqCL#uyaQvVP_37=hHCh;WUKGPae=P
z8XTTo+|x<KH?rrg(@{8=+@d6<^lTEY!J7yl7H5yJFzJo_uKhT>i~4rcH@2G0a#%Um
zL;MUI_`5aqPQVd`{N36JTrW62xad6hN3_#f1Wbv33FaOf7<?AmVm*!O|9Es(&zv_0
z=yP9ia7!4PKj<Y*GEqLVf1+V*03Ofg1mEQ~%>|Ks@*@E!c9B~f^-$xm<3RGG4HsdT
zQ)z<>vl`9;u?fD6<a4&RiC9VfaSeV9Ks)%PwfIC_FN%r)`5W*(p(X;JfZx>_HKp#>
z<sblufvXUJ`RqO!04h<A<gQ4%;Iy`TMov!B?Mn?CG_cfwHz^GC`Pm-0c~^o_*i1`h
zrDUtvYNZh-Zfoiw-G1&0rH_6#@$}Ff4RJdEoreJNpoSQ%#!Ya-lEbkrtV2VXx@Bv!
zc};99_fKW!*FcS1oj8oipwq_&jvXBROoPm-vDDe5?N;lSWYD?7z7iY4&yP*hM&+sc
zA5OL}5}W4n_4>BKVAM6sZsDzG!lbPY@B1P}8)}xC+w2sB%Rc`Cnlrn??F}gUuwk+|
zBLUKUu5oa$5NalAGvrpukWae;xwOOJB%Q-d2WxB^E22MbWKM+$8(@`+inx?zsc&Q-
z-(%CzoS|!D)4rIin{Gy}+$=kHk|pyrJuEjX{&jrLxS{6m-QxrO7bcuBgQr93dt7|5
zLv|_lNyc6>hxY_ahOWho&F2{jnzw~^JL#+@R>mrs72$KOwn}4JrPWePY{}ee_eOnr
z^JPOg$fQ%RkEZCd7c<HNKA#MKy&Trt>DHpe*s+g?_YJNk6A?V!+Zft(tcP3>3jfHh
z7Oo;|hT`hLpB*a9%hh}blgWuW;_40wrxd$k8hd)^O3$x*AHrJOn1Vkq^RspE*;aB4
zZg`9`J}H2WVk`nyr?$eK8(~Och1@HeI#<wBazL3ii@3|-^m|?QP7)Cqs16Te5>i)^
z9ond)!!DV;K4*uFV5Q05>~q4g@jz?UIa}SN%G{n^>!dbC@%q=TTnX*v2G$}zuE_38
zWNH4`1!kh?qG!(7KxlKgQX_F@6<jAzhir0rnmJD;=(|J&(=YEG2u^{5l0aXA0*B<t
zXNlWNQX9LgTwla)YvJ)lXUc<nDN<rf`(GX(V9RL3cnqxce;gA>++y=}a&u8--|1`>
zYbuo$?uEx<%@-7rsK5@5=(sZ5?SYo(ggK((mV_`v@Y>NVjhUH|v=}ka6qg&D9m)BS
zNK)1(F8)C#i?T@iY|o@9DCWL6(7RTcPHq0&?LLGnQ=%|WG#o8PY6dH2h1x(PrD6(`
zQEkGpt$=2)V74f9WyMyJsmrR`*}C27hD8;o2Y?pVpaG_BwKNdYI4~3Zs~RW+t1i$o
z*40?8JjjXz&SdR4t1DTXhSkvCv9c`*+H}Bqb#Q4N-sE6XsIsqLLzgaDDy_A`V@JH{
z^Vl7ma3ItL#lmI?*gBd$J03VQl6#G!uCFP#*tnIBhfdweOxS|x-+E{z7rra36RVKf
zJ!}bbDogOj&)-pOO7BQ-`4Fo*p?_BJh_wa3uLE2OTZ56i+1-HpdK`9|XFZ^uUxKd*
zRFJMC4M{lHuwos~KTr>bC=Q)A_^hf^*JBrng8v=b3MsuxjxR#a{Wu?mbj-$;z9SP2
zly%bF-}_lDlis$8{73N7fiX4QECPT2H|ZlAF@?<_bryQ$?17V?scNl3SgXsMV83jq
z6yjz7%-+TzJ6cRD>pP2t;V*`+j4XovnT&FJPg14hctkc+6qCgNTkmm6N~c%8XGzHt
z$***}@TtS@YjwI;kUzanDp}**efN^DtKgEf-sOygYw{>a;;xg{6m!Up9v+WRVw@z8
zo04!)bZs8Dyndz2`3Imbb2*#ar9!*IAyJN81O$cLfcl&5Zm#z4uZ011AYvC^x%d4C
zPE+dfw1Wrj6c@x;R$3S*o=m0$yDZC?MdVGLaP*w*GKi7vUax+}^(#Ftu}IPz<{G<`
z@(nc}Z@|m7OkpHmd)v_mAr20Y&I&>dE*%K<^bHE}jBFdbjYbO^qTvuHNq7y&_EOFx
z`9x+`a=bifz^P>6!y3wIB~qtsr~D`O)#F0~jz;Iyko#eAY<D_ZWl^Kr{AG?$Xq>V|
zI(JCtV37bL@%TjCdRCUoARJs%y&mE8bjTe|u!ZoQ<9A>Z(#*kv{(|s6oRxy{tJ=!)
zkb#k1h$bOzvag-n?<DJ*4r^4)t(;Y48orntMNw0WI7`}Kwb<&B*;zNq{HBrd;Oj!$
zX+v{r<qnU6r6B<?N-#<0&L0~%ir^#^I`S!{XM3(_!?WwXtv)*hxyrL^l3C}#tFDI4
zC95l85!F~k6|=EA4T-s|dh1q;R8w71W#d*Wk8f+eU-s!XR^oW7FxHAsHfWS6-Xh?x
z(D3D#RaaG6%WOp)Z;_>fC`*cSc5*S$Fl7sQ<@-G;64R0ys#_j4|GC!>epjliFRd%9
zttb^PLsA0rc~L?N@4*vAiP32IY+hU<IqaQOS7`On+!^;*^N5L`#_3`lg~kaZb1<?E
z%4?FL>XfG+PZ*eofv8Ug6nT=N1}a==%rRJZJNX%op=^qbU<_O?bHGXPBW!8LGa9&O
zIPCs5M9fK+oRG@VNXgQYF$u%wNA%XY%%jDZZ3uvMg%@_OhT_X=7hHV_ZN^IoMg*g(
z%9*s*r-z9t?`4#UA|O$#1Db+&I;iE5l?>guv=qlct;1g)7CA@CKXeaALPTwSg`8fg
z#g6dTQ6#CgdYA<Tk%+w&B@!OP>*krMIx3uR3E@8?`AE`9a79f5=n$Co2sA>>b)9}i
z?f?a95T_flGhwqtnjMQI{`Eh8v7da9E<>L}1)5W@^}uU7)-&=tnIZ}uDS0Q@)3Zzz
z8}S{LSn@_9qbR}6BuZOHyef@0S*6WKw1G3u)>hd^>_T$i&ogjTx+P<ZiV4b)R5gY2
zS135709oaTUmL*7z66i)0ay@fkcj8Aje06B6vLL9FMcGdY<;66Jr{c;mDA8jB>O1X
z04FQL2=mDgg+s~REo3hfmQ+?RdJjMY&qhM2D0W0&NJWWgJz;5L@j7{rC)f}p%WA1Q
zx7OL*W|McvB&TRQHRh(n(4ihmGM`%~@|AvFTxN=f&)N`EG(4VcSmyCX7kfv}jz@Fg
z8EQ;B*$C6%-U$Q7+zj<-6J^$UT9jSLoK7~#aN*^nOasrbd0J6%<F-24T2k4MHQ3Z2
zy*Me-<Yjy#xTAVqo6jBWM-7rHR-*>;PAC;edp%N4C1eU3PCZFJ3uUPX*Pecq9P^0|
zo_FZE)YJd5C^5%W-K$DvMAAs)$P%0;%>_kBxg1$Q<@%%F^CL;-cKX{;cITY|B0oU_
z-t3`@p`V-~2htTzmtP1+lwy&E-vMegE)%_j()iW5T*BP4HV=A@qzLQjn5Y><VwjE#
zxoj6gvK9&qLmvf?X{^nM8YS14Ms9bm*uaxYx^af!@Zhr=bS9uFfzJ0>2Q^cNeS~NK
z^`mA-M)Aa#C!i#qX+E5h01tvGD3y>q@PJ+gm?;pJH5&5D(Cy&q(AJ!=(DLL)u{>%N
zb(H6J-5BZVZR~+MBU=!ir5x1*7dBMdz}0=+EcuaP2}(UTGBBFd)lFAR389_>EUzA}
zXeF^KEM0z0h#?(yDw>3MUno9)m)Ix{aezrZb3#4%<*BayB&Iymsp@r&<Ql7+cRWyW
z4BC{mu2f%JNp+8%DDpuxN&M(nVQsjSQvZd|4H<?GCOJU%kp{GSJfiHOqunfM1{L~N
zCbcOF6UDIzMThY78gY3@k@E5i3K%}Le8d4yQO!n0HV%0CM8ok#Lx-sD)N_SSG_Np&
zagh!LlJErUy+IVmbxN69Vi1oYBvKQyC=|HKNFhn)^?91rv_2mJX+XWn-yVNf<NXZ;
z1H6MzusDuzldzjHj4^SBNTd|vpyvcnLpdQk1GQC8a&YWuTpn=dc1vwlMb*Z2Ql)2?
zw9SKrz6k1cyH*fU?!bc_4XHI0S#R{6CflxU&&=(1*fL7(W9<={h@<B=97hk1B1I9u
z&q19*xTZd=nWT$J4{L;&Hwd-KwILCZ%|Gdam~;^@Ya_CGq#WgU!hnY(9uZsmWq~bQ
zCPG^^B<IE<d3-~erb~NBEuTGd#FgMOG$e%YT*O2yq#iYCsro@n=r7|ZwAp2Mc8Jhl
z7dugBg6!ksm#{(uGK4EMhNP}oL5$0&Lk+&kE(%Eoghm^q5O-`$0<lUDu__tF8a>3C
zBoHyCB}0uN6Q@FwF6z@5t+ln)ygU>`ae7$kwjIAqqdCoL+mwijj)(?g*jQc7Q_Hc4
z*hYlR(NH;UV-1gxV}K0D|3X(5Fl?&Wm^fKFQsg#f)uv0U6e-_WL<p{{HIUS*>I9lI
zM;1*OPVUilDrQt~*iczfWlaDzj6S2IDz%!|Ok<`?A6XiMD!sZYDJBzGU;%06x=tix
zjisvGk}zpHB};X+*YrA6@5&O{VHjE3J*=(NV6$$mNx)?w&8)#>Y_o2vKrt`@%*3|C
zF<HSj=xS<4%^QhX@N{a#)W@H{SL2`7pvmLToQS&=twqNA<HoX0)-ulQB%s8fppHM8
z92i=dmX!oPH&QMTW?SP%ep#E0Bqu3JU8{E@X}OSJC;T7@J%namEMVG*Ok}AK;SsNX
zB$?S98F~Ijf3`L+A6JIbqsTlY88`D><IpwARYf}0X~o+3X_Zvv79>l24U;U~ggjLp
z1zNh4jH$X#+J;Iz+>A*^Jr`Dln+{tO*A6RmbA&AJ5|;!&i8P^bpQurEP=ud|M6MBN
zBrOcRjYmE``5LvNkyu9kD{4}Ne>EB|KT%1IxZ&r!f0CflTWxThT(oqwp6R-0QMl!K
zzm|ZDdP-<d;djxlB0(JBJ^V!yjTN7fesxo8NdO(WyV{UQ;0_u2An>}N;<<uPvL^<T
zdu<Q0>S6ZlY-kUegp28-Us)Sqs@GbSCmCUg*{6)DH>n`PR@#Ih8(llHd}vN2#?~gC
zEixq(TC~VYbDPS7$q1lwjy5*UQqEPmsm|X<;e*ekHUO(Ky$LQzQ=~;1E{VRGbFQec
za=#6SWK*Dt8lHV_^bpeA@hBk|CzfdwXH-^O%GJ}H06AI^^lFf3>f2hqjcc=b!2FT@
zXO9R`q-07k+W&&CyGH`lmq=3NkPr+dBZ(@fbqpn;@k82lnRRuWq%CqMkC@{pET$4U
z<;BBF-{WA%5}w?os-jRHoL%H9Cv4JU$`KQ5q$P_{8FF}Jzk7*-CP^oVL@*#2n2g9f
zf8ROL56+UzyfAj=HoG6~4pKW-IOV)4W-|I;%nd8O8Nt1jjHEo4ew`HJBaelEKxDUq
zpNt@9KYobT-_3YQTxD;_KDd?wi6eU_8p*>x{b=aJXx1yd4^8{PqF*OLh0432C1Pic
zfq{=L3jY+V^^I!vyO@&6*dRLDp^K)*Lx*Cbp?kRZA$Xh+s!5ya2DT%3fd{`1%7y|s
z7zV{Jk<5s?1f4?4wRr<gD6R=MBmU7J62F>JDw3*DPw|N$5)o3|8InARA#shM4GJz2
z8x=_wM3B_ZB6oOQo=%yXTrgXeb(^(TvisW!l9Pav9)_c~6^E58zId^w4o!Xzh`riL
zFsWC0usD*-ET{;POyYTc1Kp|6V2zem6z@2gjc!F~_c{!8uR{aNQ15ai0W=RC8h7<N
zAZVjH8uII!p^{Ki1y`Z}z5Ezw#Z5uCJhUlr%Z6@c+$KStsdqAx%tj$roY^Ch8{K<;
z0mQWC!U_C~URes`#@Nstwdj3}ex<JM!Fj?+#&>WNJfNRWFl$bW%Z1ocOa9Y>JWX;Z
zZ?as0Eyi~F>@6+g;?7Rw75HTmdXG{Y%v?v34r{0l(VM9@U;ELc%lFr;CjFw0*X$r0
zeD>0TF63ZGz2WC6txV=v<J$aacYn28vVhgNN=GfvQjP2oUAl=#mx>M%u64v&ReMW%
z;U5e>+da&rcN#HOv=eVJrlBq^$?v789|wb)Pk8c9Mh*xiQ#6@OwuG}w2PM+H<5bk8
zn4N2k=n_<Mt;8)BbhT05m@cNM=asAT#3kg8U{5D@_uPm>c1z?Q9QD4g*hKrl`yfe_
z60yull%_a*k!x|903=6rjHg&g&r+v|%1y-6tI&<YyK&eu;=sTl=}Y1;ahe)bCmN_J
zx%(#}7_<Im6NjmBnELHVs4q7TmRz<`s~U9bX3~WNgX2i(P;ohkf+^+6RNflM(ct)Y
z5RXTWiC>~Tr{76QBnbE`qFs^-4Y-4e24fGZ-!k-96D}=MssrU4?%82;cD13*&sAFF
zS^xyN1%r6X)=v3aq{tv2xYh<|5ZA=CjHaFU|4DxI?b%&W35s(kZf~M(nfrKj4k)|A
z@vK6L(Ay?0T~o}3Y}q7Y#m{pXCOy&<d$gF00Nol5g(zdG3D~VzBCdAv<Uu{OF9ep$
zg#KPiqHIV=39RPTPwDckp{t^k8--yT6`ARHX!vK>wLwK#Z5BEgcdTwB?-rNul1qv$
zqIv|`VmC#3hW1F1uBt8dQcd)lNvJY-tuHusfYep6U@&q;BzjICRM*EVFzDezA&K&t
z$?l5K(cqUwoE=E!;WDBQQg<7~?rO!g5T&hSl5MzcWYMUBtsGfI#ldbyfl(~u;ttfU
z@M?5S(yI`A$4W0R$|i1x`OQx+6!*Unhie+)+A5=n)+~v#T5_IW5A}3UyZF%=GrSyE
z@6EBNAT&2|Z^I$PMLk0}dBRALP@!etOZy>iZzfX{Lsy0lU1+48;OD9#>c!C6rHdNT
z-_*-l9Rq`OO2fRoa<q7)H}s+Iq7Ri>F_Qacz}i26OGVsw6VVt?-V)~iG3e0~mB5rT
z@_NJ@(}eLN@r1Tg(^!&UR6}{p<*=iJ7MtDd3*ed=uPnk&^P|BJZM!UcBl3c~u5fax
zzE~tKCfXG$L#iq8NcTT=r;y`B4m(#L0ZssXEcNP15u#wb8;w-0pbM{6H%e0M?HC{<
zZHMv-S1m-g8tU<@h|mv_kS|drHmT~dAfoWdQc|~2*N4RTNGUdP>xjubq*cqe8tXP}
zC;cY#VkW8qUMk26s-Ycqmeos^RrqgcURLkwY3!cloKRn5oa2I%Qi->8<Bk#-0kkVn
zHzO|F;FmJ~i-LSII@dH3=WEj-r461c0S9`(UF0)S2$)>_pG%xt3-XtcL86WuTnUG`
zzqz`1@nzf46>&v1;(Ji(TinnbcM<$(0XnkiaO@5a_kWcuqsMTi68COtFGNxvTGGl&
z3F=I_*eTWYEYKF?jV^{e!(b-A!>)?K61r&Ouv4OduD6hgL1KiBKxUZMOO8h?;v#~;
ztxw2PQN(XpCxlJK>6a|l(gl;Thv#7;Av<|R{92CI7og?G)e>O{agr#Zgy5E;nG06?
z%#Oa@q`kG2ka{5y5%DJxn@i0Tkz(4o3mRfSMtlo<U4j^=G?J6i*z@NW+(?EKiP9*J
zj(UhimV}Zak@JV+rIskUWfqBkGUGf!$TKa(&=#a-D6Uo!=r8%%$V5cSd49S!2=wUP
z^LchVVaMpIPszqoF4r0LJY%CK&6C%bV_^QEx@ycw1Jyn>W@PBfwlQF4%1$Iy8BLY2
z@?e|VF%mN(z9gl)P#6QJOH7hHXr$x`9-zB~-^t>oy2%E{)J${Kfg<fg!Wc8mOfr?Q
zk{q>4fRu~6nDp(=7H54059TtdgE6#eBH9*~zM;Byqqumf2b>?RK<f%#>R??5{Ok=L
uAC>Hd@ThGLq9tCBZcY>lrNiO1#^2qUQ-?-WekYpj4l1a0HNqdag#Q85A*7H1

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
new file mode 100644
index 000000000..fd643224c
--- /dev/null
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -0,0 +1,1212 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ko_KR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>닫기</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>업데이트 일시중지</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>업데이트 및 재부팅</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>테더링 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>테더링 비밀번호</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>편집</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>새 테더링 비밀번호 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 주소</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>로밍 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>자동 구성을 위해 비워둠</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="220"/>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>당신은 반드시 약관에 동의해야만 openpilot을 사용할 수 있습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>거절，삭제 %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>Driver Camera</source>
+        <translation>운전자 카메라</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>PREVIEW</source>
+        <translation>미리보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
+        <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>Reset Calibration</source>
+        <translation>캘리브레이션 재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>RESET</source>
+        <translation>재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>캘리브레이션을 재설정하시겠습니까？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review Training Guide</source>
+        <translation>트레이닝 가이드 다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>REVIEW</source>
+        <translation>다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot의 규칙, 기능, 제한 다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>트레이닝 가이드를 다시보시겠습니까？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>Regulatory</source>
+        <translation>규제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>VIEW</source>
+        <translation>보기</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation type="vanished">언어변경</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation type="vanished">변경</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="vanished">언어선택</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <source>Power Off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>down</source>
+        <translation>아래</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>up</source>
+        <translation>위</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>left</source>
+        <translation>왼쪽</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>right</source>
+        <translation>오른쪽</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>재부팅 하시겠습니까？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <source>Disengage to Reboot</source>
+        <translation>재부팅 하려면 해제하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>전원을 종료하시겠습니까？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <source>Disengage to Power Off</source>
+        <translation>전원을 종료하려면 해제하세요</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>주행수</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>전체 시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>지난주</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>Km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>Miles</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>카메라 시작중</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="70"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source>Need at least </source>
+        <translation>최소 필요 </translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source> characters!</source>
+        <translation> 문자！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>설치중...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>수신중： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>델타병합： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>파일갱신： </translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>현재 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>CLEAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>최근 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>네비게이션(베타)을 사용해보세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma 
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>자세한 경로안내를 확인하시려면 comma prime을 구독하세요.
+즉시등록：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>집
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>회사
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>최근 경로 없음</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="vanished">선택</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="vanished">취소</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>고급</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;</source>
+        <translation>하기위한 &quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>비밀번호가 틀렸습니다</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>업데이트</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 알림</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 알림</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>장치를 콤마 계정과 페어링합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="91"/>
+        <source>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
+      &lt;/ol&gt;
+    </source>
+        <translation>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;https://connect.comma.ai에 접속하세요&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다.&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오.&lt;/li&gt;
+      &lt;/ol&gt;
+    </translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <source>Upgrade Now</source>
+        <translation>지금 업그레이드</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai에서 comma prime에 가입합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME 기능：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Remote access</source>
+        <translation>원격 접속</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>1 year of storage</source>
+        <translation>1년간 저장</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Developer perks</source>
+        <translation>개발자 혜택</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 구독함</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="66"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 분%2 전</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="69"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 시간%2 전</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="72"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 일%2 전</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>초기화 실패. 재부팅후 다시 시도하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>장치를 초기화 하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>장치 초기화중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>장치 초기화</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="257"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <source>Device</source>
+        <translation>장치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="327"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Network</source>
+        <translation>네트워크</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <source>Toggles</source>
+        <translation>토글</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <source>Software</source>
+        <translation>소프트웨어</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <source>Navigation</source>
+        <translation>네비게이션</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>경고: 전압이 낮습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>하네스 보드에 차량의 전원을 연결하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>시작</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>출발하기 전에 설치를 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>wifi 없이 계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>네트워크 접속을 기다립니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>설치할 소프트웨어를 선택하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URL 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>for Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>다운로드중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>다운로드 실패</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>다시 시작</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <source>Finish Setup</source>
+        <translation>설치완료</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <source>Pair device</source>
+        <translation>페어링</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>오프라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>온라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>오류</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>온도</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>높음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>좋음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>차량</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>검색중</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>이더넷</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <source>Git Branch</source>
+        <translation>Git 브렌치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <source>Git Commit</source>
+        <translation>Git 커밋</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <source>OS Version</source>
+        <translation>OS 버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Version</source>
+        <translation>버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Last Update Check</source>
+        <translation>최신 업데이트 검사</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <source>Check for Update</source>
+        <translation>업데이트 확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>CHECKING</source>
+        <translation>검사중</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Uninstall </source>
+        <translation>삭제 </translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>UNINSTALL</source>
+        <translation>삭제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>삭제하시겠습니까？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>failed to fetch update</source>
+        <translation>업데이트를 가져올수없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <source>CHECK</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 키</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>추가</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHub 사용자 ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>사용자 이름 &apos;%1&apos; GitHub에 키가 없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>요청 시간 초과</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>사용자 이름 &apos;%1&apos; GitHub에 없습니다</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH 사용</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>약관</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>거절</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>스크롤 허용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>동의</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>차선 이탈 경고 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>우측핸들 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <source>Use Metric System</source>
+        <translation>미터법 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>mph가 아닌 km/h로 속도 표시.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>운전자 카메라 기록 및 업로드</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>가속페달 조작시 해제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24시간 형식으로 ETA 표시</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>오전/오후 대신 24시간 형식 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot Longitudinal Control</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>업데이트 필요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>설치</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>로딩중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>업데이트 실패</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>네트워크 검색 중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>연결중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>저장안함</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;</source>
+        <translation>wifi 네트워크 저장안함&quot;</translation>
+    </message>
+</context>
+</TS>

From c9fa5ef11a6d47a886b30f65b2064b2d6ae05807 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 00:23:46 -0700
Subject: [PATCH 171/435] AGNOS 5.2 (#25011)

* AGNOS 5.2

* casync manifest
---
 launch_env.sh                   |  2 +-
 system/hardware/tici/agnos.json | 16 +++++++++-------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 769613bc7..ac84d6dcb 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5.1"
+  export AGNOS_VERSION="5.2"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 004a0f9df..853d3ab43 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz",
-    "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
-    "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz",
+    "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
+    "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
     "size": 14780416,
     "sparse": false,
     "full_check": true,
@@ -41,12 +41,14 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz",
-    "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36",
-    "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz",
+    "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f",
+    "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true
+    "has_ab": true,
+    "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx",
+    "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13"
   }
 ]

From 5b4e39990ac4d098f874c8f1e378e2ab855c0036 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Jul 2022 00:41:17 -0700
Subject: [PATCH 172/435] Add Japanese translations (#25078)

* Add Japanese translations

* test japanese

* update tr file

* test for unfinished translation tags

* add compiled QM

add compiled QM

* mark as finished

* remove from tests, needs some design decisions

Co-authored-by: PONPC <fuzitanirenti@yahoo.co.jp>
---
 selfdrive/ui/tests/test_translations.py |   10 +
 selfdrive/ui/translations/main_ja.qm    |  Bin 0 -> 19159 bytes
 selfdrive/ui/translations/main_ja.ts    | 1207 +++++++++++++++++++++++
 3 files changed, 1217 insertions(+)
 create mode 100644 selfdrive/ui/translations/main_ja.qm
 create mode 100644 selfdrive/ui/translations/main_ja.ts

diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 2dedf3d78..3230a9954 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -61,6 +61,16 @@ class TestTranslations(unittest.TestCase):
             self.assertEqual(cur_translations, new_translations,
                              f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
 
+  def test_unfinished_translations(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          raise self.skipTest(f"{name} translation has no defined file")
+
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, "ts")
+        self.assertTrue(b"<translation type=\"unfinished\">" not in cur_translations,
+                        f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
new file mode 100644
index 0000000000000000000000000000000000000000..552545cf879ed5c9a4009e63d334dee10c479e33
GIT binary patch
literal 19159
zcmcJ0dwf*Ywf{~sGf5^-9!77<;{YO{B-!D0El};`K@v$O$xK49h&Y)!^I#_DjPnRY
zFDfnG@=~~=prU<QA8pa<&$e2ut=vj2Xs!0PAiw(4OYu<!Tko&<yY;77?sx5T=FICP
zT>rS{gXhf5+H0@9_S);cm;c0f$qOIcxA&zPQ=Yxy+dq4~i80%^7%TjgvCDtJSWy7a
zSMc0`=U?%>i?J&vGiJf>l}|HfZD4HvGCc8b{&qaqXfX7gS<6`QA;8rzR{kr-W;q#a
z-NIPozc6;qR^Y*VryI|g80&3htmJY$gN#i+hv)6Uhj9sfz9_~lU%i(xc1C*^9oC++
zlG@X8j9Kn}i?M<!%yM`U@O_V2Uit~1e`S`JEsRZ@z^vOP#_DD>>!S}dR`w~gJ^2P`
zn!}2v)xh7*im&)RK6f!*g=bk8Ydd-~WA%)+z58Rv7Qe~bO9vU7AhBzf>;)Yle*^e*
z#ah-K*@N|svYtO;{>jIfYtx5}Em_F=3ZKLG|IYdbH)9<q*s6ygV65~*wz}hMm~RIA
z(s%!fv8Kgr?Y|xcT~RjVn~CucvyGo(e8mUs+b{fvvF7>giNy7c&HFw(JgJ+psmIyd
z+mpb%w4mnm^BKEzS-~aWxRkLupDS2=C-!GSZ9(tz^YH!O3icnv_shx(e$!_G-Wv)|
z6n=-XDPJmhZ{ZfkY8wmffnPE<_b-LB-#&$L?-#DHCqUQN3$LrjdK;fA{QB=p0e^Sl
zQ#(P|LVw}UJMLtxx~A}Vy}&zlUg7IUvA+!!g(tst5%BFRn)<#K@b4GR+;KJ5b8k_y
z7x+G3P;{UY^v+*f^u&`r7=K^U(@y}t(NT1G&MlA=OVP^{|Au`VE&3?=Ah=p*X?^d1
zF*eC#x#8g-f}W$6PzS!Qe#0_y>MF*hBFk4TXBoTl2Fu+Y&tSa%ta?cMJbjwwz6U<S
zzU{T#|CSHW-&!7dc`xL!+47_C1K{TkmV@QAFS6yucV5Hyk6B(k{TJ+OyXDl?KVq!-
zNvnMc`2EF4tQ9+MWNhif*5=CDp#Kr;>Km{h|M(Yc!2WZ{N!+^rQqa4g)4HDI$vy*5
ztfRzj9r14j{CVrmiz*@ScUgDr10D8m?Ky3+_MASXJ)8Dh@7o1AD0|uZz(3!P_5P>z
zv0t5JjK5<2#i!tN;ZxS<X8e}1s+je)*Fne3x2<n}<tX-dul98Of9uDeg06<Gw!#^G
zkf&eRDnF=aZ2BJC^7mF?J^x^9d*Ww|Eg!Y5DFELuecAS%kNyrmZm~U6e-G$=%Jy;h
zG00cAc;-CtX>O$W!P>82T|X^;OnDRY-&Fj8>wfU<_Tv9{;vc}LEyaI34Zak;U;N3k
zKViQwE@_^380TO~$u&iwyV_kM|M?TpTUv5QazA6A`+CVY4*=h!*(E=Idlo(qmKIm6
zgZy|)XWdtVb9JE9@z((07nk<0d<*o3N>_aad~5!7>6+`n=gXv0-}6nN>#EW_*~N^p
zM@xVIniF#6EPZ`~3O#j&-Ejr<kL`ZD?-l5f>FxGy?@h&dUyJ7#7@K{IeaD}w@cB9W
z*Zz+EoqfQ5_cPxCJqPUfo#=<Sb=bf068772wf)hpUjzR>u|LhNIKOuLF9H~6joA;|
zr$IhnvmdTm4tn0Vzw1qaf6lUkCvO3~uWZ(#UqT+ADqDLBdSKR+vKxPA0lg2EZ62Ns
z{#{)5{QKCSIU{99y1=JNAC*r&gn8@Nl+Snq-_L%lyzUDlkdK?oS2Savul`>7HCL|1
zeqC0+vI*;7e!P6uUf`RyvwX-&^c*X{>*E28zoPt!f5ADMdT;sBZ-HNpmF2&F4bO(o
z^4FdRU6#`owg)f8xt~?hF!fc?zp~=<pKilBeYN7zMfiP2sN$&&crJ5R9G>|Q<X}t1
z;U+xibXL5u9CA>`DlhupgIGs#W$jn7-if;^XMWTSzQil9JPEzS_g1dl34TrdL*=%6
zajxezRDS(WU&KBhul)W4z`Nu?<<I^T`~JBTmB0BSY)6e$Rq`LugT;TYn(V;2{l~ki
zYTo%f^veIKYJUrO79^{bz}w)5qiXkw+p*8XRrkmW`10ebXQSu9m!_)M-~9&UKT&mZ
z#Sa*}YHx_KmZ?R6wC&x-SMwbZCcNXHwK<~3<zl>5I0oa1n8%xNMC4eafPiay@3>=w
z>lh#4ettiHj=#!(#n160#^4Dqc~Dgol1K4L{ZXGMF&3f{|A+G9J=cW?jiD88MOAN-
z#~)VC9IS^qnY6ub&3<EOnWM)kx#dJ6qy&iYi4NbeNAb!&r<~ZJ#=`hoP;cX3=An$G
zTADoG@OT3(o8H~`yfKZXwWXtPJn)J9&)~+t^RxVMJ{l->9dy?igDYDV&tOEBT&id2
z0%T6)&+{kwX;U=SI+{K?5tL&WKxA;MS9aZNP*U2eB;=R`o{hH_Nq!u=+>$}cZ}~y~
z0oHevk7nVUqTy5I4N@XSl@#^F<6ymSyeZ0A2kU_t9p&%yg9dr_jvmS3^Tp(Ne7wPv
z%_uXFOf>i-_53#|sl4f?u!RRUpLQL~60A89*)uFlgAtDsmi%f=@+1@LkS7uHN?uj*
zhXTnMKB&rggxdL|{7vlTPx%>xJX<q~XG9EZCPXnpswyoZPej#Z)xx^jN@GA_w<f1!
z0S_)S6YH`T*&7Kda*rn<ivuui@Zb6_(+}@i{s5>t$d6!4&oGJ2W{t*l7wH4%OGzc9
z#1o!KM4H`5<mRDlXDW*_nJM^xh(+)z!AD*5l5_dBd<S30H}f!8c>#U1ZPz9X5BHUO
zs_3_MzudN&ck(8_o!^4bg~sH~*Q!ZrC>e(q@p|QGLV~1AeR6ClF4PKG;0qD6;!;SF
zAYzc^geoQDvZO|3B^rvTiF#8~moo|K>J_Z}AXl{&v&Y4A0e%UJw}tvQi}>isQo*T~
z9P;K%pf4u*<l&H4mO^nUs)lf&d|=Qo9+ze>5Jb*iNbieMbP#BdN0B397o@=ab#5Ns
z_ldF_tSaVSDAO;0S;b)sfDtRtPd8XG%Mp{M5wIhk)L%Au6fi`^q#Lkq)$hMrUuyOg
zHQE%0wk8f|B9_KP91{xM9P4}ys}ShZ{5X#7IsO#?6U1l~>guPk2S>oN+_|n8XRf%M
zki4EqXiz&x=F?uPPkTg6_@dB@k6;&}h_>y>n{MGa(+!76NkN=o)<Tf%fD}lEe6snp
zwZ;bNa=h=<=0<IO#s<~2gyOOi!1<z0=@FaK?f0ARNv*yc#<?)THz^CBW=u_yRbusI
zX6WR0uoi=$(iT+-z|3^Cm=3GPu=l{aSFm#j_#gRu#=we}SZEj`)$AFPV;<ANHW=Op
z<}ij7IU5|NfOhx=@AKdBxA{2(xVXpFx~ijfz<fZO)y9C*@wvG#cO_g&&kCKh6?&z>
zIPQx3IN$C(!F#*AZdG8L+3t|L276f$VEa#CWST3d_>25m&G>e^_fO)Z-dDQs)up<S
z&Asyl=M1i-$<5YcY@R{>S9@a65W2YeG~W6>UXnSlU@-|yP>w{QwGyGB5Ii4Ur3|S_
zg*+LY@wiZQ!txBtP>4F7Ayo+_RI>h(yfF$lK!!D`m*x)3!H^f5FO=sX^r7EB&y?RK
zspD#pYjw4{TZMB24WF$`O7iy7HqKVsG$}U_+r|;%YGD2Wq{Pr8#wfc>4kRNUEONwj
z0ktMNNY_9H4)~&^UYgVD#T3;gP+CMlu3kxd#22}=o$N~~jW$vmrpPYOw}wn2yT_#U
z>u&p$Nv<WZfuy$5=&#h#lU|A?BXWGc<d;1OXneepBOQTwB!qtu$Cjq8oGAq*(8#CZ
zRAo3DZb*nnI2(C;Ys)#MmNAcLp|i~3ti`8p5I#>HzQVQdq@g0RKVeGakIcA4Uc%aU
z+-G^1En<)J0;e5si^W?R-mb)(a`WL;f92urbvVN&9)vm8P4{ftKfHy9gEPWj-p_Z!
z*tWnkQDAHf23I1M38W5#fm7u-^B~`YSV8kn*5EzupM2MFGo+Y&V={z&5;jFYzBtx6
zdg2hnDcBH71mUJEf;&L$fWIQeLV=(bA?ZIZ#*azpftYk9-iWvL=}jgN1HL8{LQ+k}
zBO_^ZsRZVO0EoCy766NRVln`9qI~AgN1^+yu|rltis=>=I_(BnVKQn8W7*WOy~Kbj
zaddV{eH~q`1Zx-8#0{y93zw%v*RaP8aGQV-E`Bbs#ox4dj{#_Hhr4AC$HHvLfGb?t
zWj3>ozX5xfJ`L8c5RRA`q@}lgciIIm?QyvKq=DAfm1eMZ&3aNSY!FbT>vg!xu~Z~l
zB~}?*1w-KW%8KTNmmqw-#QnGP1;)^F$s6=gq%FtdGibiD4kemQWP}43h$8afCk9xz
zb6<}zPwNr(DoiqFt8~hcOiuz5>48x(oo^zTmW~eUk;tt###eM`Apz`9eZ7#fQvDk_
zCU*N0{(X3dKj9Da$DmwC-LH24(OGxCHiLvoF4-%GhRK4dgX?8)BED46k%MR=j^@w#
z8Gd}*n~|GxP)vk+S0e(2PmUx!<`^dPWBl7B0DP1(4mmigMUH}~@RL-S(qO|Ppiqs~
zTbnyu9WG*8NtY*@_Ug;ye;=63mEpe(ZyDeQ^rYrwEGENeZ-M;|DMqxIJ$56xE8F9n
zIA0%Z@4cOG*&0Oj5#D=0siYfzxw?^$uDc6L%MG>E35C_A#UzlUI9!u%s7^Qc@NHmm
zkR|XJWpTC?zFGtGLMbZvlkt|oF4E^A{CV*1VIhOg;Wn5`*c_#9aHNi&k`Ic_tHoKq
zP&^v(jF8a491W?6MM!l?9%!baA&+E_#zI3ff|S9yHx`0Bqe6qZLji@<nxbx4Dg_gX
zXnbiy12mZeto34Cy(g5<#@fxN*W3;^-n?f4U(W}S`4t{pR#-mS3D-#-lI;=ID>y1a
z3!0$1ZNutC{|!`>BDw&o@&McQ+x*QXDbC(op;@vww}$_3xEIgH+W8BxwojyDCWG}C
z_r*qp0dabULji3)O>#o`;MtgJ18mJ<__ex_8PPNBlYy;9QDFfDS-!N$nUG~6c{7HU
zq*7+YMte@)teTIN`$1NVa!Hxlp4`E;8G}3b?%CZh;$0C{8?#pq#1OWOi^dL%jcfwK
zotefkE2U&+no(?VE!o$ThU@I;(lU3Y&f&m7NP&$NipmmT*UmA(in<)D30W@C?&;S*
zWB^&+J*}-GxXJ-5A#21M{7nX^B|Ov+G(l+BOi~tX(NNS3)W)P8{=RDrls3uH+3M2#
zbi|o4)#Gc&K@f|{g)P=#-9$lIF0h5PVH$0JPm7~ZSngcN!hd3RFg^XZ92z8o&j~gn
z5<g#Hb66w(Nzgg;T?D#@z9StIV*w<E6jmp`_2c)YfNO+X7iAmSGC*CGgPrDC4(QMY
z@C||r(sZQF2<KwP(>VDlk>xo9O?f}G_fPpjKzv5c2r3!`9seT~N>lXoYAPQ!y6aQd
zx1^~^q>#0F4*wrGU(R}&i~kS`1DTHPkMdi0J;QG$&Hq13+l6cfXnYMcolGvfYY>6<
zaY5}H_y#n?xh??DU&R^}*t8Wq+<hzlpJlhkq@FlVvX#N{l!O)}?2`Czxf+oYBT@Ma
za~kJJ@x(|3Z$q9~Af(ihf4x*{TpZoFY|d3WxFju)gmT~p)dZ5bOQpqJK(?tO5+B1r
zNvc8#IH<Uws>sV5BB9TKx;YZ^hNYPvpHHIfxE3JH6h<`e^(aE=_qt$2eTdbykHRDW
zjMFr!Y8X5SQ=E`xU1?#0crum}Y_lw57A;pAg8LT=%OFPbM5CEAE^kmH+9FAFl=pZ-
zlxgTuqsgeyGt-Q$N)TIpfIkFB5nkTzS-z#@uB5h%T}C6d`O~41AV>2Wklm$BhxsIx
ztnvB;SGr$cvpO(6BN~{{D2>P-%6wv1)ff_QG`^yT91w?ZAmj_kTBT~~g~S*sU&<I!
zHtZxaVP{27EDWC`y@G}&8Ki<ox}T%DIYaW$AZ#A|=Uje|L5h9vj^Uebv&KexHyX^T
zLY762Ad-Y+$+57o&nBy|JD2hGlsPzGn;zQZLX;(~Xm#}UBWtsCj9II322bHs9!cpy
z13`sL9#Run7Siilk;P=@8bryI$)y4f)%hM5Ns^-mlCu72Am)MKI@JwhP*4fobr!bn
zbrDOXi-hIP-CbP{si(Wc*(a=1mDs-ixE#yaK#4V@1meVBE8hCxuhQo({5kOMU>yc2
z)y>^bXKQm`y}(=V=pcGbai%EJx81-{rb(pO-!TW5%$dZbo#(bcY7DD9b>AMz-QVPH
zc6BsqPJ!vP)l^(zlKeKFC^fjc3=HM78zrA-gsKJsm1ZvP?H2KnIB65LaTE^cjjX`P
zAQaOWL-i?Lw!DE=7>EjFG9iyK)UuoPer!-^Y26qSXEcklak6|_aOM0Eq~|H*_zv)s
z2F_xiCmuw!oWEcMj^`k3XW=tGfMO~N3dW#PBkhtmOs{shrUs^qtnO#6KnSIz=_pYO
zup+e7)yM_n?hHuF#;3R6VNhG#td;eM)(oI=_?7{+NMA|#+D3T*M)el_TgMBv%<8(G
zJluQ7cK_B+VQ#zm4ajP>WaOu23hE`l2O+JmUeYV_Q2PnQ8J++NA0lSYm@lo-JN20<
zPezVLcHobwJ(X_KxTS~x8K|nU*#}XYJ&DSe*baju<?fMqLLLG=da#x;%AY$5OIjn;
zPa)LwwR{AAg(9@c^N@|hJV@an?{r<W&j(0BDkn&z(#l5%pTW3bRsk%X!jpAcVnhr0
z5()(57%>Y;`?$!rQAw6eC2AokEK>aw%05BC9)-X<7vjbMQO+fJj8DR1P!mKhm;0Cx
zE^&f+Al&D`qVHhQTJ7u&-G*v`y~s8)iNq<j48!8)>`%t7H}`A(1)xFX9-&qe9z;|~
zMQQPP-qN(iXUKjo!KNkXN>|7m?2|WUCZ|eL^ckCNgLy;Elcc}Wtz{_V8F5$T7@@E|
z9RiOvw4A?0YC&`&JZ8*StVgV4kNO!BK}W#nhci++C2rN9*nq6*Si?$Co!#y~&)d@z
z^{D~W*Mz+`TUjA{)qpL0?yj*ATg(ggR`5#qvX=9;Tyb^5!7dQyQ!mu>(KS1r|BRDg
zfHU9CeS9TXMB-?4`y>8Jp(`?L>CPq@F*4FMvINJ-a551#&PVnyaq6~v;z)fdp?DC*
zbW!Km@((2BUX|*BadLosNJoSsaZNzdG+vfP8Pzp2xD1bQBahP|HW*Ud98}R;B&FC+
z2S(2v5~DI!U(E&(0@kq=EX2d!2REgAeX5~Y$;qX$1EIPVB88MO(za<o@6GVxN&rvE
zbFs%6aJA_fpg6*T%V`!K*tCCZr$KK`YOF|ismX-tjFVy84x(mwGIR9?j;dyKGN?nw
znsXL9hJkEJ8^{crt6@#a+omp~qhuS>v$UXU5W%)eD}>t5nPqb3KxbW!TCYqEPA7CT
zCLN?^AE9N}v3}-aoxGD;n-E(!=^4p%nYB|0#IqnzJEUUk#8|E9LUG`zP;3+_=9{jb
zRz-9=P$>+$mUObz@9Lx)$S}%y5LyyU`c<<(LVl_HBBnsPp`l4KkbR^90aevXAQ@{Z
z*H@6;z@#@sVWJ$il_0UYnmSn0d`6m7lv_~Rh@t5tXMjCj7&eCJb!^mPbAanNpI-Za
zcRu3$1gv~nu<RgC^EM4d_r06^W7zi<T46jxaZ@7<Vibf$dRi961ceM4(qqw>>ebWz
zVg%#_6{vVP_bgYZbU3=ZM30}b0E7#or%z*f&LZr+cL?FnYyz|k=18PIa-hp8nRUJv
zm5EOV(s{SZ0}hw7!`Ze}>QpyKt5hWOwXiN@=W4ShOB~kGb+@ly=d3dbojl-yt)pZ<
z)}4}y916xitdnTu_y@LH?{g7R5$R%M`tlW;A{F|PrY#e186nN&G>`co5Lby7KVy8E
zh?mn`&KtfnJskP0bS7VWPiOfhHur+T?>q>dK?2h3+4!Q!+=Y-?lbJ+OD<4fR-2UPi
z;<!35%ojqaMO6Bcl;-L$M&f^-ILY3KCp4s`2r?ot>RXUwLO}C)V1ZFc?|5Nd9WlDt
zje7i`M=L&A5Ms3%Of6i{W&*J=6Jntm#Nted#U>D0MyXhjK=Y=u@$VwTknV!9wz^#1
zqIi@=vkftBA4_`~MXi19dAN|Q-kmPkSlYU~MH)H>Q5*VW-Ny2Z+ImEUodsmse?pmO
zfLPi)+VUr}u})CbYCsirYU$x@L<r8i4Uj@-cOK1l1a!wljwM}nF795jqO-%<ng^Wg
zZ;Hxm)`W!aYz{hGx6>4x4Q}>Xe#jut+T(DxIPxbAP1%&LDA?Sn?KS7K!=lW~r~z2|
zTDyAkF;Q=jF<tSh*7gpR3iH71X~)9=wi=#H)^hbmL1>DsW=-A8%k1YHyHU_+;1rQ<
zMauO`*DbT-R%>&6YqMay38;-scZR|(5x~&gv`7<p(d3;K7FRb1Wu!z&&1STR=Mz=U
z+Ms|E@XU^5yU+4}HCSbDL*}w6hJZ`dOH5`>kNqKfu`^Q$Vr(-?mRd%`WGw1@o0_OJ
zl124|PO6h@1WRHCV=TBD87eo3ruMp@P;i$fyW1_TLUkX`$rxj|AorcyNZT1;6z=OO
zIMHg)72!XH2diD*6dD;W16L?T1dR^YKNGh1orI0rYVLeNZ&~X^Jd<jG38IRu@LSh>
z6Nv;PhBoL8^ufuB(6Z5-meE;@BCp6A`jZjrMWNk<k4F26L~>Ge{MSn~R(nUHR-u-Z
zB)WAs1d)&s&Kr3u@X(;<g_1Yfhw5CJHwY{3hpXW3L$k>ke4Lm&G^6dn-fy%sk1^VA
zvUkPfZ`>s$FB~0)DA8wSYz&%fv|J2@EPgrR4eHDpg9Hnef{d|6juxTj?e2Jx!jYJ&
zH4$H~pOAKzWP{kqcOY_4@^gI^T6cb?u{LnkYSmid2jUpDCkLr*I;Nl>k!Z=CqFe+T
zze1t{ou&qo;?8bIi+<*FM_4E$V?d%!u&aBO(15vsHSm2NgKea!_F1@gC$VV{WhDF1
zyLV%fIvz>-d=f%0GXm{6Y;M-hq&-Pv(h|43U0NxRhzLD*+9hc=!Q+`D(yORkif(XC
z;Rtq8K)7c0z+9ndGmGo9DMwB0lIF}t{mG}wab->dO_(8&im*dtsu`(^(lbj_XkOI%
zs0Te~);&qnqW-Mxd4rxf+A5?lRyqEx|3UsX)kjf*+ew-rXFf&b(ZV8<)3a>7k-a-W
z#YXBFO0gH4BdVyVLN>ZTfR@=o9YvbH!JP@4^X+SE0H3iIQ-NHMltmyN_370CMZ^!!
z!A<BK8v`8)F)!5=uep0QFcB3LPpYO(dWQxO0wESy3S~sWAPhz#E|F|#RS!Cgl+}wS
z2T`QcScxbq^Jv8Nyj8vAM6D*K1*C|xa!!t<A|AyRgdh}PD#EIl9Ee7#HAWtaM${3R
z8fGw?vvpOgOY+3S1Sv>BX%NFvC(FSq6l1RVRvR0Vd%MW4UkkzlN%~5mEVM+G*5*KW
zE{qdmbp%id6kvUHtHQV)Vxik123WCv2gC$$BDU-?p&ZVTp2@;q?e;=Np-2n<!cs)V
z!7a_6s3dh8#Fz~Cb?AP_WfD}Je!IhDUMl+MnaH*8^dxrIZtdK*%hiUQQ*zB#&{W_)
z+k^7q?v;0*y1ouVm+tRYhTq(_kB`FWX=UkA_XoFq3KOf{TS%vfLykxU(Wp^$parRe
z@`z~Ttixtw<6<7aU%Lu4jBJItl0x63pa+9EWYVn-6`^&1>W$oS^!bXNF4xnFX}9bW
z{m`93n05&5Yk_TV?(>n*8$6qqzAMnJNDeR?*Yv1mTI!K~TEA~T+WFMX0?ji7Mh3wc
z6$Q_3t#gGwi@vjbZ(ug2q7E=A9;I9Y4hprlh?Jp>oD+(%XkQs?A$Pv8=?}ZF+}yas
zzq*l1nR!>^rs=}li5oKLlcSt9U3bw>uu$ar3z>*c;g?~Uj#6u1&Rx5UQ+MsC)3&ai
z_C)kyl1SxanvyS7P?)(mQy1?HfiOq5&)>9rI$OvZwH}}IC89G0ok8bI`RE<D^LA*h
zgZ%d})<=2Zj_B4-XB{t)5B5#)7LP1lh3r`Ob!bVZ>c^LOI5egAV=ePWJk;VIYKs<^
z5IVQL1D(EZ^`gEK^6>C`n3Bp68w8v%tD@~PPpt3P8ZW7&fjgaOTvky>m!ZD~aTSu1
zCMXjL&ktL%A&7PXq0&+p3m~?B3=)Z94`qdsZi77FdK{cZTr@NCq#n^rD8<nO=!rlP
zBtpZu3yOAV;RBNNQ=UfPS%`9EG$_qo%!N?R8$*mP%{as2<_cH#EJ!Yc0nqBxA}4B`
zjp<k>u7-&uLq9Yygj7gC=KYp@Nhn9^U=g{}bPNn!HSQo3L2I9b<bJ`TAbGpEu4lgg
z*X5BZ{BvY(&;p3gnG9k{O{JlQT2k=)8U7<UM^E#UeG_P}*NxotB66iv(o8F-HTs%F
zjR##|C{<BT)a;fC3BR~z5*k7(5SJM<AT#cfcp?E@C`kl|#$f+^RNTAJpVPw-H8|ho
zyU>OhPO)p<;JPYE?yX79V@fCdr^9c_U|FWZ@C-FXMFBW}8z!P1gCzJ&<XGM@oIn`6
zWR&c@l2*hs--lm=lZQ}ArZU@c7^^eD__Xjij_8IfC>k2hqGosw=aKGGrH#b>q8@n!
zr#Ii===DvU=R)`&il))T+Q}mkmmROal7}Pj;+kWp=)czDGQbLNYxLSu|A)eR3Fbv+
z>mbf3`H1{FwW8!+jr=!SJ#C<&g`~JvRTUAK&x77uY_T_%#I-b0v4kxahd><Buq;PY
zQi5Bta9XKuS+8Aa^dzXfsVC1<cL=D<h1?`^!-cX)3IgC!=~q<h5f6J5v|j~47rxe=
zCMn?wV}OiA9!fPrkr3H>;3qCGl3T9_fcYY@La<;xDL1&Gd7D5kJ2se{(v*E1y|aqn
z#)HC2<{PjT1EkAjQ6fbZAxdRljb^P4CS^IJWH~io4NcGb%|3(KW1Nk-rUcRzv>gLq
z9{!NDJ4$&=)_vPhDboy;NO^;MiKGv`;SutFD8Mrp=~(_W<kC}cFGTqe1bOtv8FcGh
zsFoCef;a$l!Rb+r2(*%4#Je`#!=0K^AwfmsxC1H3CT)Dm8)E5fRy0kpaAd(8ahqM=
z)H!td#OI+T09|<@fx-T3`W=~HS`#@50mLl?f!m&tj{1~^U#f|Yjx#PfTAOB=v)~rW
zuVA^F7S-}08D}h=S<{M!MvQ=~K1iNU&lx!?F8CSU^qDm>{$m8CPjeL)w;B<ZG-<Jp
zv46W9xOogW55-alzJ3I?j0Yt)Ql|%pLoZeeE2^dT$>fT3pU9dJ1N}&|P^_yX$h^|m
zM`}G)+KbaAL7+#!UQFE>f(@eUK8<ZnLN1H@MfOEcf}7WuvtT}BjWug*xhTizHEDw_
z#TmuiEb!`7_o_3u_Gs^fZ3YwdPLixq<21`;!BvU`j3EaGIaL}*&~YMeX^CQ8)<BV;
z%&MbS=tH!G4GCe^fO5+E=dGba&;BDRqA$ZX5b}rmJG9^{J14TD+tsFBw9Evm$q?O9
z(bfWEB26`xQnNyhQ2}2Q9KG2=Ykki|GcB_@0^Y_!ts^Fn;!E6UKNa_%$!?%_N>?D_
HImG`LJd!}I

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
new file mode 100644
index 000000000..fbb654bc4
--- /dev/null
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -0,0 +1,1207 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ja_JP">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>閉じる</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>更新停止</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>再起動してアップデート</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>もどる</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>テザリングを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>テザリングパスワード</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編集</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>新しいテザリングパスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IPアドレス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>ローミングを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN 入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>空欄で自動設定</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="220"/>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>openpilotを利用するためには、利用規約に同意する必要があります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒否してアンインストール %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>Dongle ID</source>
+        <translation>ドングル ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Serial</source>
+        <translation>シリアル</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>Driver Camera</source>
+        <translation>ドライバーカメラ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>PREVIEW</source>
+        <translation>プレビュー</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
+        <translation>ドライバーカメラのプレビューにより、デバイスの取り付け位置を最適化し、最高のドライバーモニタリング体験を提供します。(車両の電源を切る必要があります)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>Reset Calibration</source>
+        <translation>キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>RESET</source>
+        <translation>リセット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>本当にキャリブレーションをリセットしますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review Training Guide</source>
+        <translation>トレーニングガイドを見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>REVIEW</source>
+        <translation>レビュー</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot 規約 機能 制約を見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>本当にトレーニングガイドを見ますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>Regulatory</source>
+        <translation>レギュレーション</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>VIEW</source>
+        <translation>ビュー</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation type="obsolete">言語を変更</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation type="obsolete">変更</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="obsolete">言語を選択する</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <source>Power Off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot は、左右に4°、上に5°、下に8°の範囲に設置する必要があります。openpilot は継続的に校正されているので、手動でリセットする必要はほとんどありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> デバイスは %1° %2 と %3° %4を示しています。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>本当に再起動しますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <source>Disengage to Reboot</source>
+        <translation>再起動するために離脱します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>本当に電源を切っても良いですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <source>Disengage to Power Off</source>
+        <translation>電源を切るために離脱します</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>ドライブ</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>累計</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>先週</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>マイル</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>カメラ起動</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="70"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source>Need at least </source>
+        <translation>最低限必要なもの </translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source> characters!</source>
+        <translation> 記号！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>インストール...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>オブジェクトを受信中： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>リゾルブ解決中： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>ファイルを更新中： </translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>現在の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>クリア</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>ベータ版ナビゲーション</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma 
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>より詳細な案内や表示に関する情報を得ることができます。 詳しくはこちら：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>自宅の登録なし
+位置を設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>職場の登録なし
+位置を設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>最寄りの目的地がありません</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="obsolete">選択</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>詳細</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>パスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;</source>
+        <translation>のため &quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>パスワードが間違っています</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/時</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>マイル/時</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最大</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>制限</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 警告</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>デバイスとアカウントを連携する</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="91"/>
+        <source>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
+      &lt;/ol&gt;
+    </source>
+        <translation>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;モバイルでアクセス https://connect.comma.ai&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;“新しいデバイスを追加”をクリックし，QRコードを読み込みます&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.aiをホーム画面にブックマークして、アプリのように使うことができます&lt;/li&gt;
+      &lt;/ol&gt;
+    </translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <source>Upgrade Now</source>
+        <translation>いますぐアップグレード</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai のプライムメンバーになる</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <source>PRIME FEATURES:</source>
+        <translation>主な機能：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Remote access</source>
+        <translation>リモートアクセス</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>1 year of storage</source>
+        <translation>1年の保存期間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Developer perks</source>
+        <translation>開発者特典</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 購読</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <source>comma prime</source>
+        <translation>コンマプライム</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <source>COMMA POINTS</source>
+        <translation>コンマポイント</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>退出</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>dashcam</source>
+        <translation>ダッシュカム</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>openpilot</source>
+        <translation>オープンパイロット</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="66"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 分%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="69"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 時間%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="72"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 日%2 前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>初期化に失敗しました。再起動後に再試行してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>本当に初期化しますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>デバイスが初期化されます...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>システムを初期化</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>システムを初期化させます。 すべてのコンテンツと設定が削除されます。 キャンセルを押すと再起動します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>dataパーティションをマウントできません。 確認を押すとデバイスが初期化されます。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="257"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <source>Device</source>
+        <translation>デバイス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="327"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Network</source>
+        <translation>ネットワーク</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <source>Toggles</source>
+        <translation>切り替え</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <source>Software</source>
+        <translation>ソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <source>Navigation</source>
+        <translation>ナビゲーション</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低電圧</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>自己責任でハーネスから電源を供給してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>続ける</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>はじめに</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>その前に、インストールを完了し、いくつかの詳細を説明します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fiに接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>Wi-Fi に未接続で続行</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>インターネット接続を待機中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>インストールするソフトウェアを選びます</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>ダッシュカム</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URLを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>ダウンロード中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>ダウンロード失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>入力されたURLが有効であること、デバイスがインターネットに接続されていることを確認してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>デバイスを再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>再スタート</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <source>Finish Setup</source>
+        <translation>セットアップ完了</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <source>Pair device</source>
+        <translation>デバイスをペアリング</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>オフライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>オンライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>エラー</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>高温</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>最適</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車両</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>パンダ</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>検索</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <source>Git Branch</source>
+        <translation>Git ブランチ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <source>Git Commit</source>
+        <translation>Git コミット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <source>OS Version</source>
+        <translation>OS バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Version</source>
+        <translation>バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Last Update Check</source>
+        <translation>最終更新確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <source>Check for Update</source>
+        <translation>更新確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>CHECKING</source>
+        <translation>確認中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Uninstall </source>
+        <translation>アンインストール </translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>UNINSTALL</source>
+        <translation>アンインストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>本当にアンインストールしますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>failed to fetch update</source>
+        <translation>更新の取得に失敗しました</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <source>CHECK</source>
+        <translation>確認</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 鍵</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubのユーザー名を入力しないでください。コンマのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>追加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHubのユーザー名を入力してください</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>ローディング</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>ユーザー名“%1”は GitHub に鍵がありません</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>リクエストタイムアウト</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>ユーザー名 &apos;%1&apos; は GitHub に存在しません</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH を有効化</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>利用規約</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒否</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>スクロールして同意</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>車線逸脱警報機能を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>右ハンドルを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilotが左側通行規則を遵守し、右側の運転席でドライバーの監視を行うことを可能にします。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <source>Use Metric System</source>
+        <translation>メートル法を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>速度はmphではなくkm/hで表示されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>ドライバーカメラの録画とアップロード</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>ドライバーカメラからのデータをアップロードし、ドライバー監視のアルゴリズム向上に役立てます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>アクセルペダルで解除する</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>有効な場合 openpilot はアクセルペダルを踏むと解除されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24時間表示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>AM/PMの代わりに24時間形式を使用します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot による垂直方向の制御</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilotは、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEBを無効にします!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>更新が必要です</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>OSのアップデートが必要です。Wi-Fiに接続することで、最速のアップデートを体験できます。ダウンロードサイズは約1GBです。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fiに接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>インストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>読み込み中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>ネットワークをスキャン中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>接続中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;</source>
+        <translation>Wi-Fiを削除する”</translation>
+    </message>
+</context>
+</TS>

From dccb184fbd4a2b39008471f94056f61bf7a7381d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 13:39:23 +0200
Subject: [PATCH 173/435] some more release notes

---
 RELEASES.md | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index fedff5dbf..d7f4a3747 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -5,17 +5,23 @@ Version 0.8.15 (2022-07-XX)
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
   * Significantly improved control on TSS-P Prius
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines
 * New driver monitoring model
-  * takes a larger input frame
-  * outputs a driver state for both driver and passenger
-  * automatically determines which side the driver is on (soon)
-* Reduced power usage: device runs cooler and fan spins less
-* Minor UI updates
+  * Takes a larger input frame
+  * Outputs a driver state for both driver and passenger
+  * Automatically determines which side the driver is on (soon)
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
   * New font
   * Refreshed max speed design
-  * Speed limits shown while navigating
   * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+  * Support for delta updates to reduce data usage on future OS updates
+  * Support VSCode remote SSH target
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!

From b5399fbd3ce3a03bb900f1e8597f0afbd19fa314 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 13:41:42 +0200
Subject: [PATCH 174/435] add multilang to release notes

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index d7f4a3747..80709e148 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -15,6 +15,7 @@ Version 0.8.15 (2022-07-XX)
   * Speed limits shown while navigating
   * Faster position fix by using raw GPS measurements
 * UI updates
+  * Multilanguage support for settings and home screen
   * New font
   * Refreshed max speed design
   * More consistent camera view perspective across cars

From c5e96201f30c7168e531ba5da98775fcd2d668c5 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 13:56:49 +0200
Subject: [PATCH 175/435] RELEASES.md: new driving model goes first

---
 RELEASES.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 80709e148..e0e75f321 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,12 +1,12 @@
 Version 0.8.15 (2022-07-XX)
 ========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines
 * New lateral controller based on physical wheel torque model
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
   * Significantly improved control on TSS-P Prius
-* New driving model
-  * Path planning uses end-to-end output instead of lane lines
 * New driver monitoring model
   * Takes a larger input frame
   * Outputs a driver state for both driver and passenger

From b6df0cd2422d63eb58cc6abaa9968954feff2ccb Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 15:44:16 +0200
Subject: [PATCH 176/435] casync: handle hash failure (#25081)

* casync: handle hashing failure due to IO errors

* fix comment

* all exceptions

* fix typo

* Update system/hardware/tici/agnos.py
---
 system/hardware/tici/agnos.py | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index bd8ce2bf0..750aa630a 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -186,14 +186,18 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
 
   sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
 
-  # First source is the current partition. Index file for current version is provided in the manifest
-  raw_hash = get_raw_hash(seed_path, partition['size'])
-  caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+  # First source is the current partition.
   try:
-    cloudlog.info(f"casync fetching {caibx_url}")
-    sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
-  except requests.RequestException:
-    cloudlog.error(f"casync failed to load {caibx_url}")
+    raw_hash = get_raw_hash(seed_path, partition['size'])
+    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+
+    try:
+      cloudlog.info(f"casync fetching {caibx_url}")
+      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
+    except requests.RequestException:
+      cloudlog.error(f"casync failed to load {caibx_url}")
+  except Exception:
+    cloudlog.exception("casync failed to hash seed partition")
 
   # Second source is the target partition, this allows for resuming
   sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]

From 7a4c33795a12eefff4c3e5c311f40eae2cf3506b Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 18:20:16 +0200
Subject: [PATCH 177/435] laikad: add residual threshold for pos_fix (#25082)

* laikad: add residual threshold for pos_fix

* update ref

* update test
---
 selfdrive/locationd/laikad.py            | 5 +++--
 selfdrive/locationd/test/test_laikad.py  | 8 ++++----
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index e262407e0..67867e82b 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -28,6 +28,7 @@ from system.swaglog import cloudlog
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemeris'
 CACHE_VERSION = 0.1
+POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
 
 class Laikad:
@@ -89,9 +90,9 @@ class Laikad:
 
   def get_est_pos(self, t, processed_measurements):
     if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
-      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
       pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
-      if len(pos_fix) > 0:
+      if len(pos_fix) > 0 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
         self.last_pos_fix = pos_fix[:3]
         self.last_pos_residual = pos_fix_residual
         self.last_pos_fix_t = t
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 3a7c073b5..c10a470d1 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -138,7 +138,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 560
+    correct_msgs_expected = 555
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -159,7 +159,7 @@ class TestLaikad(unittest.TestCase):
     # Disable fetch_orbits to test NAV only
     laikad.fetch_orbits = Mock()
     correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 560
+    correct_msgs_expected = 559
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -168,8 +168,8 @@ class TestLaikad(unittest.TestCase):
     downloader_mock.side_effect = IOError
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(256, len(correct_msgs))
-    self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(16, len(correct_msgs))
+    self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4908b8618..7fced5ad6 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bd2ea158977f5c26658bed8ac683b72c2c592d06
\ No newline at end of file
+0da0928230d11dd4c76293b9e77b027eb4a1e291
\ No newline at end of file

From a9401319dfa89fea2d2699aaddc758cbc47b6396 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 18:20:36 +0200
Subject: [PATCH 178/435] nav: use laikad position if locationd is not yet
 available (#25033)

* ui: use laikad position when locationd is not ready

* cleanup

* same threshold as locationd

* use first bearing directly

* use in navd too
---
 selfdrive/navd/navd.py              | 19 ++++++--
 selfdrive/ui/qt/maps/map.cc         | 71 ++++++++++++++++++++++-------
 selfdrive/ui/qt/maps/map.h          |  3 +-
 selfdrive/ui/qt/maps/map_helpers.cc |  5 ++
 selfdrive/ui/qt/maps/map_helpers.h  |  1 +
 selfdrive/ui/ui.cc                  |  2 +-
 6 files changed, 79 insertions(+), 22 deletions(-)

diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index f02de43c7..89a1c9bdf 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -4,12 +4,14 @@ import os
 import threading
 
 import requests
+import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from common.api import Api
 from common.params import Params
 from common.realtime import Ratekeeper
+from common.transformations.coordinates import ecef2geodetic
 from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -18,6 +20,7 @@ from system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
+VALID_POS_STD = 50.0
 
 
 class RouteEngine:
@@ -72,13 +75,21 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
+    laikad = self.sm['gnssMeasurements']
 
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
 
-    if self.localizer_valid:
+    self.localizer_valid = locationd_valid or laikad_valid
+    self.gps_ok = location.gpsOK or laikad_valid
+
+    if locationd_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+    elif laikad_valid:
+      geodetic = ecef2geodetic(laikad.positionECEF.value)
+      self.last_position = Coordinate(geodetic[0], geodetic[1])
+      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -276,7 +287,7 @@ class RouteEngine:
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
   if pm is None:
     pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 4c6a0a4e6..fd47f4188 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/maps/map.h"
 
+#include <eigen3/Eigen/Dense>
 #include <cmath>
 
 #include <QDebug>
@@ -7,6 +8,7 @@
 #include <QPainterPath>
 
 #include "common/swaglog.h"
+#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
@@ -22,6 +24,8 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
+const float VALID_POS_STD = 50.0; // m
+
 const QString ICON_SUFFIX = ".png";
 
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@@ -105,18 +109,53 @@ void MapWindow::updateState(const UIState &s) {
   update();
 
   if (sm.updated("liveLocationKalman")) {
-    auto location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-    auto velocity = location.getVelocityCalibrated();
-
-    localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
-     pos.getValid() && orientation.getValid() && velocity.getValid();
-
-    if (localizer_valid) {
-      last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
-      last_bearing = RAD2DEG(orientation.getValue()[2]);
-      velocity_filter.update(velocity.getValue()[0]);
+    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
+    auto locationd_pos = locationd_location.getPositionGeodetic();
+    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
+    auto locationd_velocity = locationd_location.getVelocityCalibrated();
+
+    locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
+      locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid();
+
+    if (locationd_valid) {
+      last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
+      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
+      velocity_filter.update(locationd_velocity.getValue()[0]);
+    }
+  }
+
+  if (sm.updated("gnssMeasurements")) {
+    auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
+    auto laikad_pos = laikad_location.getPositionECEF();
+    auto laikad_pos_ecef = laikad_pos.getValue();
+    auto laikad_pos_std = laikad_pos.getStd();
+    auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
+
+    laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
+
+    if (laikad_valid && !locationd_valid) {
+      ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
+      Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
+      last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
+
+      // Compute NED velocity
+      LocalCoord converter(ecef);
+      ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
+      Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
+
+      float velocity = ned_vel.norm();
+      velocity_filter.update(velocity);
+
+      // Convert NED velocity to angle
+      if (velocity > 1.0) {
+        float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
+        if (last_bearing) {
+          float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
+          last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
+        } else {
+          last_bearing = new_bearing;
+        }
+      }
     }
   }
 
@@ -142,9 +181,7 @@ void MapWindow::updateState(const UIState &s) {
 
   initLayers();
 
-  if (!localizer_valid) {
-    map_instructions->showError("Waiting for GPS");
-  } else {
+  if (locationd_valid || laikad_valid) {
     map_instructions->noError();
 
     // Update current location marker
@@ -154,6 +191,8 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["type"] = "geojson";
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
+  } else {
+    map_instructions->showError("Waiting for GPS");
   }
 
   if (pan_counter == 0) {
@@ -174,7 +213,7 @@ void MapWindow::updateState(const UIState &s) {
       auto i = sm["navInstruction"].getNavInstruction();
       emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
 
-      if (localizer_valid) {
+      if (locationd_valid || laikad_valid) {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
         emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
         emit instructionsChanged(i);
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 7c39b24c3..ecba867ed 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -104,7 +104,8 @@ private:
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
-  bool localizer_valid = false;
+  bool laikad_valid = false;
+  bool locationd_valid = false;
 
   MapInstructions* map_instructions;
   MapETA* map_eta;
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 2b2c27418..66acb7a25 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -116,3 +116,8 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
     return {};
   }
 }
+
+double angle_difference(double angle1, double angle2) {
+  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
+  return diff < -180.0 ? diff + 360.0 : diff;
+}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 344246bb0..1c08c541c 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -26,3 +26,4 @@ QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp:
 QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
 
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f6193f97a..6fe1d838e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -227,7 +227,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
   });
 
   Params params;

From cf862b6576a8b3f66e26d38080a1c8eec00f0793 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 8 Jul 2022 19:03:42 +0200
Subject: [PATCH 179/435] Laikad: Fix getting covariances for pos and velocity
 (#25084)

* Fix getting covariances for pos and velocity

* ref commit
---
 selfdrive/locationd/laikad.py            | 13 +++++++------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 67867e82b..0954cb4c9 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -120,11 +120,12 @@ class Laikad:
 
       self.update_localizer(est_pos, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
-      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
-      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
+      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
+      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
 
-      pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
-      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
+      p = self.gnss_kf.P.diagonal()
+      pos_std = np.sqrt(p[GStates.ECEF_POS])
+      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY])
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
       dat = messaging.new_message("gnssMeasurements")
@@ -132,8 +133,8 @@ class Laikad:
       dat.gnssMeasurements = {
         "gpsWeek": report.gpsWeek,
         "gpsTimeOfWeek": report.rcvTow,
-        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
+        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
+        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
         "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7fced5ad6..0d61dbd73 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0da0928230d11dd4c76293b9e77b027eb4a1e291
\ No newline at end of file
+dab90772097a0dd4706677ba4fe5e84b10232099
\ No newline at end of file

From c04942795bbb0a2a31f4c05322e6897e279f4ba9 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 8 Jul 2022 10:16:34 -0700
Subject: [PATCH 180/435] Update RELEASES.md

---
 RELEASES.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index e0e75f321..392e9dc48 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,9 @@
 Version 0.8.15 (2022-07-XX)
 ========================
 * New driving model
-  * Path planning uses end-to-end output instead of lane lines
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
 * New lateral controller based on physical wheel torque model
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll

From 35c8c0e600746e092bb236dabd05491d8be1078a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Jul 2022 19:19:57 +0200
Subject: [PATCH 181/435] casync: increase chunk download timeout

---
 system/hardware/tici/casync.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
index d0d0da3c6..9dff64239 100755
--- a/system/hardware/tici/casync.py
+++ b/system/hardware/tici/casync.py
@@ -22,7 +22,7 @@ CA_TABLE_HEADER_LEN = 16
 CA_TABLE_ENTRY_LEN = 40
 CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
 
-CHUNK_DOWNLOAD_TIMEOUT = 10
+CHUNK_DOWNLOAD_TIMEOUT = 60
 CHUNK_DOWNLOAD_RETRIES = 3
 
 CAIBX_DOWNLOAD_TIMEOUT = 120

From 0b6cf0481c07323ee427655a5849c90d9c623e64 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Sat, 9 Jul 2022 03:12:14 +0800
Subject: [PATCH 182/435] Add Traditional Chinese translations (#25077)

* Create main_zh-CHT

* Update

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/languages.json      |    3 +-
 .../{main_zh.qm => main_zh-CHS.qm}            |  Bin
 .../{main_zh.ts => main_zh-CHS.ts}            |    0
 selfdrive/ui/translations/main_zh-CHT.qm      |  Bin 0 -> 17741 bytes
 selfdrive/ui/translations/main_zh-CHT.ts      | 1220 +++++++++++++++++
 5 files changed, 1222 insertions(+), 1 deletion(-)
 rename selfdrive/ui/translations/{main_zh.qm => main_zh-CHS.qm} (100%)
 rename selfdrive/ui/translations/{main_zh.ts => main_zh-CHS.ts} (100%)
 create mode 100644 selfdrive/ui/translations/main_zh-CHT.qm
 create mode 100644 selfdrive/ui/translations/main_zh-CHT.ts

diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index b8c3a50fd..48f094867 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,5 +1,6 @@
 {
   "English": "",
-  "中文（简体）": "main_zh",
+  "中文（繁體）": "main_zh-CHT",
+  "中文（简体）": "main_zh-CHS",
   "한국어": "main_ko"
 }
diff --git a/selfdrive/ui/translations/main_zh.qm b/selfdrive/ui/translations/main_zh-CHS.qm
similarity index 100%
rename from selfdrive/ui/translations/main_zh.qm
rename to selfdrive/ui/translations/main_zh-CHS.qm
diff --git a/selfdrive/ui/translations/main_zh.ts b/selfdrive/ui/translations/main_zh-CHS.ts
similarity index 100%
rename from selfdrive/ui/translations/main_zh.ts
rename to selfdrive/ui/translations/main_zh-CHS.ts
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
new file mode 100644
index 0000000000000000000000000000000000000000..8b055d665e4582f8d1461595d0d88a7eeacfbb49
GIT binary patch
literal 17741
zcmcJ0dwi7TmH(5;+%vfWrHEQyf<QoW;kt;RCLuRTW+pQe0>1>3xxASSnam7x3qfNA
zqe6%fi-e2US}(M2w=P?4^{1=bqFrIBc9quE;wlxZ{`%8ax~o6=+3fc`@60>zOeS&r
z$C?km$;>(DInO!gInTMhYk%sQb?Vdm4xO2M#S2~Eeg0fEW7>xpQ+>tQ!Z2gGUOex?
zvmehBcpk>{HOAEVK7W)kO$B46AK`f|V~bYd*$$Xa={e_N#&j<-X8I%k{em&!$Bfku
zF;@0H#%|mLyz3Zivg5gnv6iKP9mcbVvFYHU<#v32im@pD{ZppC^Ipc-Iq8`@B0Yt-
zrRQ3asgJzRSWW>`pIiaFElhppr+7Zb)UT=;yJ8;G3=81zb*A~@<BS<UXWFOVVJvSB
z(+QhEe?QY*{RaN7WtD|^8f#hoD>pH=_!z7I@F~WY-o_dXF2)K^vKv<&0v}+%A3T;`
z#w`AWkV6l%zK8XvU(RfUe+K;P%%S=@K7WciT-e*9TiM3PA7RWelWl6e2XJ2YzmDI`
z*xHxamVbH$>y)rQPYGkw{={~C1$@&h?7OFa$=JH%>_l`cV+(F&C#PE&yZjIA!f*_9
zXXMPhW(i|+59Q2y;3~$hx;$s)e(0yXB&X%&MU0jFP0q2i_<U7!&MzHm(0wlFO%-H5
zJDl^;@*&1%wX2NYml&IWUN!&1dElK_)fuDU>)%x!Mc8lIE2{h7FaZ99>L(-MtKvr0
zKQ``Xtl%Bh>n)&rd86vwE70@R531gM=o_GSGWW_qXz;l<w`AY-*iTJvtOfK|^yfZN
z0Dc$c=bm`l3i+9HpFIKivd-L-3vYpqy_Wmxw9lcpow;Ac9)(n|R@Z*?_ly<)M&0%J
zKQJ~UPwi{O$A!b{f%CAHD=(?<R9|Fl`TOc4jnBc(%B5$)&C>JAW$ODL`2u7r)DOS!
z!PBe$+gA@UHs`eZ$Gwk0p1)N;V<Np=uRi_3+pxz)>eC;80{S1T&tLyz#&oka##NB_
zwHr10`?fQ-@^ej1!F=$)NwcX7`dGeA<2C*x?4(z-?JDqFZq{rgdoo;)C-$LxN;A;C
z1MuJ1+_a(q^v5;(#=wWcCq1vIm!4PNBt6&7*4%dhc3?cCdE}1UvES92AN}H8$cJfu
z_7&u;+Nb&X++RWNb(*)&fe)cg^Sj$#f!_a3dam84`SL69wPc!BHP?att=ATOS`ImV
zPrLS`I-KL%we=^SXY6l&rftuG+)IkJ-}~Y(jD5?ceXjf{WBPpUmzJ}zuV!7zBFJgJ
zU-#(j+pw=6>3$UW9oDz%KD9l}*mXI&|9JB<#)_`eef}}zlKZso(zU;beXP^hEIJ8)
z@QMD$T<~33tQY_9CCK-j{;t?D#xDDX{=p|eulRobQy1pp?-7G8AHL!8+YR&X)8m{p
z8md0?Vt)oh>xTEi@2iH5w?S^#H5uAFAm@2?2G7gY;Ohp%e)dfm!h?o4-ZsOoUNoF5
z4#LO$Z)4Tf@ITtwM$c<!u<wn=y&qkP^S&L=b=dE-#(lpp#NTI)_xuI=ExBMk^4#}u
z9=>V3@6A@|>2u=)XQ1!gOU57Wxd-y=H$Gdb0bf5b{>%$J%{1dl<F{a+&l^w9Tnm2w
zX#CI}h5T0J<ve{0&hH=c=Dqk5_*tH}<vjd=a7W(u*VW+nc;2q~4B-90yqEs~{ah8y
z`{!oJX<CPA#*0{Y@qd`+p1|kxW}3>@4ZuDQo9b$y=QW#6H?H0SeK|}Us<Hpo%(U?k
z=w0!Esn1OOcuj}DYy<vFrW1GLoL&AC(<=`_US-Qn|ME7TSHEL=`(^N@{!YI3(W|iD
zo%t14{sw%k%fIHUy^y~l|A#B^{hTZFf6|ZVs>kwAmOKW#eK-GPHJ(>B<eyp#J20vX
zzVZD>v5(?{*>_^U#g`Y9d{M*Lvgrk@--X{<@~eUkBal~dN5S5Eajq9!R&f9CZ-5>j
zEBL`9pu4QO;Q9ZA-e+qIetE-duxnSL{*Um3y4J!ORXDfH=M>KT;4kni&lWbk4?5-j
zg#qsc=;zMD(Km00o_h+9iUG*wbm0r3|IgSpe<?io;RE3Ni^6y7{tkb;eK3-Pxqwt3
z`t6~;FeMlP{%LCb!HB5CZ~0ZONHpwpN2~l|IGRJC#=Fn7cA6J-|5<!eMkuz4u3#`K
zI0GJ`HRN$dCqveEKVj`iL(R7bg2A2Q)MzGF#jMQCgyFJp2jo@rs;p+gE=HrifR~t^
zR^^F118&h{7Nh;aa4$aQ9BVheV>TYik@3{kPIvEA2<pKP4^*VUYu7hArUKWucE(DB
zSC8H(qZHHzoG!m8*n-Z!uVKza$b%>D`qZX1KOqw+N)T{}(H=4UbtDd~ZV{Ov$w($)
zs0~ELumBlN#rq7x6`za`C0S^HdB<}yjVmM?0kL0*COHv8&PW8}^-M+9$Qq$Ap{=s*
z2AP<#(JEAVJYg{snF`gEm6K_*Bn0b!WBsDo=AAp^gB`kEAKT8}-K;R0g?`Z)7X_E!
z8R!+dgJHoLiw66gQJ-6I2Ls(cZ!C;If`O@6RNH^uw@2QWwuX$(&k<^fM3~401M7WG
ze^9bO^^RxTkI4usi)4M108eVJdFw^D-xm<APOr!fyU6vggRSNT_8kWdQ2%_kR9@m6
z3D6}%EZ_@7qE5eGn7@=*oIqqn*YVDmj_6w&+>hFS({q3Cb&ipq`_2F9YQFU=%eP~t
zARJ^NCb9tj?_+-a6|Gds3)O56#)Q6D1ZUsv7DG`1_9{5Ua9@Nw18mXbBVj}YUqFD-
zz#^kTAr=vZU`PyveEwjxJUd%Vuyn<ThRdu+<Db}?y;ov?%cNbhCz)WrU_Zq_TfskD
zPM;~*S|Wh2u;3BnKDQ|NB0?zW!*TFH2tRvLn7@oOH-9<(z9P9kfm)pb(a&W&t?M``
zt?T&SU59?Vt+Vx)<8$Oq&#MZH!T>fNi6wsNcLuQaAeQOJ4ujp@*C#fWPIQJubnmXa
z&xlX9cG}LSkrgH-8|LoyYiWKv&@(qMmPYgHDQHH-sNi<`eJ;u3vy-2dWO?t4{dr^%
z;^y`pX-h1hVu`qqTn9`7mxvFR=oP#%pGVBT)QsWNEe&+E+>h@+MfOL6mxVray)PmL
zys&)|w3Q3m(%qd^&a*NpCFLzso1R8Zy1ufKn#R_{<O9qL(<dj}$kxk54C{jdFWh|N
z`mCt>qi2u49siyCaTy_heb^U=fz&wr#IQ3v()PLjvm|F3Dc4+4l@(Ndq-gK+GMLV4
ztKHaG+m;<PO_YYIrRO5LN!|~>ccd)Vd)PH@5}&cWF#LiTr6bwCch9-_kOhu)++@Ds
ze$8@k_n!k}JD!aXCGjd%taSgWb}RW7%Q<&WTj}<pP;Y!F{GxLMTO@ORr!|Z-nlKWN
zB%N-jn=Hl6g+$8k5&a?fi>R;9he#oDsQZGk0NwmJa}n-hxHor+a776^eZhb)8l>A(
z5O;)djf(Ko<w9v(?D4swHtx1u@I>9+i?U1Y?lX#;Lu0G8*YZFBJ~aJYtLbpad(uv!
z2>k?0)J|c1M*rEp2Utb?cQ<`krf#%}-k9HsjSXaF8Y@VCK*m6HMn}CSb=0#Wnv^G8
zM*fCP(vKr~fa~c1XC+Wc1hU;1On|Mxr1u`M)mP@&9=!D{$H<t~wn|=Pbz%|n6yca(
zj4TnlMQ0S=6~9qX>4)m0{8o)XU8%bxD<A5u2kuDu4XquTck=7`YxJg`^!TXEDebB~
z!G0bcOrWOP@`1b~wO{OxX60^d;(f}5!)))a4&9z}-wtg2vi(?F>6Q=d7p;~ppFo-`
zr0cH5J8tq`X*MQ4U77gwcGpaNnwR)=b@J0n6`k9*(#{e4AHBKmoLfdH5Te^*+|;?J
zqu6Vp70FWKLtQVmJf*lgkINUc5Ei$`e9!^+;E7|0<A@`}4<D}6eqXc)7yAlaq_kn&
z@Iu(<?U6Ep#Fs1aWen#xEUd<FB)#&K0_ko>+=YW23&tY;fz*W*@Gb!ZFkF7f0Ty<K
zMF1q2@?^iZRrZUr4m6yVtV&RsjWU=j7Rm~vzGYp@b{R@v)zl<78k=hg*2w+19Tpkk
z!Gc<RX=lnpwESBh<W2zWDD1A5X=)k}q-2L{@!$O~GMs8dbJkUN|49L)Y4+jZWQ8*u
z9X&EJgSE=;5ZY>MH)Mk~9@^L18UJEir@2hVC`@=_gpuK7u2snQ7~TliZFh?SDIPU4
z!J60J)>1Q`O14abyT?fxq!^COr4{oU1EE+{85~a*O;3O{lF{zE*ip;`nYjY92s?B}
zVSi4z{;VtL>AEtP2@7Pb{6;A##@$d}&MnE1_(TkIjhft#imN*EN1Wrc6^l)`iEhys
zryC{c+9tZAku`k9Ok|tZJG$kQSSSs78r*Qu&yhW%KkA$Wm$Kt+_w+QR;TG|%n%3<m
zEoWU-9ng$<<Q-~inrf?TBo2MEGn9&Jjj_0`IsQp}sI5|lon8|QhebrN>v4Pf0&@P7
zj_Gj~g`R~&a>If3;m65@V{Z=5_U1a?v)n=My`y0FVsh@xxbw6<GJI{zF!s>HqWB51
z2wTG{@I%-E{D}B1%E}eg%0ba5^AxYgm4zE1Q05vaqo?43D{@P@gvS>N`JDr#cw7#B
zK}6x?Yy>BKNnf8+FowduJ`v%$E8-6O5I6+kbL>8EfE-aE*uO^TiAF<_H5C=`JpoWH
z=Xm8#-$a2Gc^40twI5?fi>3W(ig;ueXP6P11p7pzKj`K%6X30;Ah6|vrDFmCDpY(8
z0i%~4_*JIL$P&{v#?OAb%1p!EDYeLaf71~j;4a<ljQhM2=hb4A$D`@^)BNA@8u;o%
zq}<_I2h}o_nSmgDF=xV)GMg++s7IHL?U&K?$s!F2%9v59(Ni@dtpb5c3RN+bHHQgE
zgmAE8_z`)Hg0?UM^C^+EgWWLY5*bB9rGS!bJgG<Lj9F7~O^wY`HOOF&d)s^g+-K4i
z;AO|&l)-YFt2Pm_OrX&@TOX5wG<IukEl(XX!1Sya=c|IHoVL2Ruc9XlK`r1y3b@?9
zP<AlE{o38%kyq9VRZX=vDV9YJ6%IN*4KQTB5iLuH)k&~+T0JilSe;hO)3#dIS2_3%
znF*=#Fx(D`pSAD<e*7I}1H8PjjxA(M@lSxKpwB4VqR+_Bgpqyu;4{kjr``B|4d9lt
zmB8G=t_9R}8PsW|wSe}04LujQApb-jjcBf9l_{FBQrCuUoul)1UBowkr60rU6@2~w
z5zZcXXLJX6DuHY~_z}22?Z?vtsl~BtH=ZR-=p1q1=6=<FadbF7WF8s(;g0A2XZh;T
zfrqd0@Jz5h)FO5r2S?X-ShluO0%>`{`YOp9*j12!2=yJdZ64hz?YB+JF-e$gNFm{*
zf#*bx0{?Gq&@V&>LgKoGOBV`}=zt%;^*O^{U!aWQ)iuJ>m7yKiF1#)QE(mM=z6>~5
zFp2`<8ewH6hpZ3sjC7LgLkI?_Fa(Fy6AXxJEBwB{f^?1F=k66soF0!r6;~<XF5y>P
z#O(}lm)&B+73V?DD*eeL+`n>}>R_-JGU%naJMHeHjdAAbQWJ1<iXv8#s&zgDSiW8n
z%m~g<NV($LilATGBzXvv)#;;*+ZqhTLfoH}bm*vJuv<qePnbs{eAv4Dj?TNAJMxoi
zV+#md;vto8aF(Qd9W_SE`m--I&CIq&<3nSg?fi64)BaOwmsRmnVL)_JWe(a6hEYT!
z8u?ZV6RJFIK95(Fx*N+BLCzFm3T3p(;78`ZqFMx-kWnHEk%EvuvCoAY3=wLkyeDA+
zA$a`eTQvg*Y^gFyAu0}{ADI~}OAPn&TQ&>#1xcR50}s42K3nFj&}u{GBGlDZIa*Q0
zSTo7W`q8ePdBclaEiz)hP3#Lsu_Y9DrLujNRrN>z)@-!b52n`3YYlnBPME1V*gwfy
zMXZKdSTlaAn6R_irj^$;)mWOFs|2g1(d^*2P9axQYeWny6eVzcGnzuR_|1VxGDWW(
zG#h1lMKu<)xwghp&gqs{H4;ZzY0gkYqjGF3)5();kZW~P62^tonXu)vVb!6(mk|rj
z-*-^3w^rM0Y>m~@g`ahKBbD%(uz8WKS;jTZUn+Q<15~m025D7Yi-l(%QkEiNP*SPD
z$p=mkoY2%rHtjvL6i9_YLa!<o6(>PckDWiXPv%QqyTixNVH!VER=3h1jmaarF%{(K
zJkCfDa?J_boCZIi(Snc}G05eL321WZn(7?MW<px&`s=FW-1SJFh?lH2NZ}HWV$vRv
z5@yG<!*|J?>T0Cs5b>!1no?#8xGQKEo0p1hm8#*>$tq&!NXuQr-HPf>3FlDgb|Ovm
zlnaTzESz{0F~8G`B0SG_6?9ERmppV@f{aWzS$dK7pGcDxi29o^4Q?l7d50$ZKqM;m
zVbw$;q<~(Vgx>Pm-Y?=e(<a;ol8<fin8$U4*U;i^f5tIF4c<zX+dwseE?4LGsY#;P
zo|sr6Oe<hdKCf2{(?(H7j_^tnwcqH{LVX=gChB{^?M5k8qEs=lr-+QeTXzHx{1|*U
zwXriLR7xdz_q_)U;ttPSHm&`J6!Wxwy4Og43N~w6rT#DI@=6(waMX!>1mzPc7oEVa
zv>}DPWipYqg;-$oxqBSqj<j+L@gl24i;Dw&EwZ@+yHrbyD6<wy>ttYKDj}Q{fx5FY
zf-aH2O$xpL-;cc^L+kCq?r1-%c$0!tqAi2#96>L-EBvm@#=DCBMut`W{P1K%CvB%{
zAdf_hQr=eTDz+Azjdy)&-e7AUH|;w}f47ggig@X0f%){{HMnc;9jv_RMTMTt)gtmn
z6dyzZ0fZcsA)Q)+dQ|lMtw$p$*aUo$9<)Ds7gox)$rRl|>I6k7VDKRM_W2`{%2Qkw
zjqdRLV(%`g*ODg5*)=^uOlSy6fsz3y>Q^KN#m)*w=eZxXRc@a<_}1WwL8mORA~+)o
z{s^<pS60Uh9|}D6EjQmXB17u|O(j~cIR%u^R!S8DM0IUQI?7lbC0tZd_WzSPFO9;?
zBn4im3C5yXS2eaDv#p8`rR}w_2HoXgpS;(M4Q9Pa)~7BK1-E*0-T?!7P<da4>rsvN
zLtR20cbFNpIYOFSEJz}x3WtgXZWul-^^B>E5g+QV@EXL1_z)>@@I>1U$aEH%XAlG(
zQEB92bl%`w)Dqhr+&ri-ENg9m_m-(40^dbGPH43?QMEjdHV({-Oo+afyfe2n>Trhx
zutRt}(k-f9gy0PZrDC~)Q(kBxo@7xZ#znA5h7i;(;-On*utJpOctIY;?=TwbnZVil
zjOedrfK?BlrsQt_DKixXdU%RYCBX=OP<^o6i!lCDV07HH`vO@J{Ok6v<GlF$vFD8=
z$H#u45LKPj%v88e8Z|%+j&MIw6hr|!K-U9GJfU#VohTS{4Co&ni%4(g*_(JPBNXN{
zPLjYgHpIaX?c01>7L<_-NT5TW0b8)I+i~Og?6FImULQ4E%reG|wkn&s(OkbqXbScV
z8-pkjOKFNiZzej<yDpLwRut%Gv^jCFP;nSLOj<$4s@aa#bb_Dyc<IRprcGU$>LiE8
z{S+;d$A43V=6cHM(r%$Vp4X)$Hvwg52Tu<PX?L=QkVq0U>IniX&G=+O4Vf)s0<mCT
zaAcPK*AvsuWRldfxa(boA#IwFd~)-VqW;8@5=s-l$OYp?{3N>lPG6stxGJ&)>MV<4
zZdwy|tcJTxwOCYTWh6?S9lceT6D^2w{3lz6YFYhM-!7l>+m#vLVi`T<$liS0zsW1;
z5;;=(G5}Sl6;?I1Hk*Yv6(->{x7N`xkw&k3>uPx^b-l&Hi=HVGSVzn1F)(JAp>pf3
zJoifjQd=#G8mqdYu|8w5G^yn_Nu|g%5?b$Ka=G$4Dzjw*zuGOIjh$D(=qz=0O^xQ-
z34m%d+r1=3%ECKp>C0{TENwZh#hjIre*dWhmygaKPIV<U)++P*stHR@1k~Em=c&mM
z1Zghtgre50cGNao{~OeF8*3XH(K<>8O_Qreju+Clsu-A}fwZ(dYx039c|48hSNX|+
zCe^P}Z+qB#L6)(mrlGcmi#ZFZmOvG5QO|+lQE4+-;PnKbR=_T*=@C(aBe$p+W1Yy9
z3D)XE*;ue?#nhmvu^v^j>M&9YUW3oFqKxN$&75jiaJ(8cuB41Q8=l$NJC}1?edwSp
zjN&HhcuI^4ob$;xO1W3K!JD#Gqs1<4L`N1O!X!AWXh~O*?ZKpw5YJ%oN)-u==-EH^
z=C<(>9~$iGu5SB$Pm{u%dL0N({KO!}b`;ZoXv*<gQg_Tx-F}icVjGe;N{cZ*J6tXh
zuJk)fb^&Vo$1p+I--D!<2R(GRBeH>e<<2#W#MESivZM^HxLEBDwD2d{tyY?$lo5=r
z^4R1g80s{6>ZTT^i6T!DTw3%wQ_9jQ1n(B3?w-V!CtFZ_a?=AcgSl1fxf3<oBRv#a
zhlA4CqA+}#g3qqwh^r(UZD29xqNp70j8%?Qt#!84S>sU<47VZXqOr_y08>}QK_+4C
z0Yi(ZI9$3WOV#?s*~)}f4_s1oqA?EDY}v>?N+zIw__V+JuG<wO5tvol9-|p9vKo(o
zL?Ih9CT7P^0~6X`z9%HhL~pk@2phx!o-t-Fbyd1JNEi^&LS8^a*U6mUzNsxWb2p!=
zjU)<T;e2!sJV7xMSQy0^nGdWXtd<0pjkWTr*P(QYvRv~eOKTeQ^U_!BaYoRn7J9Lp
zsn>f_iY7-d>(IIP^cs0vGfnYSWH*=b3XA_9bXJn0qdIS|am-q&vgvH&WHg7jb{*gK
z@s>aFGJP5i$#gK%r|A7V-rI7a(&S$~+GWo7=2qtK-Q}<DI^K85_K^A4*5b)&$m)8r
z4PiN=)-^cpl%~LOMk500P^vc5xuE(@DCR<AL=pued!@lf5*3Yd!HoKNSW1-;`)Am*
z5JaYg!Q&pdm}JynE>s~;qG18CFXRsnh%`cg)y%aUYi)uv(o2w>1+-&;j=n?&RqlE+
z&1@Qt^QVNI7GxO{L;ctyS&jimS1NHx4P=_XmW89K@}m91!5lPAEzf+bY35r7(<SD-
zvj9#D{K|HA*To|_9oHo%yJfT@yBiJztuaU#-Z;b$nIU~4V`>&$#={goO?EF3;Bpdk
z-C0&{m{_i5LWiy+A2V%Hnhzaawx@~aVj-teOP%@5XsmtD;jS$o96gJs;3K26oo>rM
zwn%ZA_^SMV<V13*mlzMa!~s5ZRtB{~MPX-mw=~2bN5;%Y&gpZsOK`dLWtj=ZF_vc4
z662x~OdN8Zni7SlR1jkFKXd5T<Yclejc=u9h%Eu33WCH-GBlVeSVfOCaX69G3Nnz+
zk#Q4^0<`{}rTIv3U`>av^8pBhdim)3GeNwDPue7=02G3lk0ojHMTmqbi^XxE!2n)d
z5>drKdkX^qlWd}hR^ESV)NZwmohPr6+DO7Mn=t*386c`t(qMbyd~$a>aU=Z275l}b
zXSdDmER;!oGx_EVO#zlQkOugq7@5gL8nY6oW%BZVQG%YV`s{?F*w>u4((dZfIglfD
z@dcWoBLid0si{Jva+DXEFPM$y8Q#S%yZDTwc>6ymi&f*M&AYw#S!01Ewn~b{kG|dV
zCB1h*@)~@ryL#Ldzq#d0rSue9c~}|?qjEFelES!T5M4$Q9>;|jjVK{U`JG2Y5O04E
znyTChCC89qe%(Og<v=IZ0#UkwZt;Q&0w}!hAy>?td>%@OV2;V@$H9&I;&{^vLzp}+
zA}gjE0H?DY&74q=P`a{`8_1$bOkyTANl}zCTK^$Ax81qj`l_tWIoKFp+TbZ}E4(C3
zjB8Ul!9G!|B}a;e^|s1U2L+5|;^H;jCoaP*tH66zsmb4&_8uJUT1OSx^0E~@6ba(>
zne19#reriebWm-5)pCd3Vf#K6Yu&He>yw*^5797s<W7Z-+7tZqN<1cB&?KPhS+<FD
zGFm=z?(0Lj2rmmMAQdy^PQMq!<<XwLNrYQYB`#Q?V%szn58;$q*Yfkdl-_8O1fm#;
zpMyw1AqwT;cJ@_-czbN3&`q>ji{G}21THJEm}oVNXq31GsdbWFvY`a86AmH;j^=A^
zXFChGytjL?V}wosjq}r--?)i}MLS2N(i{yLkG*Uz^MB|pwB0*yq9|wIaQC0vN|Vhh
zI#-<|u{mOcLNEVH9Fl<L6D~xgE)vfPJWfpSK?Uw`46lFiUJh<9Zjk(d^on9AsYSdO
zhVYC!I_1*qKh7vMeiCKS<lHcI;wh}40Fxip7-s+xNMhu?9J!P;fDsWd_`=7DAVY{c
zdx0RLq=T|KKgPs%A{F5;{!qZ0NJ%CtNOt`D7ws>k`=mqX&80g9CXz+$?#FGb6k@7t
zBflZ?wi2qpA!>I?97@gk<joVJn@5UdFeI6HUq%+~B$j$bHU@54>L?~AWLx@{Oa=u?
z$R`@}U{=&mu>hqX*$s={7t3hfQY_%jr58@eJ|A@q8xfu^a6fv}cS$CW5u17csrZnz
zdorc**`t@4J0*CUVIMrzHGlio{inEVuR`;`n%p`iq>7>AP>NL^)Ik*deawWy7Sb@e
z2RS62bPhnel{_cvd$b$6O1+4|2?Fm&LG$Iw`*4k9773aWp{lleZuZT4q&mOnjHQDZ
zqyjc2fz&=s)jOpI4Ys3bp_ng3!kve`tn>dM>juWLH;$q0%i9+VI|>KY3GY$Qsud=3
zpbBr;A>2WW38tGkL{b(_$#T;EVcv<>55I+^qAXomysX1BaS~HEQg_P35(Jbl&^X9(
zCL1RadL;+sogw(j9X|MO8q!}{U(Ibz*UB?`X{LJ8PFxz)U)8Zn!&FnFMK)KRq9K+B
zrk65V#Wc9F2{#*rmgsS(LnpnLOjz;4PC6v%n6xEB7D~HEKb*fu!J8%NC=+S|`3V%M
zG(cvRhJgD2;9KT0OuOJmUMD|My+t~n*n+mr*X?U<loE@yxo~Zr#a1u9#-s$AO+e{J
zNKFQOlA4j7Sr-gbn^Q8BMC(@?npKjTK{JO^!;!ia8NAN2W0Z}*2}u4O-6|S@j%2X?
EUx71R2mk;8

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
new file mode 100644
index 000000000..29b5f26b2
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -0,0 +1,1220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_TW">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>關閉</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暫停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重啟並更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>啟用網路分享</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編輯</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>輸入新的網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>啟用漫遊</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>輸入 APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>留空白將自動配置</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="220"/>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必須先接受條款和條件才能使用 openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒絕並卸載 %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>N/A</source>
+        <translation>無法使用</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Serial</source>
+        <translation>序號</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>Driver Camera</source>
+        <translation>駕駛監控</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>PREVIEW</source>
+        <translation>預覽</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
+        <translation>預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>Reset Calibration</source>
+        <translation>重置校準</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您確定要重置校準嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review Training Guide</source>
+        <translation>觀看使用教學</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>REVIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>觀看 openpilot 的使用規則、功能和限制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您確定要觀看使用教學嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>Regulatory</source>
+        <translation>法規/監管</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>VIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation type="vanished">更改語言</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation type="vanished">更改</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="vanished">選擇語言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <source>Power Off</source>
+        <translation>關機</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您確定要重新啟動嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <source>Disengage to Reboot</source>
+        <translation>請先取消控車才能重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您確定您要關機嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <source>Disengage to Power Off</source>
+        <translation>請先取消控車才能關機</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>旅程</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>總共</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>上周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>開啟相機中</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="70"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source>Need at least </source>
+        <translation>需要至少 </translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source> characters!</source>
+        <translation> 個字元！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>安裝中…</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>接收對象： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>分析差異： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>更新檔案： </translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>當前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>試用導航功能</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma 
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>成為 comma 高級會員來使用導航功能
+立即註冊：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation type="vanished">成為 comma 高級會員來使用導航功能，立即註冊：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>未設定
+住家位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>未設定
+工作位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>沒有最近的導航記錄</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="vanished">選擇</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="vanished">取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>進階</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>輸入密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;</source>
+        <translation>給 &quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>密碼錯誤</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>速限</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 提醒</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 提醒</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>將設備與您的 comma 帳號配對</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="91"/>
+        <source>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
+      &lt;/ol&gt;
+    </source>
+        <translation>
+      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;用手機連至 https://connect.comma.ai&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;點選 &quot;add new device&quot; 後掃描右邊的二維碼&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它&lt;/li&gt;
+      &lt;/ol&gt;
+    </translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <source>Upgrade Now</source>
+        <translation>馬上升級</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>成為 connect.comma.ai 的高級會員</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <source>PRIME FEATURES:</source>
+        <translation>高級會員特點：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Remote access</source>
+        <translation>遠程訪問</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>1 year of storage</source>
+        <translation>一年的雲端行車記錄</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Developer perks</source>
+        <translation>開發者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 已訂閱</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <source>comma prime</source>
+        <translation>comma 高級會員</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA 積分</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>離開</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="66"/>
+        <source>%1 minute%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 分鐘前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="69"/>
+        <source>%1 hour%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 小時前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="72"/>
+        <source>%1 day%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 天前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失敗。請重新啟動後再試。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您確定要重置你的設備嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>重置設備中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>系統重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>無法掛載數據分區。請按確認重置您的設備。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="257"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <source>Device</source>
+        <translation>設備</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="327"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Network</source>
+        <translation>網路</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <source>Toggles</source>
+        <translation>設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <source>Software</source>
+        <translation>軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <source>Navigation</source>
+        <translation>導航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：電壓過低</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>關機</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>入門</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>在我們上路之前，讓我們完成安裝並介紹一些細節。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>在沒有 Wi-Fi 的情況下繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>連接至網路中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>選擇要安裝的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>輸入網址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>下載中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下載失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重新開始</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <source>Finish Setup</source>
+        <translation>完成設置</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <source>Pair device</source>
+        <translation>配對設備</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>雲端服務</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>已離線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>已連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>錯誤</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>溫度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>偏高</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>正常</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>一般</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>未連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation></translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <source>Git Branch</source>
+        <translation>Git 分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <source>Git Commit</source>
+        <translation>Git 提交</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <source>OS Version</source>
+        <translation>系統版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Version</source>
+        <translation>版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Last Update Check</source>
+        <translation>上次檢查時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <source>Check for Update</source>
+        <translation>檢查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>CHECKING</source>
+        <translation>檢查中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Uninstall </source>
+        <translation>卸載 </translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>UNINSTALL</source>
+        <translation>卸載</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您確定您要卸載嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>failed to fetch update</source>
+        <translation>下載更新失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <source>CHECK</source>
+        <translation>檢查</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>新增</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>請輸入您 GitHub 的用戶名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>載入中</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>移除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>請求超時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 不存在</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>啟用 SSH 服務</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>條款和條件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒絕</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滑動至頁尾接受條款</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>接受</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <source>Enable openpilot</source>
+        <translation>啟用 openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>啟用車道偏離警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>啟用右駕模式</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <source>Use Metric System</source>
+        <translation>使用公制單位</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>記錄並上傳駕駛監控影像</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>油門取消控車</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <source>Show ETA in 24h format</source>
+        <translation>預計到達時間單位改用 24 小時制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot 縱向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>系統更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安裝</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>載入中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>掃描無線網路中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>連線中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;</source>
+        <translation>清除 Wi-Fi 網路 &quot;</translation>
+    </message>
+</context>
+</TS>

From e0f8f50baa209f0f5fc713100bcec16411cd5925 Mon Sep 17 00:00:00 2001
From: "Mr.one" <84395321+hellokitty-666@users.noreply.github.com>
Date: Sat, 9 Jul 2022 03:49:04 +0800
Subject: [PATCH 183/435] Improve Chinese (Simplified) translations (#25075)

* Optimize Chinese local translation

* update QM

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 17617 -> 17629 bytes
 selfdrive/ui/translations/main_zh-CHS.ts |  38 +++++++++++------------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 627f6afc204dba0b2c2a87f13cad266e9edcbd4f..be6c51030617f25c54c086e107274a1b0434ea5c 100644
GIT binary patch
delta 1770
zcmX9;ZB$g%8h*~1ea_4|b7oG+SD^;X0P$^JzYxI!S13>@2IbOBQ@CSkUNenbmUI0U
zF~yFQijpO0S*D9g%a6*G^pb*F+VU<gF5^R?rM0Z<y`<^t@y?I4p4sp0{l3rpJn!D;
zDy8;Hsd|9l0Bk<sp>$#eaRTuj;(S2d0bE6ZG6+ayOc_P&AWq?)r-K+h8L%G(jNSZB
z0x@%d$Cd+W%vrFSc`gHwKgn}RK=EMiokipq>LIQG{D~~I;9j5(VpT1GwjkP;2QkJ9
z;;8>YZ0Z6e9inL{6DklbpA(B9&Iq7?JCrpsKvD&iJ-Yz?Yp4e<5qn{enZ*3_VNW>^
zI88ik67^7wZC(UFl5;V(XFo7_B*tko0COn{hS!h?8>q--2Zu3!jzuLBFyTiM=yw|v
z-}n#rSE58d&iKnHnX!b0Q}NWUdcg4$CgpEr!9q;_;B_FY6jQ%$=Ksg=Vi~*ccLsmI
z!}G=xy!UOZAIQ!`<AP^_ga|Z+j%O#^(Y<CNH=LCsMy3L>h0^_Xae()fG;AF$O6!t}
zPf*U->(Z7Bj1T)=YAq2=yi&R-?*O9yBJ~bg4&0w2>%MP*_}Aq4?hYV*r<|uRAhBlo
znfusq+MDvW^YI!F%#uG_OJ;-I@|XGR0QVO8`(h@J`b}<crq?O?R<;}&d)>CMn8$~P
z+dguWUgBX};{i^KY1j@mhBKYlS|~^R-xJe!1z6;!cs`#Jn&ZT)9ixGPd&Da78!%+4
z*pz>S^OF!ncSaBg^oXtXeL(WR#QR-ktQjIcK2rlkFB6~6uBS-z#6g2<8@I)&D{YMb
zC{F$KGxL8UIv)8HQ2$W$;S@1B^P1wSdWotuC}Z65lwBy3rnj<igyPe`r2iw77vdVI
zMn5at7U?fm77cZCZ1*cwZ?mkH6T|^h5C;wpV%9!o>w220zoXQz<k*IJl)Wb}1F22Q
zu{)GXUZEV1JxA$;($>zZF{aYFteGCI4`Nn-<<=dtNI9y?u_YXeA5`}*>A>WHrD|4h
z9{E?OV;jE!Mod?yNK`ZSq`IT;F7RNKdL(@_VDD9LjlV!MJMEq%>JqQo8={u6jhF3v
z=XR37<Mv-BzE7QM>^CnyKwWyQG!g0F=qRv}ru&Se{Q7OqYOUkVg<F6JsvPfr#M2=@
z$Np|F*Aq0mYZ^x{P4jMbaJCgK=U3if*Ga9ku#4;tYfmksOxc&TDbG+uudJ1w$OYmq
zY3mS4o40A_+ln|F&uZ-<f8)!rN6$&&tKnA-z3glY?Kkww-hse?hltsLXP#bl)#SQL
z-*}hyd201dM|O}<r@r-KDP618>sn~1?S{T*^+p!f^g|CTBsN_?=Hod<)|>PP`5GM5
zn<BDEXuIAsa{=pIb4mvmQ{UH}-lN}O3Wl6>PVM0BjT!BH>3c!l9(68xC5#7eI!|1q
zA#u^pe?HN~%adS)9cAI<ca7La#yzKvwCq<o5VMWEF*G()F$yxK(jORwxl~}p7HgXl
zne?L3xZx4%R&F$Jr#`9wHBPq?Q&t;oCrCrAbg2z-%>Ja+u0%d}!Sz`Mqr;0_O`e_f
z^oXk|m+0+teVav3weQ^FA96I~_PV21v6=g>x;=ek*z{NKjLUooQfu6WYbi!Zg1fSo
zH!ps#d)w7V>Fx~o?t11O{JT}EM(4Gd5m)Z=Hos<$>*DV8QRZA<H#^EUt1qsgSAR7(
zm(OLj&E{A0{s2bqHrspZc%$~2m-9a1I`ny9v^Q`_jnp*9hL-YuzU~TV;0JT3B<}sP
z{t;3jN<yYy3ABcMA&KHy)jihw&^kpdy|Ll6H8gCzQ-7t;msv7s;s-@(*4nVUj@dJx
zPMq0LK0NSN_zhuG5o4{6O1g)E15sD(q8i1wtnHrpQa`ITvwtAbd)DDH7UfS{;V)kN
z@Aa2vHUy;90-Ig+CI5d>H0ZcP%=m6`yA__1Ae{?jW#mXseO=O=gEc*soo|=zSTj;m
QmkxU&cA6Qe&dkyO1fHhgfdBvi

delta 1804
zcmYLJYg80v7=C7UW_D+Gb|w@gNd*>AxvEKs3YJ(XXdsAXp;5}ZQD)jfsZ95jlA=j?
zMhy|j62dI=#2S@ZSptQmcF_*Sp$x%G*HdPiiKnNtKl(A}+3(%&y*<zSemxb!7ZpO)
zFrNt6yuhevVi_@$_yX}kKpFsC*?>F-7`>S|nRt>|$UAojFuVY;9|rVS_<aIIEC%ja
z2PEDDWN%=cuYp-}=ob#;jpJR$&Eq$C1hE|Ojpm{BKSK?q^*aG{2hg@IfDxMmIQb_?
z)qQ}VL26BA;C~<;dxwE<hjc;$Zt8)&F#?D!fxNE?(B6mA@*S}s_K10mzZCX(7VmUo
ztVz^NOz&6)AL5cR{rp?NxOmJ^7Xs!QWT$LnA#9*5gNfcm?h=bkxH0<&7BJ{C@>l=K
z`>RkO9-;kF6fAt2iAUhBrUt<ABj#moWy0yWch6HmS{4?3)WQD`;E`fC{X6ma0R8pV
zc<JbIACR7e=F<Cskvduj=dzPs=-;@47d{h)OiTbG?+|XRj|QUJgj*^pQR3G^UVAL<
z=Y*P5wBPcJaJ)cb;Aey`aW@clvv6VjI^f25QS-I|G0Vi5{$3!dTFlf+Sy-Dm{{}Xk
z=o9Ns#;A07P<;D2RyGFW2U(SXv0eNskAcH3iaj0FI)1X1E`~;aZ(ET^_hi-fn!)l$
z@3S?x%qCwB+rj1#h6}M)h~d6E>Ha1^lU$TavPhwMyYxiw6kvFhv|hRhj9)2LXC31F
zj0~WW9Kd0{Qf<Q(Ag)t-xv!WxZPM!}wgKU*r2`K)kfdViU7c*}m!;0L-L!X0oj?A{
z_<N<^TMq!rHCam`iE)!o%dSn!$;u9Sni0b?|B~n3f1HUm*{gj({m07>MK_WS$x63{
z`liXNk`0dSetFY&rd87eI7|rO@c00xHORHkQ%ud08=mFZ2D|0`pPU8~TI7!hNR?PF
zABp^e)Isj<Vb%y$KC`xi8dU@^&6KYWu!{I*MT{)qP#jf^-;#iPhvzD37r1junKHfk
zePBX?QYetk$d8oWSFQsif|Wx_I{^Cy<!bIJiusM*9ZOzfU~ddt%Qigr{Y%fVfLZq6
z@?R!T74}PAL&-~@l_-V!HafCxEYs+8cz*eZv%15vc|{E{bd%%7*XSLz$njQx6wk9&
zyQ_$!m#9Y7I)Jg4)v15*RdBVbb7%Iky7$z(){>_5FV({NB+-3MEpE>MqPx^egi_`@
z^<;MrXCq(j33`+-!#-_lJYNl;qHD#UAEW$=R&ilCFl-btodF)wHk~thF4wkRr+n^h
zTJ@pbEa-c!wrehzWwTa)jB?t3*Y<7LO1=iPgJWebUB33QmwvLSwQ3{y8oaBu4oTx~
z)M)1yl`_v+r_i#7_m?@N4!5BY<J+7Idbzz3sm|qJN#t#k^XZkrbiCwj|CxeB4|RTe
zXDgS-tp^`w;<zn(WHasVc0Dou2@Zr;&zweKC;qKxr!D|e{?un?kbw!6R-GIgTckH{
zxs|+m^p0KRC*i#QSvN8MNxi$BWk}Dul*VXA&$W8w&<9Sq-Y%mxCBxO~=6h*B<Z8_z
zM*ZPBnnq34<3`A<9L?xgjj;7>=7uwd`^q#n{icz6nh!z3dSm8uBqPXeRP5yD#WWgq
z=We6A_ZfQ|7<b%H)?6h#^FwpU+3VcqCFYDi-cCw1mwNlz(FC)qtDIUbHg|ZIGTS!u
z!)4dlS-shFzMdPk*F2s12G8~qU`nX}pc1OeQsGP9e*d@TD}qtxTylz|!C~MhSq~UP
zt)`$+gYrvqod27bcovshK}LxGQc#T`c}nkzwXDJQcIEj`=LdWCTPeZ0s$=C9@1%k;
z`FpIY;OmY>jh>XpN^<A;w}<>L$qq#1#914|VgtYYEn#QvQr^`$XRKZB$6R_5JX4Cy
z>hCtpDwyYwiTcK&I#y*BmFH-_Jijv`+h!AUT>klEjyR+Z%c@{SrH&N7^=GF}6<oS^
fO%d{URfSiYUf=HR69r}A%$nu-d;GPNrfUBJMfTrh

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 7bcee2c23..b18779405 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -160,7 +160,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="118"/>
         <source>REVIEW</source>
-        <translation>审查</translation>
+        <translation>重新查看</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="118"/>
@@ -180,15 +180,15 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="128"/>
         <source>VIEW</source>
-        <translation>看法</translation>
+        <translation>查看</translation>
     </message>
     <message>
         <source>Change Language</source>
-        <translation type="vanished">改变语言</translation>
+        <translation type="vanished">切换语言</translation>
     </message>
     <message>
         <source>CHANGE</source>
-        <translation type="vanished">改变</translation>
+        <translation type="vanished">切换</translation>
     </message>
     <message>
         <source>Select a language</source>
@@ -227,7 +227,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="184"/>
         <source>left</source>
-        <translation>剩下</translation>
+        <translation>向左</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="184"/>
@@ -270,7 +270,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="44"/>
         <source>ALL TIME</source>
-        <translation>整天</translation>
+        <translation>全部</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="46"/>
@@ -285,7 +285,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.h" line="15"/>
         <source>Miles</source>
-        <translation>迈尔斯</translation>
+        <translation>英里</translation>
     </message>
 </context>
 <context>
@@ -293,7 +293,7 @@
     <message>
         <location filename="../qt/offroad/driverview.cc" line="56"/>
         <source>camera starting</source>
-        <translation>相机启动</translation>
+        <translation>相机启动中</translation>
     </message>
 </context>
 <context>
@@ -324,7 +324,7 @@
     <message>
         <location filename="../installer/installer.cc" line="144"/>
         <source>Receiving objects: </source>
-        <translation>接收物体： </translation>
+        <translation>正在接收： </translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="145"/>
@@ -462,12 +462,12 @@ location set</source>
     <message>
         <location filename="../qt/home.cc" line="205"/>
         <source> ALERTS</source>
-        <translation> 个警报</translation>
+        <translation> 警报</translation>
     </message>
     <message>
         <location filename="../qt/home.cc" line="205"/>
         <source> ALERT</source>
-        <translation> 个警报</translation>
+        <translation> 警报</translation>
     </message>
 </context>
 <context>
@@ -561,7 +561,7 @@ location set</source>
     <message>
         <location filename="../qt/text.cc" line="41"/>
         <source>Exit</source>
-        <translation>出口</translation>
+        <translation>退出</translation>
     </message>
     <message>
         <location filename="../qt/util.cc" line="18"/>
@@ -571,7 +571,7 @@ location set</source>
     <message>
         <location filename="../qt/util.cc" line="18"/>
         <source>openpilot</source>
-        <translation>开放式飞行员</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <location filename="../qt/util.cc" line="66"/>
@@ -732,7 +732,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="184"/>
         <source>Waiting for internet</source>
-        <translation>等待上网</translation>
+        <translation>等待网络连接</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="238"/>
@@ -857,7 +857,7 @@ location set</source>
     <message>
         <location filename="../qt/sidebar.cc" line="84"/>
         <source>NO</source>
-        <translation>不</translation>
+        <translation>未连接</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="84"/>
@@ -1046,12 +1046,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="107"/>
         <source>Decline</source>
-        <translation>衰退</translation>
+        <translation>拒绝</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="111"/>
         <source>Scroll to accept</source>
-        <translation>滚动接受</translation>
+        <translation>滑动接受</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="126"/>
@@ -1084,7 +1084,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="44"/>
         <source>Enable Right-Hand Drive</source>
-        <translation>启用右手驱动</translation>
+        <translation>启用右舵模式</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="45"/>
@@ -1114,7 +1114,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="62"/>
         <source>Disengage On Accelerator Pedal</source>
-        <translation>松开加速踏板</translation>
+        <translation>踩油门解除</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="63"/>

From df251ef50ebfe5c997e14a03fca4ec932bc4c5cf Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 13:00:43 -0700
Subject: [PATCH 184/435] Fix master-ci dirty working tree + CI test (#25087)

* check

* test for dirty working tree

* swap order

* fix diff
---
 .github/workflows/selfdrive_tests.yaml |  7 +++++--
 .gitignore                             |  2 --
 Jenkinsfile                            |  1 +
 rednose_repo                           |  2 +-
 release/check-dirty.sh                 | 11 +++++++++++
 release/files_common                   |  3 +++
 selfdrive/loggerd/.gitignore           |  1 +
 7 files changed, 22 insertions(+), 5 deletions(-)
 create mode 100755 release/check-dirty.sh

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 35a08d4fe..99a21b58f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -59,11 +59,14 @@ jobs:
         TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
     - name: Build Docker image
-      run: eval "$BUILD"
+      run: |
+          eval "$BUILD"
+          rm $STRIPPED_DIR/Dockerfile.openpilot_base
     - name: Build openpilot and run checks
       run: |
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          release/check-dirty.sh && \
                           python -m unittest discover selfdrive/car"
 
   build_all:
@@ -89,7 +92,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
diff --git a/.gitignore b/.gitignore
index 0092c4dc9..e1ff5d500 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,8 +45,6 @@ system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 system/camerad/camerad
diff --git a/Jenkinsfile b/Jenkinsfile
index 0fa623fbc..4e1371785 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -115,6 +115,7 @@ pipeline {
             phone_steps("tici", [
               ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
diff --git a/rednose_repo b/rednose_repo
index 225dbacba..3b6bd703b 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47
+Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd
diff --git a/release/check-dirty.sh b/release/check-dirty.sh
new file mode 100755
index 000000000..9c6389f38
--- /dev/null
+++ b/release/check-dirty.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ ! -z "$(git status --porcelain)" ]; then
+  echo "Dirty working tree after build:"
+  git status --porcelain
+  exit 1
+fi
diff --git a/release/files_common b/release/files_common
index 260e37e29..fb9117056 100644
--- a/release/files_common
+++ b/release/files_common
@@ -231,6 +231,7 @@ selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/calibrationd.py
 
+system/logcatd/.gitignore
 system/logcatd/SConscript
 system/logcatd/logcatd_systemd.cc
 
@@ -239,6 +240,7 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
+selfdrive/loggerd/.gitignore
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc
 selfdrive/loggerd/encoder/encoder.h
@@ -414,6 +416,7 @@ scripts/stop_updater.sh
 pyextra/.gitignore
 pyextra/acados_template/**
 
+rednose/.gitignore
 rednose/**
 laika/**
 
diff --git a/selfdrive/loggerd/.gitignore b/selfdrive/loggerd/.gitignore
index 6437be5e3..53dc24e6f 100644
--- a/selfdrive/loggerd/.gitignore
+++ b/selfdrive/loggerd/.gitignore
@@ -1,3 +1,4 @@
 loggerd
 encoderd
+bootlog
 tests/test_logger

From 8ea982264ec4ba7aa47a3228236f943e76a911c5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 13:05:25 -0700
Subject: [PATCH 185/435] remove casync from agnos manifest for now

---
 system/hardware/tici/agnos.json | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 853d3ab43..7ccea95ee 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -47,8 +47,6 @@
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true,
-    "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx",
-    "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13"
+    "has_ab": true
   }
 ]

From 1d6623c6092e312d03ce4d434077780e2287a010 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 13:18:12 -0700
Subject: [PATCH 186/435] update release notes

---
 RELEASES.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 392e9dc48..7e8f80500 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,18 +1,18 @@
-Version 0.8.15 (2022-07-XX)
+Version 0.8.15 (2022-07-20)
 ========================
 * New driving model
   * Path planning uses end-to-end output instead of lane lines at all times
   * Reduced ping pong
   * Improved lane centering
 * New lateral controller based on physical wheel torque model
-  * Much smoother control, consistent across the speed range
+  * Much smoother control that's consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
   * Significantly improved control on TSS-P Prius
 * New driver monitoring model
   * Takes a larger input frame
   * Outputs a driver state for both driver and passenger
-  * Automatically determines which side the driver is on (soon)
 * Navigation improvements
   * Speed limits shown while navigating
   * Faster position fix by using raw GPS measurements
@@ -23,8 +23,8 @@ Version 0.8.15 (2022-07-XX)
   * More consistent camera view perspective across cars
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
-  * Support for delta updates to reduce data usage on future OS updates
   * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!

From 5f77451aec3345c80f8cf2e5cd15c0ce911d5612 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Jul 2022 13:46:09 -0700
Subject: [PATCH 187/435] FW fingerprinting updates (#25088)

* Print brand along with ecu

* fix json decoding

* fw_versions updates

* add timeout handling back

* keep logging the same
---
 selfdrive/car/car_helpers.py |  6 +++---
 selfdrive/car/fw_versions.py | 22 ++++++++++------------
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7f8373215..690072cc4 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -79,7 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  ecu_responses = set()
+  ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -98,7 +98,7 @@ def fingerprint(logcan, sendcan):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
-      ecu_responses = get_present_ecus(logcan, sendcan)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
       car_fw = get_fw_versions(logcan, sendcan)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
-                 fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 03dcece10..c51d12016 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -290,24 +290,21 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
   # Try exact matching first
-  exact_matches = [True]
+  exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
-    exact_matches.append(False)
+    exact_matches.append((False, match_fw_to_car_fuzzy))
 
-  for exact_match in exact_matches:
+  for exact_match, match_func in exact_matches:
     # For each brand, attempt to fingerprint using FW returned from its queries
+    matches = set()
     for brand in versions.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
-      if exact_match:
-        matches = match_fw_to_car_exact(fw_versions_dict)
-      else:
-        matches = match_fw_to_car_fuzzy(fw_versions_dict)
+    if len(matches):
+      return exact_match, matches
 
-      if len(matches) == 1:
-        return exact_match, matches
-
-  return True, []
+  return True, set()
 
 
 def get_present_ecus(logcan, sendcan):
@@ -448,9 +445,10 @@ if __name__ == "__main__":
   print()
   print("Found FW versions")
   print("{")
+  padding = max([len(fw.brand) for fw in fw_vers])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()

From b5f0cb22a5aab4ea94cdc817bf0331919a265bfb Mon Sep 17 00:00:00 2001
From: realfast <jraycec@gmail.com>
Date: Fri, 8 Jul 2022 16:36:02 -0500
Subject: [PATCH 188/435] Add Chrysler FPv2 requests and logging (#24460)

* Chrylser FPv2

* Update fw_versions.py

* formatting and remove default

* fix rx offset

* move to end

* add fw versions

* this won't be fingerprinted on as it returns from Mazda

* only log FW versions

* add type annotation

* fix typing

* Skip if FW versions are for read/request-only

* Fix crash if no fw versions

Fix crash if no fw versions

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/chrysler/values.py           | 18 +++++++++++++++++-
 selfdrive/car/fw_versions.py               | 21 ++++++++++++++++++++-
 selfdrive/car/tests/test_fw_fingerprint.py |  2 ++
 3 files changed, 39 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 40210e68e..ada4f486f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,6 +1,7 @@
+import capnp
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Optional, Union
+from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -110,6 +111,21 @@ FINGERPRINTS = {
   ],
 }
 
+FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = {
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [],
+    (Ecu.srs, 0x744, None): [],
+    (Ecu.esp, 0x747, None): [],
+    (Ecu.fwdCamera, 0x753, None): [],
+    (Ecu.fwdCamera, 0x764, None): [],
+    (Ecu.eps, 0x761, None): [],
+    (Ecu.fwdRadar, 0x757, None): [],
+    (Ecu.eps, 0x75A, None): [],
+    (Ecu.engine, 0x7e0, None): [],
+    (Ecu.transmission, 0x7e1, None): [],
+    (Ecu.gateway, 0x18DACBF1, None): [],
+  }
+}
 
 DBC = {
   CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c51d12016..04610b96d 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -92,6 +92,13 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_RX_OFFSET = -0x280
+
 
 @dataclass
 class Request:
@@ -188,6 +195,18 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
+  # Chrysler / FCA / Stellantis
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+    rx_offset=CHRYSLER_RX_OFFSET,
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+  ),
 ]
 
 
@@ -445,7 +464,7 @@ if __name__ == "__main__":
   print()
   print("Found FW versions")
   print("{")
-  padding = max([len(fw.brand) for fw in fw_vers])
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
     print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 49fa66d36..cda241c73 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -27,6 +27,8 @@ class TestFwFingerprint(unittest.TestCase):
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
+        if not len(fw_versions):
+          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})

From c907a0c28aa0958fbc841019eb401a23432ef897 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 14:42:54 -0700
Subject: [PATCH 189/435] add chrysler fw query to release notes

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 7e8f80500..1e9a1b042 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -25,6 +25,7 @@ Version 0.8.15 (2022-07-20)
 * AGNOS 5
   * Support VSCode remote SSH target
   * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!

From 76dde007959b633f4140d04e79043c7faef567b9 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 8 Jul 2022 16:57:50 -0700
Subject: [PATCH 190/435] Update RELEASES.md

---
 RELEASES.md | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1e9a1b042..588b88827 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -11,8 +11,9 @@ Version 0.8.15 (2022-07-20)
   * Used on select Toyota and Hyundai models at first
   * Significantly improved control on TSS-P Prius
 * New driver monitoring model
-  * Takes a larger input frame
-  * Outputs a driver state for both driver and passenger
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
 * Navigation improvements
   * Speed limits shown while navigating
   * Faster position fix by using raw GPS measurements

From 4c493237d52525d2effb95b5cda96b36a684303c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Jul 2022 19:36:09 -0700
Subject: [PATCH 191/435] Interleave VIN queries (#25090)

Interleave the two requests
---
 selfdrive/car/vin.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 7413c3f23..fd1ca61e6 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -18,8 +18,8 @@ VIN_UNKNOWN = "0" * 17
 
 
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
-  for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
-    for i in range(retry):
+  for i in range(retry):
+    for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
       try:
         query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
         for addr, vin in query.get_data(timeout).items():

From 94c8717cac0cfad4603d57a8da108a124019dd73 Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Fri, 8 Jul 2022 22:03:21 -0500
Subject: [PATCH 192/435] Add missing HIGHLANDERH_TSS2 ESP & engine f/w
 (#25066)

* Add missing HIGHLANDERH_TSS2 ESP & engine f/w

`@pkozlowski#5214` 2022 Highlander Hybrid (Poland)  DongleID/route b2e9858e29db492b|2022-07-07--17-57-24

* Fix test_fw_query_on_routes with older routes

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/toyota/values.py             | 4 +++-
 selfdrive/debug/test_fw_query_on_routes.py | 5 +++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8149bfd06..2a0399934 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -954,11 +954,13 @@ FW_VERSIONS = {
       b'\x01F15264873500\x00\x00\x00\x00',
       b'\x01F152648C6300\x00\x00\x00\x00',
       b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EE6000\x00\x00\x00\x00',
       b'\x01896630E67000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EE4000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 8c8c631c3..9ce0ebb3f 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -17,6 +17,7 @@ NO_API = "NO_API" in os.environ
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
+UNKNOWN_BRAND = "unknown"
 
 try:
   from xx.pipeline.c.CarState import migration
@@ -126,10 +127,10 @@ if __name__ == "__main__":
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
 
-          padding = max([len(fw.brand) for fw in car_fw])
+          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False

From 949de4d2b6b293d9f77d83c58212f5dee176cbf1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Jul 2022 20:25:54 -0700
Subject: [PATCH 193/435] UI: Internationalization support (#21212)

* rough multiple language demo

* more wrappings

* stash

* add some bad translations

* updates

* map from french to spanish still has same problem of needing to call setText on everything

* add files

* restart UI

* use return code

* relative path

* more translations

* don't loop restart

* Toggle and prime translations

* try on device

* try QComboBox with readable style

* stash

* not yet scrollable

* stash

* dynamic translations (doesn't work for dynamic widget strings yet)

* clean up multiple option selector

* store languages in json

* try transparent

* Try transparent popup

* see how this looks

* tweaks

* clean up

* update names

* Add Chinese (Simplified) translations

* Do missing French translations

* unit tests caught that :)

* fix test

* fix other test (on PC)

* add entries to dialog to test

* add cancel button, clean up a bit

* just chinese

* some clean up

* use quotes

* clean up

* Just quit, set timeout to 0

* half a second

* use exitcode

* don't print if it's expected

* this comment is outdated

* update translations

* Update translations

* re-order input classes

* Update line numbers

* use enabled property for button style

* Get rid of ListWidget

* Update line numbers

* Log failed to load language

* Log failed to load language

* Move to utils and fix english logging

extra line

* Update translations

* spacing

* looks a bit better

* try this instead of exitcode

fixes

fix

* only one function

* comment

* Update line numbers

* fixup some japanese translations

* clean up multi option dialog

* Update line numbers
---
 common/params.cc                         |   1 +
 common/watchdog.cc                       |   5 +-
 common/watchdog.h                        |   4 +-
 selfdrive/ui/main.cc                     |   9 ++
 selfdrive/ui/qt/offroad/settings.cc      |  14 ++
 selfdrive/ui/qt/util.cc                  |  16 +++
 selfdrive/ui/qt/util.h                   |   1 +
 selfdrive/ui/qt/widgets/input.cc         |  86 ++++++++++++
 selfdrive/ui/qt/widgets/input.h          |   9 ++
 selfdrive/ui/tests/test_translations.cc  |   1 +
 selfdrive/ui/translations/main_ja.ts     |   6 +-
 selfdrive/ui/translations/main_ko.qm     | Bin 19159 -> 19449 bytes
 selfdrive/ui/translations/main_ko.ts     | 167 ++++++++++++-----------
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 17629 -> 17919 bytes
 selfdrive/ui/translations/main_zh-CHS.ts | 167 ++++++++++++-----------
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 17741 -> 18031 bytes
 selfdrive/ui/translations/main_zh-CHT.ts | 167 ++++++++++++-----------
 selfdrive/ui/ui.cc                       |   2 +-
 selfdrive/ui/update_translations.py      |   2 +-
 19 files changed, 404 insertions(+), 253 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index f93c87cd9..c4f65a9e0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -129,6 +129,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 5a1020782..920df4030 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -1,12 +1,9 @@
 #include "common/watchdog.h"
-#include "common/timing.h"
 #include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick() {
+bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-
-  uint64_t ts = nanos_since_boot();
   return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
 }
diff --git a/common/watchdog.h b/common/watchdog.h
index 7ed23aa0d..12dd2ca03 100644
--- a/common/watchdog.h
+++ b/common/watchdog.h
@@ -1,3 +1,5 @@
 #pragma once
 
-bool watchdog_kick();
+#include <cstdint>
+
+bool watchdog_kick(uint64_t ts);
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 1eecd78b1..ed54d5aa1 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -1,6 +1,7 @@
 #include <sys/resource.h>
 
 #include <QApplication>
+#include <QTranslator>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -13,7 +14,15 @@ int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
   initApp(argc, argv);
 
+  QTranslator translator;
+  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
+  if (!translator.load(translation_file, "translations") && translation_file.length()) {
+    qCritical() << "Failed to load translation file:" << translation_file;
+  }
+
   QApplication a(argc, argv);
+  a.installTranslator(&translator);
+
   MainWindow w;
   setMainWindow(&w);
   a.installEventFilter(&w);
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a03af2395..6bcdd55b0 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -13,6 +13,7 @@
 #endif
 
 #include "common/params.h"
+#include "common/watchdog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -133,6 +134,19 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     addItem(regulatoryBtn);
   }
 
+  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
+  connect(translateBtn, &ButtonControl::clicked, [=]() {
+    QMap<QString, QString> langs = getSupportedLanguages();
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), this);
+    if (!selection.isEmpty()) {
+      // put language setting, exit Qt UI, and trigger fast restart
+      Params().put("LanguageSetting", langs[selection].toStdString());
+      qApp->exit(18);
+      watchdog_kick(0);
+    }
+  });
+  addItem(translateBtn);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index cab7299cd..a7d5438ae 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -1,6 +1,9 @@
 #include "selfdrive/ui/qt/util.h"
 
 #include <QApplication>
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
 #include <QLayoutItem>
 #include <QStyleOption>
 #include <QPainterPath>
@@ -36,6 +39,19 @@ std::optional<QString> getDongleId() {
   }
 }
 
+QMap<QString, QString> getSupportedLanguages() {
+  QFile f("translations/languages.json");
+  f.open(QIODevice::ReadOnly | QIODevice::Text);
+  QString val = f.readAll();
+
+  QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object();
+  QMap<QString, QString> map;
+  for (auto key : obj.keys()) {
+    map[key] = obj[key].toString();
+  }
+  return map;
+}
+
 void configFont(QPainter &p, const QString &family, int size, const QString &style) {
   QFont f(family);
   f.setPixelSize(size);
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 9491c6798..f0e57526c 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -14,6 +14,7 @@ QString getBrand();
 QString getBrandVersion();
 QString getUserAgent();
 std::optional<QString> getDongleId();
+QMap<QString, QString> getSupportedLanguages();
 void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 755ccfe8c..a130a8e93 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 #include <QPushButton>
+#include <QButtonGroup>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -257,3 +258,88 @@ bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
   auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
   return d.exec();
 }
+
+// MultiOptionDialog
+
+MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, QWidget *parent) : QDialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  QWidget *listWidget = new QWidget(this);
+  QVBoxLayout *listLayout = new QVBoxLayout(listWidget);
+  listLayout->setSpacing(20);
+  listWidget->setStyleSheet(R"(
+    QPushButton {
+      height: 135;
+      padding: 0px 50px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked { background-color: #465BEA; }
+  )");
+
+  QButtonGroup *group = new QButtonGroup(listWidget);
+  group->setExclusive(true);
+
+  QPushButton *confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  for (QString &s : l) {
+    QPushButton *selectionLabel = new QPushButton(s);
+    selectionLabel->setCheckable(true);
+    QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) {
+      if (checked) selection = s;
+      confirm_btn->setEnabled(true);
+    });
+
+    group->addButton(selectionLabel);
+    listLayout->addWidget(selectionLabel);
+  }
+
+  ScrollView *scroll_view = new ScrollView(listWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addStretch(1);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList l, QWidget *parent) {
+  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index f81211d0e..47d8b74ef 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -68,3 +68,12 @@ public:
   explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent);
   static bool alert(const QString &prompt_text, QWidget *parent);
 };
+
+class MultiOptionDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit MultiOptionDialog(const QString &prompt_text, const QStringList l, QWidget *parent);
+  static QString getSelection(const QString &prompt_text, const QStringList l, QWidget *parent);
+  QString selection;
+};
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
index fecb9da44..ba0612b4c 100644
--- a/selfdrive/ui/tests/test_translations.cc
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -41,6 +41,7 @@ void checkWidgetTrWrap(MainWindow &w) {
 
 // Tests all strings in the UI are wrapped with tr()
 TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("LanguageSetting");
   Params().remove("HardwareSerial");
   Params().remove("DongleId");
   qputenv("TICI", "1");
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index fbb654bc4..5c0f54a31 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -528,12 +528,12 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="123"/>
         <source>✓ SUBSCRIBED</source>
-        <translation>✓ 購読</translation>
+        <translation>✓ 購読しました</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="129"/>
         <source>comma prime</source>
-        <translation>コンマプライム</translation>
+        <translation>comma prime</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="135"/>
@@ -543,7 +543,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="148"/>
         <source>COMMA POINTS</source>
-        <translation>コンマポイント</translation>
+        <translation>COMMA POINTS</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index 62ddb3be2b89c6c73e82458ae86c02825c925de5..f6e95b5038f984183d9d4273c581bb6ef6e4b91d 100644
GIT binary patch
delta 1948
zcmZWqX;4#F7(ID;FE4p{c>!6pwrB`JMJwQ1tf2}B3RVzBbX-~&FhVJ63$?BpS6px#
zT(F{b0d4En0k=}LF1X<Ch}90#p@?g3?Pg20I6X9-&N%&%oZNfA``vTTcfOk&YjuCF
z*RAq(p9O>_pwkRM?;;ivrxA}5*Awdik?Yp+fD{IFmWaKHLx`goljp&pR{{ALpp^sa
z8NiVU#4Z53_5l(W1Fv%Y=1?MYCU*ghvx$=cx8FnlSjYt)l*0-CNzgChA#xbRyo~^U
z_Mm>h2OYT{jJ^u7umRB7AXawg{`VnXJWQ;Bcv%G6218nEBhkl@_Ut67`7j*(mbeSD
zZ3NGG19GQoxS?J{xV0KE=c9ksOdzxZ{qG+Ddgft(iMRGHMnccEB*KeKi{=3#NXjap
zBCliccO>9<1Vd*3#`qgZ5l(VG4=Lm4^57z*?konBSd55Y!vnoB@{?IWOc=%-ui`nc
z<J~m7n+cZV!zL!sR$}Y9OF%yxN^{-<Iu@eRCkbft5O<d5a{XJKe=o`$9ItD&*#UI0
z>UykTsk$E4C7%xA{4?E0*E!#NpYBqM$h--<o5FS=V5IIrw*|n<fr8>X1%%WI!FTF`
zZnK0q#hpWDD}~Wsym8lbVN<n<8@36D^6d=xNjMt60`RI3t|c>Zo8Cfg6>A<=CDd*4
zW5T8SfJZD<!0&qdGS)dXU7wrGe7y?vyEGE+++JULa4;1N)t8qtzRUOe%Jy^Uw;%PF
zTl~S&t<X0X<Ovq{ZE@_*GV=IR%!sGV-kIX``Zs_;A92=r@{%PnPy7{#XcP<ME9kjY
z4|<L8pzkaX+MHrhaU=N+7q>N}5m$@5FRulHhKc*%DW<R~;umUjg{<QFyEUBuLOlQQ
zM|#lvidf%gKTRo1N>3^uRVZ1OO{J1aQj8YNi{wZn#<DUIOC^_blpcB}WjabISiO|l
z>@8&qkry)Vkfu-kknv}vncX!u!Fp-gIucPfd$4W12W<;I7_(R^>Qqb*`tFvBR?-`4
zvQ)fiA(gl<?K@LP#qy;SO;lbekxm9)WhER^O)UupeJ|afU&WGd@?i86>1h)QhQ}F%
zz!ZAybA$Fc6tL|wI3L7O!HI_crAL5Br(u+il?c9W*xvY@3NJELgl?b*O-94hr0evY
zOSXqlvXH@YN$dHvz(9Fl_H7c#lphb-MhR!jPj0>hv{2<g9#SFwE%{mRd$d4+F(#yv
z%^?^Q^d#=}t1<nDXO#MYae3}Xz$;sgAMav5pPj}7cY-)hGs%{>X{l+Zpdz=C-80k_
z^^1!eZkvV;Y#`%uQ|f$5*zbaA)M!fH-eF2R&F%}an^vGDO;Tp6u1TcVZkcMmCj*86
zC8`tOCqurHcI6^(K2}-sAb`)nRAMC1ZjrL=o|WTolr_&;>UIZ|!iw#HZ!e|DeRCMi
z>!WPG$l8m6%AUn*DB%O8JX|8Ny~+s}H%ggGrP79`y{c6DJ4vWcxj!L?5~i4S2j?(8
z)f{x}6bTJ7kE!SL;INseUK2@poq6sDzEsd+KK+O#>X2bRJBUj8-co&!@!YVMsynch
z3+*1Mog=5yEa%j?7}mP)bTuJj4B-4)9T-goB4?<nYnia^Huc@aW<qDw^-qVB_&v3B
zHM_6PKDBBK73*?Ty--68_fl(4lbBd-F_bv?9LScifE&C(lBHME5_WHuWlwjm+h@8h
zho<p|(_pEz@1TpXTPmZ89h{bPPI|!{srh|c!toQWbslf*6QtQ2V}RGZwTL>tM_tBf
z1M{hvPntG0I+iAGr7hXWw(r<Y+jOrly)aMvteE*<i`9<&P7l1&pk3;F1!(DSHU7kh
z(wG=+^^Ia*NA$4z-+c~rpJW}-z=Yk*)@;`uD$~ch>gGb${5|W2^lU2BX#Hx+UqGMd
z*4q1<*$wlob#Z$+PRih)PRp`#gGu%iD~|0xLSxYq&7YV7QHlLy3#O=kcH^nTr}n?F
zYK@sRF58uEdz0U}<6P;@VPz*RrK01X*yFY<wf|-E9-5w&J|V|8&X)CWblKPzQN{v4
trB$@|pxmsSjHD?!8I!a7WsJ+3?9%CZxcEW>gC~K^h5yHwZEWof{~HSV10MhY

delta 1717
zcmX9;eOQfW9KO#v?|VMp^MyW)9O+buR6=QmIw`^=sv&JgG?|PmOEWtxMoP2M@=<9j
z+00xkADa<!e8loGxpZA=ODg5^JztZ$cDv4B_xn8W^Zb7I@BZDt=f8Z}%{<u_M{6-4
z?*fLb0Tju^J;ZdPjhIht0|fpzTmVF0z*|cUCe9=#@XQ7~n*9OQDV`eu=*|P~u|UK+
zV0Z*DX(KR{>nSscg+R=3K;4h{F<^Ck%#Zc_!9;1?a7u-+VHbcWc2pd)qx&j5hTVj)
zy#<gBfM6TRdl?XFe<M~yxFP`kheF&$65h`t9w-O29Z(+mo1}U|HGrg@#zQr<j_V-!
z8S7w$b|@y)tOABrV?z63VAN(z)XW2VN|+RoM<OgB-NFREi2h_ND=fye+a%z42GdtR
z<M~F!%Fl5B0b=K^W#T=EFE0f&Etna#jR|{W_P#Fw%P1tCu3?@~EJ-r+{#LB)dS(Um
z&+)^>%Ru-*RHS_Xcoo6s5Dl0fqjl2?1|BbS4)O*(qGj(Cc>sf)WTSG~qTyAtm~&o$
zr%bl<2KV1REV~>lFz_^4y}ShIH&@m%Vja+TkX%YW3k+_Pd$u+M{$I%>r8E-Dlh5g~
zfE5p4EHA9n@WMX%(Ht`Ke<81m$_09u<=0~v*c2vjtYNQxuE?8;ofvS7!gOEc`8Nu4
z_Bd9wSg|680Y~pp>^G3G_b^4pk!ifYO>wM(=lz~+T`hODMhSDvE1CARuqcY6_P8o!
zG>-)a^bs}){{n&C!uF`+bX2?@ja7DZwFm{Jub4ei*wd0k%ol#Xk_VU*ghPu<Dcfw}
zcimh4R|uEd8n}N_xODF!`xhWIk2?gY_KH#fWwnMDiTdni)G1C3H+Yif=i<z{)ID&E
zm@HM%5g&;u9%YoHT}*lF9LY$0NvlSP84FkPe66@@q=D8h6tll45owGa`$yZ+HQSDs
zT(RIAHe7pDEd6>t3w|gbJl{m8`F$r=cTrDynRv$S8erTcHZ+om`H6TZvxW^Wv13@L
z__~Y4e5WYoZn1RE5vAdg58(Q%GNdDt6^Y6T6(@iYi!wn*eLWhKC9k@vWRCK<&khnU
zSH6zEK_e|unZ2mg;CNM8-%L8qKSp&h^$rQ7s2)w<L+LVA&+Ge8s^zMe_o$5GmZ~%O
zE*tBv4)?Or@@n-YMH5>!OTFMhCkeZ#H?P<UxRk4R@6QAr^y<T{?p&v6RQeBTl+_yd
z0yRfsmL}|JGS5e8;wHC{@GMPyrj^o#|D{QoL#YQ2(IlO-klA2OE_%}pm72PSsdP}Y
zrm^QzKxvY~IB!tqNJ&>~S@}XKtHZ?MPA86`<#VL$yGE}6k+yZS$DV&k+mDx!&~B-q
zK8}v;BNf%M=YpGbVB<C__((ct^%KeLkW`(_i(-mollt=&xhC11LrADiYM-A*31@3%
zN515RIa>EqXGv&=HnEvQ?><nw?7Be01=_WrIZ{Er_S}88XwXvah4-kGL$l8D6chWH
zbZ!;g_k5}wHYS4}S)_{$XRF6qb=FCv6M^7cy2%zQ5VA%WpT~gx_vw~QeM{)PF8}rW
zWd1-`@hxY{bXZqYOvU_cx<4C;zRtRab0j9z>6K+39CE$h*L0HwMC*gPvN)4h^an=r
zzuQ{<(R5<4PH!{sr5DolHVbi(#j3v;LNiFW3{F3maii1FcLOW#m1Qu$3I_su8%8(r
zmGPTzn4Ck&dR;VR?cxx71sMwOhO(FKhM!6qIAF5j#0&P`<(}bk=vBbEpHcmo&z|bG
z(J_qU8yIYKZtDg{q#7r-FphsuV`_3M74eBMZmD0-UN1N9SddC0`Nor<zM(XNv9Y~~
mQ?Sw46!{A<Hf|9x-c;GF)Tk<_7%GIyKnHJi<r$X%zyAR=RKS-2

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index fd643224c..91685383f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -76,13 +76,13 @@
 <context>
     <name>ConfirmationDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="220"/>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Ok</source>
         <translation>확인</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
@@ -108,149 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Serial</source>
         <translation>Serial</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>Driver Camera</source>
         <translation>운전자 카메라</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>PREVIEW</source>
         <translation>미리보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
         <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>Reset Calibration</source>
         <translation>캘리브레이션 재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>RESET</source>
         <translation>재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>캘리브레이션을 재설정하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review Training Guide</source>
         <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>REVIEW</source>
         <translation>다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>openpilot의 규칙, 기능, 제한 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <location filename="../qt/offroad/settings.cc" line="121"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>트레이닝 가이드를 다시보시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>Regulatory</source>
         <translation>규제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>VIEW</source>
         <translation>보기</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>Change Language</source>
-        <translation type="vanished">언어변경</translation>
+        <translation>언어변경</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>CHANGE</source>
-        <translation type="vanished">변경</translation>
+        <translation>변경</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="140"/>
         <source>Select a language</source>
-        <translation type="vanished">언어선택</translation>
+        <translation>언어선택</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <location filename="../qt/offroad/settings.cc" line="160"/>
         <source>Reboot</source>
         <translation>재부팅</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <location filename="../qt/offroad/settings.cc" line="165"/>
         <source>Power Off</source>
         <translation>전원 종료</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <location filename="../qt/offroad/settings.cc" line="185"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <location filename="../qt/offroad/settings.cc" line="196"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>down</source>
         <translation>아래</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>up</source>
         <translation>위</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>left</source>
         <translation>왼쪽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>right</source>
         <translation>오른쪽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <location filename="../qt/offroad/settings.cc" line="209"/>
         <source>Are you sure you want to reboot?</source>
         <translation>재부팅 하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Disengage to Reboot</source>
         <translation>재부팅 하려면 해제하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
         <source>Are you sure you want to power off?</source>
         <translation>전원을 종료하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Disengage to Power Off</source>
         <translation>전원을 종료하려면 해제하세요</translation>
     </message>
@@ -299,17 +302,17 @@
 <context>
     <name>InputDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="70"/>
+        <location filename="../qt/widgets/input.cc" line="71"/>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least </source>
         <translation>최소 필요 </translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source> characters!</source>
         <translation> 문자！</translation>
     </message>
@@ -389,12 +392,14 @@ location set</source>
 <context>
     <name>MultiOptionDialog</name>
     <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
         <source>Select</source>
-        <translation type="vanished">선택</translation>
+        <translation>선택</translation>
     </message>
     <message>
+        <location filename="../qt/widgets/input.cc" line="328"/>
         <source>Cancel</source>
-        <translation type="vanished">취소</translation>
+        <translation>취소</translation>
     </message>
 </context>
 <context>
@@ -564,27 +569,27 @@ location set</source>
         <translation>종료</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>dashcam</source>
         <translation>dashcam</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="66"/>
+        <location filename="../qt/util.cc" line="82"/>
         <source>%1 minute%2 ago</source>
         <translation>%1 분%2 전</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="69"/>
+        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
         <translation>%1 시간%2 전</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="72"/>
+        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
         <translation>%1 일%2 전</translation>
     </message>
@@ -640,7 +645,7 @@ location set</source>
 <context>
     <name>RichTextDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="257"/>
+        <location filename="../qt/widgets/input.cc" line="258"/>
         <source>Ok</source>
         <translation>확인</translation>
     </message>
@@ -648,33 +653,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <location filename="../qt/offroad/settings.cc" line="314"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <location filename="../qt/offroad/settings.cc" line="340"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="327"/>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="380"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -913,68 +918,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <location filename="../qt/offroad/settings.cc" line="234"/>
         <source>Git Branch</source>
         <translation>Git 브렌치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Commit</source>
         <translation>Git 커밋</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>OS Version</source>
         <translation>OS 버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Version</source>
         <translation>버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Last Update Check</source>
         <translation>최신 업데이트 검사</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Check for Update</source>
         <translation>업데이트 확인</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>CHECKING</source>
         <translation>검사중</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>Uninstall </source>
         <translation>삭제 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>UNINSTALL</source>
         <translation>삭제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>삭제하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="267"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="289"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
@@ -1062,82 +1067,82 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
         <source>Enable openpilot</source>
         <translation>openpilot 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>차선 이탈 경고 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
         <source>Enable Right-Hand Drive</source>
         <translation>우측핸들 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
         <source>Use Metric System</source>
         <translation>미터법 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>mph가 아닌 km/h로 속도 표시.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
         <source>Record and Upload Driver Camera</source>
         <translation>운전자 카메라 기록 및 업로드</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>가속페달 조작시 해제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
         <source>Show ETA in 24h format</source>
         <translation>24시간 형식으로 ETA 표시</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>오전/오후 대신 24시간 형식 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot Longitudinal Control</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index be6c51030617f25c54c086e107274a1b0434ea5c..19eccddbc0e919fdadb32a5621f8f7474aded85a 100644
GIT binary patch
delta 1961
zcmZWpe^gXu8h&Q(ueo>b+$#ibB4fkw!w3XTP)yK-Km?UEG*@y96ekEV&lxn2+N>cd
zQfeui8k#BQYMCee(dsdma>UU5(P}5ovXqgEbTUoX<e=a_oH?hnd-ji+=id9h-}^o9
z^FHs_R&9AuV_6sC`x3DB0FTOm;2}OrTtv(vzC$bnM6Nro0a79m`xbFD@n6IO#ylH9
zS3aOLGVUorKM6$41u|Cv357t;D(3koF!34giv*?&V{9|=MZgyl&W9>4@E|WgglvRR
zEdlcT5Ldnnpf!NPiU3Bu8Nk$EA#S`3STu<KBp&bp;+elOPd3DJA`t#9q}49qu?3L!
z?gH!ukPm%Ftc2p4!E?%>#9f3B_T3n2UIa8R#y2kk;!-jG+Ckv);mB5tfPUe~8Bt3j
zEM!qS4?2jvvh}RA5l{a>0uSB6)Mfu>d?oU&#{t8E{G#PNI0n;q)dOlSW=z<?12Zx6
zuS<cnJk0u>)jxI=^X9mHOwf#1dYHg55bvKl3yeuZgZEFs;C}Ewl*dXo<I3s^u9sT+
zkBSG}nU;sQMgdVLEXixws)X+>Q<`G=y~DEk8-5>g+j2HvWZpkpTC6*Of$^5k;VXav
z(N@iK0*LWiqp!3BiQBAMn$JsS$F0xxW5o$8ty?at+)!lw^bI#K)Mh<4VGUp=Suads
z;(^z#ZO!a?e1`SXwooQqB{+X(s|Fqt+%;oaQHM}5h53?A;X{LjV-E@qho0vC4}>EP
zj8AY1{=u)(Z>NNF!FSoZg+iCFVkd=-6*D_O0fI-1FYMY+LN~;c3H)rfi;LUG0E2dk
zON&TQUL>v*Zv#n7#f=k=(tI%iH2x95;Kl$t+r_&2F1GT5xc%}R61IyUovQ_0%ftgO
z)l=b8@vzQTIci1U>8q_=XcbTY^b32PEw+z604TF0Z3J5|`l{rpSwKnOlQN8G^6Zsn
zyucPE^^-i>F`DUXsWgfOB<fOWpUG4&k(DX8q{VYzp(44`k|cxEuurP_3yG-P0~mfU
zfP><Efrqp`Qe7OG1>cnF*3u;QVN(6;RX}LCwD064V8}7)i=HS-S0x>f_?jl$Dz&ze
zP=qS|SlP_pR|haHRO;>_!T2MxH6ov8J1-kI5~yIFoZ6X11zY6t4W9uiGvxvcTjKV8
zF7N2-1s(~Jk0xvaY&mjw-ZwN!o8pe8WHC^7hE=k{dCI=>A4y=Ma%1XtO1M_J(=vdH
zy{6p#i3$lHDfdQq0AY7+8L@s&$r@XZK;mYJt@!#q5>B?gS+SYxRkrs&WWHdF?ckM2
z&VN{rsyLpf%Ll8Gbv9tw19jXj4>uI5({e9U%5ZghB_$lwq82<y$s_NpbDB7Y(Jks4
z{DCIfqF!vBOw-L!+k)ovGTN(+i{nKl>)M?2XIQzcRd+f8X9O{g`%AT&4wLUy+J@c(
zod3vLZR61$WVB4HYnjHL)oNSMu=m2R+TK+gc(9-y87gtUXKG(~xKXlder*uldsy@L
zPvsbH)~?N_>jz!6TMoTS$rsuq8&A+9r|q-ac~3;7*cV(7spJ#(<qJc&?~c9cXSOJM
zfc?u!{=WHl=^>3gIBt_3(ZGesCVfcSVw&YEJu8E~e&T_ilQIh!*{$cMQ-PEX`t({R
zbWYaiP3|M~NBy1dXSv^_H@w9$41Zp4-bTfS+|<8nCC0y|w>FWO__{;h8O8G^ITD@U
zlE^5>s2*Q6=lHl|ZxRC@Ip_Fv5piU;!|(opUT`}6>BOj8j#H`hf;QX;-My2{cN<|V
zS#i*E!`+oZWeyuDmv}J^S!?9JLB)a^jRonMjPEk4-{t(r>^8P^Jjs^cH}=#s|Kqof
z&wir^!WxaU1y7!*%d<?|O<tMG+h)i(&h_w<X8)_bynwuB_GKnaOg76sSE$TLb6ran
zdp_6PR9sGly3N18e4h%{n{C&&a*X$wm$E+QyQ2gc>)d}tULuEzQ<d38G!`w<_shs0
zH+g*K`XD3JZR=a9xxN~|ubLSz7M6R8T@(3VQRpe|3)`RUaEVd2b!t)P|HKA8Q(RU&
z+v_THmHl`0w4k-h`rkqZqz6r^DD#%&z3eTSU;b1{VcC3-MIZsOFVXJ@%7G*b7ydtf
K|Mw5~#{CCt3IDDD

delta 1718
zcmX9;c~p&g7=G?|zwa(z-~B!<LW;UAq=oFMP@O?C5oL^R9E0p*$z+{-?2`4+ph75S
zkesp%LP#cC3}(#f<fKLAFlNS<B{Pq6|G4M5-*0)}=Y8Ji{r#7wt4!5xaj|6sLNm}o
z0rW}4U}6e!7;y)29w2hx5(h|~fsS00!id$xF+B5?9ovrvjKzR*n7?a)=S<*>RX`A9
z4qnGNRltxDyyp+Zhw$uFB7Zh#EB~zK1`{Q7!FdnFwV41a?5JO5N6&3`40{W4XDy(U
zA(nLKJqhBiUx;xK%SE7VC8YJ9fPV_4yhDI|35HXTh>b9Mj$-_IFb3QQ95i&%?!yMz
z83W6f0G*;Ru;C;S5{g0QiGa2OgL|fv2n$GwVg=_gbmlfH;fG<5Nx<m?hA(@?^QlM>
zu5f)m5+*KZ;y{c%lmnQaVpPm_CXB`CpOymQi5PdOjQf`{YZ8lgD#ya+S2oJE9Q&@{
z1|s^PAbC9C=ZX^Np{yhub?X;!|BlWzG!XEL)wSN^19;!i_1MG~1=Z@}ODU(<b6v&*
zuJ?GSyPY61@EYAi;Q-*)RoB>U70^0Bkdv+gzKaFlx@sW!pfEsACb2SMY>UaPIB27=
z`@WeMrV6JwkXdI{xDc}mP&0&k@eJ(tQm8CruLEL)s_d2wxJmEvOyYWx-kR2r6+PE4
zh-bj=E%irK67G0TUvP^4(G>mJ0-g`@-nL9=XLH;qPB>J^ysyP+F;rC>BrdA%3wY#-
zYsHs9w-w^fm?B!r&yH$uJGwWBSvgH?(4XS|+DWA0C>||O2imU`Pt3@nZga#l3LBt&
z5N|xG;QC|n#?!wT|Cm_a?*w4@D9Js?v(tT^NtU#^6e?GWR(;7^ltxXU@ZDUcB>4g@
z(My`{lS_e|r0JinV|FIK1&mvzMN<~?e7v-zyGn1Ll+u1A5p$#+-F0^K2(e@MaVcvv
zJ1*~#a@MQ{T&z<5wJLTxutd7tOhJX!(iN|}6j+ohDoMmslWJC$v6Gwa7~WQT-%Mfw
z#RkDEf!6umpuPyEQi+D}#sRD-#W1koJkV=`VT_IfdtEaeX!-=Sb2AhL?;_zw!~3BR
z*zp>p)t^fF8jQJaww0`GzA=Ax4G9b}z8Jor(xn?;KWsy(8jNqBQW^bG<A<<%piQ$W
z+P{RJ-)<VLuOiWM)8ywL=<!U`#swMNPc!X3!g!8JrjvEv{2pdDTE3xWgUsGpCeDOp
zj{KLCZ@FepjIAZ%bLNq@m6R^xk$KEmO6@I}CzVD4K99_s(28c*ZN6U-M+=QNS2}*j
zCnZmg4B&HPP~=H>Zn1JjPHpr6+&d5>0P7q%tzP4In!NoJdu+{=cNQHWp&B{sVIo_V
zDet*8o(26Q=dIh$yk^;Uwu?k&6XeTDyeJ8BiQJCQ$QilBHJpU9<%VyQndq5=?$i&I
ze5r$X@l|@`uEV%$PQ7Pehq?DeO4;9G`S&io_u8TK8C&Gj-r?6Tsg#qS;!@1So%SkT
z1zfk@RDvQF(IYdI0nu!AAIYW+?mdn@gAyA>1$t#DBhwksJwcfj_nFYw%8vJZOgqg|
z3bt~n+D=x=vZ+|$8|7vNF<_liQA%Rs8jB&<hY3emI(z&<BB7Sh=2Q-4nI*3~_uD<N
zoK7M3jI)$j57G-omXau<x2?%?J)CAR|E9M5IhV}yRkyXQxJA8cZHlHc7uDWXd}adE
z)z}S`%+XIx&EypO=BvBw`_lsx)x$Xq9P&;*|AxJ9Q>xzXe~0cKqM82YyJrm1Tp~HX
zU2kcwPd@P#S*#7JWt`wJZFW)}zpWA4mWQj^>nYl<$+Jmhmv(W^M<DdDR@tzJb9-E?
h8gPu?&eMRt-i6hMC5FNa7EiITmD6Tpp~3B4!2iFNz4ZV9

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index b18779405..1bcb30142 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -76,13 +76,13 @@
 <context>
     <name>ConfirmationDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="220"/>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Ok</source>
         <translation>好的</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
@@ -108,149 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>Dongle ID</source>
         <translation>加密狗 ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>N/A</source>
         <translation>不适用</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Serial</source>
         <translation>串行</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>Driver Camera</source>
         <translation>司机摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>PREVIEW</source>
         <translation>预习</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
         <translation>预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭）</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>Reset Calibration</source>
         <translation>重置校准</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您确定要重置校准吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review Training Guide</source>
         <translation>查看培训指南</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>REVIEW</source>
         <translation>重新查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>查看 openpilot 的规则、功能和限制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <location filename="../qt/offroad/settings.cc" line="121"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您确定要查看培训指南吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>Regulatory</source>
         <translation>监管</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>VIEW</source>
         <translation>查看</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>Change Language</source>
-        <translation type="vanished">切换语言</translation>
+        <translation>切换语言</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>CHANGE</source>
-        <translation type="vanished">切换</translation>
+        <translation>切换</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="140"/>
         <source>Select a language</source>
-        <translation type="vanished">选择语言</translation>
+        <translation>选择语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <location filename="../qt/offroad/settings.cc" line="160"/>
         <source>Reboot</source>
         <translation>重启</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <location filename="../qt/offroad/settings.cc" line="165"/>
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <location filename="../qt/offroad/settings.cc" line="185"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <location filename="../qt/offroad/settings.cc" line="196"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 您的设备指向 %1° %2 和 %3° %4。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>up</source>
         <translation>向上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>left</source>
         <translation>向左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>right</source>
         <translation>向右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <location filename="../qt/offroad/settings.cc" line="209"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您确定要重新启动吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Disengage to Reboot</source>
         <translation>脱离以重新启动</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
         <source>Are you sure you want to power off?</source>
         <translation>您确定要关闭电源吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Disengage to Power Off</source>
         <translation>脱离以关闭电源</translation>
     </message>
@@ -299,17 +302,17 @@
 <context>
     <name>InputDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="70"/>
+        <location filename="../qt/widgets/input.cc" line="71"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least </source>
         <translation>需要至少 </translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source> characters!</source>
         <translation> 字符！</translation>
     </message>
@@ -389,12 +392,14 @@ location set</source>
 <context>
     <name>MultiOptionDialog</name>
     <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
         <source>Select</source>
-        <translation type="vanished">选择</translation>
+        <translation>选择</translation>
     </message>
     <message>
+        <location filename="../qt/widgets/input.cc" line="328"/>
         <source>Cancel</source>
-        <translation type="vanished">取消</translation>
+        <translation>取消</translation>
     </message>
 </context>
 <context>
@@ -564,27 +569,27 @@ location set</source>
         <translation>退出</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>dashcam</source>
         <translation>行车记录器</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="66"/>
+        <location filename="../qt/util.cc" line="82"/>
         <source>%1 minute%2 ago</source>
         <translation>%1 分钟%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="69"/>
+        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
         <translation>%1 小时%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="72"/>
+        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
         <translation>%1 天%2 前</translation>
     </message>
@@ -640,7 +645,7 @@ location set</source>
 <context>
     <name>RichTextDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="257"/>
+        <location filename="../qt/widgets/input.cc" line="258"/>
         <source>Ok</source>
         <translation>好的</translation>
     </message>
@@ -648,33 +653,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <location filename="../qt/offroad/settings.cc" line="314"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <location filename="../qt/offroad/settings.cc" line="340"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="327"/>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="380"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
         <source>Toggles</source>
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -913,68 +918,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <location filename="../qt/offroad/settings.cc" line="234"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>OS Version</source>
         <translation>操作系统版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Last Update Check</source>
         <translation>最后更新检查</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Check for Update</source>
         <translation>检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>CHECKING</source>
         <translation>正在检查</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>Uninstall </source>
         <translation>卸载 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="267"/>
         <source>failed to fetch update</source>
         <translation>未能获取更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="289"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
@@ -1062,82 +1067,82 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
         <source>Enable openpilot</source>
         <translation>启用 openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>启用车道偏离警告</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
         <source>Enable Right-Hand Drive</source>
         <translation>启用右舵模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
         <source>Use Metric System</source>
         <translation>使用公制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>以公里/小时而不是英里/小时显示速度。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
         <source>Record and Upload Driver Camera</source>
         <translation>记录和上传司机摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>踩油门解除</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将解除 openpilot。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
         <source>Show ETA in 24h format</source>
         <translation>以 24 小时格式显示 ETA</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用 24 小时制代替上午/下午</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 纵向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 AEB！</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index 8b055d665e4582f8d1461595d0d88a7eeacfbb49..e64aabecd68c5df555b350ade44bd61fb2ea5cd9 100644
GIT binary patch
delta 1961
zcmZWpdr(w$6#jPaz5BR(_bzXhKzS^_fQ1qjAE<zWj}q{erC2DqQiw7G;iK9dCFPM?
zYH6X7U}nBXKq^x-T~RR9MlBp7$p_-2%rYYkr;pjGnWjH>zkBcRob&t6Io~;rMVfmh
zn)P0e(}1=M=${1$cH&xMK5-B6Jz@hO@?0GVND;t*Ys3-2z)0dO+PvVxfKotz3@{e~
z$|)dlA24neVA~2zTtmNT;OVKv<v_}lw7o-I064rx@}YnSP9T>byec6SN`P)Z#MK`F
zXmO!X;=;g7E{u5r;^ymsMuq5%qW`lH8$TzOK|Ch{{{E1P0!XwG(%zkb>22t0ejt7U
zeZWlKvj+Omi*Uen1(BAEfc!BM>&Y&3BNE#W0#Ch$@y5A;+Z;?BvWY~PNPZkI@I+G9
z23ACi<R3}E%NtW(dqDd}Ow*p=_asc4yMh-l!;GC3fH5C4Cv2o$8lL~;RUqalQopL_
zJ$_i29^?Q#?_fz61DNOGqlUA<sO_lCodfh+2B&8d;May5MR`2mr|}sU1_Z6s^xS3z
zLcBGD*RoX+ewviJ0YLDRn)fg9`_M$q*=Zu<)@Yiv<-ikJnp=Zb0llVcW&25>@Auk}
z8&~P~y*5F1<dWHC?QAz@Y&)UddeKOSJ=)Jof`G`e+S&=!gJp^KLJ9->#cNyY+4Hb1
z+SW2}2CNnQ@3K{X5Q2(FGou(GFNN_2=Lox15+0}*Dr=JI-!2@gq`mDq!P)P1>g~L6
z&f^cZZkf>G$lJlfhKl2E9RNIX#20r~0p60BIf0+utm4wEqk!JOi?7ZlL0y5kTKo-&
z`a#@0;V{K#bD_n@g&q%G*gH%tt>_@p0pj-S>BKZ~&$&%Nz)7+C<qB5#Tk#8ptukL0
z9cS8_sn%fe%<Z3f;VSX!=xRW}T#|>d1tXIsb8!wZ<h~TIhA^Wk(##jxqNsGqF4t1&
zlJt_52}F#SUg{Q^v5d&f3_jA*`AcYDE-jBz8UIhI_+1h)Hn`9~)`h+E9Il5^UQ%f&
znR)h=O4m^&Cc9MeW&tbll(hd;D-hl(9q+QTbj8w%z;7tBR;js#gaT8fYb)!ii3=`_
zDUdq5NHAQ{X#=M*(@{G0o{bgUsvCJLffa1iB~~5*q7Un4Y1oorhe=o7@fhecTX)#D
zh0L>cok^D{zC?Y{0G6!peEkmJmCSILet-5g5=hqHo3fpOAL)N@>cxuH>i@XS3JEp(
zM<Z@hJ3|fe-J{&U-7rxgam#K)#!rt(IN$JA-ur;>SB4LFGoHs#!@(QDoPXapje0Ye
zh@Zn4Tx#GL#T#RPwbP;8IDOJ}wj$CvV<k&CI>9(=HcM_DV@$8(81@}*T#FtQ$%n>^
z&66p*L&g^OMO;Q-%CVtbR61Wd{d^-cPnHXB`Ewt<OpIa1)pGGo3*XPl8y{D5{)4Z`
zn-7<h(E+)%X*zp$U*6Wp-V2Z9y=yiy(;WFwq(ovB@^L#IB@fvt_ojM}$W9+FFY9f&
zeI8Zc$7a&hyw3S<GX)<zNkZYK)T`VRfp3^{E{G(&-L&ErFZ%sys=Lb;g=CseKjZA4
z{~3zcF<u;cPYJB#fz?e3k6B8wbSMe&?DdGL%EahY_H42;DUKD0?o?)MVnF}R%EHOr
zgzU<DozK$$s8abh$I$P9QeVc3*}{~sn~7mfN^>2FiSL+oJFL8Kg*n3iI}(X859@Li
zvL}LhZxjszdYC`UCk`z$JA*!^7GllLIATbgxnU%=AZMuFyLK=Wlj^&g8M_};gF51Y
zL1s0&m5V9-j5?`=6?1>6=ERMoh;3@&2b}+Yp6b?{W2l8O>ZcWqKPXW>@{k&M0_xdW
zW6o3Mvn_^SxH9!M7Oz;&byP2lPupWIplZwb>kJr?W68GPVDDB~);ATf=L;-bGO|f1
z%yM+`U%>DVOH2DUCh)7JHDMp$Q!^=;x2g{53U%J%{0AAsC@e~%`xiexc5>pl4Q`5e
zkfHmeXj>8fJ+;IyNXxco1U$|Eyfk|T&3vlHniEB<Vf~WyQ~$AbpPG@CF)ueDEg<V3
z>oRwrsuK5g`VIGkd&apxlb4m7nY1`Jb5Zu#%(SdUc8x#+Vt1f_FVwk$=y~ve`zr5V
H(P4iBk~aPp

delta 1718
zcmX9;X;4#F7(ID;?<Magd67j_5P^VJWKjW8E4V;KL2)Z0EufA<<8F1Z=%|ejA_~;n
zs&!wgxYs%ZZl!3c1}!Qs1CDkmmLj-~RoiNzT5OM#ADNST-@V^G-#Op+JuBAL6zbM{
zI`#lUJMhjzKyN2*B<2!JiJOTx0FmD<>j9}Z(DM;-5D*+qOy`*?F7(?A7%BntbN(&?
z{wILptAMb5K++oC8w`wopSThj-<M|#i8BC)M;!m;^TTBzhZ`PeAQo%~(BMLSu?zj{
zT^N%MaZ59x(;zydcrO!T%^BhWh}T7+YapaTe-f;PbnGCYwn9F27clw3;Gf3$>tG0}
z<9ayySnJ?`IvgXamjb=EVZ_6eK;Jx!RHgw|Cz7H!kq8sWCCQ#$Fm}!cDlr4&ej@=7
zA52*Og6C_IB3$79Nu*3;cEKx<dawjgypWc-k>~9A@X#_KrV5!qR`VSj=4ROd_dl?>
z{e^>aRpaZ+*MQhVD9xD+^jHC>$5_DU30evlF|eo3YhWl4uu0c>R}c{7qwBYh7KPh%
z<1YpSw*I<px40jjth<&XGH`|NjzHPH7wR5Gt^zuz3#z>e=-woBZ)xJaCLux1A+cYD
zj1Jk%IILROS*P$qsc^cO%z7sY=MvWe+FhY`JOleA3JultI%K!dxThlnI`zI!B<{<4
zThS0^6t7=2o&lqB^+z=l4z}n^PmQC3WAx>vJRde?!*ZdU!|k>>^<Wv`X%c59QdMiA
zxTJ|?;rm)F5dQ)qo5d}O6)dT67i!B~=o=yKC~4#Ky~VxFSwy?|&Gk)y-xcx1>=Nqs
zi};=StpP*CEBEVJdcoqA$4?pmvDh@^1Yq!%)ac1{dQhrlDOv#ZYn9@)?&O&!rA?*q
zk+USbdX6PATbdQLp8}1MX1y&PWeBmA0ZvLwK3dH4hoz-a8Xx#iD*B2<l$kE<I>Lp%
zOI;Z2E$#T6j;l3N$?AM2JU}{rsgX{HK|0?~L4_jeLcmQ5oFLUVkcj^z>0Vwn9sb#c
zF-6j=b`lG9mxX{7X84}0JqxE&`{bBM34ok0k0?D0^gl1B>nO0zP2Sh`2Iw|Tt_a@>
z7%lRvvA0-B$p%|6mFhmnu;1H}$IOl!j?cSC0^<zNChP?U>kKdNbOAa98CoAx8T~24
z>p>4#39-ibU?;o(sWD04NGaWn*}uQ0#0|#J7HtE%Tr%!H%6M)&jVD_Ixh_@=7ES`6
zd?j#)kv);94Exj01QliCsAdwruB1BhDBa-EN_qyR4opz8F2<4BP-PuDu^4tMb@gLd
zLX}E`+kB3c@6}-;95=GJnsuXwnWw62ANjJo7Z78aak*Obz{>S4b>ka)Y->@sRP1Bz
zcT#uUnMkWz)m=4{nb2$X*qV)0FjsYy_mRl#h<e`6i;}zQRJ(DEoK>A(F(mX{eK<Xb
z5=NPHr#@x3J~0JWR*_JoDYJ=P@4wo#pjIT|L#CCVc=Fyqri)K#QP6zTPsvouJ;Ur-
z$%lKrGzXM&KhVn@7Q2Ksve}#vPpjYkz+p}rkV(%{%%kF{zyO$2H!)z>UFNxC-V(B#
zH@}+109EGFFW6K*r_I%Ss90Ep`D#5e<gU5?B8iD#TIBsfe6YaM+xIq!#99WnucZZw
z<yaKI`}tZ<=Mtk2Se&*4EZ#<oGmaSK7-_j2!(vcHt>fYS%*0LeE?~xPKANp99*FSJ
z1~hWagx=If6;m>|3~lXpc5#m`+Rg_<>E!|KNC^W+Bx`5?ruW{mc5UblR`)ck@j2(7
zVWQP@7~40}&+2vm4W~%Cb!0Q+gy&l4*;}}_6<F8b$*0#dtXs3^QJO2(A3pvU82HB8
o@NgHIw^<t#zU6xQOcu(9vL<=0Tz1tmQY=e$UvDUj^^OSrA5FKsM*si-

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 29b5f26b2..2aff3334d 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -76,13 +76,13 @@
 <context>
     <name>ConfirmationDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="220"/>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Ok</source>
         <translation>確定</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
@@ -108,149 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>N/A</source>
         <translation>無法使用</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Serial</source>
         <translation>序號</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>Driver Camera</source>
         <translation>駕駛監控</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>PREVIEW</source>
         <translation>預覽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
         <translation>預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>Reset Calibration</source>
         <translation>重置校準</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您確定要重置校準嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review Training Guide</source>
         <translation>觀看使用教學</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>REVIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>觀看 openpilot 的使用規則、功能和限制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <location filename="../qt/offroad/settings.cc" line="121"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您確定要觀看使用教學嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>Regulatory</source>
         <translation>法規/監管</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>VIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>Change Language</source>
-        <translation type="vanished">更改語言</translation>
+        <translation>更改語言</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>CHANGE</source>
-        <translation type="vanished">更改</translation>
+        <translation>更改</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="140"/>
         <source>Select a language</source>
-        <translation type="vanished">選擇語言</translation>
+        <translation>選擇語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <location filename="../qt/offroad/settings.cc" line="160"/>
         <source>Reboot</source>
         <translation>重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <location filename="../qt/offroad/settings.cc" line="165"/>
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <location filename="../qt/offroad/settings.cc" line="185"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <location filename="../qt/offroad/settings.cc" line="196"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <location filename="../qt/offroad/settings.cc" line="209"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您確定要重新啟動嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Disengage to Reboot</source>
         <translation>請先取消控車才能重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
         <source>Are you sure you want to power off?</source>
         <translation>您確定您要關機嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Disengage to Power Off</source>
         <translation>請先取消控車才能關機</translation>
     </message>
@@ -299,17 +302,17 @@
 <context>
     <name>InputDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="70"/>
+        <location filename="../qt/widgets/input.cc" line="71"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least </source>
         <translation>需要至少 </translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
+        <location filename="../qt/widgets/input.cc" line="168"/>
         <source> characters!</source>
         <translation> 個字元！</translation>
     </message>
@@ -394,12 +397,14 @@ location set</source>
 <context>
     <name>MultiOptionDialog</name>
     <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
         <source>Select</source>
-        <translation type="vanished">選擇</translation>
+        <translation>選擇</translation>
     </message>
     <message>
+        <location filename="../qt/widgets/input.cc" line="328"/>
         <source>Cancel</source>
-        <translation type="vanished">取消</translation>
+        <translation>取消</translation>
     </message>
 </context>
 <context>
@@ -569,29 +574,29 @@ location set</source>
         <translation>離開</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>dashcam</source>
         <translation>行車記錄器</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="66"/>
+        <location filename="../qt/util.cc" line="82"/>
         <source>%1 minute%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
         <translation>%1 分鐘前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="69"/>
+        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
         <translation>%1 小時前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="72"/>
+        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
         <translation>%1 天前</translation>
@@ -648,7 +653,7 @@ location set</source>
 <context>
     <name>RichTextDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="257"/>
+        <location filename="../qt/widgets/input.cc" line="258"/>
         <source>Ok</source>
         <translation>確定</translation>
     </message>
@@ -656,33 +661,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <location filename="../qt/offroad/settings.cc" line="314"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <location filename="../qt/offroad/settings.cc" line="340"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="327"/>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="380"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -921,68 +926,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <location filename="../qt/offroad/settings.cc" line="234"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>OS Version</source>
         <translation>系統版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Last Update Check</source>
         <translation>上次檢查時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Check for Update</source>
         <translation>檢查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>CHECKING</source>
         <translation>檢查中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>Uninstall </source>
         <translation>卸載 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="267"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="289"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>
@@ -1070,82 +1075,82 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
         <source>Enable openpilot</source>
         <translation>啟用 openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>啟用車道偏離警告</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
         <source>Enable Right-Hand Drive</source>
         <translation>啟用右駕模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
         <source>Use Metric System</source>
         <translation>使用公制單位</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
         <source>Record and Upload Driver Camera</source>
         <translation>記錄並上傳駕駛監控影像</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>油門取消控車</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
         <source>Show ETA in 24h format</source>
         <translation>預計到達時間單位改用 24 小時制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 縱向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
     </message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 6fe1d838e..7922714c1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -246,7 +246,7 @@ void UIState::update() {
   updateStatus();
 
   if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick();
+    watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
 }
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 263eb5e67..d872be0d8 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
-import os
 import json
+import os
 
 from common.basedir import BASEDIR
 

From cbff8fcbd02b262860b3540a3dba7108237d2b46 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 8 Jul 2022 21:17:00 -0700
Subject: [PATCH 194/435] Nav: wrap strings (#25089)

* Wrap nav strings and translate

* Update QM

* Update QM
---
 selfdrive/ui/qt/maps/map.cc              |  22 ++++----
 selfdrive/ui/translations/main_ko.qm     | Bin 19449 -> 19997 bytes
 selfdrive/ui/translations/main_ko.ts     |  64 +++++++++++++++++++++++
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 17919 -> 18457 bytes
 selfdrive/ui/translations/main_zh-CHS.ts |  64 +++++++++++++++++++++++
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 18031 -> 18569 bytes
 selfdrive/ui/translations/main_zh-CHT.ts |  64 +++++++++++++++++++++++
 7 files changed, 203 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index fd47f4188..a486110a7 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -175,7 +175,7 @@ void MapWindow::updateState(const UIState &s) {
 
   loaded_once = loaded_once || m_map->isFullyLoaded();
   if (!loaded_once) {
-    map_instructions->showError("Map Loading");
+    map_instructions->showError(tr("Map Loading"));
     return;
   }
 
@@ -192,7 +192,7 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
   } else {
-    map_instructions->showError("Waiting for GPS");
+    map_instructions->showError(tr("Waiting for GPS"));
   }
 
   if (pan_counter == 0) {
@@ -418,10 +418,10 @@ void MapInstructions::updateDistance(float d) {
   if (uiState()->scene.is_metric) {
     if (d > 500) {
       distance_str.setNum(d / 1000, 'f', 1);
-      distance_str += " km";
+      distance_str += tr(" km");
     } else {
       distance_str.setNum(50 * int(d / 50));
-      distance_str += " m";
+      distance_str += tr(" m");
     }
   } else {
     float miles = d * METER_TO_MILE;
@@ -429,10 +429,10 @@ void MapInstructions::updateDistance(float d) {
 
     if (feet > 500) {
       distance_str.setNum(miles, 'f', 1);
-      distance_str += " mi";
+      distance_str += tr(" mi");
     } else {
       distance_str.setNum(50 * int(feet / 50));
-      distance_str += " ft";
+      distance_str += tr(" ft");
     }
   }
 
@@ -615,7 +615,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
   if (params.getBool("NavSettingTime24h")) {
     eta->setText(eta_time.toString("HH:mm"));
-    eta_unit->setText("eta");
+    eta_unit->setText(tr("eta"));
   } else {
     auto t = eta_time.toString("h:mm a").split(' ');
     eta->setText(t[0]);
@@ -625,11 +625,11 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   // Remaining time
   if (s < 3600) {
     time->setText(QString::number(int(s / 60)));
-    time_unit->setText("min");
+    time_unit->setText(tr("min"));
   } else {
     int hours = int(s) / 3600;
     time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
-    time_unit->setText("hr");
+    time_unit->setText(tr("hr"));
   }
 
   QString color;
@@ -649,10 +649,10 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   float num = 0;
   if (uiState()->scene.is_metric) {
     num = d / 1000.0;
-    distance_unit->setText("km");
+    distance_unit->setText(tr("km"));
   } else {
     num = d * METER_TO_MILE;
-    distance_unit->setText("mi");
+    distance_unit->setText(tr("mi"));
   }
 
   distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index f6e95b5038f984183d9d4273c581bb6ef6e4b91d..60966cdde587ebf4a43deb8ad255f374d32ca7c8 100644
GIT binary patch
delta 2328
zcmZuxeNa@_9X<Q@z5RIm1qv%s!N&qBq6lSmL?s9ah$bo@K@v4lL~t=Ieyl;OcE>73
zlxjOlH3{0N5N$=%0YN30pg}C87!z^g43b#Ds2LNJ*fds)?ZKT9C-IM+v+v$>?>+bY
z&i(yok7{3q%02Z|j$hl|it_fr;U6wKaHcCB&?<mX01P@r>;uLn0qQ*BGGY;N8*vY@
z8W1^e$p)nHK=`M`DZuyu;(T&SJQ#c*(EI>+w{UNN;!R>S_tyb#Z4+Q_0E`!akwf|G
z;6w^Aio`*05c`SkK;jm_ZUAO(<w4}VkWO3zq(%a|jYNtYQco=AIEB4_fCp6qs~>TF
zDB$9}pB?H_iHDDeSn@W2@8N#@M}5LGFfz`A)AvE#+Y6`^h|P9x7z?re6mcuWPeefZ
z9?~|2H+>({vBMO<8JhYph(~E&77vo44dX?Oml0th8p@E|x*mwwisV~$z@&7{(9^X+
z58RkJv7AbHu_9VO?nlgdeHSgAjJf}$fFY$w+xRaoID`!0BaW9KBYP7MUWUxWyq%ng
ztd!m4b>WpG8-VE#vG8mw57M9@$HwuOv9^!v%{y_R?IK;ggBsVXz}Or#51zw|xa)Ca
z+ZqzSP+6nL(r#as-~M1Av{N-<2WxHLqDpO{eWNa@-nzo^nDwfQ86r2fs;&ym$B2=t
z+fiG9;ok^y-gzLbS_rw(4NRCJB*`v1F<)5V#T(lrg?$}*@}0uTG76i}D14Bz14#2~
z6fUQ7V?`@;wK6o3<-+xMd;$MVwHQ7G@cm5fe}^?2aZYX99?P3Ws@J4)<0-GHkD4hw
z{GPg|elBYru5PH|x~P-8HVOf5-)M2s;aZ+wB05s&u6Mq;uKRhw_NBNXn|id8SR&p7
zCO3<FQyQ7oOb>cxdC)q;gEpO5QOW#928joIbBGJY>QBmnkU;Uo@=72{5l<WY3u6&K
z{;HGX#p1_be+xGTj}*IOPcWNWNuEf@6LKWe_LVenn3P}+VFjm2S&LYa$(d4~`~jo#
zP|6RkqEW}C{QgMED~LaF{kzh-+_mKIlGfYJd>>1s?SG;WdA|n(eLZMP^<ZL#R1sF`
z2CQqPik*yvF;%MkT``?FA-#9uIt|K_&h^o7p-TEFkT2FNSnBMeppcVN&*oNE+Tp?J
zXQc;y6!@z_8X+))(b=Fe-wmgOMVhI%*%7q4n&g@@K&(zPUq$0b9nc)Q{|E?5(=>*=
z-vsnJ&4W2tn6)UaEtHmp4cAr;-OSPt(Z1*Gp@4kt-L!+WFh%?0)#rf0+1j7JrbFs$
z+J{rvA_8vf5<;8#CNAn`swv#-o^I(k4{3Fs?)Pin;(USb&qukRPoJ*tMi9Rv^jgzv
zOj3eA$X&tSGHHZ9?uR@s=+VD4tCxx!^qHG!VbWgx`~|dp^mqE4mUv*yxB4Am)KIJM
z=$y@H9np7r7qVyh%W+}sYnn1S=Mr0xZLC~+n{6pDh8V;3Y4Y})7JgUByC1RCqc_QW
z8xJwEJ7ssp)t6YaFXjF1ti2d0AKSW{7S_oP5fX*{T0WP@g;KuUEC;a7d@46vr}EKN
z%eR)eXrW?I)&GWkn<1#_JOw>xSlG?35OT+`^0G)LvkjZx@S%eyL(3hOXv_q|-(RFt
z)+0urCY~G7<2DA?aANc+<G7f03`?6aDS@?)Pc+V)v=DgypmA0_9f(abW|niqK&P=_
zcE6wt#yt<_af4c8%^&&Ll=a5ecj#EuHse1!iILZgoh=k5c9=9(!94J?X}tgEyuch&
zbYCeSZMo@~o%6x&WYfta{)zd_)NFf~DZXNAjwg=MncAi@3x*g|M;4!_RWkejrHbQc
z%|lCgbDwo)+x-MO)McJ@o$V+p)I6(<&iOQ$SH>qY%zoz5xB1$`{%78Ia~d=8Tk~Hl
zc}}#q`OLqWg@C`AFHXAz%=7EE=)Pm4)WutT;`qKNt1Q;99sv{WmKnX=(Eho_nRkN@
z87zOeTFlz7vb?#}NvG~xK3wr%Ag;~Qb!$H@pKZCGbe!MA91KoRZMWu#w_7}a=~5E|
z#%S=TUg}z`?f?Jc;uVP*aVj<ci|4LYi%%HBvQ@tzU^xl~2+Iq8NhpA0fKcEVAh<ne
z2xqoDnO7G$oC5^Uyaoz#;Tqs5xvqYWg*sE5t6i(sEO9vsovR-U?k7L3NUeAzJ&T+U
zk?g0`E05Jbi%NsYeCi@<#dDLNlWU9px&*h}+Em*N<<x?@&?mADl&ic@xH!k*%<Gr0
z=l48^GpDfVv2ZJrF&F8lH$XWaQPX?6x@I?&R_`avE%O#TTwJQ;7Oql~=cYen3$gvy
O*|PoxwabU?i1<G@EIIc8

delta 1745
zcmX9<dsIzX9RA&N&$*9t&po%MmoaX7BBi2Gx=A-hH6)T2nrWGcW*E)XBr<oAiV9<q
z!mS}CGoe`}kEUWsDe_nt%}Q32(gTw<292iHe69NDyL+F#fBW0t_x*MSM#;Z<5`*qi
z?6~FuV{VJ>gex&8YTNZhvYSNAFp=|CB554Z2uudn0rP+zL@d5*)(~-SMAJB+4{#}P
z71m^qp}h-{{3?-HO(ZlDIV>g$+(k6Qk0@j}kqgF?K3#?%C>lPUNU<Hbp2(sfn2vcI
zl!&qA`U9`54Gu}fW*#Hb-zPS|i%4QaY`rH|eM@Z1C14G)cUhu|j>KizfX)DMXG?K(
z8p$p^1(uQACJNQ&lHB<r#t+C{161YEf~IXmt~Iovw~A<1CM{IrYNo{$GAoxx|3Z@W
zWFQwO3j69H?mdT={0RaUwX}5mKiKe?BADx#&!mVoJ8-a(B1?;j_&|yZK7<2JY31ou
zq5wCF{;dfI&7qC4cG$m{whUvxxSvim-yxcBLludi5lzjfdb2Ph>wfCaO2YT25=(Cv
z1Ce8}WL%*G(G-nj<~|rQ<B}x2!3pz2lB16>?^7<h6TzZzh@_P{Nu*sV>GRk{^ocFQ
z$K4=u>R=qZJBd6}nIJw9#P&0*O>pBGYng(FN~|wpF6Mxk$7`l8cps5T4f7xzb*+7v
z_9kCA>(<0{9JfHhEUES-T-Uyn+GWE{*R|55a1``DC@mAgc-mxX#f2r1&{bMpf%Vg0
z9Bg5%4Q9{Sn9@p|`zyO47_yqivnic(iEPc-)HUEC=h#g44UyL%n;%?*AVrR$Nz@pc
zr;eeGjx`n!g3b!Is4EtDfIV|Jm&krOd;ZH}2pPd%7Df%xu(zJKVg53EtN$-JXnK$B
z^gEBB$vJ)&l=jc()Y%CTE{qEh9l<-1i;960URhimUx$bcaq$i%5U7)jAB_^f8TcOi
zPjM;hwqSiDx6M;Tvh%p?!yv*Jj^V`MF|<h^!+_nK(YY87nxEl}`w;~poGZ>qhZ4P9
zd1D6z%HggJLusajyKZ|Q$~$mv?I2|Tf_s+M1cwX8Q2&<uFbsn3K{CcR0+ISfCJwj~
z*_6q2eL+xgooqoxEs?KIwn_rw9UsX~4vs+K3|Wn<;RumZA^Q;a2pNl$+c`lprzP@|
z@oBI;R9?R683@G72bLB=!tL_6tsfJ8B*@?QLm}xC`H)W!9M>uWoa)hRj3Pt|;wEnt
zYhMjP>MF(Fq@zR=PAGmXLp`%nMOC*w#<5Dd`g24mS!r)DD$p#;l>UFmVZ$@!^3X0Y
zu2x2-LBjdBm8(`m^2rX$*akg_*(vvt6+%*}eAu=a(R!k6H~kuqla}{)#-k(4;bZT$
z;N~&>o<1$QJ^|>92PK2g?$KcU2Y+Y;R!^$p^J`8*d2ileY+a75n(>7#@Se5h&+a}1
z3H$hJcMinP@z>(8k&EZ+d22i`_xXBD9SC*sy<a3k!U&b*!uMDosj|O%1B4c-qC4>#
zIM}EX9<U&MSheFjb10}*HN1pHQ#Pn>E`n0#PXzO;IM>a}AlO#m!=#tOG~X12rCA6H
zfY<X<gb=T2BHiyos2&RVZWSVPQE+0BuyOGyp++I^!wL}Z5h@O#*{sWjrsGg-dYy2)
z4d`wnv^9Vj`%o<_aX|OW)o$9yxImcNdw36;wMl)}6W{F&+te46@k1w5*V~;!iXW-#
z^}s1Qb+ZmxQ2B}$Kb2toRve#+8=KjSc7p*#vrR>>4!q^lqs7o1C}tKbCg=kZ;&I}h
zW9ag!9%4byJY->~_;WGp&khu8-ys7Ny2Ly4?h#p8Y80>WE`}-e8gqa2wbx9I<?|6D
z&-I#xT`1_G(rk+BhBAJdA6nDl`8S#)Yd1lmLCuxT{}K6(Xxe)V(G5E_9YN<X4%>kL
WBvzGk<flz5y~ejPl^NPR_x}Oncg>6d

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 91685383f..ad35a37fa 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -340,6 +340,57 @@
         <translation>파일갱신： </translation>
     </message>
 </context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="618"/>
+        <source>eta</source>
+        <translation>에타</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="628"/>
+        <source>min</source>
+        <translation>분</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>hr</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="652"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="655"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
 <context>
     <name>MapPanel</name>
     <message>
@@ -389,6 +440,19 @@ location set</source>
         <translation>최근 경로 없음</translation>
     </message>
 </context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>지도 로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>GPS를 기다리는 중</translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 19eccddbc0e919fdadb32a5621f8f7474aded85a..b96acb89d99ed8207dd34740c51714706e771040 100644
GIT binary patch
delta 2290
zcmZuxeN<F+8h+-^z4LMB&RkfK%orR7FcAb?k(ESHObM_AB!)su451N$)N#?HHWiW*
zWgp6>h6su&m3bEY$c`E+nrLX6ZtQX>7bVeC*}7}GB<wyo9oMb?nDgBE{oeQeJ@4~=
z{HId0{tb;g?xVcHC$3djwFUZrGOO-DXCk1t0YVYrZ6)>rp~nGj0r4ua6d0ip-zG)?
zBJa&TfD{RYO(%{c)(~@O<M5!}571o)yy6*~F}<E9#u8ru-1=q)co<MV1%ieH!_M*I
z2=L&5;SWR_dM5#sR{&8#K*}mUTn$X+V<WnO^id4fN_-X=^cAt31W0UN9sT`*h5bZ+
zyLj*SB(xP0$<#qy`3`^%xbJ*uS9lJBrg<>F3F5j-fJTPc63vGWL2Ubof%*Tm2n4K$
z^a@o99}Q{8Ho%kv-5x$}Dx-MWd?*6?FeYMZK$J?9T}WzOO8b5!_3Q>l-@qfr*-Xsk
zMoLT-nJ}?ZN<X3$)8?(ABF#wqI|&Thi;U&}0-`4)Q=lpqGcsqtNFqJR+Ex!3Q<0s#
zmJjOj<o0Dif;VO!q8j1PqbSc#|4J<Gqrdq9)SWoR`ybKhdI}hR7A-#0n237@x?fpD
zgSi^N*l-|NuNhnu%rdOhj9JZEN7ZW5kA?EQL9^jJ&&Tf8oXQj#I8oCsYyteg*IXIB
z0vK{xkPD77aEuVr-35%AElgq7@GBQ)croLsWMShuBVY{{_P$DDqfQ71lUD;7YP9f0
zIs;pG3Z1QNng~g_P&){CAVn)i+z0p$)>^-1&8&;H_R0ii)}URK&cHEewC`I;JgijP
zxF-!z-_?HHNWaLh*DMzT+&*i>S=*ZU{+~r>GSyYP#3fzvfXyi`n@v8tQgNmDPlkyX
z*Cp>~uMYE|<*WyNU-ID4da=6x7BI3(+<YmI*d~5(x(cu-h`S2wfeGQ_K81xbSBWRT
z>EQWB@#NL-;f8mu*p;x0y*X2oW2pG}?UK22J_XE`CRswryIIPf#fpqMD;3BG*(ztG
zxxrg0)G2B1KuZ~2#GCZLE-lGl%)HIg(r623WWH4SClWDk_F%vP4-Wm#g9-Db>acn@
zg=>_mUuR30MoINAms5$aq@AB$pg=E3hx;hFP%a$_Jj0f%kvcj_$bM3~Sk}r)r+P5{
zOR2Yy1S6K|guqO;&RaUmwFoNct&6)dg$lOok{S;H5BckIG!#C#Ot<A$Kkxsd+aKXx
z4;WH(z0=OKB{u2pp_J^w!}_g5%2@hH{m$ZxBrsKfEn_n!OxNFNzn{bKH~r14R7m@Q
z{-<%5*;@MylR{fK6KRGNEs3j6!<_GaBH=NH*A{KyeUf3*`;6!Fgkg7g5dSMiy_u`U
zdc_#zt~PMW4jCt2FQ7xN@$uA4l+xdrRYnOXY%u1`pyVM3jd{lsNo<30HP~v{Xgt^P
z81RQ7#!l}N?yep3#4zqPog(Lb-UbXkE>~RPS_-&G98dpnx$?5g^CWp~KT93rkk{?s
zLPF<dcXj*YteHcuX=ClR|B!dAT1yF!${$BboMwOdZ~+}9L2i))xMudrEq-wvx*2lM
zGcHQF-K5#`JnhGtf|`%ANnbO~?BZ6i_nPK^A(HTI(~E!frQZ$Hv2R(TVI8L9k5Vb$
zF2%Q*?~crID}jx?2wA0!9KVFk@|iMa5^EiINJ$wx6Nuffq$W~<hq9EcDh3?tr4&6j
zK<EkO?Oq21ger}1a@Ya_mDXA+7TKtL)<KMTSm`)MV&cnY-PT}k0o5F7{gOmt&9QwI
z9NKd8j%eNoy5BVKE#*h7Y;Li?%U-aWTM~)Gc9~Dau@~gg=5yH`Pv2zApoXo?sL(QG
zB{TosUoG}qlc>;A%h(HCN0I54)K{sT&tS{^#L4u#WvO_F(>}b=vhnf+miD&gy?VYA
zz1wo&NA`mMOO{g;J_j848C1g$T$K8^RNsl5?=cms-#7ih?_<<QE-_%#O|`h7n_c^F
z^^Nv&);?cdKc|>V^{SsdcbiJ(tDQYHlzg6gVakWVxYJHH&eu&{I-8eObR5afWP`Ca
z_|wjD<?08%AI*Jka^}P}b-q4s;n@ZE9BH(?7Ey?zyG}x3(XS1P;QXIKk@Hsu8M?Kb
z?iy%|oW;Mi(7}d$xC|WspSjucT?0lcxg{4bbS+r)jLTV4yzmaA0qc7?X>A@-ziBMe
z_#XPUJM@3kl3_z|Zz@`wCzoGZH}&~72y+aMsI2~s+Sixg&CEoywy7n#dCua30rE!v
wcQ}jlN=on0R+c6|T~0PhNW=8IPO2l<>7s)zzhr?eDQ)`yJ2utb|5W&Y0j3r(R{#J2

delta 1749
zcmX9;XHZmE7(M&;y)AFwzC{INVUeXNg4jS&!2%H}Dq_$OODsW&L`|5%HflDCh>A5r
z1jLRKTbu#GGN`DCqGE|Uk`Nq%1$8u7Vsua-hhhJmz3<-pedjyh`EK@RO-s7Q9&|Fk
z)76ID%u1W{x#@e()Pw-KD}c}h^w0s?1Y!^3B4Q+Q8*wfma^L(Eka`2&TZlu5e-S71
z%$IHG8Vl%4dG2#SxeVB510z=felvi`HH`Bo;5GUSUUUay`tooE@ms*rnV8D&OqATZ
z&f4<Q#ctaGF>N~#^crH;BS0fVEc0iW7KoK6c{&{8O%ZUu4{4n%&@&0r(R{!(8M@*J
z#1!aV;}~r&^gegFK8QXRqMVFT6-xo1AdGri1oZ2VaN|tC!5NVQGST{rToeL3dK4jg
z?pD@QigACFK!<l2zx-cbNI|S{5m3#Dow<UEy)ZF94=_d{E+T^oM`F^i%Yfi$Og+yM
zdzN5cyc_RVU~v=go4aDq)f>Q2e-tEt4Rm)vS%+vAl7q+V7H~gN({Yfm9dH||>9o@W
z@VKN2*vN+XJ<!CId-Hp}Cg&c%4|uD&5i2tAPns%WAJElT^Q`|WptGkSCtRY~$%5zO
zI-vJ%A&gbS@uD!rfff6u2|Ml@d48sFVm*oVF$iZPHUbuZ;Z6+Wc6}+-R0OlLzM(?x
zZYKs@qqV+}xKXTiOCQFH>a`1E7%;%1J*<+kcagTBcpL*9(4H>fc|YscO2Nh6euy|d
zzmRzw#5oa^)lw%esT&Ho<crH@l80`Qm?pjj{FjMY5hXN|R~xFow_*FzHni4>xp^Ph
zu{+}4NAaX(5|7->1YDPk$G^*?kcr|cg$*%hir1c0^Lw>;?fF0KphLJ=H|#i#HdT@b
zQ0XC0By)Nah1(^Cs-EQCEX7S{C;T0x1o<p2a$8FD*iXR}DY4Z`#$@7q-hU%4nZ1~G
zM@dWlRXY2al>Q5e827fJ^T#%H@oB^0LsG6!9y{3nm6W@QRxtII@>Zt;PR`P?%e6qS
zv(kkoDlMc+7j3s`rJYiB4GGzd(!-Prc6e<Y20KZOO(f`hS|`|IX{lQ}wZV@HM(cu}
zg;BvO-Kc^yK;R_ZWDSLPJFnaKp&97rs4MZaX9I>vU1Rh;TA@bo=1s}Gpx@smg%!@z
zADjP>1V-x{#_y$soAmFhI&%nC>fb-7LfRwxk3;H#F7FMY-enxRjfO}qiCg9vX1)AK
z!U2X23v#%hYS?v{@!D$)MUUONjx_4c)9B^yMt6Iz0qEOe9PuWB7iJhIL_MOE&c=x;
zlyGR3aq<*O?*7RbUmgN@Rv9<qGn!<F@ox24S}V?2)9!mdEJx)LK74d^iX4Bdl9lV^
zwa=`8)kX~F{X{vv-okaNoYBlyyJyN-CHqKdxopp^n!uiA$~!CBd+lra=$Z^B*2<^*
zNSxwH@`VImlmxj<cH#4KN-pad#9_;kpMI0fL{Chb;vXsbLX&&xC3@tVX=)u`16!ae
z>5fPx2b)$bbmYBvrt%kTk!NSql`&MRgRA0L%Dg_=cEwh}4fk@TSMU;=<+>6U%3cp{
zQ6dAU0s|YBs1Pa;n4wI}WI*d!W!~6ULSHG{8u_I9Bq#-2IBd?-l#1O{tk)~$dNt8^
zrBYo^V&ZDEZodZ;jxqPP-Y1bk=0QzsIjk4WNBz0q&3@B-ViErg3^$j#9iSJi=CTl?
z#~bt2AbLUWuR0yvPv!^JE@`Z|-3rz1LnxIwr3TjeGT|mQYCRQeSE?q3jO6(b>e}s`
za<7Bxj{4zj=_mD29^?0WtDgCf9_Ui4-WYz1CJ(b1Uh!Rw*8gmA9KpHnf7#OUNi*M>
zWJ~xX2J9VRnV;~O$_%t@u1aOkXIrvo&8I?*mUBORqC$C=nx{KC$A>JnVZU*0o&yZC
Y77o_CIusUk$`iK6%bg4V=sMi@e-;zY9{>OV

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1bcb30142..c3e1954f1 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -340,6 +340,57 @@
         <translation>更新文件： </translation>
     </message>
 </context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="618"/>
+        <source>eta</source>
+        <translation>埃塔</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="628"/>
+        <source>min</source>
+        <translation>分钟</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>hr</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="652"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="655"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
 <context>
     <name>MapPanel</name>
     <message>
@@ -389,6 +440,19 @@ location set</source>
         <translation>没有最近的目的地</translation>
     </message>
 </context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地图加载</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index e64aabecd68c5df555b350ade44bd61fb2ea5cd9..208f29c0ec9dd45424301c70cdaf64c2e9a901bc 100644
GIT binary patch
delta 2307
zcmZuxdsLKl8h+-x%*^-A<pa5RNnp5nLkG-DQWye95iGe#!bx2fxk$#~WfWbl$zx;)
z$-2sFii8R2X69KiG=p*xb+JX;O;<ZC#-b=zE1fQzX}J5~oP)IW$DC)r-|xLV@AJOD
zx2IHByiMndI-WJ;Tu()LYvAyY7VT?nj|B`iK*$F?7ZQ7cF?K-AB_<OKi4NjUVksc;
z-Z}=5!-23G;uFMgi1TPe|2_=*4WQ?l$4iXuN8Cq@BsKvq!%4uh1u&llf|mm$E;6wU
zjHIFGqeL2d76a2?1|k?R@l__i3p_Q4iKYT6;~DHr;!?opKCy`BuK>?8i3by};+e-a
zz{z`GC&XgL)*peic@KbgxE}lwOWg;-JKY!^2x-@KKxc*2Jdpv1LTWuu%!G770{lOR
zyoD-_ErWdc0ASh%ef?G9`xGyOi4tK5V<D!`5up*)w-Dd59vC+l@!jtM6QeOx$z);m
zE+kGaCleM{Na@F1LelfwDXD<uf02OCWu(6F9UaP$CY<7V64Ej^GI12<9;gPCLS!WD
zV8UQLdvF5~y%7uk+`{{-$j=I*|6#1{rN3nf_MJNqOv^&8ld6o4LbF#A3vnGp*Ot{Z
zcvt5eITi>>(G95#VH+;%CT(S}Bd+RF&Wz^yx4PYzcpj<f&ZkKXyjFKb*bn&Gb+;zG
z3_LPeP;*ZMqbh~au1;Wlr7%NvlGq+$z6UFgC=&KwRA}!Ij+K(wqk7@PgsniTwpREw
zg@OHLp}mE}VxK2;RQWLAOQK{S40z8L{k~$){F=m|l4w@;UvYH`13xxFJY*&Duokhl
zo`b1%izjO77xBpU7X*KoSBtdhKppd+mGTm(u1AQpuJcL2c1+rkNj~}_X|wb#Fu6+F
zmC(RhwYyRCb))xjHwN66Dyr|Wb6-ktUe6-EVCkI;<(%ow($Qtr6m*yLzL|}&d?tN-
zqmAcX(#K!ih6|qmlsco2ayHk?>SQYZ<RIBnvI3Y=C&yVsS%<frv4|a+JVMS@Kji$&
z@^c|I6i$_&>l-PhiueOy^p)4;tfhUnyndpUZ{!2H<PRjGoO5G<=tkRPZjAniToG37
zqHx`EMHxrJlq*-iQbZ-blaHM30KyyOrd|pzl*p$7|HhH(klWfxDA-HBwyA}kE_Y*e
zynMHp1nuYbLSPyzh2Gj@r-BRhQMYDL!5jMc+D72<7xnXW6h5R?zyHpCAkbgmV0XPv
z<_`Vcq)VJN#Sk=_l8qW=s2R426)rOzaa<#TWJ6Etn+)7&`2NaJV34ojhcBp*SZ}!Z
z#7$uMkH)ys&3qGY8xutm*A5x8|9y{y3yrU>-p%_>#y1Wzo>!Uiy{=$>&r}Q+ZV3Mv
zCD>JA<fD<5m~V3FuwQv*)^)ZbLYcdX62=&ndGjgx2tmm@6U!Czld=^YHN2r*Y@5x|
z+Mu+17I1fcpvHu8ujz-WS)a7B@<D3xEv}`2aYU}3&^2nwO^x5%)E)QP>d<}au7>?o
zUQt~YSDs<d>eR|s_FlZF9)5KPE1jU8h>%GvM{UZbqdZ7$R{gnV8r5dsC=z-{?Ox(!
zqOVQ5`WN|{51N8cp5~17m=<($D+I@yR(vW^$t=^xHQx05(RAi3wrFIS=`T-HDW4%`
z?~}|s?oTdrU@b2~|85>PbsdN0j(J8Ldp*_1oH%6xd*)%D6-xykZ!pg-XTX4G&H1zY
z2<4i0-c4tKjpo{Id~E)!%q>+^Ec~|luWdy8Zgbli5|e&!(bt49VVou0?=p!@wM6z7
z^U<ER9G=MgK-XuMV}<+^nQ3VbdW*9VV`+{hj+89tqBsj`w&h|5pQpFW>hs4Mp0`?u
zZD!?O7HiO*I4X3(I;Df_DEu|+tWqlHHQTx(b~=aIZY|!!*FNf!b??n-oQY}Hx2u_F
zl45QA4`*R`llA<xPk{8n{+jV?E=oha<{iWLJ*iFey>Xv=XN@-VIs=ZMpgD58s8F2t
zyDLTP{Zj4qYzK*r)jnGO6A*PmYwxb)dp@dl%y^gI0eKvpq`FT15)W7Usf;wv7bk;1
zG26M=(D(o8#mlFs#pp!-m*#6ZvHcdp(v`n3z%t}NG+37ZOM`smJv7MA8(`pa=SbD>
z7}9Sc=I1#Em^`r1!-gC<AKKV*oP9PLnI<?^IajV;;>;^>tm-!&$Vs%hN&Sj(8Vh9T
z0sL(b`2UJ&pG34AP>N`C*Yf|yb<u<O3fac=h;-l7sxqaYw25SGPZccA%5&uQkyrSg
zp6AFaD11QMygp%J5mUq?8FTubwDiS!PCD3f3Rc?Uljr>0al5Aa*L^?qw`2bY71Am0

delta 1749
zcmX9;c~p&Q9DeS1zwa*J{qA?8g{Y?6f^=OWghDln%&6=$vd6X0bPkhk=1zxfS;k;&
zAqrz`N60cNOQKAegOQVHEXg(vGe{<9o=*3l=f2<jzQ6bRJ<s#L%hzgZS8AN$CzD&2
z)@E)fvw9Vd+nHY(1?VmVLIcol2B38iR})i-2Z$SqrGUtJwLKtp1cDwCdjai3h@-e>
zY!mus0{XLnc?F<c0<4FCev1M7HXv>p_k{s%J{!V63xLE<T>P9k1#k-|rt^CdFuQS_
zyY{7z(|QZy(yc(mScsb*0U8xzQ7Bi9fLL~tm<92g2zYx#TH#ANWsnZ;1x#z9%ezNB
z1-<V`R$B&r@J){IBg8_K_aL@}41(7qw&pm{`CIfiP5@lSAg<d6H2&gJqu@l4E8=IY
zW8VT2{v-i6cMSgaUv4PFP~if<$7AS(G#)%3!}sO@##D?Pu%7G2<IA5Hl6WCTpDW=(
zUYMEe2e>}R+y?G9PsGmBt3dBv$eld~XgeQ8uJM3ZH6E{+!}&uRj~+HB;I~H8a(e&}
z=&tFynuc`r(j*oK0sfsdTW;}t_gKx<p&|?CY08Ccp!E#R(=Lkv&tZb>xJa?@3W1Lw
zaNk`aMxIS#cZ4Jtc5J^OY`baX`UAp=l_VDOsZcP0rd#F;HxgObD_W>5iJ-H#%|ca{
zI|~+Qy<bS2fYvXg4?Bv`&Pim!t|{96DjB!eYjg7wSfECGI+yG1U#u$=e4Ncw#BqC%
z0`8JHbpT~`2@vN!=neS15f@G%4_&&rRQv}By(exOaE3v$H=)I&37fxdLLZx$nNvqP
zLE^4Q$;9#EfomH8-;3h0={Xeg5Al>jL(F%?E7cVYp1*kI*<W<fWwH36&oKsVfh2dM
z(%}h`IU@z=_DYIY1Ic@^G;$oB2u+q8asg8-Nz(#$Q?UNhw8khIvxx5igNHP4@?5UZ
zmKKDnJm9^Q@e_#{OPkO;vI%|WG+}QyDKj{S4!X9HGS@H)CWn->B%MlhmJVO40y@-7
z=NqWBkRe^L{>~^>NfnhOWKEPFE-In(H<~aaU8-*&!48T}unuLXy>)7>oeFN#g+Gm<
zg4Md%+<YMHjBb>M!uy+a*>xX*Pm*+J?9R<(K1)|0e~TH5)%yievNn_TyIU<{hx_!0
zXFVi=1byw`T`c@T|EAoN78U5<J)=U}JpG4WPZ*KzhUms?*{;SArzLUAe#4}fA4oXW
zuxid0pw&6Uj{U6Hyu0D}V}Fj981-hp2VPF2zcbUo%MxvjeC^<dY~!$jk7z}Rarh!i
z*eAv~Dv6Q@^fe|IN0C@h<7%{ENOl-+Rt#daP8%zmeZ`06S2;46kB+XDoP52EohQi4
zpL+AwPbWsO<70Bh6AQ=J<n<qEwf}v2)0u1%IwCtW%ZJgkSMv5UdawN;A6&Mcou<gA
zLnIQ*k<UB0QEDz1$v%8u^5r5AK12b}<eG`IDWTn@$@`ACxZ31@_96*&FpYk|*TDL{
zDdmPp!n;gq-?(w#dsFcXS`;|dbop~C<vLt(JIix}Yn_TUmlFXlN{5Jf3`?C76HTvs
z4N>C4M$@xF%D^Zp5LT}Y-@t<2o0OS@8VNa+jrAi~pis$O%gg3<L@CLlVs@MITLsZp
zu2dA0nE0bvw>y9brkOi>-zJd=bB~7Qv_NY<7|MBHXAAR*RQ~CnWiImD!z@Iai=v2u
zQRdQcW<j2$y6@Y~PE2a6rR=!ban-Lb8t7tH!>Viy-4%7<N-Eaut(p?mk0G|J%eV5D
zw{=ywJ?YCV^i_Y!Vf`+#YW`bhpf%L1eXld*NfyK3d>7;Oc^0=w-s@0Li%0cGzB9)x
z{U5Pl#}vyf$76bxX8EB!ot{szY@RfWglv|=um1yj)>$fRwzGrRma3RT9FLyLz^ppj
XQ$NvV-R)TOQNeSCaP)2Kb+-QjngYwa

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 2aff3334d..f6e36081f 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -340,6 +340,57 @@
         <translation>更新檔案： </translation>
     </message>
 </context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="618"/>
+        <source>eta</source>
+        <translation>埃塔</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="628"/>
+        <source>min</source>
+        <translation>分鐘</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>hr</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="652"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="655"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
 <context>
     <name>MapPanel</name>
     <message>
@@ -394,6 +445,19 @@ location set</source>
         <translation>沒有最近的導航記錄</translation>
     </message>
 </context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地圖加載</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>

From f261b8a8c29fb2c9c5fee3b382e12e7887d50269 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 22:09:37 -0700
Subject: [PATCH 195/435] EV6: supress LFA (#25094)

* EV6: supress LFA

* bump panda
---
 opendbc                                | 2 +-
 panda                                  | 2 +-
 selfdrive/car/hyundai/carcontroller.py | 3 +++
 selfdrive/car/hyundai/carstate.py      | 5 ++++-
 selfdrive/car/hyundai/hda2can.py       | 5 +++++
 5 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/opendbc b/opendbc
index 1e9693ce0..9fc90a9f5 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 1e9693ce0916b896568dcd5558a670e67843c299
+Subproject commit 9fc90a9f5816ed82e0f25f2eaf7ad4af3d45733e
diff --git a/panda b/panda
index 53466f093..ca927fe93 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 53466f09344c8ff6cdce3b19df76b5bca79e1327
+Subproject commit ca927fe9312651a16f13aaddca8b46af5315ede6
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 73635375a..a878ad327 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -75,6 +75,9 @@ class CarController:
       # steering control
       can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
 
+      if self.frame % 5 == 0:
+        can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4))
+
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 6c82c3385..a10cdadbc 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -172,6 +172,7 @@ class CarState(CarStateBase):
     ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
 
     self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -313,7 +314,9 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in HDA2_CAR:
-      return None
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index e4c658c1a..437f5cf53 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -12,6 +12,11 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
   }
   return packer.make_can_msg("LKAS", 4, values, frame % 255)
 
+def create_cam_0x2a4(packer, frame, camera_values):
+  camera_values.update({
+    "BYTE7": 0,
+  })
+  return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255)
 
 def create_buttons(packer, cnt, cancel, resume):
   values = {

From 825acfae98543c915c18d3b19a9c5d2503e431a6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 22:09:58 -0700
Subject: [PATCH 196/435] Improve EV6 tune (#25085)

---
 selfdrive/car/torque_data/override.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index be81af260..476313df2 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
-KIA EV6 2022: [3.0, 2.5, 0.0]
+KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 
 # Dashcam or fallback configured as ideal car

From d08a23177495c778fe628dc97728f5bbfee8b0f1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 8 Jul 2022 22:46:20 -0700
Subject: [PATCH 197/435] Ship EV6 (#25095)

* Ship EV6

* bump opendbc
---
 RELEASES.md                                     | 1 +
 docs/CARS.md                                    | 3 ++-
 opendbc                                         | 2 +-
 selfdrive/car/hyundai/interface.py              | 2 +-
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 1 +
 6 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 588b88827..b87bd2ee7 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -29,6 +29,7 @@ Version 0.8.15 (2022-07-20)
 * Chrysler ECU firmware fingerprinting thanks to realfast!
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 * Ram 1500 2019-21 support thanks to realfast!
 
diff --git a/docs/CARS.md b/docs/CARS.md
index a1e89efe1..eb570faa7 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -71,7 +71,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 68 cars
+# Silver - 69 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -95,6 +95,7 @@ How We Rate The Cars
 |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|EV6 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/opendbc b/opendbc
index 9fc90a9f5..81148db67 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 9fc90a9f5816ed82e0f25f2eaf7ad4af3d45733e
+Subproject commit 81148db67fd00d4e2a107b5b8269c532436edf2b
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 97119c77b..069b0e74e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0d61dbd73..65ecbb4be 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dab90772097a0dd4706677ba4fe5e84b10232099
\ No newline at end of file
+825acfae98543c915c18d3b19a9c5d2503e431a6
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 96d101400..652c49db3 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -18,6 +18,7 @@ from tools.lib.logreader import LogReader
 original_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"),     # HYUNDAI.KIA_EV6
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2

From 89d1d9f6df6e1fbe65609fa8f93702479620a50e Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Sat, 9 Jul 2022 00:55:40 -0700
Subject: [PATCH 198/435] firmware fingerprinting: order brand requests
 (#23311)

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/car_helpers.py |  4 +-
 selfdrive/car/fw_versions.py | 75 ++++++++++++++++++++++++++++--------
 2 files changed, 62 insertions(+), 17 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 690072cc4..b6bdece67 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -99,7 +99,7 @@ def fingerprint(logcan, sendcan):
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
       ecu_rx_addrs = get_present_ecus(logcan, sendcan)
-      car_fw = get_fw_versions(logcan, sendcan)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 04610b96d..c4b158aeb 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -225,6 +225,15 @@ def build_fw_dict(fw_versions, filter_brand=None):
   return fw_versions_dict
 
 
+def get_brand_addrs():
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  brand_addrs = defaultdict(set)
+  for brand, cars in versions.items():
+    for fw in cars.values():
+      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
+  return brand_addrs
+
+
 def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
@@ -236,7 +245,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   # time and only one is in our database.
   exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
     if candidate == exclude:
@@ -361,24 +370,59 @@ def get_present_ecus(logcan, sendcan):
   return ecu_responses
 
 
-def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
-  ecu_types = {}
+def get_brand_ecu_matches(ecu_rx_addrs):
+  """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  # Extract ECU addresses to query from fingerprints
-  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
-  addrs = []
-  parallel_addrs = []
+  brand_addrs = get_brand_addrs()
+  brand_matches = {r.brand: set() for r in REQUESTS}
+
+  brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
+  for addr, sub_addr, _ in ecu_rx_addrs:
+    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
+    for brand, rx_offset in brand_rx_offsets:
+      a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr)
+      if a in brand_addrs[brand]:
+        brand_matches[brand].add(a)
+
+  return brand_matches
+
+
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
+  all_car_fw = []
+  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+
+  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    car_fw = get_fw_versions(logcan, sendcan, brand=brand, timeout=timeout, debug=debug, progress=progress)
+    all_car_fw.extend(car_fw)
+    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+    if len(matches) == 1:
+      break
+
+  return all_car_fw
+
+
+def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=False, progress=False):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  if brand is not None:
+    versions = {brand: versions[brand]}
+
   if extra is not None:
     versions.update(extra)
 
+  # Extract ECU addresses to query from fingerprints
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
+  addrs = []
+  parallel_addrs = []
+  ecu_types = {}
+
   for brand, brand_versions in versions.items():
     for c in brand_versions.values():
       for ecu_type, addr, sub_addr in c.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
-          ecu_types[(addr, sub_addr)] = ecu_type
+          ecu_types[a] = ecu_type
 
         if sub_addr is None:
           if a not in parallel_addrs:
@@ -390,17 +434,17 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
   addrs.insert(0, parallel_addrs)
 
   fw_versions = {}
-  for i, addr in enumerate(tqdm(addrs, disable=not progress)):
+  requests = [r for r in REQUESTS if brand is None or r.brand == brand]
+  for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
-      for r in REQUESTS:
+      for r in requests:
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
-                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            t = 2 * timeout if i == 0 else timeout
-            fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()})
+            fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(timeout).items()})
         except Exception:
           cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
@@ -409,7 +453,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
   for (brand, addr), (version, request) in fw_versions.items():
     f = car.CarParams.CarFw.new_message()
 
-    f.ecu = ecu_types[addr]
+    f.ecu = ecu_types[(brand, addr[0], addr[1])]
     f.fwVersion = version
     f.address = addr[0]
     f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
@@ -433,6 +477,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
   parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
@@ -458,7 +503,7 @@ if __name__ == "__main__":
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, brand=args.brand, extra=extra, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()

From eb17291ca13035b40d653da107653d4420517aaa Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 9 Jul 2022 16:47:10 +0800
Subject: [PATCH 199/435] Display the current language in MultiOptionDialog
 (#25098)

* check the selected language in lange select dialog

* disable if user selects current option

* update line numbers

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/offroad/settings.cc      |  3 +-
 selfdrive/ui/qt/widgets/input.cc         | 15 +++--
 selfdrive/ui/qt/widgets/input.h          |  4 +-
 selfdrive/ui/translations/main_ko.ts     | 70 ++++++++++++------------
 selfdrive/ui/translations/main_zh-CHS.ts | 70 ++++++++++++------------
 selfdrive/ui/translations/main_zh-CHT.ts | 70 ++++++++++++------------
 6 files changed, 119 insertions(+), 113 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 6bcdd55b0..d5b8d4bbd 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -137,7 +137,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
   connect(translateBtn, &ButtonControl::clicked, [=]() {
     QMap<QString, QString> langs = getSupportedLanguages();
-    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), this);
+    QString currentLang = QString::fromStdString(Params().get("LanguageSetting"));
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this);
     if (!selection.isEmpty()) {
       // put language setting, exit Qt UI, and trigger fast restart
       Params().put("LanguageSetting", langs[selection].toStdString());
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index a130a8e93..b0facfce8 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -261,7 +261,7 @@ bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
 
 // MultiOptionDialog
 
-MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, QWidget *parent) : QDialogBase(parent) {
+MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : QDialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }
@@ -301,12 +301,17 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l,
   confirm_btn->setObjectName("confirm_btn");
   confirm_btn->setEnabled(false);
 
-  for (QString &s : l) {
+  for (const QString &s : l) {
     QPushButton *selectionLabel = new QPushButton(s);
     selectionLabel->setCheckable(true);
+    selectionLabel->setChecked(s == current);
     QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) {
       if (checked) selection = s;
-      confirm_btn->setEnabled(true);
+      if (selection != current) {
+        confirm_btn->setEnabled(true);
+      } else {
+        confirm_btn->setEnabled(false);
+      }
     });
 
     group->addButton(selectionLabel);
@@ -336,8 +341,8 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l,
   outer_layout->addWidget(container);
 }
 
-QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList l, QWidget *parent) {
-  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, parent);
+QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) {
+  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent);
   if (d.exec()) {
     return d.selection;
   }
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 47d8b74ef..6c47a31d8 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -73,7 +73,7 @@ class MultiOptionDialog : public QDialogBase {
   Q_OBJECT
 
 public:
-  explicit MultiOptionDialog(const QString &prompt_text, const QStringList l, QWidget *parent);
-  static QString getSelection(const QString &prompt_text, const QStringList l, QWidget *parent);
+  explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
+  static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
   QString selection;
 };
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index ad35a37fa..5a8f21d7a 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -193,67 +193,67 @@
         <translation>변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="140"/>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
         <source>Select a language</source>
         <translation>언어선택</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="160"/>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
         <source>Reboot</source>
         <translation>재부팅</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="165"/>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
         <source>Power Off</source>
         <translation>전원 종료</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="185"/>
+        <location filename="../qt/offroad/settings.cc" line="186"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="196"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>down</source>
         <translation>아래</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>up</source>
         <translation>위</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>left</source>
         <translation>왼쪽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>right</source>
         <translation>오른쪽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="209"/>
+        <location filename="../qt/offroad/settings.cc" line="210"/>
         <source>Are you sure you want to reboot?</source>
         <translation>재부팅 하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Disengage to Reboot</source>
         <translation>재부팅 하려면 해제하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Are you sure you want to power off?</source>
         <translation>전원을 종료하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Disengage to Power Off</source>
         <translation>전원을 종료하려면 해제하세요</translation>
     </message>
@@ -461,7 +461,7 @@ location set</source>
         <translation>선택</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="328"/>
+        <location filename="../qt/widgets/input.cc" line="333"/>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
@@ -717,33 +717,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="314"/>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="340"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
-        <location filename="../qt/offroad/settings.cc" line="380"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -982,68 +982,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="234"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Branch</source>
         <translation>Git 브렌치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Commit</source>
         <translation>Git 커밋</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>OS Version</source>
         <translation>OS 버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Version</source>
         <translation>버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Last Update Check</source>
         <translation>최신 업데이트 검사</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Check for Update</source>
         <translation>업데이트 확인</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>CHECKING</source>
         <translation>검사중</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>Uninstall </source>
         <translation>삭제 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>UNINSTALL</source>
         <translation>삭제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>삭제하시겠습니까？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="267"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
-        <location filename="../qt/offroad/settings.cc" line="289"/>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index c3e1954f1..dbbde3639 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -193,67 +193,67 @@
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="140"/>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
         <source>Select a language</source>
         <translation>选择语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="160"/>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
         <source>Reboot</source>
         <translation>重启</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="165"/>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="185"/>
+        <location filename="../qt/offroad/settings.cc" line="186"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="196"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 您的设备指向 %1° %2 和 %3° %4。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>up</source>
         <translation>向上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>left</source>
         <translation>向左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>right</source>
         <translation>向右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="209"/>
+        <location filename="../qt/offroad/settings.cc" line="210"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您确定要重新启动吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Disengage to Reboot</source>
         <translation>脱离以重新启动</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Are you sure you want to power off?</source>
         <translation>您确定要关闭电源吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Disengage to Power Off</source>
         <translation>脱离以关闭电源</translation>
     </message>
@@ -461,7 +461,7 @@ location set</source>
         <translation>选择</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="328"/>
+        <location filename="../qt/widgets/input.cc" line="333"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
@@ -717,33 +717,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="314"/>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="340"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
-        <location filename="../qt/offroad/settings.cc" line="380"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Toggles</source>
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -982,68 +982,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="234"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>OS Version</source>
         <translation>操作系统版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Last Update Check</source>
         <translation>最后更新检查</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Check for Update</source>
         <translation>检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>CHECKING</source>
         <translation>正在检查</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>Uninstall </source>
         <translation>卸载 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="267"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>failed to fetch update</source>
         <translation>未能获取更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
-        <location filename="../qt/offroad/settings.cc" line="289"/>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index f6e36081f..2920916ec 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -193,67 +193,67 @@
         <translation>更改</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="140"/>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
         <source>Select a language</source>
         <translation>選擇語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="160"/>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
         <source>Reboot</source>
         <translation>重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="165"/>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="185"/>
+        <location filename="../qt/offroad/settings.cc" line="186"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="196"/>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="209"/>
+        <location filename="../qt/offroad/settings.cc" line="210"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您確定要重新啟動嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Disengage to Reboot</source>
         <translation>請先取消控車才能重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Are you sure you want to power off?</source>
         <translation>您確定您要關機嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Disengage to Power Off</source>
         <translation>請先取消控車才能關機</translation>
     </message>
@@ -466,7 +466,7 @@ location set</source>
         <translation>選擇</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="328"/>
+        <location filename="../qt/widgets/input.cc" line="333"/>
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
@@ -725,33 +725,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="314"/>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="340"/>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
-        <location filename="../qt/offroad/settings.cc" line="380"/>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -990,68 +990,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="234"/>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>OS Version</source>
         <translation>系統版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Last Update Check</source>
         <translation>上次檢查時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Check for Update</source>
         <translation>檢查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>CHECKING</source>
         <translation>檢查中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>Uninstall </source>
         <translation>卸載 </translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="267"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
-        <location filename="../qt/offroad/settings.cc" line="289"/>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>

From be7f7041681ab088f03c075a8a836e538378a7a8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 11 Jul 2022 12:52:03 -0700
Subject: [PATCH 200/435] Fix new steer saturated warning with joystick mode
 (#25113)

Fix steer sat warning with joystick mode
---
 selfdrive/controls/controlsd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6f0c9c2ae..117509f1e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -602,14 +602,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
       undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
       turning = abs(lac_log.desiredLateralAccel) > 1.0
       good_speed = CS.vEgo > 5
       max_torque = abs(self.last_actuators.steer) > 0.99
       if undershooting and turning and good_speed and max_torque:
         self.events.add(EventName.steerSaturated)
-    elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path

From 5e896ce2f134b9f17d466bf1aec694142bcb5ed3 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 11 Jul 2022 13:22:13 -0700
Subject: [PATCH 201/435] Improve Simplified Chinese translations (#25091)

* 1

* shane told me to do this

* 1.5

* 2

* 3

* 4

* Update main_zh-CHS.ts

* release

* some minor improvements

* build

* remove state

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 18457 -> 18507 bytes
 selfdrive/ui/translations/main_zh-CHS.ts | 272 +++++++++++------------
 2 files changed, 135 insertions(+), 137 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index b96acb89d99ed8207dd34740c51714706e771040..59487d263a7a7524f15a239bb7ace144137f31b0 100644
GIT binary patch
delta 4896
zcmZuz30PBC_CHD9%f5gtDzbz<EJ9d|2q=rVATMN5WY`o4!Lo=7afOItg$9j!#f93|
zwKCIo>R+dJw5{3}wOY}-)N!h|+8V30j@CNpXqEqYi8%FhK0ZA!_nvdl_B+3OH?8J;
zwVJcq+cFn``vf4|0KhY$G^3n{awEzOC=UQoxGz@&(9r-9w^5D;h>S;Bh&o264Cn&j
z-ve-22O#i4`60?tC@-Kq3?S<OkRAgFd=DVxJb>$PfKb%4xMt%AD!RT2Fs>CqeFR`q
z8#+n^n5;)>0no<aAp<C@06d4FT#oBs0@Q3p2Xg@CK1KNepn=_A3%qt3gV_$$iZ=k@
zl2h{5I%VKFr%d}5sEyab0vs_=J(x{IAyB=4N4W#2(-eT;aG+mTVy35oet#E$WDW55
zeTQ;C2$a*%Q56UxFcZl&P%BW1x4`)0ivUJ$gYh>p`}ii9AS%PePQawZP7DO|nwNp+
z%Ro~@u%bf9yLKJ3^RR=i={_3tf`R)5ZcG6~SqnN|3{!XQ01(ZCX%p9>!_n}k?!^FO
zG*JB6adZ>_wG{zq{~^qOg7&g<*m~j=z}Q&W(@+8sRs}t78UWwRV1K<4_xEr-M@0ez
zwR48O6@*pia1vHou-7qZ9PQCCfZzyD*EhH^Dv)!^fEDmq!nw%Z4&XC^b1SYDV8jTn
z*o5s-^>BmjKcL-HZnn4q1KZCnV*9QBnfvB>5$dnwe$;`1#a3_+PFw|`Xyu;M;<>&f
zxmS)OW}-gjUftq>=Plt;mZ+fs?gpOEFW57mo4f$)7|bk}*QmvVUn$_dE62zqWxPH6
z^6;RCyaRjCP~F1o32jE;UgVt~f_>*K<UMTMi3N_J#@+fq0Jn40^j&)~FgrDKA}+hc
zQwx4b15n<g7MEe5`~}ns>NkMIqm*Ui#7_{#@svX<0-VzQuv037sLeYbV#KM`w(Aur
zo2d6rcLD@_LH(_I2bQ{$+AqbH$*xde-MED4_NTt;`xo~7F7?BhzX1p=v^Wu4k$RVw
zS!V+z_0pO0U`%K#J#9L+DzU^uo5TlkG(_~PL6|{I4gD$$HqjQ8n3+&TFQ}Z42D|7*
z@p5$VZ`!&Z0}-8YO21U6RMtA>m~MJA0vO!y(wl9F6^W7F@!E2Lp+o2oj$Osd`O=?1
z3Bt<R=r8=wAl59u(3h@YM1dOm$7RP69KB9C#)E$J1S5=A^SS;81l=jV{7w{>a1B4@
z7LF|cTmJYxp8_N=;TLkSCBZa*`@^RI{?quML~X*rm+&8HzCjQs2m->eVyZmBPOoK{
zV6WhVx*susse(JYZ8-m9t%84FL^2o>E_l#~CE^_rJRbcMV!=(A8P<aYbXhowhmk8j
z78-9q#)zAQD;tq)yluj_-^BynHVHqp2jXvoNFXakkj)eYZWiJ+<%rVnnNa_I(UhF)
z*osKe)MZ$~v8P0ZMOg8WEK$YL44i+JO0)_Pgz&cL{3QlKw?%Ztbr!PPyW;c+WIVoH
zT=8`;W<EjOehV4PuN-A6X1q;o{YinpkBQek#a;)0FW&gcb}YSzc=N?6*s=%Ww|cSn
zyeH!K+t#6Dj`)C@#=v%nKR2NrO^JKNzBvD!&%`~RDHzcO@y+rEEMbU*v#%LTZk7Zd
zK7s*xNQ!?z!U$}Z%sxk9DPNbgnBCFtvE=A4*rLz^$(OlUDG#O8{V+O?;z|AY;ChIQ
zbY$uR#L9hXb|&^ZRUw^}RE#YPlICP!1(FX+r*>NKK)=<}T851%U%KH@K8|0nbk7<b
zL*K2^<6E#~>OASmODLm$mtH!Gfl;eu{GCDQFh>^c^A8MUlx)<KcAV!!viIY0Kfpuw
z(L9u+=F55l-a#zrWjz@vLt|wpQV<K`a@qN5IG*k+<Q|qk@5GJ&$h}rz=5GG-fQOj?
z3A8-vDl%2{9eGX%md>q6K09L^qB&CD{s!_u7)So*Ph$}iljVQefsPW!$Up5zEO=j*
zpBno$qCG_+yo(GfII3_@$MH^7C_HaGMM65Mm~b7>i|JI<ne5oIS&D?!7nfu2s}!4z
zbr@NQ;!yqX04e(vS8l$AncP)e&HgL?_MZum?#e?=N;|jnHc1yma7)ajPEaclLptOE
zL#_)FDckv}-w|J7fk<kIZd4iT%j?KuVUnv0`wQ}6CS=3R`rGyU$!EeuT5Ka)BY7%J
z@EFE^8F!moU(m@CS!6CRteh03${Pz7E@bR2eY);7xt2OIRQ#UP>oIYlL|%5b`AUgd
zKi}3w9*C1TQA90q=QDPVrBOu~iP<N7dbhdNdayuH<*z-;BttO7z-~~Yj8${UPm%(e
z%k=K~b%kB+E!w%JWTKUJxegm#S<`E&V{OSpX(?sgU6w-%Wgq)^>o3%{!7Qi;Bh=yl
zGoc25H86I^0m1Twq00ZQK}zK*e!lF1FcGo_gph@Hbznk!BZkDTiAc9xC6IPCcbN^-
z$T#vhJ}?js=|rvw=C*%H5)^uEUYWiWO3WKu+rM<`Rb=IzE{GqHHmaCa9Xw-0VSC$=
z_Om7LF!p61m2NPBW|&jYe5QPtM&H$;<}ycSx7Jr1`}KDkRcbEzQE{52#LG#KOSVX8
zKC@`6=GydGMBy4Hl0Gj%s%tzgbkty>Yf?hI$v#i=at+L_Y~kB`bi)Uvj9q_1Yu3HJ
z<cXnUeV#56{e17bTEH){>4xebkcJ_-Jj&!lJ|7aoMbS4T*s}KJ1KV3_GT4H#DVbaI
zG)u$V&*rO&Z$LckHgxEJV<nT*d4E8vxx?IL_ZTrGuzQRIlAL>(E-Z~S8Lg=GvImV<
zIj8w{<$dFB((HDb4W-CEloiX}HGJcdg%V>u`PMy`($=gwNg_NZ2!ys{`i~hPW{)tL
zw7NWBWr)^wn;#-}{^Ai!i$TeRlkYu>ge|`nxo&{=7Lw^1?NnrwP=+W&NRwxkkhLtJ
z8u;Y4XB_Rq{@Uw5bPb25>ga_F$*02#=?d$%^)#8S_H<zzslQP8`_gbV7l9%sIm1s%
z#D)6?yiDQNgN0or#7ixc7TYyN&sR)dF_Z~xXUJx+c><~Ns^i;tM3O|Dub%o;x5d`P
zj3lKaKBK9wi_N=8sCS4+$j)Tp(fJ%=@QxG-*{{yw);r`)??{Q%qHVrxkS(}7;6=Xn
z4wi^vGU7EC{~5?5?_hq{#lo)Dek9mOiCcPPhjI9qMJD+Kh=foLwTR&=GSA0fz{l@;
zsM@>TXDKzpw}?MDo{SvIu{pK)H)CZ8;v+3!l1K_MB@GTvSs9Q>XR){^scI$8cg;<0
z2U{A_A7JBnvtQJl1*S~0D)22IZ^#4<#+HjTrNmG)7$pM+(AV$BUd9D2<9Iqu4+TXD
z#G!7WEWWq*UQiN;%k=Gy3|Yi+b#!A8_>P7h2*naiFDsB~AL*A`50cxVp{Z%b_u6mh
z&n$l2{5`8X;5EO_x`VOnl<O<X#+pRh<%RnV9oB=EIyIN21IAumUXsLO#la{VRVUwR
zu(wa8;ZTk?riN?7Swh9j9B*NkdNXE}R}1ii)*Bld>p3hPN0vgtS1d5ef$$5$LAE3t
zBQ&n=jLi03`Od*Lq-!cNp5M|}*u_jFX_1jwnk<+BbD;{0Jp*b7gl&^;mDb&*Q<y%a
zp2kS66R3>D*5t_ho5;{mmG!~=I?WYk?Gl4U%O1aURzVZv&VmK$dkW}avPoo|K%z&k
z7YW(e*qq6Uk(!vX)(0#dIDE~)R#c(SIY@X$j9_l_AyX-nJlKBC8;uDA(!I%1$s8HN
zoekhw*bAaJ$Qu5L6XK`#;tmK|Ah-;O*5nrc2f6Sy{RQ?Ywy%5J)ig&TcYuJw#*f1<
z10gYpL^gWuqt4;vKuj>#q9xa2{3tdXLdA}wY{%+vlib)W9@lu4Y{UhYHORGCADYTn
zH6J2$oIhea4?)FX71K#XoKnEA@NNpgLCTBsr-hEb&WQ^|Kb5xESYM<ouGd-7s>3F`
zgJbIB%RSs-JYE_NSdk2@#|*4UIZnsb_=rF3WIh`P)FZ<ZBBhMD+W+|>c?q!`Az6_S
z7oEt68L0LzbJ4v$xNB}T_IKV_b6Ix_B_%fINWQA3$yUiSJ{d^(l@{7&G5zG%#F0{#
zRamuxn3cgK{FP!4FSe^}A)iG!0UDu<Y<Z=Yt5Xt1QVCxDdi<L}%t_(0fEScLNGk9N
zX;hWHVvs4l*=ttmldpO~BWzTTWs9}aFloTc_Rk`Ic^lK_Jk5Hj^IxXS^?A+zoZkIM
z3l>PsNOP-WoNCtXRC9F#-GDR1mcHU&8GC`}i=jIGBS}8z62r7&drgw<G9%M?As0U$
zrI0v_?@VoY@(o(dzEuc+bdx|_cShIE*h$;y>Y>@%bnD+=zAlJ7WxuP-s<4{<oj39R
z#KA7#rAs7dQ_}ncD$^Du+bUQ48T;AWZ;<wwA1eo(q(>4`zok7L-ZUX2NK9Jjj8|Fx
zmCJ3%APyfU4r;`AK?0};tp`NxX-n-@hih|mY8F^4U$-4YD}D1J#@!TNrnl7?T<d2I
zNLeB(;_J_7AF(xN?B!ptSv$R(oJ%|D>RCEPmsnzE#2V$Zm&ISlOdJsl@kI(_e^pAU
zf{lD*t92`SILM-h3>ll~rv9(K^M!%)HDl~1A8*G{KeN^)I`Ts@L5i=3S~4Pij7-XE
zXlrzd`YD=RQl1`Tsdw1C^k%YMYMb2Bx0+kBuK3#0a6<>1m*z@2$F^MeXEm3#sjgsO
z5XS!L-K9r1E;9D(Mzi}hH)kkxZ>YIeJBtx>D}s1bzRLNgY4kHrP;;MC=-DZAjY<-h
zaUI`=@=Q;PZ5h4{eaQICVmGh<(ct}=**<wMuNUzbv^1*N1`yvYUw0>tkqpK`MiIa5
zU3QZgves&*R`hC$*j})AKRa9)<%9q77fTB|^&mq#FZRm&r9V4z*!}EvhU`}mTBK-x
zhe;-5#_e@Jcl*bM{E_W_Nk(?OlU&%_+(FmNvp;aIuwEQ1nd2wRhLm2k?jH0=wvA78
TUT|gA<)_(O-J$pM_^AH}{k-)m

delta 4941
zcmZu!2Ut{B_CGVcH|0$ODJp^vAWi9I1VmJ@V0+^fMM9Nf7?on9*kC}xKtKn)Vj*fY
zHr(i6S7Kau6HC?_MKm$$#+Vot+dqk$rbdJ8xr}AMtlxZc?z{KgbI<vm-#Pbswo$OY
zQPAjN^#l-h0R)}~aIm0!fU*o=kR0V&lpz2Nt}E^Vu%Q5h4Je1A+=Ma>byDoo+YLbU
zGk{|PfEaB$W}%ElS&8x}?jHppKLy|u0N{5C=l==dk9t<ef8ziZoyG!;t_BG60T^G4
z2X6qFh=&d81ki<}kuxY~0JwgGvIZSM#|pNfArFB0&r#yI7}wq20*5*lo!J7++wTIv
zHM?}Ewo4zaT_&^vv+g!nLBIiXJPHpw22A_k&@g^?FaZ761N)8|ASe>pJv#wpX(0Lt
z50@<iv3eRF6awPG7>R5bgsD(+#W42FV$^>QWA7aRi2Mzbr8yW_F^tzVqazqsSt6cO
z2HFCGh#ZB<-`%!iL<d1%{wqM#XfO&97Nr7=IaTP$J(#+48-R2IOdGcv4-~^&txEug
zJ3+=VL?fsI3Uj@2e?2Vd!u^VVu;sJ!xc&(C7iR(ld=AH*wHQb`biPx9>$3!Iu|WU>
z#ezPY24WiC7DTVKVy?qB3v?#~abcIB<x5<MIUqQ1L<C$D1y_Yz0X%*b+>fjVaK9_$
zEGN*gM(Epl6CgZCI0mBzw;Ex(BSsuHPPp-s6u@(!@L&Tv7XF#=@VJ!#swm+XI<)J#
zS9tvlawdco-q`F4&~Lm0V-4vI;L^vz^Lxyh=K=@s`r#PaE{75w8rEEN_&|xC4=!`q
z|IuVLw8P==`*CCFw+_esE0DOKIdt@T3?L|Vcv7+*0S;tF-~TIsGhwoKwxMHxWoC}U
zY1K_;;mrg9^-N|-4mv6-W8P+dLHh}eb=|m+k;Q&Yk5qncmo7`~a=<ob!?q^?!OhJ3
zw{uapGrK#Q0lbGZALefZ7!kxAl4Hsg&CJ<5*KmF#bN0cHnDfod&EX#ch%;DDgQ*zS
z$|~yTBC^xjB&9C~bd;Tzjj4+M+{#+G!$_iw?5u$pLD+eA7A2ds7$rs~{+V5vw*V1Q
zu#2OVSUz*v`Zef?^nJVR|A}1=_`xoR7qA-!qhl`n*$p=2iY%Pnw!8+B_=eqk>INcL
z$$r{35Rt24|LJuRxn|wOUb~JSd7ou(Ejxo8m|&L)SJ<ar=wZkbk<iPCq*^6XJ`6z!
zoka2X#~_4PMPv7W0ubjRN)up81}+nAeexXFFN;17Sq~r?FM6u|61no8*gFsr^Z!)5
z-F+EyB2>J$=oUIKQT$N<KGy#To%pw_eG#&+#E%~!L=L;f&xYPb(jAf{1s=z8nJgLa
zfS#*nO3XhzLyw~+D@s~$eXQiY573}<s^mbY4}Qy~Vg)uG&-+rJ4H7KBW73g7TTp+x
zbjpO=h@^*f>M}%dM2j>n9TE3EEX_Tci1qK^B3%hcLf9z1bd3iX;x4`JG#k6x9&Y4d
z?06zMmwTZdV8Cgv?ml*`{<lyLLjyrv{aqE#kL6ZB$6WiSaO*zaiVl6rZMZrGQ<lPQ
zYRB9={KW04U5yBy;Qk)QVwrnzpIUGqE98!I{jvT9hq&Wz@mP=P+&xn<Lf9%3d{luO
zVq`u?PasQI$TDtX!|;A8oBIWWQ2rsSDs{nqzsXL1k16uICObU|k#e~ycR7j&2dBxs
z_T#*7tvq<xLgdOh`Isckb^I~;_?QfU*pKBC5)py8sq(4KRx~)kQC`SXk5c7ppQfOJ
zK>7YAEW`d@@-v$eve5nVbJtLYjFMkFiH<SL6{76}u|KF3p`KUJkyu4+R~^=Kjbcv}
zu6s2p4wj*e<rK%gcOVx$6~_}%`hBSQEFQVQMJg^$!}4?)r*yUM+Kv(BE8XA5$b0=u
z>HQ=LAzG}Axq+Q3RHvNKfY3SjQO->qjT@gR>)ypa5Rk9jcy|Qm_7CM>w&6ih2b7;Y
zLN0hLRh}Pl0id@;CHXgYQ1L32%SbHm=sK0#o#y}%8ddUbv={bRRb=Tz(*CZBY`j{7
zxzAIrHy0sPPgO_e{DDyAsjlDKgpe1gZjAXqfT0~TkvZQwpr%kapCpL~3ylqAj<`@N
zhmkNDcu<quVhv+dHUjA{No6I*(2@XBDTz_Y>By?9_*yrY|A3s4XvA_G(V1}rBaL=)
zp=0yD(&|?lywoa{zxw)0I!wvORXxzRHche?m833OM0~m3_H(}Ed=!p3pI2P(mKzq>
z%F&{OEM`DNc5Bv&b&E~g4OcAF^An5>mg)SXoJo~kT5CxF>MTm~B=cpdK4GBFZY`~@
zKb$HyiH%O6244t=eLXS))W!zXy)R33a>;I8P?XkESEZZZ{6k4}Q6tgHTNJNmo7$~K
z<f%N1N%_5g56MvcL#3<=U-%Ec^ObtEGMep~BUQ?Hg<QWm?c}^Gc+5B$MZQ)Bu$<wE
zC635cks@BvC`8moseFZeHpy2R(%xEEU3YqIj?t;5qNUV0t+YCK)Z~uTsBSsmnHi$r
zrR`&IqXDGV)t=BIK78l0gIQ}Wpq>9h|DtK9*3i-rCIof2#Fl4UPNAWmbxVoLv4fQ~
zwVU^mZygORQ+jdn7BbW+kj`O9g-%gYxuvsA))Utbr<mX%`h|YahB;t{BK$iO3h=8K
z)TPyR$Mt=~1p4<XyNnHMChIlCxmP30@Da5W$zOU+5(vrDUVcKO6Y+NTwJv>=iMpzS
z#FwF@1Z3RFaWnjahegqhAec26GKb&M^gG9mr;fzDT%+N=$)?ubB&hgdhL`SSw>+yh
z-Dxe<RW-Gf%g*PhE8ATBsc3i6idyFCTc^$--ma4vL(-D@WWH;%1H*IVQ`bNlSBmK|
zhU#1SVDiK@!a;((2z5)BP-9iUq&pGf7AoUt1|Wp~NQc`DN!=}7+q6wh9b|a#NP)bq
ztap<@#z7KHgwa?pdZOr?7Fj?E+1T6gc-cY2<-CN2aY)8H6(?6btT<w9$on<bUHe`3
zY~c8zbyfB6uVHDBg!Db9QWk8nNYg$7j%Iw#Nixel%*m0?WprxOU(N1x4`*x_Ed$8c
z?q#x`WeeCYmR6Iu`o%~kDPdEe>o?oV$;N)i#3Eg??HaC_Jp5jbS9t_^dO!-yLtKl%
zg80sX=`bIEWjHera>*%=AhCpx<Cmjb&pmuurYG$op1z_~|22~{caT(1HOn*(z)`iQ
zw~W&jG@XOcbd~uL+3V>g<CgyP^1JPd=TfGxN4n@`J@QIAqR_1H%Nat7y~nc>2+u4g
zr@S>{O^zcUhi7(#spXV;RE=Up5`1jZ9<=5yoO6iW^VuX8(KWq@Y#q2vDxu?YwRsL1
z<{QFF{GCDFHqSRkAe=g*ZMWZIfpf2XQ%V4(K4syHRK^5gj7y$Xe2c7^9pFDSzV43U
zqW#-iL=$3?E-0$srdO}Y%^6{l>T1#s85`;kzg#n1F09SYNmWqxkS_w7MRxVJqCl;H
z(Thzv<k%ox5bc?GU*koK|Cq$-rhG9DScAE^WR8G#+>n%j94G#Jo?G#d#1FnKG2f^-
zLK`G;57K(7Qvzu2F+nL<kHIho{~{{cCv*pR8Cet*B}!}2YcRVX1_jBu+KINj`h8hb
zknCMSI+c>f%*(KM+Nqls>>nAmph$b2cIDD)G&%+JNLsZ;YEJH!XO{9V6rIv)epRK>
zs<VA#+P-vlYB|{zyoP0T=H`1OIYjFfMv0wPr<;-Kht8GT^7vpr?qzPZ@0LWjoeqf;
zuoCJRQH8AyuK4fN<Dn*`SRwwVzZe%G1<g2%odyDE;$0vR)J>Dpe$Omjx7=`<+D1ln
zhq+-&+FZj~0n1R|NMM9F%QW|`e@KiGzQXeTWO2j*Cbb;V*c36EX}OAnyAh+rBFms2
z^^nNX_SLdTPq8Q^pyCKBtdI0!nYr)GA52a}BB66V%Du_=kzN9Z^osJqbFitBgs66@
zgkm}4sHKzii8d+ZFcuSm4(mncP|_GZ`1OqG0>6!1hz^olz^Kgo)x57~lSC82%5&Sb
z>13!Ta`Z%=%lE=)-_UDw9QE(f9du`DwfRx=uat=NYmqF|#-Ff5PJ2ArsQC%qBtwGb
zmO+(WJ#7Zn$hjdIef!f4YqNWDZ1*%7N+1VOOo%BI7S@tIF`0O`8}OHmlf7aGsRq6X
z>80Yh*i^4UB>_1@j0&{}y*$;PDR{yDN$W`L1nchlJmdIociX?xMW$N5HtqL6YtfS7
zgL_J-VD<JMr(T>~f28?GOVXOjG)BEx-%Z`lZmoKd@e|*f>h{0x+x?;1wBC)=GCB)l
zNL5^K)t~*^8h1zB^EAQeRt_y^B}EspNPETS_ZzPpS^u{;V^3DcAChq^0}Bo{->bW|
zCYNLmOYrr>>*-Z*tCaJKywKOZjrR4P9{9<yuf%=mQwY!N@asnoCiq*cvka8FltNgB
zohxc=r|{fJe1@oBTj-YHrH7A|*JpG~vFl-9t)19XYJNmXS2#f*M(s2jDvt2nY~jLZ
zm2%n@W*;paYAY~0X}>c(Hb3f?o3@)ZrVCB0_)goUso#*K;ipwDv>g~5cuuSCd53t6
z7}rk?5qR;cX|J9UpQWNPpkMgEa~Me~M`-$L`1Ak!CZQI{nGx%~)b@wgYa4nEe=Dz>
z=M2dZ%F7JN#5!`gR6@0M1=s=3jtsXhf3fEce5dW!cCB_|)q_T1=IV^^mJTxQ)N70l
zG+OO-lfeGcvDN5z(X8{&v{THFCiiXZqW5!lYr(zgDr!4Fm%dG2R7z}qE@hm(Qp|fw
zqKP^2sUVDGC%K7eS}{e7k`}poys7+%c+{8yQ{S|bE?QVs($nwAtWo{@fchotweEBQ
z5gdsaCXx-KR;6ZB?`XBt=xFUy&t7*y+Ku#>^VdC{zWD5KyR82&t)@F(zUyfFPW4Y$
zRqW`w7RyJs*<Z&|WBmU6rsz*9$3)p1KE3!~H2h;@_S)y@i7)2L$4+$alXbNoA6l=^
YM@TM@)z~k|oP1LUy?<WldnSkc2ba9`$^ZZW

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index dbbde3639..9dade3470 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -6,7 +6,7 @@
     <message>
         <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
         <source>Close</source>
-        <translation>关</translation>
+        <translation>关闭</translation>
     </message>
     <message>
         <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
@@ -16,7 +16,7 @@
     <message>
         <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
         <source>Reboot and Update</source>
-        <translation>重启和更新</translation>
+        <translation>重启并更新</translation>
     </message>
 </context>
 <context>
@@ -24,17 +24,17 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="121"/>
         <source>Back</source>
-        <translation>后退</translation>
+        <translation>返回</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="129"/>
         <source>Enable Tethering</source>
-        <translation>启用网络共享</translation>
+        <translation>启用WiFi热点</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="134"/>
         <source>Tethering Password</source>
-        <translation>网络共享密码</translation>
+        <translation>WiFi热点密码</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="134"/>
@@ -45,7 +45,7 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="136"/>
         <source>Enter new tethering password</source>
-        <translation>输入新的网络共享密码</translation>
+        <translation>输入新的WiFi热点密码</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="144"/>
@@ -55,22 +55,22 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="153"/>
         <source>Enable Roaming</source>
-        <translation>启用漫游</translation>
+        <translation>启用数据漫游</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="161"/>
         <source>APN Setting</source>
-        <translation>APN 设置</translation>
+        <translation>APN设置</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="165"/>
         <source>Enter APN</source>
-        <translation>输入 APN</translation>
+        <translation>输入APN</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="165"/>
         <source>leave blank for automatic configuration</source>
-        <translation>为自动配置留空</translation>
+        <translation>留空以自动配置</translation>
     </message>
 </context>
 <context>
@@ -92,17 +92,17 @@
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="140"/>
         <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>您必须接受条款和条件才能使用 openpilot。</translation>
+        <translation>您必须接受条款和条件以使用openpilot。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="149"/>
         <source>Back</source>
-        <translation>后退</translation>
+        <translation>返回</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="154"/>
         <source>Decline, uninstall %1</source>
-        <translation>拒绝，卸载 %1</translation>
+        <translation>拒绝并卸载%1</translation>
     </message>
 </context>
 <context>
@@ -110,37 +110,37 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>Dongle ID</source>
-        <translation>加密狗 ID</translation>
+        <translation>设备ID（Dongle ID）</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="99"/>
         <source>N/A</source>
-        <translation>不适用</translation>
+        <translation>N/A</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Serial</source>
-        <translation>串行</translation>
+        <translation>序列号</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>Driver Camera</source>
-        <translation>司机摄像头</translation>
+        <translation>驾驶员摄像头</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>PREVIEW</source>
-        <translation>预习</translation>
+        <translation>预览</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭）</translation>
+        <translation>打开并预览驾驶员摄像头，用于调整安装角度以获得最优驾驶员监控体验。仅熄火时可用。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>
         <source>Reset Calibration</source>
-        <translation>重置校准</translation>
+        <translation>重置设备校准</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>
@@ -150,32 +150,32 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>您确定要重置校准吗？</translation>
+        <translation>您确定要重置设备校准吗？</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review Training Guide</source>
-        <translation>查看培训指南</translation>
+        <translation>新手指南</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>REVIEW</source>
-        <translation>重新查看</translation>
+        <translation>查看</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>查看 openpilot 的规则、功能和限制</translation>
+        <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="121"/>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>您确定要查看培训指南吗？</translation>
+        <translation>您确定要查看新手指南吗？</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="129"/>
         <source>Regulatory</source>
-        <translation>监管</translation>
+        <translation>监管信息</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="129"/>
@@ -210,32 +210,32 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="186"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。</translation>
+        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="197"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 您的设备指向 %1° %2 和 %3° %4。</translation>
+        <translation>您的设备校准为%1° %2、%3° %4。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>down</source>
-        <translation>下</translation>
+        <translation>朝下</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>up</source>
-        <translation>向上</translation>
+        <translation>朝上</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>left</source>
-        <translation>向左</translation>
+        <translation>朝左</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>right</source>
-        <translation>向右</translation>
+        <translation>朝右</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="210"/>
@@ -245,17 +245,17 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Disengage to Reboot</source>
-        <translation>脱离以重新启动</translation>
+        <translation>取消openpilot以重新启动</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Are you sure you want to power off?</source>
-        <translation>您确定要关闭电源吗？</translation>
+        <translation>您确定要关机吗？</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Disengage to Power Off</source>
-        <translation>脱离以关闭电源</translation>
+        <translation>取消openpilot以关机</translation>
     </message>
 </context>
 <context>
@@ -263,7 +263,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="37"/>
         <source>Drives</source>
-        <translation>驱动器</translation>
+        <translation>旅程数</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="39"/>
@@ -278,12 +278,12 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="46"/>
         <source>PAST WEEK</source>
-        <translation>上周</translation>
+        <translation>过去一周</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.h" line="15"/>
         <source>KM</source>
-        <translation>千米</translation>
+        <translation>公里</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.h" line="15"/>
@@ -296,7 +296,7 @@
     <message>
         <location filename="../qt/offroad/driverview.cc" line="56"/>
         <source>camera starting</source>
-        <translation>相机启动中</translation>
+        <translation>正在启动相机</translation>
     </message>
 </context>
 <context>
@@ -309,12 +309,12 @@
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least </source>
-        <translation>需要至少 </translation>
+        <translation>至少需要 </translation>
     </message>
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source> characters!</source>
-        <translation> 字符！</translation>
+        <translation> 个字符！</translation>
     </message>
 </context>
 <context>
@@ -322,7 +322,7 @@
     <message>
         <location filename="../installer/installer.cc" line="56"/>
         <source>Installing...</source>
-        <translation>安装...</translation>
+        <translation>正在安装……</translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="144"/>
@@ -332,12 +332,12 @@
     <message>
         <location filename="../installer/installer.cc" line="145"/>
         <source>Resolving deltas: </source>
-        <translation>解决增量： </translation>
+        <translation>正在处理： </translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="146"/>
         <source>Updating files: </source>
-        <translation>更新文件： </translation>
+        <translation>正在更新文件： </translation>
     </message>
 </context>
 <context>
@@ -401,12 +401,12 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="66"/>
         <source>CLEAR</source>
-        <translation>CLEAR</translation>
+        <translation>清空</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="81"/>
         <source>Recent Destinations</source>
-        <translation>近期目的地</translation>
+        <translation>最近目的地</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="95"/>
@@ -417,27 +417,25 @@
         <location filename="../qt/maps/map_settings.cc" line="107"/>
         <source>Get turn-by-turn directions displayed and more with a comma 
 prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>使用逗号获取显示的详细路线和更多信息
-主要订阅。 立即注册：https://connect.comma.ai</translation>
+        <translation>订阅comma prime以获取导航。 
+立即注册：https://connect.comma.ai</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="164"/>
         <source>No home
 location set</source>
-        <translation>没有家
-位置集</translation>
+        <translation>家：未设定</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="169"/>
         <source>No work
 location set</source>
-        <translation>没有工作
-位置集</translation>
+        <translation>工作：未设定</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="282"/>
         <source>no recent destinations</source>
-        <translation>没有最近的目的地</translation>
+        <translation>无最近目的地</translation>
     </message>
 </context>
 <context>
@@ -445,7 +443,7 @@ location set</source>
     <message>
         <location filename="../qt/maps/map.cc" line="178"/>
         <source>Map Loading</source>
-        <translation>地图加载</translation>
+        <translation>地图加载中</translation>
     </message>
     <message>
         <location filename="../qt/maps/map.cc" line="195"/>
@@ -471,23 +469,23 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="30"/>
         <source>Advanced</source>
-        <translation>先进的</translation>
+        <translation>高级</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <source>Enter password</source>
-        <translation>先进的</translation>
+        <translation>输入密码</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <location filename="../qt/offroad/networking.cc" line="97"/>
         <source>for &quot;</source>
-        <translation>为了 &quot;</translation>
+        <translation>网络名称：&quot;</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="97"/>
         <source>Wrong password</source>
-        <translation>Wrong password</translation>
+        <translation>密码错误</translation>
     </message>
 </context>
 <context>
@@ -495,30 +493,30 @@ location set</source>
     <message>
         <location filename="../qt/onroad.cc" line="202"/>
         <source>km/h</source>
-        <translation>公里/小时</translation>
+        <translation>km/h</translation>
     </message>
     <message>
         <location filename="../qt/onroad.cc" line="202"/>
         <source>mph</source>
-        <translation>英里/小时</translation>
+        <translation>mph</translation>
     </message>
     <message>
         <location filename="../qt/onroad.cc" line="269"/>
         <location filename="../qt/onroad.cc" line="272"/>
         <source>MAX</source>
-        <translation>最大限度</translation>
+        <translation>最高定速</translation>
     </message>
     <message>
         <location filename="../qt/onroad.cc" line="316"/>
         <location filename="../qt/onroad.cc" line="319"/>
         <source>SPEED</source>
-        <translation>速度</translation>
+        <translation>SPEED</translation>
     </message>
     <message>
         <location filename="../qt/onroad.cc" line="322"/>
         <location filename="../qt/onroad.cc" line="325"/>
         <source>LIMIT</source>
-        <translation>限制</translation>
+        <translation>LIMIT</translation>
     </message>
 </context>
 <context>
@@ -544,7 +542,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="86"/>
         <source>Pair your device to your comma account</source>
-        <translation>将您的设备与您的逗号账户配对</translation>
+        <translation>将您的设备与comma账号配对</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="91"/>
@@ -574,12 +572,12 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="189"/>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>成为 connect.comma.ai 的逗号主要会员</translation>
+        <translation>打开connect.comma.ai以注册comma prime会员</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="196"/>
         <source>PRIME FEATURES:</source>
-        <translation>主要特点：</translation>
+        <translation>comma prime特权：</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="201"/>
@@ -589,7 +587,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="201"/>
         <source>1 year of storage</source>
-        <translation>1年存储</translation>
+        <translation>1年数据存储</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="201"/>
@@ -602,12 +600,12 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="123"/>
         <source>✓ SUBSCRIBED</source>
-        <translation>✓ 订阅</translation>
+        <translation>✓ 已订阅</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="129"/>
         <source>comma prime</source>
-        <translation>逗号素数</translation>
+        <translation>comma prime</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="135"/>
@@ -617,7 +615,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="148"/>
         <source>COMMA POINTS</source>
-        <translation>逗号分</translation>
+        <translation>COMMA POINTS点数</translation>
     </message>
 </context>
 <context>
@@ -635,7 +633,7 @@ location set</source>
     <message>
         <location filename="../qt/util.cc" line="21"/>
         <source>dashcam</source>
-        <translation>行车记录器</translation>
+        <translation>行车记录仪</translation>
     </message>
     <message>
         <location filename="../qt/util.cc" line="21"/>
@@ -673,17 +671,17 @@ location set</source>
     <message>
         <location filename="../qt/setup/reset.cc" line="38"/>
         <source>Resetting device...</source>
-        <translation>正在重置设备...</translation>
+        <translation>正在重置设备……</translation>
     </message>
     <message>
         <location filename="../qt/setup/reset.cc" line="53"/>
         <source>System Reset</source>
-        <translation>系统重置</translation>
+        <translation>恢复出厂设置</translation>
     </message>
     <message>
         <location filename="../qt/setup/reset.cc" line="59"/>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>触发系统重置。 按确认删除所有内容和设置。 按取消恢复启动。</translation>
+        <translation>已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。</translation>
     </message>
     <message>
         <location filename="../qt/setup/reset.cc" line="68"/>
@@ -703,7 +701,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/reset.cc" line="88"/>
         <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>无法挂载数据分区。 按确认重置您的设备。</translation>
+        <translation>无法挂载数据分区。 确认以重置您的设备。</translation>
     </message>
 </context>
 <context>
@@ -735,7 +733,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="343"/>
         <source>Toggles</source>
-        <translation>切换</translation>
+        <translation>设定</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="344"/>
@@ -758,7 +756,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="79"/>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>使用安全带在汽车中为您的设备供电或自行承担风险。</translation>
+        <translation>请使用car harness线束为您的设备供电，或自行承担风险。</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="92"/>
@@ -775,28 +773,28 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="117"/>
         <source>Getting Started</source>
-        <translation>入门</translation>
+        <translation>开始设置</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="122"/>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>在我们上路之前，让我们完成安装并介绍一些细节。</translation>
+        <translation>开始旅程之前，让我们完成安装并介绍一些细节。</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="147"/>
         <source>Connect to Wi-Fi</source>
-        <translation>连接到无线网络</translation>
+        <translation>连接到WiFi</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="165"/>
         <location filename="../qt/setup/setup.cc" line="263"/>
         <source>Back</source>
-        <translation>后退</translation>
+        <translation>返回</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="182"/>
         <source>Continue without Wi-Fi</source>
-        <translation>在没有 Wi-Fi 的情况下继续</translation>
+        <translation>不连接WiFi并继续</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="184"/>
@@ -811,12 +809,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="248"/>
         <source>Dashcam</source>
-        <translation>行车记录器</translation>
+        <translation>Dashcam（行车记录仪）</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="253"/>
         <source>Custom Software</source>
-        <translation>定制的软件</translation>
+        <translation>自定义软件</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="281"/>
@@ -826,12 +824,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="281"/>
         <source>for Custom Software</source>
-        <translation>定制软件</translation>
+        <translation>以下载自定义软件</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="303"/>
         <source>Downloading...</source>
-        <translation>正在下载...</translation>
+        <translation>正在下载……</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="315"/>
@@ -841,7 +839,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="321"/>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>确保输入的 URL 有效，并且设备的互联网连接良好。</translation>
+        <translation>请确保互联网连接良好且输入的URL有效。</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="334"/>
@@ -864,7 +862,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="236"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>将您的设备与 comma connect (connect.comma.ai) 配对并领取您的 comma prime 优惠。</translation>
+        <translation>将您的设备与comma connect（connect.comma.ai）配对并领取您的comma prime优惠。</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="243"/>
@@ -878,7 +876,7 @@ location set</source>
         <location filename="../qt/sidebar.cc" line="67"/>
         <location filename="../qt/sidebar.cc" line="69"/>
         <source>CONNECT</source>
-        <translation>连接</translation>
+        <translation>CONNECT</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="67"/>
@@ -889,49 +887,49 @@ location set</source>
         <location filename="../qt/sidebar.cc" line="69"/>
         <location filename="../qt/sidebar.cc" line="82"/>
         <source>ONLINE</source>
-        <translation>在线的</translation>
+        <translation>在线</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="69"/>
         <source>ERROR</source>
-        <translation>错误</translation>
+        <translation>连接出错</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="73"/>
         <location filename="../qt/sidebar.cc" line="76"/>
         <location filename="../qt/sidebar.cc" line="78"/>
         <source>TEMP</source>
-        <translation>温度</translation>
+        <translation>设备温度</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="73"/>
         <source>HIGH</source>
-        <translation>高的</translation>
+        <translation>过热</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="76"/>
         <source>GOOD</source>
-        <translation>好的</translation>
+        <translation>良好</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="78"/>
         <source>OK</source>
-        <translation>好的</translation>
+        <translation>一般</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="82"/>
         <source>VEHICLE</source>
-        <translation>车辆</translation>
+        <translation>车辆连接</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="84"/>
         <source>NO</source>
-        <translation>未连接</translation>
+        <translation>无</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="84"/>
         <source>PANDA</source>
-        <translation>熊猫</translation>
+        <translation>PANDA</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="86"/>
@@ -941,7 +939,7 @@ location set</source>
     <message>
         <location filename="../qt/sidebar.cc" line="86"/>
         <source>SEARCH</source>
-        <translation>搜索</translation>
+        <translation>搜索中</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.h" line="37"/>
@@ -956,7 +954,7 @@ location set</source>
     <message>
         <location filename="../qt/sidebar.h" line="39"/>
         <source>ETH</source>
-        <translation>以太網</translation>
+        <translation>以太网</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.h" line="40"/>
@@ -984,32 +982,32 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="235"/>
         <source>Git Branch</source>
-        <translation>Git 分支</translation>
+        <translation>Git Branch</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Commit</source>
-        <translation>Git 提交</translation>
+        <translation>Git Commit</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>OS Version</source>
-        <translation>操作系统版本</translation>
+        <translation>系统版本</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>Version</source>
-        <translation>版本</translation>
+        <translation>软件版本</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Last Update Check</source>
-        <translation>最后更新检查</translation>
+        <translation>上次检查更新</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation>上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。</translation>
+        <translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="240"/>
@@ -1019,7 +1017,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>CHECKING</source>
-        <translation>正在检查</translation>
+        <translation>正在检查更新</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
@@ -1039,7 +1037,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>failed to fetch update</source>
-        <translation>未能获取更新</translation>
+        <translation>获取更新失败</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="269"/>
@@ -1053,12 +1051,12 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
         <source>SSH Keys</source>
-        <translation>SSH 密钥</translation>
+        <translation>SSH密钥</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告：这将授予对 GitHub 设置中所有公钥的 SSH 访问权限。 切勿输入您自己以外的 GitHub 用户名。 逗号员工永远不会要求您添加他们的 GitHub 用户名。</translation>
+        <translation>警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
@@ -1069,7 +1067,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
         <source>Enter your GitHub username</source>
-        <translation>输入你的 GitHub 用户名</translation>
+        <translation>输入您的GitHub用户名</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
@@ -1079,12 +1077,12 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
         <source>REMOVE</source>
-        <translation>消除</translation>
+        <translation>删除</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>用户名“%1”在 GitHub 上没有密钥</translation>
+        <translation>用户名“%1”在GitHub上没有密钥</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
@@ -1094,7 +1092,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>GitHub 上不存在用户名“%1”</translation>
+        <translation>GitHub上不存在用户名“%1”</translation>
     </message>
 </context>
 <context>
@@ -1102,7 +1100,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.h" line="13"/>
         <source>Enable SSH</source>
-        <translation>启用 SSH</translation>
+        <translation>启用SSH</translation>
     </message>
 </context>
 <context>
@@ -1120,7 +1118,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="111"/>
         <source>Scroll to accept</source>
-        <translation>滑动接受</translation>
+        <translation>滑动以接受</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="126"/>
@@ -1133,12 +1131,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="33"/>
         <source>Enable openpilot</source>
-        <translation>启用 openpilot</translation>
+        <translation>启用openpilot</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。</translation>
+        <translation>使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="39"/>
@@ -1148,7 +1146,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。</translation>
+        <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="45"/>
@@ -1158,57 +1156,57 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
+        <translation>允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="51"/>
         <source>Use Metric System</source>
-        <translation>使用公制</translation>
+        <translation>使用公制单位</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Display speed in km/h instead of mph.</source>
-        <translation>以公里/小时而不是英里/小时显示速度。</translation>
+        <translation>显示车速时，以km/h代替mph。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="57"/>
         <source>Record and Upload Driver Camera</source>
-        <translation>记录和上传司机摄像头</translation>
+        <translation>录制并上传驾驶员摄像头</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。</translation>
+        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="63"/>
         <source>Disengage On Accelerator Pedal</source>
-        <translation>踩油门解除</translation>
+        <translation>踩油门时取消控制</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>启用后，踩下油门踏板将解除 openpilot。</translation>
+        <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="70"/>
         <source>Show ETA in 24h format</source>
-        <translation>以 24 小时格式显示 ETA</translation>
+        <translation>以24小时格式显示预计到达时间</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Use 24h format instead of am/pm</source>
-        <translation>使用 24 小时制代替上午/下午</translation>
+        <translation>使用24小时制代替am/pm</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="83"/>
         <source>openpilot Longitudinal Control</source>
-        <translation>openpilot 纵向控制</translation>
+        <translation>openpilot纵向控制</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation>openpilot 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 AEB！</translation>
+        <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
     </message>
 </context>
 <context>
@@ -1221,12 +1219,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/updater.cc" line="29"/>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>需要操作系统更新。 将您的设备连接到 Wi-Fi，以获得最快的更新体验。 下载大小约为 1GB。</translation>
+        <translation>操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="40"/>
         <source>Connect to Wi-Fi</source>
-        <translation>连接到无线网络</translation>
+        <translation>连接到WiFi</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="47"/>
@@ -1236,12 +1234,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/updater.cc" line="64"/>
         <source>Back</source>
-        <translation>后退</translation>
+        <translation>返回</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="80"/>
         <source>Loading...</source>
-        <translation>正在加载...</translation>
+        <translation>正在加载……</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="94"/>
@@ -1260,12 +1258,12 @@ location set</source>
         <location filename="../qt/offroad/networking.cc" line="210"/>
         <location filename="../qt/offroad/networking.cc" line="263"/>
         <source>Scanning for networks...</source>
-        <translation>正在扫描网络...</translation>
+        <translation>正在扫描网络……</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="289"/>
         <source>CONNECTING...</source>
-        <translation>正在连接...</translation>
+        <translation>正在连接……</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="296"/>
@@ -1275,7 +1273,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
         <source>Forget Wi-Fi Network &quot;</source>
-        <translation>忘记 Wi-Fi 网络&quot;</translation>
+        <translation>忘记WiFi网络&quot;</translation>
     </message>
 </context>
 </TS>

From c181d475c52798462c5b2a2cf2237eebde0fa26d Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 11 Jul 2022 13:41:55 -0700
Subject: [PATCH 202/435] fix a translation line break

---
 selfdrive/ui/translations/main_zh-CHS.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 9dade3470..9ac35994e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -862,7 +862,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="236"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>将您的设备与comma connect（connect.comma.ai）配对并领取您的comma prime优惠。</translation>
+        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="243"/>

From 30d88d6892f11bf2472d97d79e9f68bef9e01b3c Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 11 Jul 2022 13:45:45 -0700
Subject: [PATCH 203/435] update main_zh-CHS.qm

---
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 18507 -> 18509 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 59487d263a7a7524f15a239bb7ace144137f31b0..63c17d76b7f0f99e5180d400a8143d17cbbdde55 100644
GIT binary patch
delta 774
zcmWksX-HI27(MsBcW0XEIpYvI_@l;sGM5=e)U?43T&AKlHOUMy(XteROpQ=%0jUh-
zDu$4#n6_D<Ste<QZCc|f<*zV=Ec_$32rZ!W_5K`q_dDmFbH4kwnYo%-b6{j1AeR9<
zY6z<dI|$nep90D{V6X$+286B>CIDeEEx89xuK{Nx{fq<l93X6H88fr#mifexpHQwZ
z0Zb3&MKqlhLUD}{_CawgfW-&=vM<TZ2?w+J^&)+F7>KS%hOQVeO~V<}hX0?lI)zw9
z(ZtM|ZsbUlWF;3l#SO%*LtcL`psPlHW-H*GfJ3*=0f|{Cd_Dz)2cn|HAMhGR&H5VP
zaTMLtGeA<bSYb9(63coO0tAJ!j`=`fXOIY&g5#qgrRh(T*c0inCt0$uNH;#{fUT|4
z<EtbVRVs~VUIUC5rT1Ax+ZHY@OcekT&qR}C@!Ka?Wf42JK)!3JB8x_O@X>yn{w<FV
zdXd@%;gZtX8{s8eeG-+Pr4nM+EBD+K)_+oYc!J_29TT~-HTehkxN-`JbMsU~5Gm#J
z{30?RQ^d>k<AAE;<$*VW$Vy&5&`%|F5&i-;ZRfS6w8OC5VobKOJK~FMVZMSZR+E|k
zT_*)wlt%K)p_*oeLou`SB3H4Q+}a0~p8+XPyPDlY9-2g(Vqu@euoBDmiWQoh6`WgG
zj|k%FK7aI`t|Rn5*7XC8tu!s`N9~-}*C#G<tFC5qz{E@Hz$}KjErhFngLG@KryB04
zC7)|*TIw9&FsaVCLLfd^-JL>t;wOZM#_Z!(2U`-U)oyjF%Rqf)tM5J%Mr;U&#>UQy
z3Qep|YlvG6qa5GGfX2#_#k|I1G8w(UZqRmSj2TPhD6(B}t;Ku9xUk$w&3-d3rrig2
b1sn&Gw+zK=Plm8FqTe1Y!FR}IuQUGxC?Cv+

delta 771
zcmWlXZAep59LAq>?>)1vyUl%=!w<RU+giSCil}MJH}JJcOU*JROq5K6z*o>pD3Huh
zj*<k0iZP)q&}Jnlg(YcDiSknkLKZ@Z27(bO{kva&aPR+l?(=`n@pZEg-K;w_rVx;;
zfy0f&CSpJF9&r*-b^(J6;7%Z7gP06N#`P4PF}(wFJLqLRaQrm!de4-Fz3*90ar}bP
zzXmWJl(%v8r4)+qC2<(ak^)!*!EYZVn<e39PTLT&*1bSn8?v<(fN37N@qPIJ<Tj;~
zN-w&YCC7(CX@;T{p|GNzw5=%i3<KIGl;rdR0m(Qw(h8)UMA@4;ASxJjmBE17i{{;J
zKz|W~^NT=gtk_^q(=k>s>j1(c*!|^D;7EvwlERZ>_M}W*J(<0d&ihj&*H7ueXDx7`
zS9)=W%wj90>72WO@uu{tfMh{Y(#l*Z5IrTjB&+R&+)zO3gtPKvLjy(B%VQJyH2qti
z95a(!yYNX_Y*v_Md!SnxTB{^woAP9dmJOa!o?oVQQmaIfY){+b`p&CBqK{`7!pNzZ
zmt3Im@#VZ)Hw~y-UK9EVh^gf@qaG?@fVczfJH%V6nrYr6rer%C5#MDi3ldzho6P*r
zE;%?|8p&2jH7yFaVqrH#k>WJ@{GMI;21vzzo2P~-L#OCdtn91sDhVu4Y|z}I;M~dv
zL>SKs+|fPsmDBy$)s1%a(lpaex;P!*u(-wT+Q$7MujyhWn1z=+9kOa0qrZmxt5NP2
z%DJs(W_$$PMm0CF3`h!9^U`Ubq-mkoSOR_OSWgPII;hSK7^ts&b>Ry!`mb<noUB>Y
zX%e*DkhmI2du)nPjh&^4WsTKjGzR?GqtjV1X0K7Am_EV%tN|0omGy_z?3Qsg^C@uD
Yb_qx`jVJllI#|8%xWdPmT-PlB0NsGh%m4rY


From bdfaa1d1eee77d1f9fb5b9b2632c9988caba02e3 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 11 Jul 2022 15:19:55 -0700
Subject: [PATCH 204/435] Ram 1500 torque tune (#25117)

* torque control again

* 3mss per s

* no bad sensors

* tweaks

* Need more checks before we can do this

* update refs

* only ram for now

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 panda                                    |  2 +-
 selfdrive/car/chrysler/carcontroller.py  |  7 ++++---
 selfdrive/car/chrysler/interface.py      |  6 +++---
 selfdrive/car/chrysler/values.py         | 14 ++++++++++----
 selfdrive/car/interfaces.py              |  4 ++--
 selfdrive/car/torque_data/override.yaml  |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 7 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/panda b/panda
index ca927fe93..baecd2ecc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ca927fe9312651a16f13aaddca8b46af5315ede6
+Subproject commit baecd2ecc6a2a608e1305601f6f697feca69fe88
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index e0eb979e6..a7f2d007f 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -16,6 +16,7 @@ class CarController:
     self.lkas_active_prev = False
 
     self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)
 
   def update(self, CC, CS, low_speed_alert):
     can_sends = []
@@ -40,8 +41,8 @@ class CarController:
     # steering
     if self.frame % 2 == 0:
       # steer torque
-      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams)
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active:
         apply_steer = 0
       self.steer_rate_limited = new_steer != apply_steer
@@ -56,6 +57,6 @@ class CarController:
     self.lkas_active_prev = lkas_active
 
     new_actuators = CC.actuators.copy()
-    new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 697fb9b83..8826a9252 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -46,15 +46,15 @@ class CarInterface(CarInterfaceBase):
 
     # Ram
     elif candidate == CAR.RAM_1500:
+      ret.steerActuatorDelay = 0.2
+
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
       ret.maxLateralAccel = 2.4
       ret.minSteerSpeed = 14.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]]
-      ret.lateralTuning.pid.kf = 0.00003
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index ada4f486f..f7531792f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -26,10 +26,16 @@ class CAR:
 
 
 class CarControllerParams:
-  STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
-  STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 3
-  STEER_ERROR_MAX = 80
+  def __init__(self, CP):
+    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
+    self.STEER_ERROR_MAX = 80
+
+    if CP.carFingerprint in RAM_CARS:
+      self.STEER_DELTA_UP = 5
+      self.STEER_DELTA_DOWN = 5
+    else:
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3
 
 STEER_THRESHOLD = 120
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 136337c5a..4c7ea97df 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -135,11 +135,11 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
     params = get_torque_params(candidate)
 
     tune.init('torque')
-    tune.torque.useSteeringAngle = True
+    tune.torque.useSteeringAngle = use_steering_angle
     tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 476313df2..8e6f62c4e 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -21,7 +21,7 @@ COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
-RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 65ecbb4be..fc5f83c32 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-825acfae98543c915c18d3b19a9c5d2503e431a6
\ No newline at end of file
+d583bbd9643000e7f817171c583d31ae3141a652
\ No newline at end of file

From 903bb405286295b48d5192cb2a7b2c01029193e3 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Tue, 12 Jul 2022 08:51:03 +0900
Subject: [PATCH 205/435] Improve Korean translations (#25105)

* kor translations fix

update_translations --release

qm

* space

* qm

* map setting tr space remove

* ts update

fix

ko_update

ch_update

* qm release

* Update QM

* Fix this translation

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/maps/map_settings.cc     |   2 +-
 selfdrive/ui/translations/main_ko.qm     | Bin 19997 -> 20040 bytes
 selfdrive/ui/translations/main_ko.ts     |  96 +++++++++++------------
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 18509 -> 18508 bytes
 selfdrive/ui/translations/main_zh-CHS.ts |   2 +-
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 18569 -> 18568 bytes
 selfdrive/ui/translations/main_zh-CHT.ts |   7 +-
 7 files changed, 51 insertions(+), 56 deletions(-)

diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index eaa8b1f70..d143b44e7 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
     no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
 
-    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"));
+    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai"));
     signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
     signup->setAlignment(Qt::AlignCenter);
 
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index 60966cdde587ebf4a43deb8ad255f374d32ca7c8..c5c66d1e73491c2ff09d91b6fdd5200002b2a6da 100644
GIT binary patch
delta 2731
zcmYLJX;c(v7Jb!S)l2opt_J}NnpG4;!61vQf`Y~+XgCT<#?c^(xCEn~s3hYCijG<u
zjiTcMaa3@jP|-mH2;EH(g$Rxr#lsK`YBG{#MjaK;+@dElKe}&y+xzaj?|$!4DPt>T
zc6t;x5h(_UMlB^$<^XpAR{<s9K42#ii*?hdL|iCQ$V*@}QD`b~F7|w3M?YsG)h|Sj
zkBHQsL{3`Zc;E<N9g*<?k={z=AAw&7<`)wMU|*rretgIq`-vuQBnlr%lvad`l8C0f
z11uq$5k{oh1YAfoq#cOw5D?2diVH17AHBi(bfN;R51mHJVh)!^5WD3d5&djOrNxf^
zS$0gucz-Vy5+e}X7><AoiEXU`o+tJeOXRI5ZmWPydx@(&0rrPTby3cuiPS<SF7hLF
zFf!5i(`XY=cYsoxKOq`@o>CuOAd1YQN!oct&K{IDZZC)+uT_bN??uz{L@1g`)BoOE
zh>Xf;=DL64Km}zeu4AE`GUk1Ti+9oN6J<pFJCr$j5B9yFIe%UYm3%3?z8M#V(vtZ;
zm@lB!12}IyPe;GLNtEJBRR!-6joeO+&eMp5c6zvVCE~J-+jyuOFq#>9*q12i856Oi
z5Va03XJ%M}u+YOC=)^+oVdiEA6c`f5+*KSW8lJ#B9=nmqQ={N>;FsW5h2O&-qKI5Y
z3SR&vK2~HoAmi|vibEZ!`|x7Lr4kT}XjfdDyo1Q$f#UWI#1(uLUCr=J*fmA>5m&@p
zu4D^Ch7h^-DLsEg&4za=eYV9RvpLF@GY~lX56aU<Fc0-mR$ZKqT2EJAslvgrca@C+
z>tWny%3Ds)iI^SA7c0vla4<XZ@p;6X!hUc91|E8h&7F*C#}al;&jcc$m+abkAgb1}
zTi9QTqWajv{gZ3q;)U!WI(%wJw`@E5nAy^@7hpVvJ=QxPxS6fEwU@{*hOJ&)2B{~r
zm-TYVLfMw@?_vH3+w$ZoYM#jU#8tzzCXOG6QY3BX4BM7N*$G^d(GLmba+x2XR8b!l
zayk4pBEv9lkuNd`zr`(*&Bm_>A~VeyZq0|QaiEs_B;1Inv!2`bIf(ETcJv-?N1r@9
zPF%;827{Q}cCPe~@QQvhSGIW*l(@y6wRS_fHC)4hFO;j~u6yGpITR*x_qxEy?;GyB
z4bAYtMmr`y;a(1a;h1QZ!aD<|D_0r&Lm=U9Rm|fQNSLomt-4AS7p9uapd<mcs^c%-
z5Sf>#YD3Tyv<|A5(>h_o*=nC4C>9*6E_dGmPeiKE=6?qQE7binkKz5NtWZCH0%?>_
z)vu!a-~m>X6x4{u^IVgr1Y<{6&4Pctg2cBq+gBbS@+#8&=`;elI%qCDG-I5uRU6)i
zx!%*7OEq{!f!c&$a*!FLot54Tq7B;F8=zdub?w|NC>^BJ&bK6jkV(6PhT#2^r0ux(
zHq6$d?Q%pHRGImNV01dwZhn4SD>6>yiyxy?d1nG+i2|4K+xkox*YSJapvHlv{QlbG
zAasl`y*mr$)$oT~QFAteuPoXF<sR@?Mspyxfp5scIc^!>$a}%G?R=wK4DJuI@{fLB
z0O_K2%*FLMkghY=HGxo!F6BWn%(PyY-GheVuhuQU&4T#`-De-WKthAg@*_$#Vz$mU
z6^glC)w|SzK$u?dU4{9;+xk(lYv7f;`jjNpIx%0L7MV>np+%pb2qof{>SymQL_qIi
z{gSt3X07^tFW*H5_w`k~@C=2|_02~h-PqIm8~1=?IQ=~f2(o`OsLFkD;ZsAX=U<V@
zG{g7-5cND~s0_!t?>xh$RlwL+hDM(+Vd5@BV<K=wkm2hXctMwL=*YzLbaOYl7M?7}
zLXXjX3lwlEG5Wknf>bY!k=^K2W7CZ3C6Lgi)wn!yBHSEkEIx=nFj6oc>WfE>PZ>{@
z;iB;&#;ecZ39lC8&G<IBeZZvo2_00EW^zfu^N#W|xqbhJXk4smQZM3#zcA(JJcL62
zrja}EZX%);rY{!cgPF?o)w0(_3BQ`U9v#N3$TfARoWVFbmnhXJMX4PXW}iA6dg>G@
z<8nO-*OF_gw&+ge<+UVOH`VxcX4Xeq_J|*9Eq=b%ozl1UzBX5DG6|iTHNIC0NT~Q%
zZJ0HtCX0mX>4Q5{`P<G;70YZI8c72AQ5Xp}kBVhtur53{k(SajT0r^u&!s$!3glRI
z6_%5~#j_SzPLj~Hu9BMCNRYm@W_A`dflFtucuKdDwU*z^6wUg>3W^i2>)(~Z!!U1m
zP_TH?kRp$MHmp_iO*Ku`IK0Bx!7!y_s>39ee9oFFiVh(zO+Qtfv&JK0fz6|OXj8Sd
zsHs|NclbBMj1ya&%u1owB=$SyI6KKvWEtv(wyyum@V@g_wW=xk(*Bw(@u{;}tFe{b
z^p?{X-CWGfO)<*F%SoOh;i5y;9uh3)upBQgatTye<E7m$(Tr9zI42+JaP{R_D~qpJ
zuHGDLV{cT80dD^IdfizpWw;p`XD92<3i!4&*|MiIx5`%4OWxw*A+tDDYgT=U)G}l!
z!%B@ef~3BoGZ>DotF(EDN$%OqTJfm6i^|g0nb~k({K|c#*zX?4tQ13sMN5l^4QCXW
z*NP<`2?nRutjgCUTsdiDn(L&y9!5sTS9G7zB4t!r`oXi=#LCr{YDWD|spjQLsOlbO
zR{S;)6UT<C^|H9K+++0$F?*ar+!pbTxIV%lEgGj{oaExmJSvVfT&S|0nKD>7vsnJt
zRQAp+>uTxQTXPugW|@gxaB+IPo49<ur?RNwg1B#dJ3Hu|yr|&859wgk4~)*20tS5*
z0A&xwWIK-d-xw^~$|?x6W+^K6gu+|swEf>&_PUYKP}Y`LGv8iO>1o`T%%~7r0!J=H
z4%E;M*Dl65loraauHP;-$|mT@YPfGNf%KPzvkLb7nmZX{esa3EKaHVqq{otQ$F-r$
d{ubn-STr_Qd0y&BmNbkY7ESfUf7#SE{{dW0I-~#q

delta 2737
zcmZuzX;c(v7Jb!S)l2n;$R=yCi3qZUhGCH?JMLo8Aqt~|7}Thv8BmNU$*2Rk=ad=~
z(YS!i*r=gE!Jq>jpuxCcfT#yh#wBW^CdSEVRAg?;oH_Gje$=^D-}1iu?z`{nZY^W>
zlrh^}iw+XW`iVv*6UlRd^MNaX8-SkzO++l_4cSCoFj3GIU<^^PJ8%}(6c3`$b0Wnr
zL_=DLly1O#z$hYH6|jLwe}+hFAsX(CrxWAji2Sgw$aXnitP3v^C9NYeYKX>{;2<oV
z_zrL`QCcXGYBdn#98Uq)V;sa5?Z-joM1Ovb{r*IGn0GRgyp+SC!NeBtCZZ>UD6byG
z;c<hQxQEzXcc_RMf!HP^0*)c}VlA+Q*vl-D@PxPx0y6!IxXQy|zm^oIZUB#wQpmtT
zJShW^iME463_#5$N@-g~6jDMd_iKnE-=S1BRI`0S<0E!}2=ZDH4@G~aDT_oX8ckFG
zai<6wmD04;|HOualrH-k6UCIC{V@)nPcsf9J3fgr#%;&CUYdENkSOsbWi__pAO$VX
z@xu7KRM3z8`mMD8{3WRPkgD?jKopomO+%+3kyCVcLq6tjFb+|HP}`ny+UrB)-_3+?
zDMGD{>zK3_$meHaKJUUr>?-C`IuvkpV6MsF50Bx@gRpf(u8(AVZZlDUN#=X^7EySr
zESb-P60>BPHpti*D%;bk#`-0))0;pnyk2&0+!i96dRa#r;tEPxZyP)lx<l5t&z{I_
zhMX-5awM|<R_^u?HS;jby*7?PW}))@Gz5;BEkC9Q^Ps2ls#8-@>md1=Dr^ipEpPH$
z1LHoHU$%Wl#B7m2&#!>M0c_HPFA*<_opV?Mv0`??I1CS2$gaHgHj&p&wlEt+l^k2l
zJ|&87VvBZ-tA~qcuy4>NV-Ouu2hmH#mX*WVq2BC)J2}8C)^vFXk*_CP{eC%7vcT49
zttB(C-+bSV@%8LCKRhNHI-I>VrW&SIa(o0zk&wgbHZFs*E?k1%7o{D`Wz0dTqGuFw
zx%@ep=q0z%2N@WTa|^9z<Cg-Fnd%U?^1T9V5V=)GJz8fjw{a(k@OuZ*(|!=W(grap
zohu6fF^2-KY%9E?P2<Y{x*keYb0;i)P%eWr_xnJ(3hrx9w6aZ+57*rbM!u)H+iTn4
zfdzw@*vP%;2gA2)6*A9sn5s~r|0xI(u277AfV)EZo+72{EYTR1Vitpv`0ZC5eEyoq
zdzzv?=rba<O7UV!7fcwY^zw&d0j|ml=e6*Jqw>U(+aRz|`O~xm=>Oz#%3rSygJjvt
zXFot9d5`jC3@#7%2dV`BCbY{X)p$9W+dNgxd-M`g*Qhq<e~$UZsxOWqpk2SJ=B_us
zL)1#$Y?v%T?OldTC(=V5_e(C;-&Rkba0i6XsAsH&g2}tovofLhh@aItE%E68k&o3|
z2qq*+-Pt`EraPkU9r7pKW^R030B$_RCO)Sfmy=f@U-|$ymS-$576GR58}AwLUBPdE
zjarZRnBP@@5a!#;mtC8VlHKI@UPSF#PrkBbI~1(p&xCLw_91W1#XfE!-^9D4|CuX%
zlf!8Aqlv#iHxCjD8s^j*Z1B=}H#CFLFiqAiTo}F&HOo3!NSUqqc)1-U)M;8CqC_LZ
zHLa7Nl*19NT>}mdxvllA!uW_<?Wow5@XC2@asp}{pQIfhnML&W0qul%C@>~jJ7Y%?
z0(vgdE}m><WYK>5;`az3X{$a#8w#tmZTlcu*aq!|ZeVDSwz~zy*iN0I!UqR-=z`s@
zB7rHosQyy)^A2655%WGNy3;FwvES;Nybi&{UAm@t;7FD3{AhSV6RYdYKzllHdi$cI
z6_{w$I~OB!yOnyc=LwLgS0CAjn<~s-KVcK3vpb_-7M}z+JLyYz;~oeY(C@i77M}Qv
z{%_?tC~AoQ?7!dz_mlcdW82~OTL#t7xItC%2D>=4cQj*g`2ICfgwc?C2l0$o4NG$G
zLLrSIaND)@sQm|q&*m+GRL>26U;2tD?!2M*{$5Bv+0d7K9N#Vr;GEl1v~q~d#krxC
zgew!J^twh8&L!4UeaUx`Bv{th`ie``EiTTMZPIlTDi<||S`snNcI8>uwOpv4BfiUb
z46!jSZB-3u8!B5}Ng!Ve6~}0d-czf7Gxu4>l2Gqd-DB<{p?P&BHMf%>UAJU(<uw=9
zT@XKtvLA|w4W^c(U2{k<J0W_Bxkfyx$!Cv;91juwwR>d)9^$dzd5aIVM(uzH8UYT*
zBZ!RNMNHAfTIb#T{lycyWb5lQT_LAxu5GTCKGb(I%uaENP3mB*JvKo$|I4T9$L2)o
zrp<2*V-&C3dNYCIfNie&&E7_#y;od0bOXmWC!XFV@^;=F+fsP`tQcYE&0G*?+PT|W
zKk-XsQ?;Fh7N5ETOm46nAywPOFiORL2A<pd$YmB*^mOpl@U85HYNXg>V#O4P;Yvm8
ztFBVBlk|auo>8kv_$tz}ZGaI)$LSjF#mvS{By=UVY?mH6Ix%c>dwYYV9+t*vcuJs&
zltghfO`PqV<+0APtueAIlLXV*+RWzElht*FBz!mBQqYxQ?y2<=uQ~_vZKdX(>L;~X
z1J2@OA%y?0g3HAOml#Hn*0^{uGE1WPg=?I~=3-{$tHEf}BUe4cv8KM`YDwYVW?(O6
z)D=n{qy8voSScpdTgIsxeJ*8)^TL7|g|s_ND`QP(O?~3A@NV&NxK0uy6pXFa6ILpw
zedd~~*5ec3)N(0n`l!Jqc|^`+xGk2vR#sdS<$xp`UB#VI9%^J`Rmrkmtc|+DS|f;?
zqXXW&NcGV_GL9iuzgV`xD|vP6;5a|4=g3bKV!g$#(b1zK{{K8yrqBY)qg2YLY^xL7
z%S|MO#GaAqwC3{mMYTB)y|v}2q#1jN@f$&lX(`RezcQgYvFZYLzmJh%nqLcojhm$=
z5;`-@J<^T16EYaAHcR{@ae|9LZ;{bTA7!vN_gY3<SEFF*6esm3N-D-({Bn|;*gmP?
E-zJtbVE_OC

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 5a8f21d7a..33e8b0372 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -45,7 +45,7 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="136"/>
         <source>Enter new tethering password</source>
-        <translation>새 테더링 비밀번호 입력</translation>
+        <translation>새 테더링 비밀번호를 입력하세요</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="144"/>
@@ -70,7 +70,7 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="165"/>
         <source>leave blank for automatic configuration</source>
-        <translation>자동 구성을 위해 비워둠</translation>
+        <translation>자동설정을 하려면 공백으로 두세요</translation>
     </message>
 </context>
 <context>
@@ -92,7 +92,7 @@
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="140"/>
         <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>당신은 반드시 약관에 동의해야만 openpilot을 사용할 수 있습니다.</translation>
+        <translation>openpilot을 사용하려면 이용 약관에 동의해야 합니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="149"/>
@@ -102,7 +102,7 @@
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="154"/>
         <source>Decline, uninstall %1</source>
-        <translation>거절，삭제 %1</translation>
+        <translation>거절, %1 제거</translation>
     </message>
 </context>
 <context>
@@ -135,7 +135,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다)</translation>
+        <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 장치의 장착 위치를 최적화할수 있습니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>
@@ -150,7 +150,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>캘리브레이션을 재설정하시겠습니까？</translation>
+        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="119"/>
@@ -165,12 +165,12 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot의 규칙, 기능, 제한 다시보기</translation>
+        <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="121"/>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>트레이닝 가이드를 다시보시겠습니까？</translation>
+        <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="129"/>
@@ -185,7 +185,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="137"/>
         <source>Change Language</source>
-        <translation>언어변경</translation>
+        <translation>언어 변경</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="137"/>
@@ -195,7 +195,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="141"/>
         <source>Select a language</source>
-        <translation>언어선택</translation>
+        <translation>언어를 선택하세요</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="161"/>
@@ -210,37 +210,37 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="186"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
+        <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="197"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+        <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>down</source>
-        <translation>아래</translation>
+        <translation>아래로</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="198"/>
         <source>up</source>
-        <translation>위</translation>
+        <translation>위로</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>left</source>
-        <translation>왼쪽</translation>
+        <translation>좌측으로</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>right</source>
-        <translation>오른쪽</translation>
+        <translation>우측으로</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="210"/>
         <source>Are you sure you want to reboot?</source>
-        <translation>재부팅 하시겠습니까？</translation>
+        <translation>재부팅 하시겠습니까?</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="217"/>
@@ -250,7 +250,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Are you sure you want to power off?</source>
-        <translation>전원을 종료하시겠습니까？</translation>
+        <translation>전원을 종료하시겠습니까?</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="230"/>
@@ -263,7 +263,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="37"/>
         <source>Drives</source>
-        <translation>주행수</translation>
+        <translation>주행</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="39"/>
@@ -273,7 +273,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="44"/>
         <source>ALL TIME</source>
-        <translation>전체 시간</translation>
+        <translation>전체</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="46"/>
@@ -309,12 +309,12 @@
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least </source>
-        <translation>최소 필요 </translation>
+        <translation>최소 </translation>
     </message>
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source> characters!</source>
-        <translation> 문자！</translation>
+        <translation>자가 필요합니다!</translation>
     </message>
 </context>
 <context>
@@ -345,7 +345,7 @@
     <message>
         <location filename="../qt/maps/map.cc" line="618"/>
         <source>eta</source>
-        <translation>에타</translation>
+        <translation>도착</translation>
     </message>
     <message>
         <location filename="../qt/maps/map.cc" line="628"/>
@@ -401,7 +401,7 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="66"/>
         <source>CLEAR</source>
-        <translation>CLEAR</translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="81"/>
@@ -411,14 +411,14 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="95"/>
         <source>Try the Navigation Beta</source>
-        <translation>네비게이션(베타)을 사용해보세요</translation>
+        <translation>네비게이션(베타)를 사용해보세요</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <source>Get turn-by-turn directions displayed and more with a comma
 prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>자세한 경로안내를 확인하시려면 comma prime을 구독하세요.
-즉시등록：https://connect.comma.ai</translation>
+        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
+등록：https://connect.comma.ai</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="164"/>
@@ -437,7 +437,7 @@ location set</source>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="282"/>
         <source>no recent destinations</source>
-        <translation>최근 경로 없음</translation>
+        <translation>최근 목적지 없음</translation>
     </message>
 </context>
 <context>
@@ -471,7 +471,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="30"/>
         <source>Advanced</source>
-        <translation>고급</translation>
+        <translation>고급 설정</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
@@ -775,12 +775,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="117"/>
         <source>Getting Started</source>
-        <translation>시작</translation>
+        <translation>설정 시작</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="122"/>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발하기 전에 설치를 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+        <translation>출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="147"/>
@@ -859,7 +859,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="230"/>
         <source>Finish Setup</source>
-        <translation>설치완료</translation>
+        <translation>설정 완료</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="236"/>
@@ -869,7 +869,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="243"/>
         <source>Pair device</source>
-        <translation>페어링</translation>
+        <translation>장치 페어링</translation>
     </message>
 </context>
 <context>
@@ -911,12 +911,12 @@ location set</source>
     <message>
         <location filename="../qt/sidebar.cc" line="76"/>
         <source>GOOD</source>
-        <translation>경고</translation>
+        <translation>좋음</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="78"/>
         <source>OK</source>
-        <translation>좋음</translation>
+        <translation>경고</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="82"/>
@@ -1009,7 +1009,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation>이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
+        <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="240"/>
@@ -1019,22 +1019,22 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>CHECKING</source>
-        <translation>검사중</translation>
+        <translation>확인중</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>Uninstall </source>
-        <translation>삭제 </translation>
+        <translation>제거 </translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>UNINSTALL</source>
-        <translation>삭제</translation>
+        <translation>제거</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="254"/>
         <source>Are you sure you want to uninstall?</source>
-        <translation>삭제하시겠습니까？</translation>
+        <translation>제거하시겠습니까?</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="268"/>
@@ -1084,7 +1084,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용자 이름 &apos;%1&apos; GitHub에 키가 없습니다</translation>
+        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
@@ -1094,7 +1094,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>사용자 이름 &apos;%1&apos; GitHub에 없습니다</translation>
+        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
     </message>
 </context>
 <context>
@@ -1120,7 +1120,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="111"/>
         <source>Scroll to accept</source>
-        <translation>스크롤 허용</translation>
+        <translation>허용하려면 아래로 스크롤하세요</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="126"/>
@@ -1168,12 +1168,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Display speed in km/h instead of mph.</source>
-        <translation>mph가 아닌 km/h로 속도 표시.</translation>
+        <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="57"/>
         <source>Record and Upload Driver Camera</source>
-        <translation>운전자 카메라 기록 및 업로드</translation>
+        <translation>운전자 카메라 녹화 및 업로드</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="58"/>
@@ -1193,7 +1193,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="70"/>
         <source>Show ETA in 24h format</source>
-        <translation>24시간 형식으로 ETA 표시</translation>
+        <translation>24시간 형식으로 도착예정시간 표시</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="71"/>
@@ -1275,7 +1275,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
         <source>Forget Wi-Fi Network &quot;</source>
-        <translation>wifi 네트워크 저장안함&quot;</translation>
+        <translation>wifi 네트워크 저장안함 &quot;</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 63c17d76b7f0f99e5180d400a8143d17cbbdde55..45fae52b4286bb3e57938bf6c7c4ad53d3bd3ba1 100644
GIT binary patch
delta 1686
zcmX9;2~1R16g@NZ|15uI{(uZ%Q3M8%MP#XfvdNZ$pal^W<5G=6QL8q#S|l!`ts9~U
z!Ch1ka4EGWxYm6^EGW2PG$j~R5H(t;HI-<<9>XM)lmGsI_nmvrxv#NEajQsC<Pkd&
zP~`x=xkUbbcM*3G&jCU&AO`|s05I%tVg%q9LY&HPvis4pt2o<BQC+;*CAJPo-oP(M
z0^`z&tAMm1K=X+>2XL?@uH||?FuxqI`2qN`kN6%~{P}%x@f(+*dl1&|0Y<-tu(KUd
zNDyj+xoH}N#xuk!2)6~mWgx_juB3CPBue3E&4FfEGoXKhKoe0aLt_0hV0Z-*Uz`Mj
zS7MBA7GT?e<j`&S{7cS_V>KD6^Gn#I7UQ4rH2Zc;Sn-bEHz7lLjq4MUF>5tXS%FE1
zDgj+CCMRtr)o@HXyc~!gkLg#~j&-;@7Gzmi-~^WTvVd_m${U)1m=UO1{0-ofgIc>(
zU`Pu(HZI}&8ihlcAK<Y;F>s#;-~~lUA=M9xR;1PW0G_^z-4D1P=AmfH5Lnl$c%-ZV
zoD&r<N2~z`IVq)_>wxz)rDw-eSP}F|nIJ7Dvop$RHtaa?wQ_H>jvGppr#F$<m)XjT
zNrixEjq-jP3lH&Aw${@||BK4DGJ6)Zssw*Wz?`mfel2oer^-?gO$Ad_OVU_(<P=r4
zOyYjBs^-*q*6C55t>M1FpH;P9D@*Pw2U+h4GY=gngLYwV5(Tyi7V@5s23%hV%V&|1
zI!{<H{0oHM5OyY=XMlqH(PZgI^QC@tbr(u2d&q3GaG*VlxKjA-_BOzBRXFioB_+)f
z{xHxRW2<oUc?;m~D%^a<a9VA<g{RRcm^Z5^g;MjVe?()!B4AXL7%zL0dZsveCOrwA
zA?8RI0fSDQ=TSw?7l`wY9-_HrL}pRzE#`f@l;0l~mj%l_;GI~ookVmE{pb?ekFN9k
zG5UyDI;@f&n7hQ%Elh<zTdZ8S7I3r`kKJgaMlRyjUTUt~B3^U5%T&D<TUtrTJw<%>
zOFctys~@8s#1FkB7!agZx@9n3x7Bi&KNT!eN4`v;f`6$KYc2rctJPB#)ZSB2SM>A&
zZkg)y{=2MXzDoTe^#Ristg-k|GVfGPmD4Zmut{@l;WHALr0JS)fD&%fynjVyRA)6G
zBRXmJ0ByWaEoZ(}o2(*X(>ZPSn~x;ALc4j%ZeVbsc7HYN*zMGw>~QCEx=v%9!4S>S
zxtD4=F5`5uZ%eubv-P%a>NH9_G+vig$NBR1(iMWK!hT(IOA1p|u4}dZo)<^86gw<{
z9m!JGokn(;DCNI&=2XujMzOPUsi4!u=Q?R?A1(EKEbTmB!E~CX(nk|%O^>v%kru0Z
zrK20RvLU5(Hc(^+f~%yfIov1;Qmr(E*T)s9)*+IF9!M`{FQ!zUdc~=glr~rIe)&2H
zIp`A}=K}+L_0ym7B5+@!Uvys}@qGR2pUm9<QD66(mUvCp|M@i)vUf3<FOz`3U~sG9
z`cRW$cvK#<@y?JCf0r4EvN0r&nof^A4P)b|MEE7cq-`wdvc<3<<ukEN!;TM`oU0~7
zO)=+dNSUF&OlC&X47XZ{{=J5lIuaBLjp`~79++$laDGT4VaBjt5*>8Wc$BvpEN0{B
zTw++BvDR{s)~6e5;|?+dUO~o&NO~{LHa1V@IGWeV_D8C?-XlA$rvi4avZW^;2vN(U
z+IRy6bjxEmQ9`?^@}jt}7+ya)e-8)T2lC#|7-nId{A(o-3W<>~{KpIoZjqZ}?l9aD
zCT%ybMopc`9LsSIwJ|w7x9{Uk(`Xvg&VoVPO$&26=-t8+qsGzUw5j#QKJxA|wI%!x
bL|Wzou>+2WYf1+wmXtjFBI3B6Q@H>CHZ-~4

delta 1659
zcmX9;dsK{R9Dcr;@0)3E-_UK=CDnAN`=(W-(rzRqk}T~yNU_*sH`2Nc8yj+|ovd3(
zigjt7le^>6u0)|YSe=bsBIK}ImlaO!KF-WP&zblA-rxKDp6B_!mkWg}g+ifcY$~A4
z1o|!@<`B0KHxf?)VkaO615yys?>TWG;2%z$$Zs-iXx>tk;UgR<TI(8n0T{lLUk(69
zj3q7ul0yLXf5a@n*`Bz9>-E5_oj|v5fN#5qZ-DF%`#%;va}Bu;F@GyC_$9<m4*)?6
zu_la%(ji_sPTUQ#Q3PCjKw9laI@hdGg2|Evb-x>c?jC}TL~SXC)-41A$}#lu5g^Qh
zVVWsG_j(Ku-+&Ll;W<NC&4{E~RyJve(f4?pQ!B<Se#P$_k)k-q^>Ij<!Z!SuAazeU
zpvgg6LNTch#OFUR0-}?V{%ajz3Gl@1X=WBUf(4x{V3>-X^$kEw7^<?r0Q|C0<B$aO
zxsBG<^SECnI7j#co~wk9wtE6Tg3x~*)enggl570{uYSUon_Q3Z5*kuO)?F$zDRu!a
z!-Tevmjk_eDYTjA0pA*hS8EF_2!$eEn@wgX6qCBK<KSnCZ8tPLP^>t%hQvarE6yaW
z1B}ZR*OOVePk`c19c>IetGHY0#DYteVxS3dOi{W#m3Z#4(p(Tt1(THXl3DkYiOT&l
ziTfLsRYym&PKWYj70(6dDQkR|Sg$F1S+0wd_Z%XFR&hoG1@0Cm=C%w5+}gxNQ^-h_
zE9Q$Yf$)psrUZsd8D>MH*@lkQHgxk8OUgUQELtpkFpX#t4>WE7%;&_zUzJnREb)Y%
z-WcwPmmW3)9`53$Cx6p}?(Jer^kL@BB5A{^dDIKZP%sx5&?v>pUZkETrA?+M;gh9I
z?HNF?k!E^UQ1dy`%*s79x0J{%+WAVk(>V?Pd!>b8GB0>775qdZntB_$M%mD9whg2A
zNhSTt>49UrRI;9_&}B&FKdb;u_R_%%cd3z^^jjx2SFD%LxnE<do=VMkNXR2ex}R6a
z5L~fgv`Ko`NrFM4DusIr({)uPKM$mWMXEt<@l@~+)zGTbK;-wTi2}9vl2p4ox&Zey
z)v3VEBglNI>Rr-Jrmer)>_^FbN2@D(=CQ*@^}#v!Ng!4Id`uZ7T&sTF)B~{ZtA6u@
z3Mo&j-w%95(;e*M{AxJ+e_AU=(}eYQJNEOm!)Ci9tsX${6ph;OC8IM#<56PAAsMNO
zeZiMQuGEZ6d_dj(HK}>jE9R<Z;w0+p{i$YJEr-n4SF;X`7ItWEG>>AG%B(JuDPfp)
zRhtV3c`7lA&6H^i9vS)ng0{GeE_(f?-E?Xf1L>qKX&Og2-fFjBp{vSHZRN^h-lEi=
z43@}Zw{@{(viz=nJT;qAc<Y3tODNp}ok#U~-euCIw{XBcmgweQ7s+L{ZrOZCJ}d8a
zwNELv&jj7Yk?h#XP48IETLLA$dllEcyXga>a_RXieS91(i|Vc)J|Laad+QU2u(!x+
zed-3*b1l@*9!1s`X}o^pyYZZtMtxNg=cdn2eO)QV2p*%q+)NDY(l^(Vn7GcMs_^86
ziH0DTTO<-;i0E9!`8#W<4CB7p$#5)(81bE<#=M)Bjy2Q_A^L<G>IczM?Nq~!G)|dg
zzU;KOg6nVPp844fpM$$>?uY~WtK|WA`LYE4BPXt*P7aggxkEl<DE;MCTRFIXg1qff
z3<r3Gysw-W^^cWL|4Wy9-<BI<t}?WPjCSpO^3=6P$5@VOcz2`o!!AA`4aQ*)STAIw
zaZY9{{rTEh*tCMKW*IkU%(3=R>zt1p?>yel7TS$><9`7LdCUM}9S%jROYDXD)>}OW
M3T}t&dqxKS50wtHa{vGU

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 9ac35994e..04bd2415f 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -415,7 +415,7 @@
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <source>Get turn-by-turn directions displayed and more with a comma
 prime subscription. Sign up now: https://connect.comma.ai</source>
         <translation>订阅comma prime以获取导航。 
 立即注册：https://connect.comma.ai</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index 208f29c0ec9dd45424301c70cdaf64c2e9a901bc..130bcfc92670cff84c6c6fcf359be599e4941e3e 100644
GIT binary patch
delta 1686
zcmX9;3sg;M7~SXGbME8Zd(V|_H=@_A<WW~OX^`}=CdyD5j6ueureQpmp@|h@yh=2h
zyyYE@@tPGfh~;rLLScz9(_|WNMi^#|u*z(!yVhNMo&WLu``h3CzPv&qw@_H=9~%s4
zGJvj0#4O?z;#y)pAT<MOS3vF#bSoi768|BN;+fA|(VkkE9w<yJT;Ux%21v~1&DX%k
zpYUWKASD#g{Z0H5aAUNT#a!oq@;0Ci&(CNf-T`KE-!`ML(K~bvq@^2yXdg)H?gD}e
z$r;W|?I2bEOdJR4vIKbDg1pQJ2r4Lw65MkVpzBr(82?0wg{bU8|Eg>tco_OWJPd^Q
z#Q?*2z@;3C5v%e3mzWhts<lX(T*M?rB>%<N+-_jV+<$q#07J#ITu;K#@eBA$B!-t#
z07Di=B&;G;J4XI6hb-qK^>h`G6I72WX?6zKi&@PKV4i?&7ixf*2`HP%JiA1~=}LvY
zN^x&lCinLXwq8Mif3nbSvp>-3hR~yc>W9<|DV1Hg{zBMro$I~yLd{T#akGS*;ts$w
zSa|foBA|m!R5H#1oi~XA_iiHxp_{~bWhR+z5J$IR#vzNuO|=GIm?9ooPGVuQcru{?
zu*?##r7*CUB-U54jE<3F!&Wy2%+W{=cfdMG<M~A9z0(?del#<0(PXAD?uTKTJt~QJ
zJFh7#PiCBlnqy_W7viCD2F@$GDt5>@FO4ldNCuVC!~_c5#$TF!yD#8VF3lNFM%u;F
zQt2fSu|-;!P(cGZTG3)_MeC7P^lp@jOPW}_$I|w@X=G@Z_Fi5M*q2C$zAB-lYo((m
z*2essbn$*2*Y8RfA3tRcT>g-5M<1f!vSlTLn)h{)&H2-To@H`BHGrwO$|J_ICJ_O0
zhH?@x$?_!soj|BTp0ux&#obDL1?X+^>@Q~Ve43mct^$6?<oq=xVz|(X-eN2IM6_b`
zb-9?`kpt@kx%fM}!k8hKELlt?Udji4X#lz(m(Mg)b1`2&>wA^1YLM&dNyx9Qd}m=5
zi@mB9qvPc_%_Qik){4GE>8^KL^_hbTj?wmc6i)^3Yx|d-0D8~WjuNQ7|0V5?rWU~0
zQ(NI!pF`$TwQrKH(`|a4y$dDl9H`srv5*-~(jAz3hXj&!&xUNLgcZ71kEx8NT=zEe
z0no8Y->-|4?XX*)s3Bp?9({V_TN2IEugKiM{crVK_AriXf&TD4KYsT&=*;YYuNZ@0
zv7YTB8Dd`)J(sLGI>V^Zl(v&#NULOj1->;DfUd$8Lv7t)x+vRF?=p>p<G2#rjYCE2
zp`=}@W`-_G-Xl-IJBSzs1Y|1t4=ns%sjO;YNdvYj>ne88oqDDC<}j9~Oxaw`5^LTn
z`*K$?p)loGh)fTJrz>YNcu{VvI2A9Bj}wa1#yQk!kMeNBOg{9?D3s5mw53MBQ|IV~
zr^fhOc|cp6G4(bFfnTg~`ZbBlO)xI_#>)Gzjg?PWlEALU^Mk06o4d(+iUfjxGWnKq
zJ>aS-IBGV%(PWD6ca<K9vYHZmrm{vB)4(_?(fhb*_-Y39{>(IG@OxqzrnPTAWq|pn
zvO@Nk*Vm@1ttvgzXu4EKbgVbkRg$3ey;-}{pAW{FyL<jhB2ngE%_Q2vY2Fvkeczkr
zBU!{=<IGO`E|xyl?2Ow*4+Lt=7y7XFO1imr1l!R%Pj%b9lk1mMkEK+=)uh^+`mts;
zYR?8vpzh1nfy*hO>mYS{+($I8L(SXB2Jc*}Zh8<yFT|)nmhhn-diBJA^gzecYE8@)
zz}?fLf6mdUE4Nr<+0H$Fx7hBxwQ$m8S_a%@z|b(u)Qo$SD6Yt?bGIF})IZ$JZarve
fh~E$N@tO$44nEjhm)lmzEIQjh^5DDn%N+j$X)L-e

delta 1659
zcmX9;eN>KT9KN3CeV+I2c|V>v`V#ssMS80tqV#oEib;l<e4UhhcIHTNd^E>W32A9U
z5*3CxD`FPM2#b{&hSSg}@-ZB2zE<0{)AP@Dp5J}nzx(=K*Y9`d77BTV!Y0oM3!q5_
z28<(S64QuVi0c8V6Ho^LvOnNkMI1qVNlfIP8QthUy)eaF_@Z!wO9UfvxjgwE81pH2
zh5`wJfbI!#4q(?s%w~KouwWNpJsnugnDu=io$L1Lg@3vPZh@4u9SC!SRMG|rDx`+N
zJmd(e={PY7(q##7z6*JsD=@I2C{%FBii6Jg8eq7K05eg)2QiJy0l!Iz={O1u4#OxV
z3FuLWxS(SE|HWlSlInHDFDPP>BF6o}+w5*&{L0tdUw{eXS;pfrA!#*l3Bjbjm4K3o
z$+4SB)dN%Ztsu+QnD%2MkTviQ7ACthK{b|kGJ$Cpc3o@+!jn;x&N};tpur}dwD+NX
z-4d=J66}Kq0-gy%uQE@d-wk2NMyelhM@Tr|pYd11w(E=sD?;-GiFua_H^mCT$s#-&
z^cB#@LDZ+71ANLvul9S$LSUH~txqSj?c!8xRveHm?zpD#K$>`LJ&Ap!6;H)(1k6jt
zs|if(EQ_}rX`>}kY%RBA!Y?(F#R0G#t8scN^V}JYdwv)z|5vjlfq91x(i~7p+_zCv
zQ^!^@cW6%3@LWJ2O@sHUqAOybtVU_(-dZxaAkB@Xz}BA9vU?)|*JIL(Br?)wOF7aj
zAgEj_iLGY?S-R0|-;K7%yV2#DR9g9#-aV0aw<VLIhjj3AG2osf9hqNANlT>fjr7KJ
zOS<%+h4FUj(&K0JpvUjhy|5$fx8<@vh?<Y=DVy>a0mEwLDAkLl*vgY<(vzTma;p9m
zV3g%~o>f4gUY=LIm*$oe-vCzj^0L`Wxj#i-K3D}jevtFOAra+bH@axL(RFAyhW#d&
z`c~2d+YY(3fL&ool`Gd~Q;FB|;R~&Rf4zLBlbVb9@>#bl?5b9|<u(a<*vR+SG}7$i
zZVZc&-*=LrrCBSwO<<+as?RM{aE3PIQ8X2NppB_H2@GGQO%$lTXOp(#Z5QC?tgW|f
z9Yf}6+V}C-*=>r>y+0-M@zGWFUc(CK>kg;gCxLOg=i_%X@k!lZHyweV_PRHZsgR~l
z_hH0Cpzk}YsQwKci~U8_lEdd~tacvYX`2G8qwOAC9i`|@oN?y}#iP`ULn12?FZpt)
z70SfXZPYzLnY4y_MOZ0`Q>kx1QAs`@33&gbYy?{iJC$oKW7$e8ikxJJ*q-{lM^1o?
zACWJGSB5_Sp_%`M`psQ*(QB8!q`ra;spv~@PNW;P`m!dvs`;R=&fUx!2I)@($Ye3Q
zXr=6sbx_|iE1gokFbH+4IGFnk9;eUI>*t1P_c-7lk%mQAB`T6^Se;?ZXXTyY{8LKp
z?Q8hy6IN{3%V>L=xA=W$bgN<9>sO;+=rVf#))*Z{%R=ppal@ujdTZn8NY*yI-Z-h4
z`CO(L7mg+CEIHM<<^5+&u-aHt$hmP|Y-}v282-<UKerGq+l(#eNlg0Mq^<Jgg;6Gd
zryC>^Y6|Ym<NTd7RS)L6+bz?vOk!}7slj~@EsZcWL=wFv)5Q>4s!uUpo6IS*%~I{Y
ztzx`M?VXd(=Cd)W?r)>0$7OX`D_<7>4eIFi)X8S7x+wBvHl;<)+s?uDxvuVb7|sC>
zSNB))q9KZU@^8A__l(*c{tMvXY_@vACr?*rwvFJJ4rwvlKj`8El3^az#(aT;%xS6Z
zR4B^4>1H-vonzjbl2+uXGuWRn-|i^mKpru-Mjrw~T;{SF;%kTNa(fCHMQ0sH2(GnV
Ij_WM{0lCk!tN;K2

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 2920916ec..806dd54ad 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -415,16 +415,11 @@
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <source>Get turn-by-turn directions displayed and more with a comma
 prime subscription. Sign up now: https://connect.comma.ai</source>
         <translation>成為 comma 高級會員來使用導航功能
 立即註冊：https://connect.comma.ai</translation>
     </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation type="vanished">成為 comma 高級會員來使用導航功能，立即註冊：https://connect.comma.ai</translation>
-    </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="164"/>
         <source>No home

From 2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Jul 2022 17:20:56 -0700
Subject: [PATCH 206/435] process replay: ensure enabled for significant amount
 of time (#25121)

* process replay: ensure enabled for significant amount of time

* update refs

* 10s is reasonable
---
 selfdrive/controls/controlsd.py                 |  3 ++-
 selfdrive/test/process_replay/process_replay.py | 11 +++++++++--
 selfdrive/test/process_replay/ref_commit        |  2 +-
 selfdrive/test/process_replay/test_processes.py | 16 ++++++++--------
 4 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 117509f1e..b344705f9 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -406,7 +406,8 @@ class Controls:
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
+      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      if all_valid or timed_out or SIMULATION:
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
         self.initialized = True
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index c667aa388..bea7dc46e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,6 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
+from common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
@@ -548,11 +549,17 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
 
 
 def check_enabled(msgs):
+  cur_enabled_count = 0
+  max_enabled_count = 0
   for msg in msgs:
     if msg.which() == "carParams":
       if msg.carParams.notCar:
         return True
     elif msg.which() == "controlsState":
       if msg.controlsState.active:
-        return True
-  return False
+        cur_enabled_count += 1
+      else:
+        cur_enabled_count = 0
+      max_enabled_count = max(max_enabled_count, cur_enabled_count)
+
+  return max_enabled_count > int(10. / DT_CTRL)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index fc5f83c32..bef6956ec 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d583bbd9643000e7f817171c583d31ae3141a652
\ No newline at end of file
+998b457e0d38e3639814ed81cb2d32e92d9bed8c
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 652c49db3..91cc40f5c 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -18,14 +18,14 @@ from tools.lib.logreader import LogReader
 original_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"),     # HYUNDAI.KIA_EV6
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),     # HYUNDAI.KIA_EV6
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA
-  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),         # CHRYSLER.RAM_1500
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),         # CHRYSLER.RAM_1500
   ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"),      # SUBARU.IMPREZA
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
@@ -39,13 +39,14 @@ original_segments = [
 segments = [
   ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
   ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
   ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
   ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
   ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
   ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
   ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
   ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
-  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
   ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
   ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
   ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
@@ -65,7 +66,7 @@ def run_test_process(data):
   res = None
   if not args.upload_only:
     lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs)
+    res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
     # save logs so we can upload when updating refs
     save_log(cur_log_fn, log_msgs)
 
@@ -83,7 +84,7 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
@@ -96,7 +97,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_enabled(log_msgs):
-      raise Exception(f"Route never enabled: {ref_log_path}")
+      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
@@ -216,8 +217,7 @@ if __name__ == "__main__":
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
     for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if isinstance(result, list):
-        results[segment][proc + subtest_name] = result
+      results[segment][proc + subtest_name] = result
 
   diff1, diff2, failed = format_diff(results, ref_commit)
   if not upload:

From 29c8e5d227eacae36dbc4357bf5328f22668d5ef Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Jul 2022 17:26:59 -0700
Subject: [PATCH 207/435] Chrysler: increase Ram torque rate limit

---
 selfdrive/car/chrysler/values.py         | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index f7531792f..69dade4b6 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -31,8 +31,8 @@ class CarControllerParams:
     self.STEER_ERROR_MAX = 80
 
     if CP.carFingerprint in RAM_CARS:
-      self.STEER_DELTA_UP = 5
-      self.STEER_DELTA_DOWN = 5
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bef6956ec..d98ae9651 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-998b457e0d38e3639814ed81cb2d32e92d9bed8c
\ No newline at end of file
+2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f
\ No newline at end of file

From 045c881e1ffeb5e7bcb8e1ee78d4a42caee1be4d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Jul 2022 21:11:12 -0700
Subject: [PATCH 208/435] couple more stinger MYs supported

---
 docs/CARS.md                    | 2 +-
 selfdrive/car/hyundai/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index eb570faa7..5e185ed27 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -105,7 +105,7 @@ How We Rate The Cars
 |Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Stinger 2018-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 4b3acf3f2..2e6a2017e 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -151,7 +151,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
   CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
 

From 614b3a01f89eabfa9ea26ed2a367592939f78e11 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 11 Jul 2022 22:10:06 -0700
Subject: [PATCH 209/435] Chrysler: limit buttons to 20Hz (#25125)

* Chrysler: limit buttons to 10Hz

* cleanup

* 20hz
---
 selfdrive/car/chrysler/carcontroller.py  | 20 +++++++++++++++-----
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index a7f2d007f..8156e7841 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,4 +1,5 @@
 from opendbc.can.packer import CANPacker
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
@@ -14,6 +15,7 @@ class CarController:
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
     self.lkas_active_prev = False
+    self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
@@ -26,11 +28,19 @@ class CarController:
 
     # *** control msgs ***
 
-    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
-    elif CC.enabled and CS.out.cruiseState.standstill:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d98ae9651..b165b163b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f
\ No newline at end of file
+11e721366f1c177a84e6cb8b48171113ac3b54f9
\ No newline at end of file

From 4d7b7483d70a61cf0fb938107df55c24f27da1b0 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Tue, 12 Jul 2022 12:36:57 +0200
Subject: [PATCH 210/435] Replay: tolerances per field (#25116)

* tolerances per field in replay

* refactor

* Remove laikad parameters

* Small comment change
---
 selfdrive/test/process_replay/compare_logs.py | 22 ++++++++++++++++---
 .../test/process_replay/process_replay.py     |  2 +-
 .../test/process_replay/test_processes.py     |  2 +-
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 057e46cd9..bf6daf5fe 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -46,11 +46,25 @@ def remove_ignored_fields(msg, ignore):
   return msg.as_reader()
 
 
-def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None):
+def get_field_tolerance(diff_field, field_tolerances):
+  diff_field_str = diff_field[0]
+  for s in diff_field[1:]:
+    # loop until number in field
+    if not isinstance(s, str):
+      break
+    diff_field_str += '.'+s
+  if diff_field_str in field_tolerances:
+    return field_tolerances[diff_field_str]
+
+
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
+  if field_tolerances is None:
+    field_tolerances = {}
+  default_tolerance = EPSILON if tolerance is None else tolerance
 
   log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
 
@@ -72,7 +86,6 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       msg1_dict = msg1.to_dict(verbose=True)
       msg2_dict = msg2.to_dict(verbose=True)
 
-      tolerance = EPSILON if tolerance is None else tolerance
       dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
 
       # Dictdiffer only supports relative tolerance, we also want to check for absolute
@@ -80,10 +93,13 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       def outside_tolerance(diff):
         try:
           if diff[0] == "change":
+            field_tolerance = default_tolerance
+            if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None:
+              field_tolerance = tol
             a, b = diff[2]
             finite = math.isfinite(a) and math.isfinite(b)
             if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
+              return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b)))
         except TypeError:
           pass
         return True
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index bea7dc46e..0c642cde1 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -28,7 +28,7 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, ""))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
 
 
 def wait_for_event(evt):
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 91cc40f5c..d8cd1fd57 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -100,7 +100,7 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
-    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs
   except Exception as e:
     return str(e), log_msgs
 

From f0b5ff5c1addff7932fe86a2874a23d87b5eb5f3 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Tue, 12 Jul 2022 14:03:35 +0200
Subject: [PATCH 211/435] Replay: Fix --upload-only (#25127)

Add checking for list back
---
 selfdrive/test/process_replay/test_processes.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index d8cd1fd57..77d73a4ff 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -217,7 +217,8 @@ if __name__ == "__main__":
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
     for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      results[segment][proc + subtest_name] = result
+      if isinstance(result, list):
+        results[segment][proc + subtest_name] = result
 
   diff1, diff2, failed = format_diff(results, ref_commit)
   if not upload:

From 205f6f7414f502248082949addac25a215c73d59 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 12 Jul 2022 16:09:21 +0200
Subject: [PATCH 212/435] casync: manifest compare script (#25129)

* casync compare script

* typo

* cleanup output
---
 .../tici/tests/compare_casync_manifest.py     | 74 +++++++++++++++++++
 1 file changed, 74 insertions(+)
 create mode 100755 system/hardware/tici/tests/compare_casync_manifest.py

diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
new file mode 100755
index 000000000..5e5fa2455
--- /dev/null
+++ b/system/hardware/tici/tests/compare_casync_manifest.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import argparse
+import collections
+import multiprocessing
+import os
+from typing import Dict, List
+
+import requests
+from tqdm import tqdm
+
+import system.hardware.tici.casync as casync
+
+
+def get_chunk_download_size(chunk):
+  sha = chunk.sha.hex()
+  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
+  if os.path.isfile(path):
+    return os.path.getsize(path)
+  else:
+    r = requests.head(path)
+    r.raise_for_status()
+    return int(r.headers['content-length'])
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
+  parser.add_argument('frm')
+  parser.add_argument('to')
+  args = parser.parse_args()
+
+  frm = casync.parse_caibx(args.frm)
+  to = casync.parse_caibx(args.to)
+  remote_url = args.to.replace('.caibx', '')
+
+  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
+
+  frm_dict = casync.build_chunk_dict(frm)
+
+  # Get content-length for each chunk
+  with multiprocessing.Pool() as pool:
+    szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
+  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)}
+
+  sources: Dict[str, List[int]] = {
+    'seed': [],
+    'remote_uncompressed': [],
+    'remote_compressed': [],
+  }
+
+  for chunk in to:
+    # Assume most common chunk is the zero chunk
+    if chunk.sha == most_common:
+      continue
+
+    if chunk.sha in frm_dict:
+      sources['seed'].append(chunk.length)
+    else:
+      sources['remote_uncompressed'].append(chunk.length)
+      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
+
+  print()
+  print("Update statistics (excluding zeros)")
+  print()
+  print("Download only with no seed:")
+  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print()
+  print("Upgrade with seed partition:")
+  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
+  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
+  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
+  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
+  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")

From 105afee4a21ad008fa741f19c5a62a6d52fdd773 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Tue, 12 Jul 2022 18:11:47 +0200
Subject: [PATCH 213/435] Laikad: set cache dir to comma_download_cache
 (#25131)

* Cache downloads for process replay

* set cache dir permanent

* Create constant
---
 selfdrive/locationd/laikad.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 0954cb4c9..4868e8ae5 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -27,6 +27,7 @@ from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemeris'
+DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache"
 CACHE_VERSION = 0.1
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
@@ -42,7 +43,7 @@ class Laikad:
     valid_ephem_types: Valid ephemeris types to be used by AstroDog
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
 
     self.auto_fetch_orbits = auto_fetch_orbits
@@ -183,7 +184,7 @@ class Laikad:
   def fetch_orbits(self, t: GPSTime, block):
     # Download new orbits if 1 hour of orbits data left
     if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN):
-      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
       ret = None
 
       if block:  # Used for testing purposes
@@ -203,8 +204,8 @@ class Laikad:
           self.cache_ephemeris(t=t)
 
 
-def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
-  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
+  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
   cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
   start_time = time.monotonic()
   try:
@@ -301,6 +302,7 @@ def main(sm=None, pm=None):
   replay = "REPLAY" in os.environ
   use_internet = "LAIKAD_NO_INTERNET" not in os.environ
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
+
   while True:
     sm.update()
 

From 780c60324bf19762e9b72da38be0a9f09d624efd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Jul 2022 11:12:35 -0700
Subject: [PATCH 214/435] process replay: fix string failures after #25127

---
 selfdrive/test/process_replay/test_processes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 77d73a4ff..4ebb0701d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -217,7 +217,7 @@ if __name__ == "__main__":
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
     for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if isinstance(result, list):
+      if not args.upload_only:
         results[segment][proc + subtest_name] = result
 
   diff1, diff2, failed = format_diff(results, ref_commit)

From 1f17f812cfa74c1db2ceba05dae4946b5e472e2a Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Tue, 12 Jul 2022 15:45:43 -0500
Subject: [PATCH 215/435] Add missing RAV4H_TSS2_2022 engine f/w (#25111)

`@Rocks#8913` 2021 RAV4 Hybrid (Italy)  DongleID/route 081a1d5f242294c0|2022-07-10--17-39-33

Continental camera p/n 8646C-0R090...
https://discord.com/channels/469524606043160576/524327905937850394/995781101903679558
---
 selfdrive/car/toyota/values.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2a0399934..723fa8582 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1381,11 +1381,12 @@ FW_VERSIONS = {
       b'8965B42172\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
-      b'\x01896634A62000\x00\x00\x00\x00',
-      b'\x01896634A08000\x00\x00\x00\x00',
-      b'\x01896634A61000\x00\x00\x00\x00',
       b'\x01896634A02001\x00\x00\x00\x00',
       b'\x01896634A03000\x00\x00\x00\x00',
+      b'\x01896634A08000\x00\x00\x00\x00',
+      b'\x01896634A61000\x00\x00\x00\x00',
+      b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A63000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',

From ecac734160f719f59364a637b7cd781460456845 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Jul 2022 13:51:25 -0700
Subject: [PATCH 216/435] update compatibility docs with VIN data (#25134)

* start with genesis

* chrysler

* honda

* toyota

* subaru
---
 docs/CARS.md                     | 46 ++++++++++++++++----------------
 selfdrive/car/chrysler/values.py |  4 +--
 selfdrive/car/honda/values.py    | 20 +++++++-------
 selfdrive/car/hyundai/values.py  |  6 ++---
 selfdrive/car/subaru/values.py   |  6 ++---
 selfdrive/car/toyota/values.py   | 10 +++----
 6 files changed, 46 insertions(+), 46 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 5e185ed27..c3efe8751 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -49,12 +49,12 @@ How We Rate The Cars
 |Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -80,8 +80,8 @@ How We Rate The Cars
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G80 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -117,10 +117,10 @@ How We Rate The Cars
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -151,7 +151,7 @@ How We Rate The Cars
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
@@ -159,27 +159,27 @@ How We Rate The Cars
 |Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2016-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Fit 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Insight 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -190,16 +190,16 @@ How We Rate The Cars
 |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2017-2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Ram|1500 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 69dade4b6..80baba9bd 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -53,8 +53,8 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"),
+  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"),
 }
 
 # Unique CAN messages:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c6e20f2d8..bfa42bd50 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -109,13 +109,13 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2016-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
@@ -125,20 +125,20 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
   CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 2e6a2017e..6e184ce9e 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -156,10 +156,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
 
   # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
 }
 
 class Buttons:
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index ea923b1b5..8fac93428 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,18 +41,18 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
   ],
   CAR.IMPREZA_2020: [
-    SubaruCarInfo("Subaru Impreza 2020-21"),
+    SubaruCarInfo("Subaru Impreza 2020-22"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-22", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 723fa8582..f47ab8704 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -124,7 +124,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   ],
   CAR.COROLLAH_TSS2: [
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
-    ToyotaCarInfo("Lexus UX Hybrid 2019-21"),
+    ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
@@ -151,14 +151,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
+  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
   CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
-  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
+  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
+  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"),
   CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),

From ea449f1fe0bbff0eff5b12d64f0b5e75b7983998 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Jul 2022 14:08:17 -0700
Subject: [PATCH 217/435] Use upstream wait-on-check-action action (#25126)

Use upstream lewagon action
---
 .github/workflows/prebuilt.yaml | 2 +-
 .github/workflows/release.yaml  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 7acc8a225..99d9694f2 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -25,7 +25,7 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index fb5a37eee..8df89dcc3 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -12,7 +12,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30

From b632d56244c5fd6821477a642d6f151ea4b13b20 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Tue, 12 Jul 2022 16:39:13 -0700
Subject: [PATCH 218/435] UI: change wording for dcam preview description
 (#25142)

---
 selfdrive/ui/qt/offroad/settings.cc      |   2 +-
 selfdrive/ui/translations/main_ja.ts     |   4 ++--
 selfdrive/ui/translations/main_ko.qm     | Bin 20040 -> 19981 bytes
 selfdrive/ui/translations/main_ko.ts     |   4 ++--
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 18508 -> 18469 bytes
 selfdrive/ui/translations/main_zh-CHS.ts |   4 ++--
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 18568 -> 18509 bytes
 selfdrive/ui/translations/main_zh-CHT.ts |   6 +++---
 8 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index d5b8d4bbd..9aeb966cc 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -102,7 +102,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   // offroad-only buttons
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
-                                   tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"));
+                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 5c0f54a31..f3b873312 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -134,8 +134,8 @@
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="104"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>ドライバーカメラのプレビューにより、デバイスの取り付け位置を最適化し、最高のドライバーモニタリング体験を提供します。(車両の電源を切る必要があります)</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>ドライバー向けカメラをプレビューする、ドライバーモニタリングの視認性を確保します。(車両の電源を切る必要があります)</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="108"/>
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index c5c66d1e73491c2ff09d91b6fdd5200002b2a6da..40b0bb65a38d65ee901ac7a85257e88868b4513c 100644
GIT binary patch
delta 1903
zcmX9;Yfx2H7+v?=bMEupb1%xnv5><nMdS*C3cdwF!IB^%Cp49y>m`N23+hBMX66Gk
z3REhz6o^d786aOtzL1B8<p`4_X(*D9QhTU57Ea5#=g&HO?{Dw#+iR_FcT{QKuhNt~
zU9t%f27$0BK<gl;6IT*f5w{aR0Yt7_;{j<bU_VNn42+eD8I1YZjX@Ux-Cux51EBXM
zo+ZW*?-GvzN;M$21Hq4gXS#tQ;lN17r4Cuh9|jI-2IAiZBL4)EHZYL^c=iQi3Xl>3
z7}gP&0zTV_{I|2PWxJT56j<??`)z=W>%%-hyzN)w4{`mcz^qb;mDd1`3bB<pw1+|L
zI!G*n_=5<j=OArTd7C|u8tPbKCUpBR6E{Jx&S$b)(1)^Gxf$VBqInT!cfJXP7h(2|
zZ-8ij%rRy%`4uEh*or4#(#lw%B&;9F%gRZcFP^``0(_iEed``K<ReWu$@v_lWv*f3
zbfnkS0H$G>pIE`T7QFmrF$=$mg~vO&eh<sD0yrOoRfF8G6k*qCQX78}jjmUKF{x-B
zn#_xA!@#COu6Js@W5%Ea&)nAx+ZhCee5)D1g?dKiXj0ljNOhg&lOE1beN}TdO$59j
zXf6oU#!siY8Tl^obeCXqoB~2W5`qV=0^{vMg2_c%CkqQ~ym6F|u%p|^_<6#C%`9yE
zHsQO(Er6|BIG@6E{jLj_Ix}Vg5o?9M&%FTO30l$a19;VIeSeo2uv;5YI-L~yX$w<$
z@Z{Ory$UP0U(q)1f1Y}JX%9DYU*wMRF2S$FLtI?f#Pkl)nMig$QpD9)rvU*+#o|ns
zqc@A|#lL|`^<rh>5!!L78*TA!^bT;N{|&LK<{_){5O-h8BF+`-f7nVpYQ*N(Yk&kr
zJS0;W<(_!v*Iv$Ni)U`#p^!uM;??QRw4YTnO(5ZMsgk8MpZsa1I3<_@*`@i5DafQ~
z$zl4APU(|!f@;ZAg_QHeQKmTJKivPdwEDGGj9(+Y8KtlX;-u1TEX0)WM)kfM10viQ
zA1hUb)=)_ARH^C%IzkSYYTjE%CMu+T?S15Dnsj0?h|Sv|o%BCP0rXPuB^DICUFu)k
zNud+nIBTEuXpjYtgHG^IqjPd}%3V7dd`UOuW&#<^)y-~f0j53BWoXFz$Thm^hmV24
zak@vzJtef*Q~H1qQWYxbYlpAp%?9=Ra{HOMKz}!NH>sPb|K}DN(caPjJNY^=qSFu;
z(#n_Ph#^VKLTwif*|-0t<tq*E7qV$bJZJc9FVFGpF?=%+$g$0+w=ANC1C4=IZ2F0}
zjWhppFuu+B;@q%ntnh>}eJv?V*kH_9K#E8GXv}Jh1x9xpw}8$<ld-#Z9-UNH?ko8u
z%BGDs`LOu=5~nhHoT>D>mE(1$ipLak)DlzWk!t$UVXC_DA_eI(?d+nk;&@ZTh6?gi
zZ8{t-u~X-iza{yUY&P9^)kQX7*6e?qt2T4su~W>YF(+K!2n>xgFTBb=5B}bqe_kX>
zbIfasJV}nl-1a+JAN`cM<2jPy{f_K;jM>7^$^MO;A5|%bO<hg-cgP8GR4+DCPKxGB
zIIT>c8_PRRkCM~3^1KrNdGhjkEMMx9w?BG`2kep?KV<u;8FJ_6Bqj0<`TJgC#A&&=
zjRlGqExOtuCTy~d_5F!2U$P};kcIjdS{kCb9yHQ&U?p+tF-vQ}7xd*NOKU7K<c{U^
z6sl~tS-R)5;k<rPy!O=6f1~S^;p@qOXNnT=Fpj(&RigXGFtJscyP14>ex&5b#&hFs
zW#gyp-_QYN$MqSMJx}?nhKZv8R$3lV?h$3m*%?35zbCAQKlt()lB}LH*|9PGR_|XQ
z0}}-6oNGKUs>Pb@qJNDxYp!D;f`<IfT6SR_WiGIOoSjR`&RCDW@gFerp!L#?ouuAw
z?MwKYW22KEIo~u%?`cdfZfouk+smLH{<5*-T==2m?JlStrR_7I*5ky_$0OQj@z1-d
z_25FN?$|@cP<v{77C=4gI-GW(_{sR&hllE+wn*hIwuzc$<@aqt5!tyb3JbDT*U}{}
uHLJi`lwF`M&&zeX@(P@}4t4306{;gIFH0?Qu5e~LmpNUlo3cInr~D7QH37;1

delta 2025
zcmXw33s6&M8a+ww&Ew`KfePrjf|r+qSRNG|70~h!3fQ8SvP{LUgQS=$0b_h^t!Wpn
zQo(A~R&BIap|%y;HNI9BT}9+k1j{O0rYw$&Sk!5?({?I@i?b)gEHmNU``_>T{_~&j
z{9m<O)#g_1n&i3)s7HZk%K%LYaW`>2@f7hRVh<qjyX9>_i~*uYh>1W<CUFU44vb;=
zI6(Ug;Cm0y1p?0)h_i{)h?fBKEkJGsrX=uplj|#isf=6v%zi$210MnNw*c|ef$Z(v
zC=FQfGO-F+6bI<H5?27@yNP^`Cb3nYa>Ev2%~R&*08W0Nkh}Y*$*w{O+dc-;TOjNo
z1XK!y=6EKpfYA9j;z<bC1t3_4_@2Vk3_`3wPKJk|J?mw96*{GW#loSBB3t<pVl71D
zL1ebS3B;a6=Djn(tU|nCC<4Y!LiWsk@cw15PX%1jLC9UThq4u5;eSYAd<_=A^&1oF
zkf*-F^;+Z=y~B-nBmZ~}Aia!&ti6mI#;c!iq7q?Pdbyn&#h|n}gzHXh7-hcsBtHG7
z3&`+?$N3sCy&BEqasj0qci&sfx`HZT_H?)~HC8p@a2OEzyDDKP`x#%WTGSFrsRvXC
zd$^u_Sk;v$uyCBJSA7haoT9ovV+#<dS4$=IL{z6b{O$mdU{hyEPAaiZUFgFT$1heN
zy2;*7u2i3^BC&*S^~J26fX^-UjYX`hgsA)5m!t!67uC0q__N?@jSxK^@E_6y{wOlB
zUlX!p9#8hFX6+&tPW+4Jgqh4^CTTop7qXuVH4Pr-&FJ0Jsh;dwAS^phD^55n*s`du
zZ<VldU@j0cB5W!m9i36wCj1J_84~tqHPVhN#?a^OF$`Ebh9RMXyJncI76?ZNi;3?F
zb=UU+;Yq^jl{M5eOE@ok`w}B`{LshsBSOc6hiv4yRAFG=Y1+>sN;4^VTD54}v6}kL
z71PY&q-_%mma!po)`%t2MZok2@r|%r>U3Rv!|Nz%Gx0I=zY;gTzJc+L;+yei-hs{H
zjt@yhsvE=L*f9)QHHP!w65UZXY-B*S=zgD$kXMQ|?{1|M*Tt_}Z&RO*V$*0CFK@kg
zC75@@Cspk0C!z3vigzm7+2}1}nEpT<870Bz61D2!JUXjZYkm|>1wYUx-Or$cc5SBT
z0x&O5yF^9Zr#5Pj4L=1!OSO&B2V8)`M>~?+L#yTMLLw<yRI;viVg)-tOZT<?4hcAP
zj}{-Lgbv-~2UJG$Q1>Kph>aHXX_3vGAdmIg8WQ&P*IR#jLWytatJfX`g0|~FIl(&q
zKKe6vL;0R#(3$>32fbzpb?bRmA`B_NxJr03mEo0~K{9PJ<X2F-j4OsEg_JtdXee$;
zB_WGpC+IMoGTiKYiH_<p^!sw0X+x!yD2^=c2U793ojh@-RC%8xC%Ax^3`CSlJBBQL
zza;H_$`(hsrTvY^Na(2K?tO(0)k}w6o$R@gAk}Z*OX+S&4Y4AbRY*-GOccwdW+{l%
zrCVwaNFt$D>E3cDrAsub&TeLWjxqGoRT4@vX56ael-O)sI>4bYMQ2=nLm=@A<2&p8
zsG!N%@*`U`E#KJoA{7g`Ap2b+fjC)q1$+1*;)eWe@<y7aSI$UduT$-E_N=AA+zvS>
zl}gMjlk@knU~r{e`jVGer~J{#A9;d*%bwl5Ys!am`w=QP<Ai*zkNBJ@_qC9q@V!Y}
z8^#SEnqmUK<3VywvqwoZ@UN!&czzEna+%Jp=R@)nQ*+2?baB6_Ih8mq()3Ldy<p5S
z-7Mhs447#4|Du-b1Lld_sDNLUIb=AEN{yIj-R3}_k!{YYqJn;%=GCe5Y32xX<;T42
z(-rffq37A+FU?=paG%-H<_o{m6G0v3uIIm{+4Dy&`ky%`_1PA`6yEPSL6(3Yo&qzI
zEiVkRVEnMfUUHWTO|k6i-AWHQEC;N164P4#QT|^b<yTApy~Df}Hp}gdulSyB12WC0
z=IHzkE_ci6HlcMFlrCpO-nmWZH$nOP@cB9@jlVTGFHeHfS=gp(Er9a>xQ5R?ZQZfw
zFGH!j(9_$R4y9G-aq@p{SAjRKwf0)1cde_yTg#jMue_dRO%u4bz3Ggn%`=E-D2TWg
zajyO9&wJ{9rs}sXbXeEftn2rb&Yzg;EK^okSCuPe<xX3v?ax-FnBSILmC~}ccBjo=
zqLi1du{mvJcIEXlhf-u+<5Y?rwslqqBkVS3nZp}n-B50I*sS*D)>G4b?<D;X8&EIK

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 33e8b0372..3805f0e3f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -134,8 +134,8 @@
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 장치의 장착 위치를 최적화할수 있습니다. (차량연결은 해제되어있어야 합니다)</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 45fae52b4286bb3e57938bf6c7c4ad53d3bd3ba1..2c7963cf17a496e356fb5b0372b565ac82514661 100644
GIT binary patch
delta 1858
zcmX9;c~n$o9KAF1-Yjos-a{S41!UL+6j=%v1Q9VYutb!QLNf^(#t;$)lw8Qv6e+{N
zB*hgF%gl4ousB+pNTOkJva&doq6lb2+bI&ku7~;O&ij_%cfWh@@B6AmRb8SgaV>lb
zP!9kT0s)PUxPZ8tm_yu6ECU42%LYIU0w#V*3<m;aVhY!!51}X5YySkCRsuRV;tpaM
z@dWW4VCFg#_j+vx#$V$&*ZOkZ!eQ?G!-d20fjOKEJ^;jR<3UcqQ;Uet0tq23@{pJT
zINv31;rL-7^AHQo19At6-vAEIk6f{{$Gz|vgsppl$SV-aZv!d`LPIDwO@`3?32_62
zuLWS-9}u@&d7Jkk9<Kq6E1<3WnfMNL)?^lof^H(&8tW0P5TydlZCVRVT8Ft^9|NI_
z@uVS@<SP+3Wfva(;#Nlkg%dgvpIORl-^7BOB;b4&3)lb64K+wqU!a_UNKD<xgOiX{
zQw10nAUU>-2adpVN7n%}{jv0X6XzdbWtu1VzlAje+;5J+q03i+C=+TO&jbEZXc!UC
zi=0Bo_B_rPt44+epb*~6RipNMQ|lj9lXuY1kWs3HMt{IZquTQw$EOXbt|kgBoUFR8
zt_0kys_w@(17rSDOSX%EUxnJIqn-P%t79YwiS1M`apH}GFRJ%lV;0;p)u-PivBx6S
zpT*K^WvTkx1lAoVs@s}Uo&W-Ot8W~12F509gg_U-5}<MWRpiEV8qeaHl+ag`m%zeP
zAJ-g{$$Vm`rnZjZQ(83jwcHn+QrfJhk-`f#Cwcr?!5&L>oy<Z(dn8~zFRV)?9c_WI
zRrm{-a!@FbJ;OML4x!vXgqHFlbblaJRP~XSi*WdM8ga4k;n%wW&%MH_m#e5}l<=vE
zzL@KTD|cEs{-1E=?r$`5Sd-8`^AzJ(C`wZ(_>9Y<xp)=zs}X0*J~Sv;On!leOqnLy
zq|ca?c5#JwHFb*-S3F9Tp@8@=p!X9CURuNT8^yJuGW(!eEPj_n43$IZ?mUFnIYT(}
zb+KY%6^*o95-Z+jB8-t@)f-!=#9i^kmp6c*KJkkIZ#M7S;suWuChDTt+D1ZNzT&M-
zO@Mdx5JvWj_XkKYNYbi35}B-{TDdon3fi?1-7!?~C+*zYv%vJ{v?(g;?%k%X>>C6;
zg0=VKzbj<K%sNkhO6BLLs~)q7H>=T|$hyUYlXSfc4^z5y-M@FKh^AiGAKnSL-qX+a
zZ{W*Or;pQ+s8Xg+@98JOB>h`?dpK{?A2`N3BUb4@?(pJwfI(+o#^lU0cva}xB0h#$
zf7-bI4Z}0@Cf%m=0fwYalq~9~A!P|A9`9;MYm6o#7<Pck!U4mz*7;1*tEFzDORQBY
z>gL1Z9!{LWz`rULcPjioAe9Z$NT1VE`I$-{-y>CAe};y%Nc)><tY$zuzO9V<v`Y2C
zB57<WT`#&6ek66h=%8AIMpfMg&Mq)|ox4c8dyO$a7XiaH#-;7-bFU=hs&55yN;PiG
zxA4K~H#YuC)qO*Zm!75=mOhi^98a6nX7Z@zxKEd9(u@My-)xGRP4^<YO>xtf0%3!u
zdC|P%^m0?uF4ik_&oHf=Px|6w)9(9=S)j&LyOZrRuE5lEkfH=nFn!fZ4E)~I+DL-J
z4zsq}n|<wN4s!c}M8eEr10*_jxA}M|=RJDNr&klh7MdG8k1&^u%ni{*U&(wqf-XxD
z=4;7pILk8G`Tc6<&$mS$vy}=A|4;Vpn@wGQk*D1VV4j-fd2dp$5ux&`=sC=%C>QNz
z|N8wX@9T`B?LP7cRXk|&X!-0vwA=NRd^L)1w2MX2|IU|B*Qi)#v12E9D<kg=@*z2*
zJb9b-Lb8>32lK0cP06x#gixxvO3C#tv^hh0FFlKrJybq_<pCutQQErpvsEuCH)1{l
z!u##a$i0)(b({67CrUq8M!C-KSd$gswr9hh{KVw^mKSRhR@)4(XFt2XsB!1j(uc}u
zRc7gEC-0E-tlYeubgLs{xx<>4W6w{|v98R{vOBVK>{&Kz#`0XNEjv5Sns3jwr`j{^
Mj)Id#P8X*B4>phSf&c&j

delta 1954
zcmX9;4Nz3)6+Qd*z5RK+`yS{@tWjAPP!PnWK@>$nXdt2m5kw|v%m6RzCbA$dAWd{*
z#3+#>4jPr9!3Z&_wV6Sqi7{#vu^2&<XzP^0F$SV$OtIEU7%irUVP|&Ed*A!+z2}~L
zzOS`jce!3yKi<C<5Qc!MO98!`SV`o6>R#e*;unC(?}`hMrUQ}xCe8t(W)SnaM;k#W
z_ZuDp0XqTX1mdT}c;Y{ZX8~I+V7&;090n#|0|I{sOyRyIfvJ4p#=w2R^VNW>14!S>
zLNkFy*~B-2tQaQwjkpR33M6jkdMB{@01K1>Yo8K-1$@KbckK8%*#9lWE$;#I9zxvH
z2k2yo?Xe764zcSqVk^WeA`m<l(mM`za~0B&Lx5!m499O0KZntg$7F68BgxkCJzOeL
zZbn+?>%g>wNW04pV>jRha{<X;LVDaT4FA$AlL3FEg3Q$ol+A?2-;=<YJ}g=PhymTm
z5zcdcDRK%nvhaH39%=#1mB?GLlLcqv#gE<q5*K5|SL|?F2#SlGj6a5TLyWf-;=rYD
zAn7@@`CbAd+-M)22~6xk|2yUU-lhwRkAfeeTXkdihf-STX4G+>F^RgYjtC%Zs;==m
z*W*KV-8mu?`*k;jgTRC|-M#0kfoI1FvikxMeqIRczs<PcgjCr_VxI}ihiB@#FYLQ!
z=KcoZL@kN^UK36)r~}k$;kzv6ofswbcIN*9h(0acY97Oce!Up|3}DaJPq;5J@Q&WO
zEs>pN=*zR1c;<`x!wQ*4Df+hKi<xLpf3l5nuD2Sx1P)Ss`Os08?-M->sBS>4Sao|I
z;J7QkQ9wF|DshYWUm)(HxM#sB+A($nRp$uW&y1iWL~LpqB&&Ji2Yp4v4dP#~>;jzU
z#AC0uP*1n`xs`LV^@?Br*h8B-#IJv%)%}4F#M_C-Xg|Ls$5HUP|B-Cl)&R4*r4%KM
zw3kVFFLNMqD<!vlnjSYxuZFf#w_@qlVMm#piL|CET&j9y9ru4Ey&kKuz$0nfyCh=1
zG=jkiBj{K?f{7nXO_41eq<uhY+D=DUG^yq7&A>B((kB;hQJ-Mx+)yYF?{?|@q;Ke`
z`%+IY358@xKWyp*LNAYCVvzKBhy<s{7=%eVbk-GvG7wD#>kSF_c=incGNiSA3C!MT
z$k$Q#Fwt;u@F_59nc-CQUO$<?X?UD@omPuAIwL4qc&4#++$MI|ZT!Uh0}13B2bO$5
z32TkN{zPT;Cyh_$+~J@{nNlL!d4u$t()A>)eqqvnenO(_O@A(L1jg5y-apJdqxYCT
z?GNF5w%KS~Ne8VmhcuaZR2G@%KlHm9aKyZHVIM~jWzOA1>5{IP^OsZV$tmWdj${&=
zVy*)nhWE|adNSy!1Loeq5?)J(<@u4**`XpAUF~AWX>!dyUOB-9#JTMBfV}OF%J&X=
z=TnY2?54cu)ImDcE;rp+%25r<`~6*<xqe7KvUMj53-U>qL}sn>IX43(QErzf@^<-3
zZVyTzq3iP9LLa3Iv*?a*pwyL?kh2#^D9Dm}vj!M7)w1F?FNKixmNnmrBwl0LSYc=U
z6HCW^j%Z4r<?nx_Vq=1>_Om1qEn5AP+W29zYMnN>ie`CaO-<pf=LT5QXRYAO!mJCE
zsl@Cv*4$l87`)wDoH0ynnRWN$Wjtfu*0voyYZIHToy}Cvm1Vu$LyR7>_H>Y-SZ6b|
zhO%I~ZTf_Nl1RKQeuzY$J#9O}s|`-O-*%#s5AjvDcISumLbk0vnK&iJb}4~gkPB_s
z@_0P$Z!2RyZsq!*GHweM80}D;gDJoagEH$@6wUWQSy)R2N9QYRlAouUqm-KWc-SML
z?7NdhZ!A*&(!x43l9Vrhp(n=oDBVd{Y4+SXs_6mmNn?j<pU?9h7oZ0H_>|X9m-<2<
z6UMx&dfok;omZ{Dv6&uNrS8?dBsN(+Q~Ez3;e^_IcRxEBP;aIFjqgqmFn`q1*~V&<
zZgImIb!>8Zct%~VUi0PGY`swP?MokK^lv(`a<?0qV;eU#R^;SWd{cNRGrO_YC1hM!
zQ(gL+_Dl9adALiUMd>a6w=~!SLKm&lR+l<TN`0PU&!03$kyha;)Evbn<zAo1>voiu
wto8UjC0@rXC1s8RZLQByROYGB%DBVp@s*Sf@6pzkYGoeHTc{l^2sl6U|7&9g_5c6?

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 04bd2415f..d9377054a 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -134,8 +134,8 @@
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>打开并预览驾驶员摄像头，用于调整安装角度以获得最优驾驶员监控体验。仅熄火时可用。</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index 130bcfc92670cff84c6c6fcf359be599e4941e3e..0d448f2080322661cb712bd3c06b4049fabbf935 100644
GIT binary patch
delta 1928
zcmX9;3s93+8a+w=KhHmZP=oDKfd~N+1cJo}2!c?s;I4q6wMF}&U`Ry}2%v+STA!3^
zrT73vtqQd-*BP|fwZ(NSVxbMTQ*7;I=_-n-W0$SnSzKN0o=!58Imx}>{l0V0cfPy5
zLE+w|*fq&z1(ajJ)cb(S4uqSDHN@$}eZ*`);J$GL5Tk(z2XPLugP6~lm%JDh1gM$A
zCk@c}6IT%9h}($gc|Hq}E&;)@KxjYLdx0s8TjVp!9}FC~5J=k$*n)w~?JRr__+u^$
zDS(_9CLw{GV!-zc;ufxF0wqV7i1C$=iSGkW?oXWE@N=LmAHuc+z}z7SO*a9B455pa
z!v`R^Kjq<22$uyQ;26X=Ex@!~h$oH%h9yvU{6yRUjb$m5$<RcQt)Ue*6H&hs^LuK6
zNI%TK{Rt4O!n3*plCMSP%su%1lUb7jxWb!}Rno|7UqbeE67W5MMeF~~1G&gkUI1h>
z@(MPxFtFr!E1*lj(v01V8^#OouLF|Ou>5a5+&_v{g_PE}9BamS-WY}>y?sD(7}}jL
zvTZ=u1WFrFf}uC7xL>K57&i?rSbY^w9<oyF1Bw|t*-zV1MNT)Pt!EVbuW)^~ThW&%
zFmZz7s`3~x>AvF5)0+W5k5X^H2!s_VLxu){m;z<G-bp21QZDo1jcpmqgZ(<df4cI_
zTO=0Kt2~#n6EGzzzsq4>{~qN)PyRDNRG{+OyS~6v&!~i`Cjj$!mH$1F0b5l;^+~+h
z1yxlJ6VDt~eI%24#12(^2hC<Wp*q{nbJ723bSnd0JA{{ypJMrX!I43AO?QN~gL45(
zt+1|ubktjfZNjh2QYbWKd`>$?c~SOw(Y(%!f$c&|>jO6Kq;T|RA#qsv`0^egXn}Bg
zWh?buCj3QWUyO%@uWos`{(<n--G8!?<BkY}NvCPQT2Viff+v128tcocUyYb5hmiJF
zap}u!$c($9U4M>F=@nnIwo#`(@wML_r7I%R;#xm(?TR(L_EfPpR^}YI#QMD?qI=tm
z0hhcO_{fV%`^A=sRyNZ7vDor99buRzwr<@*B|a5TUb;qoUKhU@vvPRr#S4?arK8$J
z&j1Mp{UF}h)Wb$U@5Lm8_;8E_qux;~C+E>wU21tGiV6m+6Yiu_!CUJ2?VUh;iaK9G
z-K`DkV-Fs4e^C7}>xzp`aBG65QmQHUG;MyH*zsu1$<iAvoUIvIbd=I<)QsMxBB~C}
zqdCKLQl~a`Y8Pj%RGX<HQPXN|(a(=aFhRScYCreqYY%_KJQH%Yp9}@_zogR``HBRH
zy5JTq@N|!E-hDgci*<_^xNcH<n{LS_N|yY!E`J#%4(ZkvcBhcgdEHLXSvaig_bdcv
zCF=&pmGL?HOg}Fonm6;)7k=Xg0>9VS-QiOc@Cz}K=i~MD!zQjT*6)7I)`k@6n?65A
zLT-J_)x~U4jsB3EtyVqKpOCljreve~vo?{#8{W8He8RO_fBRJ@1v+g|bZp>mi6Qv>
zMOyHbA^oR1z6Bn`@<EP%u-Z`mok0D<3>&M>e1raL=)T8BgpL@#{1f#t|6MYlXSv8K
zX>vQ)L-tCMiEHVIPANT=4Ndq_%ACC%i0hXYr10ADuS-kzFrO<hKw7ns{6)L8@8NSy
zkS4V^aH0ZcNj>jUr|5R+YY#E%Mak1mg2FpSb(@u=t}#aY|3D&%#<(#OeX7oQB9{A;
z4;s(Z5aU9PT|w{Bs%gfq6k_O?#@+-rULS7kU&<LYr^>z`w9%4N8f3q1RABtKa?pcR
z>e49BzQ&g<I!9jc7WJAiUM^2b<H29$x&s{Pux9z-a59}B${)6}P^??-{0|*4X{+3q
z{0%KVXwv?RkD;c+WS++%o^jYT@z!Htdc5h`o6Kh$HDx(zX>En6)IJnLsWhftSGTb9
z#ir(>QcCuV>94E*N69vr25ukX46HF-OaC)4=Y|8AH{n#g=B&mjHD77=<XtcF&%WFg
z**GSj%$VEcQ`hNTt-kT<@y6>-kyR`A75pYG99nZWYapjOr^c>(qwM+hb$c87Y|8A5
z&xMt5UcGWfO72Kim`zEq(q#OWH2%TI8dFqSSyfSFaTdSgv=ml2s*5TttIA3p&aw(e
fsohfiN~OhKR#s@Kc2qhF93>9t+EaBtzs>qT^2rE(

delta 2026
zcmX|B3sjV48h+-V|DVf0|I80^v10<mO;G`nl*AhsHw;`EaMdibl3~PA84!nyYc;lF
z3b>?s1I0^;v8|aMEKJ0_gd`?rCv4qiaY@13X6{;NBVBMG4!b+&%z0+M?|a|x`JVTA
z-}cR#jaxLEM|xfcgnnRb6rjx|+K45@JmOAbB_ML&G8T}=1LNw5Q;Gj1X7LQ;2Qg$3
zpnCv#tp)S}#CM4C#IwZHfVl!tz5qh=fl(cRw*-vlxw+o4{K13X<-jv#K+H=(+D2ad
z3-IgT@S<rz<^(4BJ8>!CM>3h~xz6tjUgE{`s|JWS05|vjS8cf$<k<mn!)_qK3bDEe
z&{!b0Ok~g#5ZgZ`E{6D(2n1e(RAB`os~{b&2TWU_YrIB04!w0DlchpGj%-bTLySt4
z-@~l7H9*vS%)0#vFmVQ+HD;51BhuowWAKw!k_>ppcEGk`D`gXq@f`{HeT%uT{ltJO
z%o9H6x()NP-{8elv7o*VFqU9p>NZ{&f*1bqDv7VfqBCvW??PTq2;)CMX+Pu5cD!@p
z5|C&|gPSiOGZig9ELmVZdMk>!|Dnb|J`x^;WoVw*8%C|a)l8~lJ!85wnXO}hum_r5
zSGXQ;&|I1)GI5FKs&D`Zh|=77stkD2UyyUp0TFwI@ZRgdggruv>?W~Y!i!#faZH)8
zr^CqedBU+xBo-?PpQTm-YN_x|Ci4c0LRVYXuYl+mgzo)*Oz6>y(Zd1XIog2lS@eK2
z+K|cwzHC5Sl*z<T$7&B*$b8&+Z9`)Q6W!J}H83t_#MX8p$a7wNrT!?dZxx-XRM#s^
zTz!28U~Lp%%_be)dU1pJBM`SwtWIsF9ixX(^&djtV?!8pPpqx$W8v<K@Al-7U5NO>
zSKDdZH^q;a*HO=%;&Fv_G5=Zo@@6O3d&DpA{=h<d|5d!6@G<STMv~(w_zZ8!T)7gM
z+#t=gg!36b(!y6*khpLuSN@D1m!xH32dSG;S~ln?<9_1LfWco{y`+@qbEGvBE$o9P
zsd5L27%vQAkT8VSxFJlqBGt0jJn+3G)xJeXm~y4MH`h~%AEhH-bOYm0NN4-Q*u0g}
z=fPjoQQcB!7YT(9lWweQW1+VVVM2=Zu%85@+jT<lJUZ*K&T>DR3cjS9b|-}j-qg)%
zI0;O7O_!yi?qL^o2l@tp-~e57bd871UAl+1E3}$HA2NoLMU2)T9I=isT&6$bx<LXN
z`ulU=rG(A;pYKu`ZKM9t)LX#FKEup0Eo|iX4QW~uRu35*_a2dGiQ)G}ySV>5!@fhz
z<5Ok$q&JlRXBqWoPLseyV`!~`ts)we9(ZyYaKJc!b`MJsV_dL~(k1DQSuaxRQ5s`T
zYci+DBV!flFzhpSbf(i$Ym8mq95d1hIcXe6mTrWcbGe-__Lj@<aO4C<5~l;<MRMgW
zmH#)(+Xh(T@cnXi^8q^5AlF`<&r&tWdp+%}x%QEKc;hy{Fjj7gk;u#;pUq{UG)!)h
z136tz$}RpJQ=<;ax9x6Tbl;?De4SF)n?g^Yqc?sqrCciqhWVQoUFT2;O){<gMx>H<
z(;LOUjQ_>d`aMfDdaUXE94h8FT=6|k0#P3+p5O*<gnz9>O<zs3^eHJbS?lS(O4{T_
zteL9JPNou5PAChuGhxv4N?!UPv0P>6!{?Y_t<tcCy%t!gwC$&I<L@aKJBiUXN@ptx
zif@~B2g7(_vUz;KpGai7IliAnpKLK7p2+>+s~+>Q68?x^Y;Fm8k6uVJw<HrsYt0v?
z(F?M}+_8}D>HE6H@BM>Zzi1h;feQF2mXN-gRO*sta(5&z-ej4*i3<A6v8+sfhGveo
zl<#J<M|4>B+)AW35-oqM<2{oMmXrUYCq|yJTuQtQ3||nS8vemKsc%$$li1&r{-XNd
z9N^d~QlIT%!U?geE4P;lC99jSuBQi<sx=N5iAAcX3jPgDJFa%!-phVIs&=P*$p3*(
z8Yunf6n&H4XsEeT(^-7OUcXhN9`R&XdzGL3|H^mOQANvlW<ORO$8D!7PC48aQ5iK^
z<r}+-%WQKzuE$Dxul=%Z_mZDnJ4&01%l;P^BOs#cLRQAh=c*01F1zNrh?Qjp%Ztkj
zPcNR$4kAJ5_}!3E=qPqNO04ds4r@-Kv)EC%wK-9>x$~_{9V-f~`2}ugp7Xcd<1xF#
znwMYXaywnQ)`I+1PPa4PWnGeAXw7!4a{o7)CtOZ<e&OI5M`?kh(CKj59Y@o>9zXpb
D32iIQ

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 806dd54ad..efd893ec4 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -125,7 +125,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="104"/>
         <source>Driver Camera</source>
-        <translation>駕駛監控</translation>
+        <translation>駕駛員攝像頭</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="104"/>
@@ -134,8 +134,8 @@
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態)</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="109"/>

From ee6dc0311818fd97cb78c58fb9a47267385312a0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Jul 2022 17:25:54 -0700
Subject: [PATCH 219/435] fix accord years

---
 docs/CARS.md                  | 2 +-
 selfdrive/car/honda/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c3efe8751..ec7da7a84 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -161,7 +161,7 @@ How We Rate The Cars
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2016-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index bfa42bd50..b8417ee19 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -109,7 +109,7 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2016-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),

From 00bb07f6248010afb197854257c2958433159990 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Jul 2022 17:45:00 -0700
Subject: [PATCH 220/435] fw_versions.py: fix debug scanning (#25144)

* Fix scanning all requests

* fix replace
---
 selfdrive/car/fw_versions.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c4b158aeb..a8f5357f0 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -394,7 +394,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
-    car_fw = get_fw_versions(logcan, sendcan, brand=brand, timeout=timeout, debug=debug, progress=progress)
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
     matches = match_fw_to_car_exact(build_fw_dict(car_fw))
     if len(matches) == 1:
@@ -403,10 +403,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-  if brand is not None:
-    versions = {brand: versions[brand]}
+  if query_brand is not None:
+    versions = {query_brand: versions[query_brand]}
 
   if extra is not None:
     versions.update(extra)
@@ -434,7 +434,7 @@ def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=
   addrs.insert(0, parallel_addrs)
 
   fw_versions = {}
-  requests = [r for r in REQUESTS if brand is None or r.brand == brand]
+  requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
       for r in requests:
@@ -503,7 +503,7 @@ if __name__ == "__main__":
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, brand=args.brand, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()

From 44c6ca7eb4c9ea83aca18d4f648764cabdad8861 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Jul 2022 18:23:48 -0700
Subject: [PATCH 221/435] EV6: reject fake cruise engagements (#25143)

* EV6: reject fake cruise engagements

* bump panda

* raise to 8

* update refs

* bump panda

Co-authored-by: Comma Device <device@comma.ai>
---
 opendbc                                  |  2 +-
 panda                                    |  2 +-
 selfdrive/car/hyundai/carcontroller.py   |  4 ++--
 selfdrive/car/hyundai/carstate.py        | 11 ++++++++---
 selfdrive/car/hyundai/hda2can.py         |  8 +++-----
 selfdrive/car/hyundai/interface.py       |  5 ++---
 selfdrive/car/hyundai/values.py          |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 8 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/opendbc b/opendbc
index 81148db67..3fb3f5e82 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 81148db67fd00d4e2a107b5b8269c532436edf2b
+Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8
diff --git a/panda b/panda
index baecd2ecc..2abeab913 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit baecd2ecc6a2a608e1305601f6f697feca69fe88
+Subproject commit 2abeab913f6432e4327b07e247b8a46994ac77a1
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a878ad327..d0d9c4083 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -82,12 +82,12 @@ class CarController:
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
           for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
+            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
           self.last_button_frame = self.frame
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
+          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index a10cdadbc..8afd851f0 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -8,7 +8,7 @@ from opendbc.can.can_define import CANDefine
 from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
-PREV_BUTTON_SAMPLES = 4
+PREV_BUTTON_SAMPLES = 8
 
 
 class CarState(CarStateBase):
@@ -171,7 +171,10 @@ class CarState(CarStateBase):
     speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
     ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
 
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+
     self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
@@ -362,7 +365,9 @@ class CarState(CarStateBase):
       ("CRUISE_ACTIVE", "SCC1"),
       ("SET_SPEED", "CRUISE_INFO"),
       ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-      ("_COUNTER", "CRUISE_BUTTONS"),
+      ("COUNTER", "CRUISE_BUTTONS"),
+      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index 437f5cf53..9a9e477cf 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -18,11 +18,9 @@ def create_cam_0x2a4(packer, frame, camera_values):
   })
   return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255)
 
-def create_buttons(packer, cnt, cancel, resume):
+def create_buttons(packer, cnt, btn):
   values = {
-    "_COUNTER": cnt % 0xf,
     "SET_ME_1": 1,
-    "DISTANCE_BTN": 1 if resume else 0,
-    "PAUSE_RESUME_BTN": 1 if cancel else 0,
+    "CRUISE_BUTTONS": btn,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 069b0e74e..a32ee2c0a 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -321,8 +321,7 @@ class CarInterface(CarInterfaceBase):
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 6e184ce9e..ffa29c60d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -167,7 +167,7 @@ class Buttons:
   RES_ACCEL = 1
   SET_DECEL = 2
   GAP_DIST = 3
-  CANCEL = 4
+  CANCEL = 4  # on newer models, this is a pause/resume button
 
 FINGERPRINTS = {
   CAR.ELANTRA: [{
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b165b163b..e77a38de5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-11e721366f1c177a84e6cb8b48171113ac3b54f9
\ No newline at end of file
+5efbbdf69e16db3d989bfaf62d10e958e80b9ca2
\ No newline at end of file

From aadaaabd54988a286704ef2bea0bacf4bd62fa8b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Jul 2022 18:58:46 -0700
Subject: [PATCH 222/435] compatibility docs: print diff from PR (#24941)

* print docs diff

* revert car changes

* cause a diff

* temp so it works

* text diff

* tier inline is a bit too much

* comments

* fix

* use paths

* fix

* temp

* temp

* diff

* fix

* remove something

* more text diff

* Delete comment if outdated

* Smaller diff

* remove

* no diff

* Don't try to run on fork PRs

* cause some errors

* Fix

* Fix

* Doesn't support env in job if, only step if

* in case file was moved, don't throw error

* See if this does what I think it does

* See if this does what I think it does

* should work

* change something

* revert

* uncomment

* no comment

* this shouldn't fail

* rename to base

* Remove true

* Remove other true
---
 .github/workflows/selfdrive_tests.yaml | 71 +++++++++++++++++++-
 selfdrive/debug/dump_car_info.py       | 18 ++++++
 selfdrive/debug/print_docs_diff.py     | 90 ++++++++++++++++++++++++++
 3 files changed, 176 insertions(+), 3 deletions(-)
 create mode 100755 selfdrive/debug/dump_car_info.py
 create mode 100755 selfdrive/debug/print_docs_diff.py

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 99a21b58f..298ea5fb4 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -10,6 +10,7 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  HAS_AZURE_TOKEN: $AZURE_TOKEN != ''
 
   DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
   BUILD: |
@@ -17,12 +18,12 @@ env:
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
       docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
 
@@ -365,7 +366,7 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.HAS_AZURE_TOKEN }}
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
@@ -510,3 +511,67 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+  car_docs_diff:
+    name: comment on PR with car docs diff
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - name: Cache scons
+        id: scons-cache
+        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+        env:
+          CACHE_SKIP_SAVE: true
+        with:
+          path: /tmp/scons_cache
+          key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          restore-keys: |
+            scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+            scons-
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: env.HAS_AZURE_TOKEN
+        uses: peter-evans/find-comment@v1
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: steps.save_diff.outputs.diff != '' && env.HAS_AZURE_TOKEN
+        uses: peter-evans/create-or-update-comment@v1
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.HAS_AZURE_TOKEN
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py
new file mode 100755
index 000000000..c9a21c284
--- /dev/null
+++ b/selfdrive/debug/dump_car_info.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+
+
+def dump_car_info(path):
+  with open(path, 'wb') as f:
+    pickle.dump(get_all_car_info(), f)
+  print(f'Dumping car info to {path}')
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  dump_car_info(args.path)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
new file mode 100755
index 000000000..5cf3867b2
--- /dev/null
+++ b/selfdrive/debug/print_docs_diff.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+from selfdrive.car.docs_definitions import Column
+
+STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
+COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
+COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|:---:|"
+ARROW_SYMBOL = "➡️"
+
+
+def load_base_car_info(path):
+  with open(path, "rb") as f:
+    return pickle.load(f)
+
+
+def get_star_diff(base_car, new_car):
+  return [column for column, value in base_car.row.items() if value != new_car.row[column]]
+
+
+def format_row(builder):
+  return "|" + "|".join(builder) + "|"
+
+
+def print_car_info_diff(path):
+  base_car_info = {f"{i.make} {i.model}": i for i in load_base_car_info(path)}
+  new_car_info = {f"{i.make} {i.model}": i for i in get_all_car_info()}
+
+  tier_changes = []
+  star_changes = []
+  removals = []
+  additions = []
+
+  # Changes (tier + stars)
+  for base_car_model, base_car in base_car_info.items():
+    if base_car_model not in new_car_info:
+      continue
+
+    new_car = new_car_info[base_car_model]
+
+    # Tier changes
+    if base_car.tier != new_car.tier:
+      tier_changes.append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+
+    # Star changes
+    diff = get_star_diff(base_car, new_car)
+    if not len(diff):
+      continue
+
+    row_builder = []
+    for column in list(Column):
+      if column not in diff:
+        row_builder.append(new_car.get_column(column, STAR_ICON, "{}"))
+      else:
+        row_builder.append(base_car.get_column(column, STAR_ICON, "{}") + ARROW_SYMBOL + new_car.get_column(column, STAR_ICON, "{}"))
+
+    star_changes.append(format_row(row_builder))
+
+  # Removals
+  for model in set(base_car_info) - set(new_car_info):
+    car_info = base_car_info[model]
+    removals.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
+
+  # Additions
+  for model in set(new_car_info) - set(base_car_info):
+    car_info = new_car_info[model]
+    additions.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
+
+  # Print diff
+  if len(star_changes) or len(tier_changes) or len(removals) or len(additions):
+    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
+
+    for title, category in (("## 🏅 Tier Changes", tier_changes), ("## 🔀 Star Changes", star_changes), ("## ❌ Removed", removals), ("## ➕ Added", additions)):
+      if len(category):
+        markdown_builder.append(title)
+        if "Tier" not in title:
+          markdown_builder.append(COLUMNS)
+          markdown_builder.append(COLUMN_HEADER)
+        markdown_builder.extend(category)
+
+    print("\n".join(markdown_builder))
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  print_car_info_diff(args.path)

From 01de46ad82358efa12797a50f501d902ca711547 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Jul 2022 19:25:03 -0700
Subject: [PATCH 223/435] Corolla Cross: Update minimum enable speed (#25132)

* Update min steer speed for intl. Corolla Cross

27 km/h, thanks to Ale Sato

* update docs
---
 docs/CARS.md                   | 6 +++---
 selfdrive/car/toyota/values.py | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index ec7da7a84..e24672e9b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-# Gold - 31 cars
+# Gold - 30 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -60,7 +60,6 @@ How We Rate The Cars
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -71,7 +70,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 69 cars
+# Silver - 70 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -126,6 +125,7 @@ How We Rate The Cars
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index f47ab8704..f40a58b5a 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -119,7 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"),
+    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
   ],
   CAR.COROLLAH_TSS2: [

From 906a8a912cbd39863f43582677f2435f11ecb904 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 13 Jul 2022 04:28:48 +0200
Subject: [PATCH 224/435] casync: only when run from updater (#25130)

* casync: only when run from updater

* also here
---
 system/hardware/tici/agnos.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 750aa630a..ca2498a00 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -222,7 +222,7 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
     raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
 
 
-def flash_partition(target_slot_number: int, partition: dict, cloudlog):
+def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
   cloudlog.info(f"Downloading and writing {partition['name']}")
 
   if verify_partition(target_slot_number, partition):
@@ -236,7 +236,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog):
 
   path = get_partition_path(target_slot_number, partition)
 
-  if 'casync_caibx' in partition:
+  if ('casync_caibx' in partition) and not standalone:
     extract_casync_image(target_slot_number, partition, cloudlog)
   else:
     extract_compressed_image(target_slot_number, partition, cloudlog)
@@ -263,7 +263,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
       cloudlog.error(f"Swap failed {out}")
 
 
-def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None:
   update = json.load(open(manifest_path))
 
   cloudlog.info(f"Target slot {target_slot_number}")
@@ -276,7 +276,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) ->
 
     for retries in range(10):
       try:
-        flash_partition(target_slot_number, partition, cloudlog)
+        flash_partition(target_slot_number, partition, cloudlog, standalone)
         success = True
         break
 
@@ -320,9 +320,9 @@ if __name__ == "__main__":
   elif args.swap:
     while not verify_agnos_update(args.manifest, target_slot_number):
       logging.error("Verification failed. Flashing AGNOS")
-      flash_agnos_update(args.manifest, target_slot_number, logging)
+      flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
 
     logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
     swap(args.manifest, target_slot_number, logging)
   else:
-    flash_agnos_update(args.manifest, target_slot_number, logging)
+    flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)

From 0eab1ed817ece20b25de7438d32238c482613df3 Mon Sep 17 00:00:00 2001
From: Jafar Al-Gharaibeh <to.jafar@gmail.com>
Date: Tue, 12 Jul 2022 20:38:18 -0600
Subject: [PATCH 225/435] Mazda:  CX-5 22 FW FP (#24778)

Mazda CX-5 2022 FW FP

dongle-id: 661621a8442f0688

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
---
 selfdrive/car/mazda/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 09b9b7732..12e9eafc4 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -65,6 +65,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [

From 3b4e939b9f88b70727e687613a912aef36178755 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 12 Jul 2022 19:58:39 -0700
Subject: [PATCH 226/435] UI: translations cleanup (#25120)

* Make this one translation

* Remote html from translations

* getBrand as argument

* some stuff

* Forget Wi-Fi network

* Update translations

* Remove obsolete

* compilation fixes

* remove

* Fix missing translation
---
 selfdrive/ui/qt/offroad/networking.cc    |   8 +--
 selfdrive/ui/qt/offroad/settings.cc      |   2 +-
 selfdrive/ui/qt/widgets/input.cc         |   2 +-
 selfdrive/ui/qt/widgets/prime.cc         |  13 ++--
 selfdrive/ui/translations/main_ko.qm     | Bin 19981 -> 19439 bytes
 selfdrive/ui/translations/main_ko.ts     |  79 +++++++++++------------
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 18469 -> 17931 bytes
 selfdrive/ui/translations/main_zh-CHS.ts |  79 +++++++++++------------
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 18509 -> 17969 bytes
 selfdrive/ui/translations/main_zh-CHT.ts |  79 +++++++++++------------
 selfdrive/ui/update_translations.py      |  10 ++-
 11 files changed, 129 insertions(+), 143 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 536ca495c..c7341d198 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) {
   } else if (n.security_type == SecurityType::OPEN) {
     wifi->connect(n);
   } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8);
+    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) {
 void Networking::wrongPassword(const QString &ssid) {
   if (wifi->seenNetworks.contains(ssid)) {
     const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8);
+    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -174,7 +174,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(editApnButton);
 
   // Set initial config
-  wifi->updateGsmSettings(roamingEnabled,  QString::fromStdString(params.get("GsmApn")));
+  wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")));
 
   main_layout->addWidget(new ScrollView(list, this));
   main_layout->addStretch(1);
@@ -296,7 +296,7 @@ void WifiUI::refresh() {
       QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
       forgetBtn->setObjectName("forgetBtn");
       QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) {
+        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) {
           wifi->forgetConnection(network.ssid);
         }
       });
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9aeb966cc..9a6e20396 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -249,7 +249,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
 
 
-  auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL"));
+  auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
       params.putBool("DoUninstall", true);
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index b0facfce8..dc54a3621 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -165,7 +165,7 @@ void InputDialog::handleEnter() {
     done(QDialog::Accepted);
     emitText(line->text());
   } else {
-    setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false);
+    setMessage(tr("Need at least %1 characters!").arg(minLength), false);
   }
 }
 
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index d2529821f..541947526 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -88,13 +88,16 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
     title->setWordWrap(true);
     vlayout->addWidget(title);
 
-    QLabel *instructions = new QLabel(tr(R"(
+    QLabel *instructions = new QLabel(QString(R"(
       <ol type='1' style='margin-left: 15px;'>
-        <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
-        <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
-        <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
+        <li style='margin-bottom: 50px;'>%1</li>
+        <li style='margin-bottom: 50px;'>%2</li>
+        <li style='margin-bottom: 50px;'>%3</li>
       </ol>
-    )"), this);
+    )").arg(tr("Go to https://connect.comma.ai on your phone"))
+    .arg(tr("Click \"add new device\" and scan the QR code on the right"))
+    .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this);
+
     instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
     instructions->setWordWrap(true);
     vlayout->addWidget(instructions);
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index 40b0bb65a38d65ee901ac7a85257e88868b4513c..d59698e07432f37ed105ada86a1c83bc815e0e0f 100644
GIT binary patch
delta 2085
zcmYLJ3s98T89lrE|NHp&1qcfgS@r=c1%WkcK?M{P0~C=K4Mjyk2tp9$p~gJAlTkwq
zYBdWL<Hnkb(NrNV7;IBXloB2qd`w`pp*R#FY8peErp6FqdhE`ao!L46+<U+8JKy=v
zz5Cp<u|u*0zRsC|d=ubPL7V`7@(55A0pVuicH$!9A!0rtaNoET5Tk&IYT^Q7A8|F$
z9QL5?7@+(H@U8<?LBv*KEb#{M0$?}}=(+%VJ20KGIX(fv3?B4h;u$>X;|7-Q0vsO$
zsjsu}HQ;BzV4<l%rUOv#CT;}$Ng$Ko5hPan4hvKQm6ODWKo$1`#Dn+Ev+egFR38Bn
ze+i*}1dv%Ebj)Ga|3c{f6QkoHTonNGVTf;7fLZ0PIGMk50IG13)15`Mk*HmVWj!we
zk?~k|_XA+=7@pCvu1^nA=dn@#Qnx2E>uIE&S_uS7$S8GDtRSrT2dnz$;ODP=3(QME
zmi(_=FF{uRtE^_ms*??X6oBlMTAph{&Z(CHXW}`mz1YJ8=kdY>0}b2o&ZR3r(kV1o
z<#I}a=$Mj0+PN5gV=MQ2WTw~%Af!zea5RKM?v%~l&*{yMk!5y<0il~^Z}oG1fkSpB
zO8`u_WH;rU#I!52dr$8o;X1ig^a&7_BM%)Nh7+?N$&;ljsu&?(<He30qw=@=G(eC^
ze!SEOED`1B_S%4_3*;ZA><7GR<ez1-K+ya0!5-QnDos9g%#VpD6+)yx;8&{%`by+}
ziNaQsz{c(<wq`Pate?Vt@c`?zC{7#LNW^=J=GGNDCY(@w*vtfu=Uu&Wv(xu`Vg1P#
zp34@BQz*B0tgvG^9<WpkFXxk=N-I<g{{doN6zWsX(~cWG=%w<YN%COu9|U&;9TNFB
z;ddhi<T*t+bF~hz^$2I5Z=k?`7yhi{gbd#bm%kXGO=k(0zx<kl_>2j|31?|PqbSYe
z1QuIFeN8zq|GJoD2qp0cV)lAYC`Kt3NgvTVLt;tD2~HqiENMK+5hoG9V|<gi<GB|o
zK#KU%90Mn&6>EM&B2u{r&21hG{@#O0UZOj^!O4-$7u~<6H+0cr!)v>##BQ;Df{M!<
z#eqQ*u&)zu@1$iyy*-%tia0(&LQ&mHxiyQO#V8G9kyI>Lx$s^x6)RIFE+3}ntjcB0
zZNS0~<!TuP4^2@Xe>ll=<I3@jep=$T$`<CNL^Cg`P6X~`N0(Lam)&OJ3e|UCQUS%+
zsvj2Ip_dM-lfpW933jPd6+@h0ySniH4>Wtddf(Q!xbLU_?P<pQwy8fDwF6Jx)Ts39
zXo-Jn>~1wL)n7Crn=UfWp;`P*5#u^FE7L|uv|Y2xxsy^Y$=9r2LuseiYYIAf+h)2o
z`$2D^MbkI1oL<V+40><o^JAA5hx3V2z9|)4>ji@Qq&@fe!k9;iaqMths<}fC2d7K5
zlN{;vFsc6hae6dEa^GCZ(bP#tdpTlZuGIK?EtM;moF7JuyuK!>y@-M07O6ur^D((D
zb(j|Nwq;3oH&juwZmq2KSA1-4Y3&z2p%<=dlW*+-ri5$P4)Zy%*J{f@6DX;d_SJ2^
zR8X(&{E8!*aa-G+PUTD`I^PQ<5P4W<ZRYy)^}1PcJLrwKox0?t>%bzJE;VK?XO*i<
zOQaHUa^0#rCJZ*|HZ6ZltXFqv{8=U_)-@mGEi>D7J;$h=BVPCE05R%K-9RS^3ZLth
zCqh{8h(0Rl1{=xH$4-#wQ*rvnIo!97>CbH^F4(W{u)RyuItTR~iTs$+s=u_5UeJ2!
z`?7f*{kjZ(@15W%HX8z~seo^+!S*nTO6@bm4DmgRzF|n)O9_2nG?XVUW!!zko+B%$
zK%?RJ4J<J4qM_{pJuxlYsQwopM0KjscQLQ;Pyc8%eKE=B<(e^IRThvjwcPm32oue&
zF=kZJ<r*(zS<xtG*<w6!b2mLuVLV(|MyW0vKi={PNO;ZIb;ruimBzulM|r;=7>AOZ
zfcP85G*V;Be3jPA^{zD4<@WbpYVKWgaW5<gg#(tZ17|qN{w1BY{l(4Q%_FeVn=}*u
z)0P(&7FhDCETx5cl~tBdhh@XYyo$UHRfQFm)|OBGPb))x`m>v&yM+EVOlSLlLfeyY
z^>dpmEVfXG&1EtBwwyF)%jC#$jahS~Cr6T8ZhMj|H^d}c<jSxv`f(%1HP;^Vc*E6f
zN%(O&!u7c=;_-5eHl*BSmAa>$+2U#BNlM+yvf{GJs=U%t5_bJN#=oU$ewUAIrfXZe
Y#mB=C2~SQ3x{jrr1aeGpwWdG&KXjTDOaK4?

delta 2644
zcmcIk2~bq`9sYLry<PV0+XIBfs^D7=(IA(A;Z{LVAdz4dnRrBuK(Nc{dN4`dv1&Xp
zhPbGhp!LAo)T;v~v8l!*1Vn?;5vGoeEh@yLQQO2A#}ua@psDTjn0BUb=gqh8|NmY8
z@Av)w_qM3ss#8^aIu$@&40x;~_5vYMfToa`LtH{!O58$x7ZA8_P6fm;AoMsf9te|(
zGikGR00S-o+OGlk1Axwlc#arLyhl6%n05nl3lR7S7|{;A>=6zG(a>Wyk%k_Jfz*{i
z<e!0zHB96NyzpaUHjo_wxUC|-26%5K@_#4`v+rbrDq!Jb`da`8_Xm5vbH{hg2pfde
z?*S95Ak=mPDg{Clj~E&Pq3sB9F@!G!K)C>M9jOR=-<7EHcHV|An8nG55pE_LUcsc+
z*MacGm~`_4AjXEt`gzQC6&YhUq3_99l1!4WBg^h0Nj`Y#DzkYPVd_us)4m+j)Sq&F
z0jAAc&MY~|*;@}tgOQtFL%U;m`Im37%3GLyvK4TK-AD0!KW@ZgX)gnq7GvibGMRcA
z4URd$=&5KLl*O_)qi5YB?zgI}v7^c8x2nP01AtM#RYh-L_o5c4vYSVd*uAQEJGh?s
zs_NV{0kA$$T~f0X!?mhgkt=~=ZEC6TGaz`QI<V&&oQMupr%4X77_XjX;fbTX)!W+j
zbeN+4Xgv#y-mLy4eFI?Gt-hGez{78-ue4GI5i8VPJG=m&u^J)N8}Qn%@%c*R{w|GQ
z)i^RZT(c;fapNax_L*3C=v7U_hcB^vUYd^^=oh(7(-gGKbyYpY>E$lW-P_0#3WcI{
zGVGo$R9;I0{EiE6%wtJ9gRolo28i1))TSS$0$&?IOX>hx{RYr>Q>d$d$kN<}UETAE
znZo`rHc^2p;qXuDfi#ow8=1{9-51V&*~#^M;q2|Z<Y16axHj%E6=xQuu_QfZs%We#
zCy5#{#T3XchKjj!*_5~#u~7PiYUvUe1nePKHR6H;d)eI-;&=2vC{`A5jKY?SuSc2K
zq!h7gGYgT*2T=KT0R18cFg01M3$AyvOH;+Vw<!xbT&#a{6`80J54CiWq$KfFFG*J)
z5I?nDU=ws==M@$dxJA6aqLtlFAHa!+#7Dg>a169++cc_Yf!1^{lnl<$CfrIRgC*KY
z4ab0_2iln`k{`5OyZhl|z<-SPQI@lVG8?M%8%3&u)w(@HR`6uKx<e(`nYcoCZ|W{m
z_q^`A+hjy@SNDDV4Zye6EoD>_=isPYhK7Y&F1zL5`JTG3b$e?O=hXK_x1aB09M2B7
z4|@FhZPDwDuTaMRdjC4k`SW-56Tar<V{X<@cV>38!c+R36{IX}jeh1VQatj!ett6t
z?YVaS22fsT)VFs|p`5DqSKLc^^Y}{>f_Xb>H%jx*xACO1wDuM+7n=_;k^W<(svBm0
zuaasWv$Z4hq}rpqDbqr!?$UI&s7>15##Rf_lJmft8dA1f`Z!$V1W%Su71B{GlbR%7
z-Xj;JCTju*ZM}5!RR<}9LG|G>+FK0%Cq83ADnr`u*8+o5470ECMhN`eP<~M$lame0
z7kiRHqoMgLw&uB^hSM*SG3(D{&l4;l{DN$2;QGi~ryP=4Ns(-m(^A;u<VZOqhF4@#
zwVatuCdNg{Ihz>JHbpL;(pOlUyyejh2G}V#yu(3LX3DKQ$XsNZ{COua;*8wc%mRhW
zM(v&eCTui@`TULt$uh?FvQVEz#sg8@4+t`Tw1k-GJYj6|`vui|#n_Zg9Cg=tCV^To
zSd8tt980f1n7rQK!xQW^4OvYFJhM%H4^zn0aZ^keucAn^DRVs;^xSAFPfn%Z9n;$P
zIO)MXrfoOIQyZnGU)3{F%r~ZE52y*>YSX##=PB}2X171_j-26^VfLKBxsJVVwto2-
z7^^l<?q<NKW9BReRj#*~OA33a+CQ4BFRh{$D$HB+OUT$+^YOC3027XwuiV^D>O;+4
zX$SeOFQSkxHYV!~79Wq6>is0CV`6hnM^VG+hHluXKMIGh?E1C0&Glf!k6Z=b?!&ch
zvrevu^24raN`C%)CC{PQ^Ya!ul*Xgp`?SO4j@*OcEkegEDDeBiR4gd1Q2bmLU(d!J
zzPT!=dNCv#{Oy;3QrP+JKqbnMk3<9^g0F&w{cH9oYsJVz1qxAw5`@qr9|hcxqg@1|
z>A4i~^h)}N=zVz-XkGLqUSwszYhRMT4>*ryIQT2&dSB3Jgg*`H%Ce20!zf|>asE?=
z{~-aATt}4ga}oM~PLgL+Ttk#N=f6qRcgntgJafvYtyDQArT<ANwJVOwvi!uLh#+O5
zqtecQ#d#HlMI|Bj`~pXu5)oatG(ITliMgUA*o&UE^Pu6pQir3oI8KQU?>BXAwT%u-
z2(uUcOQ(P0qqfET*FJNU6zj8j62eOD136tg6>DRst=u|PdwSUZvS-vTO)n`bS?I{K
i+ZETzvEGd<V_G~^itB|;MS98&tgdC5R#$E2jK2bC2z<o=

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3805f0e3f..2fefa69a8 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -308,13 +308,8 @@
     </message>
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>최소 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation>자가 필요합니다!</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>최소 %1 자가 필요합니다!</translation>
     </message>
 </context>
 <context>
@@ -481,8 +476,8 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>하기위한 &quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>하기위한 &quot;%1&quot;</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="97"/>
@@ -547,52 +542,50 @@ location set</source>
         <translation>장치를 콤마 계정과 페어링합니다</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;https://connect.comma.ai에 접속하세요&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다.&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오.&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>https://connect.comma.ai에 접속하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
         <source>Upgrade Now</source>
         <translation>지금 업그레이드</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
         <source>Become a comma prime member at connect.comma.ai</source>
         <translation>connect.comma.ai에서 comma prime에 가입합니다</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
         <source>PRIME FEATURES:</source>
         <translation>PRIME 기능：</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Remote access</source>
         <translation>원격 접속</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>1 year of storage</source>
         <translation>1년간 저장</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Developer perks</source>
         <translation>개발자 혜택</translation>
     </message>
@@ -600,22 +593,22 @@ location set</source>
 <context>
     <name>PrimeUserWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
         <source>✓ SUBSCRIBED</source>
         <translation>✓ 구독함</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
         <source>CONNECT.COMMA.AI</source>
         <translation>CONNECT.COMMA.AI</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
         <source>COMMA POINTS</source>
         <translation>COMMA POINTS</translation>
     </message>
@@ -857,17 +850,17 @@ location set</source>
 <context>
     <name>SetupWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
         <source>Finish Setup</source>
         <translation>설정 완료</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
         <source>Pair device</source>
         <translation>장치 페어링</translation>
     </message>
@@ -1023,13 +1016,13 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>제거 </translation>
+        <source>UNINSTALL</source>
+        <translation>제거</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>제거</translation>
+        <source>Uninstall %1</source>
+        <translation>제거 %1</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="254"/>
@@ -1274,8 +1267,8 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>wifi 네트워크 저장안함 &quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 2c7963cf17a496e356fb5b0372b565ac82514661..eed52b27788c46e02689a14fb9f11e17c776755a 100644
GIT binary patch
delta 2088
zcmYLJ4OCQR8h+-^z4LQt<_;(zBIwKjA%Y-?3OT?L6a<PNMX=CKToEZmU50?Q7&)ef
zxc)S<y26?+5VmS=kdkiZPe`GQ?jETqvXuP8Q(Nh7xwyza#vYq<<~;X&-}k=X^F8nL
zzRlZJwOdr%J)9E(VI|-mNgM)#?gQ#VV4@GPoM<QRBK`^xxv%H}DI5siL7YkKCFb!=
z!3bJ-UUL_4n-6IHhz?>5v5t5eF!7x6L%^C2JkbL@>&65@Jm@YFdC+|kFy|E@Y!#6D
zDlh&Vc#6q_{ei3qCK)EK06ae<Zs2+`P`sZPaIf?s@fhIXzSlE5z8xQFErYnJ9<bL#
z+<hHT$q+lDm~|Lp_q&Xq3-OW&`2H2rW(zQ>)D^25;|zy3gyak-FvU!iE0Nr_76?f~
z^6jHQWDw@+my&A@Qm6A_{H2yBFzee$JFo!ojzmVWi;umA%xk>W^AP5}{4d6pBU|`@
zB8DM*X*F-NAg84X&}U*{%1&|?@a%z?0H^&wSbV072RczP#6XiB`_EqlV!uGEgOv!9
z(J?xMw5xDqa~bz*RbDZnfGtGjy*B^|XjDzx%IbyPR%LYtbG=)&=VPu<?^a#R7D*^h
z)hjdtK6g|DQ(qzBlY(4$julxh1m5U}6X6GhB-uem>x4yad~sNv@W&pOe%y4SvDgg6
zO%vL;*nlaD@P5ixz?>*t&f*2*E(uq<Xot{z;p#q5V606ohK&I{MydV2VTH$SR@-Xh
z`LG|<Wm(KWO|5P?vmF?tRv%ROkl?q~t;aHrOxUhI(aHp2A+By=f^&zsq@|5?4v9r6
zRNH({tn7~i#@C83EhRlorMOAF2SlwFcc;8ZH%5)1a&81Ysz%VSQ*3CW!$Yo#f4aVm
zG_B&HOLc&yKz!$gCO*qeJZ@xxOvl6vH~YB$fq3E0KUom>BVvF2J9M8@lBcr(GxtcQ
z+BFokTuM{|$$L;*xP%3Y(n*E#`*cpf^n5@w5bh;Cf4GGet|a~h=q5^)%PaW)G-+*=
z!Zz3?)&8DD^o=9v`_%}JH;-WKJgFh1i3Ra^OKR9gYZ&6Bri~k@#AnjkAqp;RllrcZ
zfaM42>-BVuZPf_cPf3GABox}C5v<vCPK8GKE{uvz)z}A;sMzP4g!Fzop;VLHdJ>49
zq{&lJZ(EC|@%}@e8`KPDd`w4ts<j2zIf1~t+Gd~id{MdfNXgf{I7j=_9V(zcp?xs(
z7Oiwtml)i^9$2SKRbOR^eyc0^_5r<~qx)Ui9_~lzUO&kA(Yd;#H~i_0AN5+(bF{EQ
z@86&UBL1xpSb2u$zthjU%K@Zp)GtW8PQ^p@IqRL2DsH1bZxN;Szo}o=$z}^Yuipw<
z3$N>Y`qF8oRQ(lq4h`v`JS!xeFI41ZfA0qT?#ML*958+oF_!VO<=R`cuwRk9^C3&>
zUoG!`uaU$q%MHB?SeklyZ#PS<9+D5gx|7NslutOPNbKHp`D`HrB~k8>$8(mPkvqKX
zY_<yd_OBh3>?4EfSQP^-2LIFN=!H{;q%UhYB?b(O`#BA)7Q>p$A|(wqRKMuK_y>m0
zZ&;#$2ZoQHrg9!%8a+;vKuC+x+RAnRR^#N@N_wN)=uArd2k_)^V`}tbV8%sbS^|}b
zUSZ6sV?w`3<I40$#Bz<h26LHUjj?qHo6I-S*tL(!O&&D<t&bSG&)C;Vg5p+_ra6GM
z*PFuqJ|&SDQ_K*Fj?Fh6j^h4=c2j#fafZ#*VS9t7o$oYtB=94k$8_Fa$9ZTs^(<sN
zddyKg-)v?n>J^_&RAAIsitT<Pl{%tCU*$NO>{8OUP{PqZ%9?~ZG_R!8)MrwGM&-{<
zydZKwIr$?!;ZtSSeb0HQ?KFGLV*5@#ZuYwQkkjQwvv*E5r$c(XdG2*43XeBuIOuZS
zI&(?k4NBy0-rl=`9#~=iLqQ3p8aAI={a-4z#QfncD+!!6U%9=P-SL|FYSLRk%!MKv
zsjKZtZI|NuWZc-<hLn=kWsccJ`NgXWRca>kuD-X(eHUt~VL>1wU`d~pm%H|fVHGV(
zPx0@YUQn>ilJBq-7vz^ZEP)X&Z!c?Gz1I{?z$j-{)fd^O%I}ALVEZ}T_Bc$peARC(
zw!nzCo4zlo1Z29bmQ4BaZldd~HPN-s=B2W^_D`_=vJvgdvqnGKaETM*e_0NF%^Lb>
zwJpLXd0OT97294OA^bR_aY0E@NvR{hxR?~%vS!S43-W!gxArf{MG=xv^oS}${!bI}
Vj{|*Nr<1+JzzAEs>yzY+{{iv64I%&l

delta 2662
zcmcIk3sjTm8Ge)ee=a}CAJ7n5x%~t%Ah%G#aS4cU#EKmkMPQ<}Fe1hVf)ER-mXuj*
zDb~vg4pymJfnvw3J79J5Xs0bw(P8VU-RKybQY~W3Y;|X)BDe>zJ#;(U&UVg{!+FT}
zy_e^E-sk)3c8FSci*{=q0+G0c$n6Q>IMKXtB1thY6Icl>2Q~ofi5Tqj3L-XwDCB)$
zJW(hQ%twrA8g+=5-XU^DO_?`vComRx6nKV6g*YX0{a+xOdxdC~D}wb1bn^uw(Crzb
z#n?0)AWC})ja-SISONSIQC1|1JOHjIa=!)KhV?^4me<i>8BxUq@IxXS_O%=KjQBj}
z-%iZ-eME^DiD|q}B;ttaib7U2F}=S6Rul69L*(-nu`ff4&^Mh4A`eFr$wENR<s=!@
zK+aA}dNvb<ZJ{MM-zJL6rN<S8;Mz=S3-;3FC#^CWA`MZ7#fd{+qs(jQ=6;%%KlfL}
zw^6qEJ%|@h*@ZRel0!LdEkue;%3E3wuCr;?;Vnc9gK5p#9wJBReJUx^p};FtHI4!*
zBfWm%5>b+pI&4o81t(G0><rL8MmJvGg#9{^Ha3(fpg{D<{s1WZi70v}rWg5$D62b|
zC{QAL^<%8ZjEgR1GpL&<>Jv8;c?+W9`7aR7xhv+1&k+SRi34v8l7k}q#HpMO%=U;^
zyW+%#bK=*oVD#P=@rfNE_E@6$ouwG9dX4y_EEM)(#REOCL3o4s>OprR&pZhe?m?sp
zm3V)_BJYeuSGN!f>Lr`9Q1=J(CG9+jhYU$Nj>Br|%aW5F$TQ?iy7bk~Yhq7FJM&aq
zCm5V&%u6A#tBSD?CK3r}nJtB2B(*c!nY%;_4l<2PPr-mu)5woaqo#2heeW|(Eu&!O
z!5q3?1k7cA@xfjq-9F~n(=CuRiTSk>vr!#qE`HXJ^>3JqxBh||xb-lD3y;BY4whR0
z%@Z!Ls=AHPu#HXO12IGcoA(rEvLJ>n=H7u>2H6b(t<XG`-EgE0!?gpyCXxrS_H|W=
zuVFVw@o;`GTlZ5CQ8Z7ZulqC#i>GnnPuQlA7R*3%o^9F%SGXjyEiZ0^61Ui+?_VW~
z7-iobhvwp4?0bHf;i_|N{{RU2>)B7Y_P_+K)0lXhy*Cbm5u8-)mkoCvmh!j5p`cl6
z98QITe~>QeI879{N}4Z%_5lOZ=FtfvKZEpM#>Wo0OeNC=L#m)4S?ipwI9Z$QXz8bD
zoFluv{1Buw$-ce?MI<L>WAQ^oUZ2ZTg1c}Hj?2>|AgZpHn?}Y!Fh~B%rdP3FEI-hW
zI<q&*-@f6G-=PYbYAwvONa5ck$2AF5EV@&S_!ku`mpQIO`cOsAR!Ej~SdqUP63_Kg
z6m{dC1(9MW!CiDfaiu>UZhBTR;AX`G)Xpsm!Q&+5xuOqyaZ-V+9md<@8xKstHF%b*
z8&c!<0j_=mqYXU4HJ)k)p%JdBZzV=_ncLrsQA@_TBaWBqAz43n(!hdQHTP~Y5?O}p
z;(YLooaMT-Mi6?7yZK`q8cn!}j#nc-)5ZVHIe6l>OX{C$iDpS$)(ql7@XvAC_z?r*
zg)TMEXpleV()|TSqmOhs|3fII8C7b|fI!%Q(ys&Sfj5<oumn3y(yL5O!HkW=%Cwj@
zM6nafWyw$?u2Gq@7X^LSD@)QRiRCIA?&YFDo3djM?wOBW*>e!e8RjW}+Yb!?owC0h
z1eu*GX=?x;0Do14_wPX@RuwxAqMi+^BT?A*8&RF81ja6RsJe7-z`ZL}UCBT_r@CN-
z7dWHpN*=DIW-agjW-Hb&^K-UCfmz@1y3rIU^=CfjDqf<99)8&lC^$Qc-<Z4@CT98C
zeYogBpYX2@CBYkk{Lfp^DEd+U^xxnKuVehBBs|?78nygOJdv`TZnb6+?sfFATKm}q
zUYs}7k6%Z@NUJ)-2A9j9SC<ywfK*G=yZg4m3+vTCGnGQI2kPIH-G^ek)dM&8<368P
zUrl|BD1OWgBYobPEbHOjITF(6<>zjm`#=QW!7%t!I@fFcoL!!eIs>$B{#?!7)ou+`
zTSLNk5q!GIR3sGG1dFMl!X`Kct$Sy!)*$s#I<l(&n60vZ`Cty|z6)p9S<3~Tv&>7=
zdB-b9<PfJ3`p)<o$x0UdwvnC6$V3UGr%3z>R57(?dAL?W1yoMOWTsLILxzdgVLuLW
zkra*0DvC!|;y+ZM>|{i=`C+~J_Nmm#Cf_eu2pTqgtyrHd8cl|8i#jWPlb%GCh^adN
zsl)%!fD)Y(KDz&Ri!`51$G<$q<mo2oFynOJj!<OdgsG3wY7uPqGE;&+QZH24>=yi2
zQczxOE)BDo*4g5O$mp`Fczxo-a6vFy%-@f54J)+TY}S%EA=)q%>OAWk8expEnEy@E
zKjqBxjrp&0T6|KpGy51Ltd{AXog==U?w-;WRlA;>;c{+eskyYmR$#FR&aa|8I+LQ~
wUFXkQ+gJBX%7vLy$vo-y89vvhTFZ+~HX+v>mTDH#O}0vF`O`4|sl^$82ZSevfB*mh

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d9377054a..0870ff702 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -308,13 +308,8 @@
     </message>
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>至少需要 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation> 个字符！</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>至少需要 %1 个字符！</translation>
     </message>
 </context>
 <context>
@@ -479,8 +474,8 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>网络名称：&quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>网络名称：&quot;%1&quot;</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="97"/>
@@ -545,52 +540,50 @@ location set</source>
         <translation>将您的设备与comma账号配对</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;在手机上访问 https://connect.comma.ai&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;点击“添加新设备”，扫描右侧二维码&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>在手机上访问 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>点击“添加新设备”，扫描右侧二维码</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
         <source>Upgrade Now</source>
         <translation>现在升级</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
         <source>Become a comma prime member at connect.comma.ai</source>
         <translation>打开connect.comma.ai以注册comma prime会员</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
         <source>PRIME FEATURES:</source>
         <translation>comma prime特权：</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Remote access</source>
         <translation>远程访问</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>1 year of storage</source>
         <translation>1年数据存储</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Developer perks</source>
         <translation>开发者福利</translation>
     </message>
@@ -598,22 +591,22 @@ location set</source>
 <context>
     <name>PrimeUserWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
         <source>✓ SUBSCRIBED</source>
         <translation>✓ 已订阅</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
         <source>CONNECT.COMMA.AI</source>
         <translation>CONNECT.COMMA.AI</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
         <source>COMMA POINTS</source>
         <translation>COMMA POINTS点数</translation>
     </message>
@@ -855,17 +848,17 @@ location set</source>
 <context>
     <name>SetupWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
         <source>Finish Setup</source>
         <translation>完成设置</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
         <source>Pair device</source>
         <translation>配对设备</translation>
     </message>
@@ -1021,13 +1014,13 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>卸载 </translation>
+        <source>UNINSTALL</source>
+        <translation>卸载</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>卸载</translation>
+        <source>Uninstall %1</source>
+        <translation>卸载 %1</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="254"/>
@@ -1272,8 +1265,8 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>忘记WiFi网络&quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>忘记WiFi网络 &quot;%1&quot;?</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index 0d448f2080322661cb712bd3c06b4049fabbf935..029332de238d74b5cf8c40073a31d27ea6f0bf4f 100644
GIT binary patch
delta 2149
zcmZ`(eNa^Q6}@lwz1@9p-|hol5Y`3u0}RLlqJ#o2GC+iYDK3={Ctxe;x}tn2ELE#<
zON}LnQFNsmgG3_)O=1%vV&X@l2Bl(=IGWTBLuw5wX0#gZBoxK;;Lg~;%FNDT-tXSu
zJ@?%6yM2w!ku6N4&K*u9D<|?5fMY~2oFtMvf!_jG1D^nQ5rylCSe$F_6LB#_5i@`@
zfxib9A?7z;47p3Bcu3?ENu&${z5+}HqK5J`^5+tXJw(Q*L{qL3z3THZii`&i0uksN
zM>P9&qNqni*>9jQey_{}UL?wm#U&t+yNt;12yhb!=!nYpBcCU##-%=6iCj4Me_{K*
zV7DoZ*t)lgY)6URJw(K4iS0&(@OEPRJ_SA?wx1<3loPkvNHjHwxWny4>H<=9K?3y#
zQX1!@+88M#L08>M(<Gp<f-*0xL;MhB4j(0oy+SYZi@?5wvg4a*{4aZT8o4QaG0i!c
zPZVIFxn&;o-$V9)f{5Q{`qgXyCYo-cJlU5-S{>yrszp1!RM6f^#M@|o)=tEIL$4lO
zPn7IO3(j0X!7^GihCEF;?eD#W?<3UV`ZcudrS6H))(}rOH`n02n(<Gxx`|BxU;<h~
zi9#LBi(4_!=qe`nd<2oXmf7<)zQ^xnF6FT(WM;0(4iM>2GIwUY4#I6R!FdiBTV-K4
zZxF>ymt_bp=$a!d_Cd$dfwH|<p}GEv>_C}BG%HtjY>OFjdt{$yVFr>#b|p6-1txoB
zgBReC$UCy@`}~LkwQ@Fk64AsFdC*-B=XSZdAqAbiDX+;zfw&%d^O;5zx-9=di%ud6
z<sDsiT<DP>??8UkN1i@eh`X9y*xre#-?61xP+RI}*WQ>#6g-<<zX<dco7g%Q7K)2w
zcV~@zI@*icHZSTHc`;}`+uS+=c5B&phn4`3upjm}!JmHYCo5XfmX-ZX#C$X@?8RFH
z_+HIk{Qh4=Zr?igM#?Af<2p`=#{g!&$7vc?LC;JsT^k14?{f1OVn8#Fb57xNIH#9e
z9@+-oTDaxo4&xobpNLd?Ztc=Fh=0Vbi_>CWSzN=PK!o4sMZ<P42A%U_@^Y>@vK7wK
z?ckcX!5L~R*ZRjzP@<hXI|jXF4cx#W2pIQs-))3r%oZ=&2Ds5N5V964WTregXQx7Y
zKbk1$p2Bt~1B%^Jq~&1Heuaw6j#ESl6BI=Z^fnhM4vaj7vL7l&=Y9=C>{6N|n&7Ok
zE@hj3BRcw7`BBApC~Q~$^gR@icPSswybWj6snR35@x~HV+4AccQGv>F?=h@yQ@vTU
z2j{-3cRoP=#6;E6n-&=38(yiw8kyYBTbfmPQ*ZI1<!2Dz&!;|g0+;dmbB3V!G`?V?
z8&b_W$QKnuT1z9p<a`<kZRWQUoJH^OR|j&4Ui9GyeJin-P6(-yG3Zb)EcvPr9q$wB
z?_lK^P5_gU&k7B<Vd0<<Vdqnf)Dk1?K6wDdI)&zI`EX{c(9(wy%O4Ae-`EM|dW7Td
zX&e}i3TK^2<R%E+LNK<=DWTinhPRd^3@>&;vJGmcYXcH&YRl<!Fylsb#<%s@5@*y4
zZeST0zf!Nd!h-lib?t9;$p4S}{9TMF^fUEeehKAtXGPs<5Qt0>O&$1dStv#&uZ1^G
ziSCT_%S1_s#O#CxM89Yi=cGZ21iM(!gbNMBVtLLuF{ij|v=A3aV#jv8F#{uB*azjJ
z{viH!0B8*t2hM{ayF;UB3q`?unwX%!fk?6@aSTKQ=V=bd;XK5tIkp-Y|D&ec{2oj@
z+pXzN!#|-rG`+Sa?8B*=tMl<3brD*>Lv84&NUN`d0uzpD%_HepbBnbJ*R3c#SvzM7
zB%Cm!U6nQ)d5^U9Z{u-KS*(4(6$Pg6)t>qhp3vJR)dQ?UWtXH&#q*s}Df!=eN;FN7
z0t)hoCgs#iFAw3O=pJdV3ochxNfpkUaO-8M@!BSMV43umqXJU>Abqj&36#o_dTyIQ
zAX^$7Zh`b^()El#6D4+*!btZ!laz<Fo(EF`Us7jPtgLapR9aG2>15=%C}0=W*VaBN
z_9Y{QQ7jql>Y~Ej^q(166rRG*kmGPHF_yTDWsZ_+moY5XGva6JT<0IB2oYafiZt`H
zMDz0m)zZo;qd6?r?1?q#I{$9SU=);BtR$o7ez3_i)fgi@4^8*HZ%Ut}L>19qQd(77
z;j~w-tXcVtS(2wbB<X*l37&LQ!v6`id9DQ8JR1Ue#_Ab1T07<D6FQSHZ_PH|+tu@W
zVtz$wMYXG>tZclG)VP4oAL1|hFlNu`Oug0H2BkcY)@M{!IUO!zVQExGsWHdlT3uPS
N;#p@Yp3%&C{{>l+97q5F

delta 2681
zcmcIl3s98T89lrE|GVtJyZ?$V+ZJ{Cc_{dR1p@|QL4|^XElTj!phgJ`Zd@M18emX2
zj8S9oy&B&d6>4l^oq)kKiPkF7V1h9dlGveGix1SA+GwX*t+od+iD{?pv@?a-IqbdP
z<J|L|dwFxEs&%but;MSV>LS2DjQ9W;atqKD0z)mt3gQUjCgLPO;J)c5AliXpE@C3F
ziI~fnXL>Ot1kkcZpEN)>kXS$*MO;oi#{7wZ@e~jm3k+@pp6+uR2=5NOLu8<T7LfKL
z5FH9+zQo2yfgk0tkqXF;VG$C@o(lvVCobiBCg9%9e8!hQB)$fCxNnVL_odAnnhRn1
zHX!*jgw2-#l?<Vot%r6%XnmX6gCTq@0JgmlU#1kpb08kr2N<S8+jO3|7&>J-tI5y}
zBV9usqRm8U9>%p)1CfCkcl9kGR)g{SJhHDw=E#lc{>iLJffqx!V4~Z{bDzSb-;qGT
zHaxZHPfW<cWc3L^wqSBz4I2Yf_tgP<2c~CiU|biTer+KzIt?>_)x!NfD9Wd{0rOG$
zfcd5f>^^-47!!d8&n(UjXzoXCZEjqCc>(v!Rn}3%y+Bxi>iavxDE2m0+-eRqdXFmm
zB%{L)tG0f|_4roRnaKhRJ5=Y?dw~JBRM(z(5eRHoONH+P5qauCmpg%&JaxL{p%Txi
zXY}ETqchYy+VsG{5$eM$Ni62H`e?>#z?`K1G@Eq?wx~N=(&&t+AoYb;1AzWN)Cf`E
z11x<t18;~7Sf&Z79nF)S&@9Mi;gNSVughdUY?Y>=iEc9=(7e;YJo|5b9qJ(ODq;4%
zMz*gNTp3i?d`+n8Oa_!{VPPKWXqO7hh1;x>FKo_ukA95mMY+8fEem@ws6p6Xcb9`Z
zDD1hEPwW!j_;@1_GC?>rua0`o5Po6gTueKK53jUyeZTPG^*;b!|J_38=tJ~hwJ43G
z;7Om0rrP<`uR=_f2a)zUar$fyB<{LcC>^C!PK(cl)l;W4;&a`O(mRRtxL=@HRZz)e
z4-u<lWnKiYSo;cz=-2e3?Nl!Y-S5TGTgC0e>gXiP8{+mgbcA8JShs8`m3Uh`c<KW6
zc|kn>fP$-Q#S_7w&{6ebdj|=Hd?8+3(!xRiq!&jU#Cs1&FlxP49Xy%NYSzj(qo`o0
z)^RPJ3SQBUYd8WVq-b+h)IDsScJJMX-0#%hoA?=>6w#^+8A7STZ|Ld+mvG{C-NE9E
zY&=PK^Qk?Qu10s~Iu+40>Fy_X(Md=AQinA2t`+-bYDm;v>gW9OJ_$PfRxQ}d{c(P~
zUT2+tIeu?l4&`^FUT5MnViWbD+x>tiTJ&RY6*7LVe#!*zB}yNypSpySjrmBQJA)Dr
zI;qb;nL<Lx^s7N<VVAzGJqvhpjK0IagzwS2(%4~ko-9zxKidifeJ-uI#;3;i6)}nV
z2~usBnd?)e4G%fmK~8D&dwWT!RoZ@T3P)5S?QG?!HTR_h-j_B|vOCf{(IPMJQ0aIf
z6UDw#vt;9|aztvjI(WxQrK`_+DA^%{s%bIf-G<O(@6(ixhV=6*_&T&3W_I#12-O<q
ze=1PX2t&>D7UuuOaPkI6Gx(<AgCA2d%WsU9V<Zr{z!==X^+B%~y^%>(G|3TTdMan^
z__Z-JekL%g%{U>2N+i5soVt+(gKWm4tZrh3#!dI8u|S%!VIA+7?MY+Ht5nY3VEm|^
z7&Xh-ev$-*^(Jk77%#uhWFPnii6oguJs{EkD@+GsxgWg4bhv^zYOvST9P(4TH_g<X
zLLB^o>9m7hkcOJtrt?}_QssdC^&G`IIdC}@==+HrayOMq`Q-QueB12V@`ROCuwP$!
zeo7kiZp$mS@sdYuk#}^Bp*KYNXLW28+bSRVGd(e2nS5r<S(?1l?Dt1LkGiQ%X3JRK
z>$qKJ>y?MVhy?TaODq_D$2`$Pm;05OiwiGPDxG=lxux{NT=N!ZF%|pD{L9k6QnAJ6
zj;lL)D=N(w(ti#lUUUIt`!%NM_R9ehlu3r%Y1yfNQ_*)c3_nKScx$lFBmKZ9Sp7q#
zO;}M=b9;tAly4&BET=PHnd4F1&N<~CWxX|^(PfR*251)*KtaeiabiJ9nbP>~fLxVV
zoe%bU?AL)3xcS|KDwM*BB!nY|9|h$-YwkyDMVNy!6vBmKL^8vP0`4a;E(USTtVANS
zlK-K4cP9s<U61O;RrREHH~DVCJks#+w}k86MdJ|tZBgH|L5^9hWACZ-pL+anEza5!
zX8(U%%+UFEDq+54Ta@=-HtIfO_dFgu<JVJEc_gLh$5G-|JXNL6r0|$<rQB2H=3hl~
z$_ib@k#1*!CqapcE3HfnPkt1xC=R#lyK#LY^GZCPlA;79F1jbww?AmO-C=jT{!P+9
z<yeB^|LdIRZK>AB`#9_+?%tlhWX0O}`=EMDe{D|X8vSD~m!=fEipxE7+-{}u&Dbk_
z5(A4x{=ZT%jkbzJdbhb2HLSYHm2WL?O)n`cbb6F&uE=zklI8SNl$6a=LVV}ba{dnW
C?SW|k

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index efd893ec4..0620382a6 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -308,13 +308,8 @@
     </message>
     <message>
         <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>需要至少 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation> 個字元！</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>需要至少 %1 個字元！</translation>
     </message>
 </context>
 <context>
@@ -481,8 +476,8 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>給 &quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="97"/>
@@ -547,52 +542,50 @@ location set</source>
         <translation>將設備與您的 comma 帳號配對</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;用手機連至 https://connect.comma.ai&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;點選 &quot;add new device&quot; 後掃描右邊的二維碼&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>用手機連至 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>點選 &quot;add new device&quot; 後掃描右邊的二維碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
         <source>Upgrade Now</source>
         <translation>馬上升級</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
         <source>Become a comma prime member at connect.comma.ai</source>
         <translation>成為 connect.comma.ai 的高級會員</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
         <source>PRIME FEATURES:</source>
         <translation>高級會員特點：</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Remote access</source>
         <translation>遠程訪問</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>1 year of storage</source>
         <translation>一年的雲端行車記錄</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Developer perks</source>
         <translation>開發者福利</translation>
     </message>
@@ -600,22 +593,22 @@ location set</source>
 <context>
     <name>PrimeUserWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
         <source>✓ SUBSCRIBED</source>
         <translation>✓ 已訂閱</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
         <source>comma prime</source>
         <translation>comma 高級會員</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
         <source>CONNECT.COMMA.AI</source>
         <translation>CONNECT.COMMA.AI</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
         <source>COMMA POINTS</source>
         <translation>COMMA 積分</translation>
     </message>
@@ -860,17 +853,17 @@ location set</source>
 <context>
     <name>SetupWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
         <source>Finish Setup</source>
         <translation>完成設置</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
         <source>Pair device</source>
         <translation>配對設備</translation>
     </message>
@@ -1026,13 +1019,13 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>卸載 </translation>
+        <source>UNINSTALL</source>
+        <translation>卸載</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>卸載</translation>
+        <source>Uninstall %1</source>
+        <translation>卸載 %1</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="254"/>
@@ -1277,8 +1270,8 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>清除 Wi-Fi 網路 &quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index d872be0d8..f06d54b2d 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
 
 
-def update_translations(release=False, translations_dir=TRANSLATIONS_DIR):
+def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR):
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
@@ -20,7 +20,10 @@ def update_translations(release=False, translations_dir=TRANSLATIONS_DIR):
       continue
 
     tr_file = os.path.join(translations_dir, f"{file}.ts")
-    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
+    if vanish:
+      args += " -no-obsolete"
+    ret = os.system(args)
     assert ret == 0
 
     if release:
@@ -32,6 +35,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
+  parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
   args = parser.parse_args()
 
-  update_translations(args.release)
+  update_translations(args.release, args.vanish)

From 97d7ee369b9b8193fe1580fbaa00e65a26235432 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 12 Jul 2022 23:11:55 -0700
Subject: [PATCH 227/435] Chrysler: send LKAS control bit while above
 minSteerSpeed (#25150)

* Chrysler: send LKAS control bit while above minSteerSpeed

* update refs

* rework that a bit

* little more

* update refs
---
 selfdrive/car/chrysler/carcontroller.py  | 11 ++++++-----
 selfdrive/car/chrysler/chryslercan.py    |  4 ++--
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 8156e7841..00893b6bc 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -14,7 +14,7 @@ class CarController:
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
-    self.lkas_active_prev = False
+    self.lkas_control_bit_prev = False
     self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
@@ -24,7 +24,8 @@ class CarController:
     can_sends = []
 
     # EPS faults if LKAS re-enables too quickly
-    lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_active = CC.latActive and self.lkas_control_bit_prev
 
     # *** control msgs ***
 
@@ -59,12 +60,12 @@ class CarController:
       self.apply_steer_last = apply_steer
 
       idx = self.frame // 2
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx))
 
     self.frame += 1
-    if not lkas_active and self.lkas_active_prev:
+    if not lkas_control_bit and self.lkas_control_bit_prev:
       self.last_lkas_falling_edge = self.frame
-    self.lkas_active_prev = lkas_active
+    self.lkas_control_bit_prev = lkas_control_bit
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 632c0d2bc..1e26a6d27 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -52,12 +52,12 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame):
   # LKAS_COMMAND Lane-keeping signal to turn the wheel
   enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
     "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": enabled_val if lat_active else 0,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e77a38de5..c99a1653f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-5efbbdf69e16db3d989bfaf62d10e958e80b9ca2
\ No newline at end of file
+7fbe776f271ed2d45abe989736133a5cfa0ec826
\ No newline at end of file

From e710ba549a3e0b1aba50ba8d4ed47e695a02c538 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 00:20:35 -0700
Subject: [PATCH 228/435] Car docs diff bot: skip PRs from forks (#25151)

* check permissions explicitly

* fix syntax

* Fix

* Diff

* fix

* revert
---
 .github/workflows/selfdrive_tests.yaml | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 298ea5fb4..fc151cc2e 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -10,7 +10,6 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-  HAS_AZURE_TOKEN: $AZURE_TOKEN != ''
 
   DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
   BUILD: |
@@ -366,7 +365,7 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.HAS_AZURE_TOKEN }}
+      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
@@ -551,22 +550,22 @@ jobs:
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
-        if: env.HAS_AZURE_TOKEN
-        uses: peter-evans/find-comment@v1
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
         id: fc
         with:
           issue-number: ${{ github.event.pull_request.number }}
           body-includes: This PR makes changes to
       - name: Update comment
-        if: steps.save_diff.outputs.diff != '' && env.HAS_AZURE_TOKEN
-        uses: peter-evans/create-or-update-comment@v1
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
           body: "${{ steps.save_diff.outputs.diff }}"
           edit-mode: replace
       - name: Delete comment
-        if: steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.HAS_AZURE_TOKEN
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
         uses: actions/github-script@v6
         with:
           script: |

From a7b778c324bf4eaba7f5db32ec60f88212e2c6fe Mon Sep 17 00:00:00 2001
From: Jafar Al-Gharaibeh <to.jafar@gmail.com>
Date: Wed, 13 Jul 2022 01:31:52 -0600
Subject: [PATCH 229/435] Mazda: Support CX-9 2022 (#25147)

* Mazda: Support CX-9 2022

dongle-id: 8c6e0e30decb68f7

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

* update years

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                  | 2 +-
 selfdrive/car/mazda/values.py | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e24672e9b..754052085 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -198,7 +198,7 @@ How We Rate The Cars
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 12e9eafc4..e1d690799 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
   CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
@@ -267,6 +267,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -279,9 +280,11 @@ FW_VERSIONS = {
       b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   }
 }

From 3a8f17111c3439cb22eb627aec805898d9d9a41a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 01:10:56 -0700
Subject: [PATCH 230/435] Log VIN response address (#25148)

* log vin rx addr

* clean up
---
 selfdrive/car/car_helpers.py          |  8 ++++----
 selfdrive/car/fw_versions.py          |  6 +++---
 selfdrive/car/isotp_parallel_query.py |  2 +-
 selfdrive/car/vin.py                  | 10 +++++-----
 selfdrive/debug/disable_ecu.py        |  2 +-
 5 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index b6bdece67..1a9a5f50f 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -93,17 +93,17 @@ def fingerprint(logcan, sendcan):
 
     if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
       cloudlog.warning("Using cached CarParams")
-      vin = cached_params.carVin
+      vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      _, vin = get_vin(logcan, sendcan, bus)
+      _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
       ecu_rx_addrs = get_present_ecus(logcan, sendcan)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin = VIN_UNKNOWN
+    vin, vin_rx_addr = VIN_UNKNOWN, 0
     exact_fw_match, fw_candidates, car_fw = True, set(), []
 
   if len(vin) != 17:
@@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index a8f5357f0..5a33cdf6b 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -444,7 +444,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(timeout).items()})
+            fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()})
         except Exception:
           cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
@@ -497,8 +497,8 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f"VIN: {vin}")
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 0e807512c..bb96572c3 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -126,7 +126,7 @@ class IsoTpParallelQuery:
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
-            results[tx_addr] = dat[len(expected_response):]
+            results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
           error_code = dat[2] if len(dat) > 2 else -1
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index fd1ca61e6..007c10e77 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -22,18 +22,18 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
     for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
       try:
         query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
-        for addr, vin in query.get_data(timeout).items():
+        for (addr, rx_addr), vin in query.get_data(timeout).items():
 
           # Honda Bosch response starts with a length, trim to correct length
           if vin.startswith(b'\x11'):
             vin = vin[1:18]
 
-          return addr[0], vin.decode()
+          return addr[0], rx_addr, vin.decode()
         print(f"vin query retry ({i+1}) ...")
       except Exception:
         cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")
 
-  return 0, VIN_UNKNOWN
+  return 0, 0, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -41,5 +41,5 @@ if __name__ == "__main__":
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
   time.sleep(1)
-  addr, vin = get_vin(logcan, sendcan, 1, debug=False)
-  print(hex(addr), vin)
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
index af007207e..c01c22fdd 100644
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@@ -16,7 +16,7 @@ def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=Fals
     try:
       # enter extended diagnostic session
       query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-      for addr, dat in query.get_data(timeout).items(): # pylint: disable=unused-variable
+      for _, _ in query.get_data(timeout).items(): # pylint: disable=unused-variable
         print("ecu communication control disable tx/rx ...")
         # communication control disable tx and rx
         query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)

From 0edd8201cb8d8f21f361d0be581b02bc43c1b80e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 13 Jul 2022 15:12:49 +0200
Subject: [PATCH 231/435] README.md: update directory structure

---
 README.md | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 34b17625f..3dce9d447 100755
--- a/README.md
+++ b/README.md
@@ -105,23 +105,25 @@ Directory Structure
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
     └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
         └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
         ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
         ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Deamon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU interface code
+        ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation
+        ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 

From a006cd168ea5a2fec2f03b29460a3a685538b9cf Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 13 Jul 2022 17:55:05 +0200
Subject: [PATCH 232/435] run pre-commit in release CI (#25158)

* run pre-commit in release

* add pylintrc and init files

* build first

* add mypy ini

* limit amount of debug scripts shipped in release

* add python version?

* add more missing __init__.py

* excluded rednose for cppcheck

* remove files before dirty check
---
 .github/workflows/selfdrive_tests.yaml |  7 +++++++
 .pre-commit-config.yaml                |  2 +-
 release/files_common                   | 16 +++++++++++++++-
 3 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fc151cc2e..fbc0d9419 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -58,6 +58,9 @@ jobs:
       run: |
         TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp .pylintrc $STRIPPED_DIR
+        cp mypy.ini $STRIPPED_DIR
     - name: Build Docker image
       run: |
           eval "$BUILD"
@@ -66,6 +69,10 @@ jobs:
       run: |
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          pre-commit run --all && \
+                          rm .pre-commit-config.yaml && \
+                          rm .pylintrc && \
+                          rm mypy.ini && \
                           release/check-dirty.sh && \
                           python -m unittest discover selfdrive/car"
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b901e0772..8b8bc1f1b 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -54,7 +54,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++
diff --git a/release/files_common b/release/files_common
index fb9117056..954726d96 100644
--- a/release/files_common
+++ b/release/files_common
@@ -57,6 +57,7 @@ common/api/__init__.py
 
 release/*
 
+tools/__init__.py
 tools/lib/*
 tools/joystick/*
 tools/replay/*.cc
@@ -128,7 +129,15 @@ system/clocksd/.gitignore
 system/clocksd/SConscript
 system/clocksd/clocksd.cc
 
-selfdrive/debug/*.py
+selfdrive/debug/can_printer.py
+selfdrive/debug/check_freq.py
+selfdrive/debug/dump.py
+selfdrive/debug/filter_log_message.py
+selfdrive/debug/get_fingerprint.py
+selfdrive/debug/uiview.py
+
+selfdrive/debug/hyundai_enable_radar_points.py
+selfdrive/debug/vw_mqb_config.py
 
 common/SConscript
 common/version.h
@@ -187,6 +196,9 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
 selfdrive/hardware
+
+system/__init__.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -220,6 +232,7 @@ selfdrive/locationd/laikad_helpers.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
 selfdrive/locationd/models/gnss_kf.py
@@ -330,6 +343,7 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py
 
+selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc

From 49dd56fc241d5ea3e0ab37e10175ad545ef4d528 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 13 Jul 2022 17:58:45 +0200
Subject: [PATCH 233/435] nav: draw inactive lanes with 50% opacity (#25157)

* nav: draw inactive lanes with 50% opacity

* update ts
---
 .../navigation/direction_turn_left_inactive.png  | Bin 0 -> 7221 bytes
 .../navigation/direction_turn_right_inactive.png | Bin 0 -> 7239 bytes
 .../direction_turn_straight_inactive.png         | Bin 0 -> 5452 bytes
 selfdrive/ui/qt/maps/map.cc                      |   4 ++++
 selfdrive/ui/translations/main_ko.ts             |  10 +++++-----
 selfdrive/ui/translations/main_zh-CHS.ts         |  10 +++++-----
 selfdrive/ui/translations/main_zh-CHT.ts         |  10 +++++-----
 7 files changed, 19 insertions(+), 15 deletions(-)
 create mode 100644 selfdrive/assets/navigation/direction_turn_left_inactive.png
 create mode 100644 selfdrive/assets/navigation/direction_turn_right_inactive.png
 create mode 100644 selfdrive/assets/navigation/direction_turn_straight_inactive.png

diff --git a/selfdrive/assets/navigation/direction_turn_left_inactive.png b/selfdrive/assets/navigation/direction_turn_left_inactive.png
new file mode 100644
index 0000000000000000000000000000000000000000..2946984acd3252f257898cec9f6cda866811adc3
GIT binary patch
literal 7221
zcmZu#2Q*yYw?;&XUZVFtIuVS{5R5)V7(~?QC3*>>MHzjR=w%SmMXw2h=)H^H%jhHO
z^Lu6e|LeVX&pqd^`>kE>{qEjppK~L%HI)gT(L6&#LnBaCQG`5R`~K-TSdU}5K}9wi
z8qqsnJp*@$nHQ7G2WM+r2P-Cb9~UboD{otCG&Jw|wlB7cw339O4`<|Vm`+T6>n<^A
zw1X$xPYT~IU7k^BMd|;3O&%SFDNI(o@Nk24eOOIqS58&3w=ML3+q6j`Y5Fa&b^Z=t
zW_jc$U0|lO_w49GVMA{%jp1SPo^BZ^;4JH%_1<3!xpxLG8;R`P??xpb3}1e1GiBRe
zU-$1DiJTAc2bAyK6vl2Vo&k^fH~*$CGa%a!mXEq{*}-a!I#I60@waznanIRqqD$QL
zWI*OR{?_ekcCnyVP!}r`BLi}C=k5mWBhKl77z%h@xh(Tk_Hz60IUr?|nzh~Ehq<r#
zZ1+O+<Su4nKWeQPuP)q~ar>{=@VD)Q-iZt22pb>kNdiyrFX5j;;)`#-cN+aAYv2DU
z_GijV_LKkLU2G&ZG$Qwdai3WjgXSzsyvs5Yc=VOdB2#F|?WL`QYZ10)Ygc4C6k38Y
z4O=Me-o0v0aX~H|-C2KK^m!WI^TTqr^C7F@X6%=#Pm5bo7}wP`4bSv*zDmPz=Jz=;
zjChyq#@__T12?!GfvK_xZk&Dsw@vgG#yCKDXu~3ya=Tl6^@=NR#a)_{NpaE0KwX7t
zMNNeid`wdiE=R|M=AqA^8~X$^SjCuEcnc18r?Ic~JEJA=a)2A;XN6~=DM0e-xp6#x
z^v4_Iaqs{q*;OeLSh%NDliospD}ez}*hVwQ5I0n>&TitZ?$B$y5~#gnUBfIX9ap)C
zV_n^}pL-Uq$JQPUnMv)6NcapBcAp%3m4g@=)V2O1vG4G`vT;0^L*KA@&#n}?BC1|}
zmSR$W)Vy%?*;sOSgSD7W`l5EiRL3v>dgz8y8&7L;O{u?Um&Y#C<C}mkW&xSdpd9ZO
z+L|3s{OFkA*~<+&0$|r*gNlxdWrF!^<8yo=ra?(X;Og@hv5kOdVw@MnF3}I6nJ;$k
zu|5#)wEsH9n@rhVY>klqHfp{{Hr0D!(h^;l@%2Jh`u>KD{-QX=!+-Dcprwr2S0P-f
z@QA%4S%j25z&vfEoBD12jGz~x@gEBt$@VzvL_73DojBR?5A*C;z>-kt`p&|qni;cx
z@4bTuYuKxqbya~KyUce$GE1tMb3>yqFOV;aYRpfkO9$)iWg>jiX5$k*rKO*f9vv_k
z%`DZ{a&72*(*gI#GJbw(l-{j;y=&-2CGmunP~G5_u`maW`gc#l{ya@_p{;&EHR$VN
zwG&eGQz1hd*Kd}GF1Zyj{X)`w1S5QYV23Y<K))sJea0?q>{8w2_kie~@#Op`Y(?Gq
zU8?kAVSv2^z1c*)k&Q4Dz5&ax`jGUi$)=LqWX0{o7azv=d?WG9|A2yCcHx!|{<z>^
z($ok~=!0pG{P8RF)ZCpa25gcM9tp5rh>_Lp*#9Q?WA}c2n>HHsIk1y74MRL4B=gHD
z`rw!n2VB02<s37{AtBQ!9=a*A<DgX%V~j?@3Un`Phzw-c{#@l4I6c|y!h;u1ygBTu
zgndR;`g@NvOoM`eQ5R_CMATr(hfvgLD#v-g*-EOu|JRu3T8CSoUO}?B$>e%(Hg%lY
zb~urOi8nI-Iv|HO)T4iPtm^zuZ#>41mZ0*@bkSp$W(M|KYPEapVf!o1=gf!q^_!r-
z>B~<ZNSVS>2}^Y|O!^XHCG=d-XQ$S9leu^9DmSJ(RDs@g;Q8wnBnCU{5%EJ`wn4ZZ
zdpqjb5`B<rIpy$e`|a+@k|LfAjnpQ4S+gYJ8t)4*wh87&83&v0%@2Mh1}cp+2@BKB
z!L@L6_jnw|@>Ge<*(t16J(G*?mI$}{wCFh<8823cgxF{65!bdF2s|KC_#z9t?Ma&U
z0@ZMvM|m^wdxW_;e*|V;LFhPPjnTZG?fgI@NgLz`*VJ6Um5#anfDM9CDKarpQBcTj
zY{UcKmcl-C!<9U3kO&?ZI{$S}!c1J;i?FN$rR`CaW|ZSsVx0#Can+SvwrUbZnU9}o
z%QQYY?B*?cdB?t6<Yb+v!m*qH8JptV=ZU{Q5)Xy;QR7C@IQwaGk5XdAH1?(&jo3YL
zMoVg3Bz#jVV0@XT@1XdNFd#6OcT=k-7;SNiGgysABW#1%fkpWvX`RQgP~bV8g~r;#
z*JCo-fCnQ~0Q{A{=Zbys8yewirVdR*N3fCA7~q{TNW$(SV%?s@&pR?P*uKPxXHc~r
zHI_T;P!VdE#zAxIzbdM$AYSc+7o29J&b+3cYs8Ms_;b{-_v!w93K@xTZ1T&|sOw>#
zyyYQlQ6=stRah*`vBVb+AJ`IjS8Px8T=376x8w-R%4imq?^{H>ikkPQ6<4&g!1W1j
zWa$ODx7_RyBJbT_nU;qL!(j0?ChdrV@Q+ngT}u7@hblg?h6rUFs_#=f;woq1JX0nx
zA3qSGsyr-MRbW7|;ECS%PMU#Jo6+~7?WqY;MA$P>_G9+j@v#KbmXVsZpMLyK-DeZ0
zV+&q!#Pbu}p{mnI>(tOUnX^Hv=weWn>J)sfHu^2-(>DaR20a$}8^-zJFrvEPzvyUm
zVw#j4bIikvPw2nDK9}Gdp-M>Dm=qxYsY?JSNkDPX84WOnTcq{CK%TES=9n8|u}3y2
zqYF#FO*_!9WUX-xE@;HyudW}6qSIB2YUw~SKc|#kFRt}a#0>X;mEB2#*V)<bvqO&F
zgQ5~D5kXbjR|q%VPSrGy0S0(m7h*9s$U`9=s2Ey{4@*8#|J*ppr{gYiZbNb#St!R5
z$A<5X^GWeSV{*buiz@~eBAW8F^&+YFC8zh7YWMsWOMQcLEc=y3&x67`n%_eGG2DtT
z_FM(E?TxS(p~ByjTS(KY$zpKC^R%v7<23d4{2k8<%TYuh8{*PmB!-!K^SfzoG*?mV
zR3~h0ycSm94wC9*dnU;9iaq^AAt!#=BEb7K7_rhjjA-%08T&^6(MJ5tA`8o8#;{m1
z^IeFPkc@_BcLt>;2PIA;%V@B+xP3?U+^<pNb78Ak^Q2l`9!S7fCX*|Q_R`HA>YX&r
zj?;BY5p8rO0O4G2PZb7wbnunW1a1<HkagVr6D<e%liG5ic}a%4L9%#a{8xfM$$sXq
zs6$Ry#}vBQ2$_?^92Czfe54Kkf|Eqc{~C!En9Xe`#Vw@anuZ*5lLeA%6?6Bw$dBRe
zwosPS2YMs4$M#EH25Wk#-aYX@52w!b;6#{E(soGjS_R{|UlbV|dt*q+<i&cN8Kk|E
zCchI@Q%^AyX+5DG^;sjK6U7$d+*N6{Q=6jLiS#uvAo6`$rG?PJ5%2O@%JrbyO8gO;
zc&v4j8+K&^@)vF`lcK(4V~vOVhq*@^MiV%Trn@mS&U81esIf#Yk8=1v-SJva9LiQ0
z4W*8L7V^Us*rd5C_j*Xw>)QpJLC{lOeZGxyhcs+0Ly03RXwIh@q4x;iK8y%c2?@Dd
z`cB(#)Oc#_4q16sGQXd&)#gxT<K{B(9=8xI1=+t5V}+)MCZcuO3`nXChvUS(o!sck
z9G4V8On72q`?y8-gxJ2^PZpZOeN&F1xe@X%PUxUWW)G<0z+!7g@#TE2T+%R{ME~ls
zgrJu%Fw7N&Ide~wIHs$J@>61~&aL4b4~V2}jQIs#N^uk*5cv)IeuNmsdeK<&@Kw3^
zMH&!BG6rorzhfT*vfF%~rJiIzPH(MvXVvA~4g#vF5mk7ZfosvC;jFsnc`M;)!rW|(
zn6n5l_2n=H7!fV{jK5r^=PALPE1x5oo%_yM;-LehXa}0TckZsXU$j$qSUfCAF&x24
z(dHe#KClN^9omOGx|N)S*6LjqIP&A178W0B<+8lXpzX0AH5*)XiP2lDYF0j1U^vkR
z%#pDh#DhUIQ9x~HDyC^`naH2b8B$U-MHuNu=cjEApyqImll1LSB&WTkqpV}n4Si17
z((l<MM{B&jd|K25uKJh#AHzQi>VJo+%T+L_w_IFw*B^ij2wg?{JP90#_DlE*8tb(L
z*AHwPq27yf9>D;q9`kLou_x}hN$f>gqA#q2r|-C}^D;mu$E9%By|QQK3w50#OWUBc
zAoa9A8x}WK#I=s3ma_rqJ|fxq@!Wt{38OiQ$|*n$l9sB$Y%Kg-F)iEkxpHbD+)it`
z2g&nyaR%ke=k)_bWbr@j{E|h+{WsE&<FP5a-@ds4q)^!@<<ErE!-U>FYmPEIOFEcX
zmn^Y>4ndQH>U_On%|#a7^F>7N^2=TQqI?Fa5TYns1^KAA867q-*MoY{+77a)gO)v>
z04v{|X}ZprnpREUNcGja>IqjWepwJft_L&PWe(}Lt%R&>Z%2^N+`$iR^}?3kX)-q$
z$vwIs38}Qfpa|oqX*60%6`GZ?P&!@ZBg{eelrlLcsk3hJFMgaadDjO|)1r&2+p|AR
zME01g0|i%JtgQ|i$LMGF0KYo32iiD(lcIPXU}(5lOlB#wFL_1Yx$gJ^9~opIQrI2w
zbcsjowUx(I>p+u2uPmK?*7`Sr#d3oj`YsbcLtMrX^yQ}n8`$uXD$k&|MMgBE&EIgn
zL42BSY4?Ag+A;}dB?Y_8m=A^zcd1^@_6Vm6K`Mbixi*#@Hdl(V9jgxQyBaIf)rM(u
zNlnAQyzb^P(@WHtBkhrbqFAVvN4bb$tn4yF76O(MA>Nha<tAF&EhQ?`KP|A8YG~T}
zKgo9-Jg22mv7_s&T*?-Wa?G1mS`f=~Zl}d6?Wp_Pt5`J4uhYF~rkJwj>o?D<;~;4i
z>qi|jcO%%Z7p+sDP$z>sk*bW+dJ?du;=zdBF_&ojrHyZ^{*T{$JvK?_r}6aMEFS?W
z{#{2Sw4T3WCVQnb)4N}j-(9|(sEsK_)~pe5Dun_0>h1sfj9NqxyzBhpAcLYET1)L^
z)Iw~nDc2Ng2dq}ijCRa!+ss;M<KOLM&zf%dWHP>cpf_gR!A2F}|Ft~;Hg^O|kGAwC
zF6TX19CRq$oA0$_UPyioRF8SH5m;V)S6pzze0u-n61ji>=}zfh=kjP||6Zv3&SyzB
z_K2ujS$U-2l`*yDP%;mBne#E>PeLpem=Vu8W`ry5V`9wq%hFie5MDeP0$|#0%|ePq
z(RhoQfx^lqV?Hs@q1;c({zLn?i_bYNvvn>PSF}Q|Fe-z|UHE!GU>Zr1weY77Q>JZ6
z&;m5}pqXwxCn_21G^_tZ@FsMqD9_6C%V*I^Gxhr(&w8&wThm()meQE5d!nNUt_aOr
z)D0RMdWbCuq^$}9{m)+eafhAxF+p0TOOEcBscs<)AE76)YoB%&Z$y-Y-Sa4I=E-N}
z5^2WQPc>)~$tjh8)~&4cnos@wW%vgBjXd!!nydQ<h<gI*Ln=A6+uLO^&I`rhg+$BK
zF-xC%iDlF5Sd@e-lwtH7REfhJELg<cKPbG#26(!B;t_{tid>T#cv#F~&EMj~!c<%{
zv`!N}!8(~Na&-B_8C#QBMw&wwm+mgVrd+|p(BaD8%zHfe^^58VnR4VWb8H^^L2%J4
zDOEb%mszJ_Wxd?ne8bSf9w=%<0Dt=;*{WiKPJuMqAQ+S6nH^UF2CXa91Hy~2m0ewD
zbiX5QBL9&5v#&acTcodo@s=pS%l<h>PaDDoV<*5hGtP{u7Efe9_Uz+<_z)S>6~6JV
zV_+Tnpnu|9XZvc_TxZ(GMko7z2A8HM_)^q0fEGx6kv10^^8L96F!zCC$K=e{{&4*q
zy-)j13GK=XF%<xE**wzXC*gO4QZMabOmp~9j|0nZd;9}}Wv-^Ii1zSL%WW%8dPHzt
zR1DqF(D2Cq>F8+bnN*J;w!5l^680800lp;XBJ;&BG_+^Es*3V@-t&h`$T;KI^t~r;
zBTa7a-}h>M@uU<@KF)P8D=$jK`o(0IuL_EX*G92lFFy2e$`mLDld3aSW0BH=ekkTe
z;mO<NQcD`K)H#I@Kc1eKy^DUs7oWTcnBAKt{Q@)Hw(oomX6NQ!pxj0(k&CRDkI(Y|
z9j1c?xTiDw7ezENJzWYBH%Wob!c_SDA~Z4R<sdnZc^7dh1l$(_p1VEhptW$q#|rr#
z8XBZt#uXLIQ>gi8?-8U(hHTpc{8ZAJ{IWDTN1-`%&ttonYEw-7)0vEDX=#U;aI)bL
zhWVclZwr3m^mXHO9Y?@V;qVW>pJm63rf~WcN1=hH;J-^Inkx^l21w!|`>2}>-?jiK
z*aztpFihoEqF;JpBaZ=r{w6)525jC7`DTjQ{&TNG{!tfjF)J=>4{M^q{3%>+!<gcO
z;xg=%mUa?P3~H5E8xMhN)`Z@`;inbSp%!(Jk}6*%xqd4c`=S7O@5xhWQV_gfT&=NT
zM|wIXCFM`C(xDRHG(W5*RFcJ}@}_;{HiV)3W7q0&HsYC=DNW^jn4zhWkzYm%JJayO
z0O=79qe#Y(26V=W_bfKPhx90dA+m<lm)OhE$%&y%k6TL>@O~n|u^)^RG0`a~#a-y{
zU#Zr}%CQYk7VQ3@RXPQM?vu46AJ|G=wDlE;))1DsC>Z=Sn>UciiXF2XXe+Q9i=&)c
zLyEBm=Za#`2WR!Id;M}9?0=5#3OaT8mIUc9@VS-g2QP{w6ml3D8F^i|2fhOP2v#nu
z8sbVv@PNKqWN%BSPjOH2`4aVm>0SyAv_6t(0WO*F31^l6N2V=NKs2l07Z;_^#ly@r
z{jBS_3Vz!A^qgj)t27#(OiXOFO}nfEzRT@H<<<p655R&9*dGbzD{QUoLz%&v6by0E
ztHC6XuZ5w2l$R@`fza!Mv+7sdwDlo`g$7%92c#8z$p55;=it=)Q>$;BM?bj#=Po2E
zKh;H9V>lTy;^s3JLJnN!^2hZGm29j{3n9;++1Icw543X?4~3t;qY77UY^5^a+|%dm
zp6{dj?gaZQ&0~nkR>?edLQfZLYo#4ZY_AZ(w3)q(!_300$Q3$EtbiX%oYUj#{~~rh
zTWIT5<;;z{lao`Q)!VfocZsZbo}QOFfK6AKifWAONa8hFS31)PsA;Kw>5Of1B4&3F
z`ywf(wF!<ZU+nty{QNw7|1mv*3bYq*rT$YBY43^b%*>3eg9yzNX!oZeghwlyCw+<<
zbiW~(sS#{%KowsbNBQIGEJZx_p}n^D{Jyg@n1hL8b^y1!&#C=UJ%fjb2dTbim-Za}
z_l`F@f)Y;aO4o68bFYMvSnwDGu7FJ;eh_DHO<CRjI@^%WGdvX<&hGrGT;l`O%{Hf5
zWMfs3O}W;Dn>c-99Rj|^ijlaq*tHd9e89^Uz2t<dtI=G;%Rww$XAvH7vz6+Qw;A*Z
zQ}F0lpGssr`4WzRPYvk%Ga|-p@aGRND`SKLHz9843W*=)QFl2?I_HAYD)pcW^$~1E
z{<hyOhn_b?R<mIZH55DpWY!5rDi!W6OOz%#tww*77fMP>rkomXU_x6gsp;QA6@KsE
zzaOcE@+lD|GWTm|B31bt77i&*=$(Kk$wtqpadFX`Vk`kyk@<`&Z3B1~LQ(l%_4V~w
z$zXPsi;y!ZKw+70w%Df6A9{s|=4~Gh=5AQbz-CXH8n`4CN97X4&*`}wEtOO?WmnSm
znP{24uyx_A)yK$*n?HMEXCvvk<MKzbo-#mTfZ4#!uDis~!NI}cZ67?JtUbv!EL5;s
zM&z)JZ|#o7loJ`TJ)?Ab?Sfb+F%h|Ih)_?Nvd(!Xj}>58W~uFQ!bx00Dd8>uLC;vw
z09@F0EI$-ZU%$2(gjP^4K6oyUocp!`eB*D!ji(RWKbu{Z;hFN<)j{n70`8d$CnGcc
z61|ckmBjIxv-LMlu%<Hjbve&rYUbcYfmFwjtxkW0$Tni3{)WG>)!E*DU-Qj;CA9pl
zbHl>>GhV7>NOtYVudmY?Hr%{8cs!R)s9*X2aS?A-26%ACeGa9y;O8zJ9t+v%L*4xn
z#2=xta3WufrbD7`JZ9zvaDq$k0v>jyd@UYBC?hV4%StYh$j3*JD)VKJG2ry$<o<<o
z%WS}qwVN)$W0>m9iI5p6FZXQJMg$97vRyY_NqHs8u;VWAsnqc++?RbnTM-PTRT^`}
zfGo!E$8bdjBuULlA<d@GADIo|Z!jHCvZNs$IctBv9%IRZ!4gWG4BjkQb-98GaiH38
zN6r{N-1(6_Mv#@oU?ILU+l^yug1Wj~D3=q;1l$z(NLML;!_s4VI5jMEyy!6=K7Mr?
z;W*Hqou;irPJbqa9BcJlju9FFmwc~iFnXLYm1F7t`smX}LHEzvkw&^QY@9Ed+L5NP
z{2ic$x>)hs4Q;CM&nC_dVPQ|p>jHoSt6U&nHNDcQeV?OtH9*Jfa8JD8cXL!{sj&H-
zTn(|rNWutWg~6dAg2yUWJH73O6QR4w+3=<I0SIIgiT3o351JL*=(j>Gq3$5(EQW-S
z*`_QeDw>Yj-I)iPZb4S0<ZMV!e$(SNWo4r1w?HjTohFfh%BS!-_Dz|YJc*iW7C#35
zNOqn)wEX(K_aqG8cOE2qUW;kzF4oa@)1G<yS+>o2xqaQrwm3OCnW&~QL0wC0Sxb&L
z^`QNM`)~;*49{^;%kH>&i`7;36l1MVPyyia*8U@Zxug|!zm|->I9+?zPr?26d^{@L
zzN0Png%)IqI#_yyXUOuOFs|XUmU3D7L5J?DQgd_fPD2^;SPK8K`J(5RHRSDv6UN#~
zni1dvLeqkT^pBsjl$Mq<7E2qVq~aL5SD9zbslrE&tR6p>kF#OFR^spL4oJY902%S;
zr}8cyl`Y72q%0)mGGg5uu*p3AlLZCCQF&JHwcN|s5)WbcUU+F!na_1CemGM$v+qS3
zPpS>R14QLh_E3N3B!YYXnVg)on?EB4Y|>*Q*tnCyeuGP>ad-|6vpyuCO@Jhxl=?lY
z&2p1-X57De1CtK}!m)nP?w5_aNK~JcEyVsAd+-6ZB%mtiL`r;MPzP=MgGA-b{XDwi
z#N5D}!d3arKGICzbW>3m@Et#}bXww2x6~g)7znC(<n^KQ1GR;I5?M*gz_D1knK<u&
z$DZ5oEdgNqp+oTm?j>^Bv~tQ$8fwL+B*&o*X%RuNAN(T5V`4%>N5{dDlS9M6ASMn9
zLc_#-g#Hik-!lJ__&25hQu#OFzpVr<iJ+tJ$p6dm|MKKl^yr4@(W|<6xyStGF1)2c
zDt&0HNXT0HSLy)?F?`6+woRL^7fDPE?|&!Q_zt#vbm0LLN=;2kk>TA#9$#@KBnNbu
zR?h6pJ}$`UU(o$$sc33yVn&y@b#!nL`M8`zqM+w_#kx9_A@;E3ASz}n{r{~R(Q>sP
Zo~{oAPRia=wfrNXs-&q{q3|yFKLGp@*MI;3

literal 0
HcmV?d00001

diff --git a/selfdrive/assets/navigation/direction_turn_right_inactive.png b/selfdrive/assets/navigation/direction_turn_right_inactive.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d327766af13be26a23159e354cce5df6453f920
GIT binary patch
literal 7239
zcmaKQ1yoy2v@Y%xcMBy*a4TLQc!CEBq*!tH;)NF10)YahXt7eHMO&b>Sa2!O;$CQ=
z5Zv|h-*x|c-+ODld(N8KXTG!7e0$H{b7tlw80cw|lQ5HDVPTO&wA5htvj3k#L~vi%
znAH|wVNsNY7@PUSo(2NEeZ3rA+#LY^!QKu4haeY6EUcipkz5ZXt8{Ag-4SglUieEu
zYPX2m4*BW%RZ;6B_7n&6`sMgV7kzkDYoa<%!Z2Rn>g`y>lXH>q56%z1o=72*u74V8
z7KCjcoJbU$(QY5zUhjA<m+g(krHY7Gkn|m1R*asVWE>s#k#qd6zK3sbdCtz1x9nEX
z73Uc@M;8i^QS|hM@iK18)#VS3=`kbAy_cs~T~7Ra%a?tJ1sr#Q=eyC=Wn2pH*Tb~=
z4}$kTGSS|RIQSYb89jx4g)3?^t;#l@+2F0WZ9JFnJ(pEp#=n@a*nf1%QTPo{Y3%Ic
zkUI;*#-(_@p9HiX%}(uGAEOZFkQiK!5aYfHmff>%m>k)4d)6TJaBe9+Br^XSd3Q`w
zS~j}5SNnoaar=n*Ye=3?#vx6h#n%94PzD`oWqF2Uy?^0vy|<vLum<1ZVDw?$w)#<j
z+t<S$0rM&GK~TQVZkQ@4Z<NCiGUnHJ^fg~jUok=3&-T-C>79txs+0BYs6dVfg<;|i
zm+7#8eC?Z9r_tq>#AskBTDJfzBD8&yLur-pJrW$;wP3!Iy#1&rWaBWV=5W2mJKsC(
zwE;=U5-#P#0wEn9I&sP;{76J%ZbP{mt2}Y;utIh&1C!Rn3()}!Z5LVR-PyvC$GHV=
z4eMDqk_&1N`2em}8O4x#SGxU@rl?|&`iFQ)!!2;^uqnc00x|gqDBa|2GG6|{GH%o=
z1T*nudg*G@Z{2W3naN{w(=J)oFGs;yd}{r2;LU5e`Lh96ZMe1F2zgk*V*UKo;@Qm6
zy3qqkpSkhLF`1)s@281RJ}v~DoXYP?esV;8NO)wlE#)3=kIDa~)E>^|ww2#>Z9n*N
zGPT-A>U}uNL)rXzbaL`WZvU4M0xbX2JXC?}NP+B_IqREuX~RI2AC2B&a(Y*Y5xq7?
z%N3X3_sq|Lo9x4^J7K?0qqD+(3&698(Rqsc01NbKMjf0kM8~f9^8EIc$+uA0^=O&>
zZjYeeWUl#bPlzY)-rKC)7JGPpsMHXzBU{vQIrfvRmWg%`jHfhQX1f}4jb_#)bHpqn
z%*F9<xlhYt%N@=_K5z1|kfG`gf|0_NiKJH|?5fuzEVsTz_JVJM-4nJQtv%c;KDW4i
z_Vr9iVjj$n(VlY-t;*8)39N|soN6IC(~o>^_SbUqogolM6Xic&{)aC;qf%_B1}Kkq
z7s{63K5j}?dGz+g7tzwfs-q@vYyd>Ic2xF=HKv#HyV-lsy@?fXdj9*%lvhfq4oi1w
zp&IZ_XFgID_w&)P93Nqrp6iX7+_<Rr?ef4jA}`xPa<#yur0kh#Hm+S2n<*>$^xcU&
zdLi?TwjjP{fPkOf=@UMWnpn+9!QBa#>0&+*_(|sFW36*0D^zPYtA#|eD=*rCrtr}%
z@t1C;n#4!tjpl<fZA2q6*YiuEbl5$D2L)NvHnw_JLaI)IpHUA5FPZ1W=);Vj95e>#
z>DQZ?!@Sj^#R{Y`U&!0O*j3<7ZOE2SrxDrWtI9v}@ddjE7h3dwAw&)b?8dCRQu0hc
z5m;O>pHId-4$Sdv!X6s+BYX`FkjIDD<Rb|o&W;^sphwy*cw>0`$`oqT$qV@W<-!bA
z&+t3eG0I<nNjoB@HEDBG#1b%;=VN%mA6JkO74tqZcZ?W&3wZB}i>IFpEI(WLcV5<%
zJ4`%ns9LpSof%nz8Ss9(L*TsvZ$u5w5O^0qoi0IUEdTWV{^=t6i5xdg-JJekvzrRL
z^N=-os+;b~Pl=dC*IY15FxVe4JK|Po`-*UP9^QGK{22?I1z>qNoD^pA;W0U^X|z)I
zB#ityG3ke&)yDnowI68OAr1}5bh@fH4}R{afm$ppKuALyO{MP4S_y-bvRMg=tB_xQ
zBg>25R#xiEX>=&a5k8;X-;|iU=mCq0^P66cA|X<4nHHe!p-P+sRW5O|;l~684~ENQ
ziKmd-QF-6Os7Y)7BoNMiBM;wc<GM^(7yh8peAG2(A<My@X0E(Id(Ib?%-7cJZ(oW(
z?@{m|%Fx(PwVw2qDr^r!bW>e{OFHeRXlNz6_4OAHRm_3jrNv58&@nc#NA%mu3e_jh
z)t)P`r$>K|2Rw)w(gG?Ty-GPQIZu+1P5k?wqJ+*Li=HqZaLw9D#cD64U$D4O*maUg
z94%B`&M1warf;6--x;!?oGfe)reP#c%bHpV==iiJzL{^57r;AF@p{G}*^FPuvVhF~
zZ81su8@j4zp3Af>`vcO{09MoE*6xoj`3c1I`(4MaI*ND4a<N_<x3@%#ZWXzPDw`}e
z6zU6F<F34~J9@A+1BOZ-&@<nvNu%+_YpDGxX)Jeb4E<RXASDBl>9(@K2!6VlD+<t3
z4Z%~8W3>z^P_QrB&xe_?;BkYDg&YzBo*+0hTGD-QRq0H4P{aWKNNA&OoC>nY)5#qR
zG5TOxmz4oKMwj>|D43Q`0mXuFbnv5n-%~ro7_Uimk7p2Pt6kO!Gt*o+psVU!TDhSI
z4VDa}lP7qHUXhj9X;MqL5N9@(I2PeXtuIaaGc18HsgWP6YA3=5Rqn1IAbSigsHV$U
zLcHZBm;%{%Zw6yu3|sDKjHd}eNA4pXwPS6u%nTlPlK)6X8|~jHHc?ELbfC1^@=cx;
zz3O$Yuv_5E-l&S=LCqI%(ZKhzk#QU%mhU%0MmPQ*?x4KU_^;zXq-?QhDcP^=b3vtC
zS9#VswI5R*qQ~R(sQqB6p_ts0=AWKEO1>$8Mal!ieqMIEX<tXFIYVQIr8a_g^23C(
z`F_J1+?N8PxXr|j?p@z^c2~z2;tHnDT-O(!G1IS%ue!yIO#+S8s*SEQS$vN2DFhhH
zp7If##P{NAv6Bq+CIWwNW3fr_X`dD85t;uU^@WI1_U3WN9hMSCF>bbLxTo;z^BT9>
z*5zfcd>?k!Oz(f<gde$}D#RzX(FBh(GZ0R;`%X(8Z)U@`B08=tFGr^{j_V_^knXck
zL%!t}Dk?P*cDX;MhMN%LE(7%Ad2HIdMY5Vi?~YN>Qk>$t2qW1&C?oTxpE)kedB@~Y
zP}_{z$>w7NS-Dq~>ZE4l2!H64BQc)QjPaXRG4e53_mN2|$`+L#=UB1@+?q+06G~Pb
zDQDg8oZ)MDTQ}~^a(4TG_kz>oqg#sYy8XK5E_S(@2Fh4CjgLEC(@n}sS^IS(qTF{0
z!gUU{tvk92w7e9t<5R4pf(c6~%o25ND}T}(S<jJ`G-VG$c{9A%8TNi_P?q)EAK_%<
zMNzLj;jt7nWh#dixzvgc0_^B9)H<9L)n%VmiD-M|S4b5yXt;ctbcNLmd4HMKRcDrp
zJz!2f=^CZ}nM5l8lIzT4Sv;uOc{<A5%zIws(&3A5Tbz#6!skP?xwn6f)x05v0+hcX
zY6Q=lwtm0fry4k__6!^n#$PJ7j#E-$%3|1VPEsS$r4496ly^tt#Q6<O>Q#rxlW@x9
z9?lTRaV!(q`NX-#Xed`v4fkOShN8)$lFBTFpM-|^u)bTsmRM^ZIbbKw)%E1$;@+A{
zt1+q~loY}vTlkT_G#<pxX<Eh<C1x5c%J9I(fPgC9b`c0WK44DB3W~9G3H4tS{gho{
zV|P-${q~i>Q2F{IKdYdyheJ=O!DY~9`WS;4@$zwwKa1#m=6<aT>71_e<7ec(@A>Cq
z)qH*+e~k}7-Gi{-TXz7SZ;<oJX&qp1?wPR$q?KnW<_&no_YqZTPrg*2o6K6{NuFB!
zTer6U6IDUCbYw?INuK<3;K6Q5VW{(8m#{4wEgD}jOW%XIPmBYdn^h9HBRo2>kA;n@
zCw~r_iMF4cu6jzsn|S==7ammZ7P{o~t`lwsA<AcM=gf{?lB}Ebl1Y0l^LJ6yY7l<@
zd&+LtX1fY{L6zJ|OYm?^d9jK%r-K{0^_qcm&T5j&29!=CNvN$K-x>GoXZsa4k9zCP
z8oSE5e;3Oeq9&rDj5ryWmqhIL0V1M4nEfu5CJRX#R-XM|wC^2aNFGXgAeP7_u-hkV
zvu)3PwNuiH*3#Vs08ui@dPv6?NVO!fG-DQzb3O)JKSF(!mBKm)H-=YS>>xy^l%)tf
zB_lSBXHVf^lLl7wSUx<hGJ7AcpYF1sOe&;DVe}GcqQH_x?^W<r`5O1oVDDrx1nlC%
zt~H5L%3K>KR(fSEcidyoH1vWO=4Hb-7vhL(O`KXMT~PQSW+JI(1%jhN+s)#_@r1x}
zfwogx*9;!rq|*L_RESu7isk{w!HZ*l$NgbT4YeE!NbAeX9Q{N;P`v!yW`uc{EjT^M
z`=v+X8SKX_9+;6V*>Ro?)%nMu(-ZZhV8wBrngapQ0fT8_H98(h^JP6V8aoY{m6G(j
z$lB&(BFUB!`S7r<Ns%VNQlp=((hQS+=YA}Od(fk=510l<>!WeBBtL&q%Y7XxF_H{<
z2Wpi{^b&jeqR55)%$aeqmuH%?H)=QNc7**&q>=QjDB~;k;ZN>FZB>dB7ds#7v(C81
zUa?xipE6rbKX3ax8BYKJoo=(@iZm!Q(i*KUsLBpZj#IfG<yS!X3wUOyF}m{S-%fbj
zl}2gd2>!bcW%~3L<dS-jpLiTIN%GROF2C6!zUd}!{vf#%CE^LS+Wz^?<JPw2lz~=d
z<;b<89NjLrDoNj0q%T(`YN<@w#c);Fw>DerO!hvLdsTTh&K;+`d6rBdP_%To!}dP2
z%Uh?@Lm<3!zvfF^oPnWsNP!whLY+vGC$eG<_mlfDbxF)=!_I0r`eb_iITaw02K6lV
z`ebB$KZ8_}a%Jl#X(!wUaQ#T{n=00>;h>uqvu7xI3wige?<_t`FM=zsJt)oz{lmJn
z?rNHat{o%JHr^*H3P>Wl{plnUQyZDpHzLIMpRcA0EHQi<MI#xNgfAu8aV~Jq^$*(P
zArTl(hwB##R4NQX`};~K6@><vJ&rraB5U-EeWT24BJ90unisrx(d%GkEF3R9tZiw6
z^FuH=`TMIVgFDMxr9=8~&XI`TE{0EGI6!65WwuXVjQiMZxP_F;+MA3)TpiN!7~+0X
z+*Kvy)%VKV)Z}#Xb%xsU+iR+)%^H(U5^B+hzXW-+eq8Hs&CsLkCVnp9Ivl1htg`Z0
z(K7sDnIudpyPF+rJ}Q#vJDt$<^m>!Mmpq|)R&k=r^Xl6vWJ`84V_IFoxtNm55qu@c
zaHOqjz`m!+MRIa=hY)o!SDDmOedKITKEHo$UNpQ^zGpWUmlC{MHB$M-a*rWhzYK-A
z^H0T~`|dPxD;tO{Pw#LZsx#xV(Eq-~!orSnQB^g7sH*;ZV81`6=RHq<tktc|in2B;
zdnoiEfYPVmAYU*(QO=bv(SY+ONsU~N#U;KjGm@4;v$JVsrO)<PC(0a72nSPMWBK^|
z!u->z@3LtTJwe_JsexzgfqPiRhEH>UJtA;!^(fCE7JK`IPW2-ZXQXI3=ispTA0P;S
z`QTY9mi6A6!qDA9A=kS<LIikfYvztQQU?SFKg&J5mv~>*Bde(kX;O3j!E2he0_@*?
zgj)sohu^<}jL~Q&plk^R*oL9y8VV3rqeuCNG1YziXrWO=Suf&jU4#sM^4g(xl2wH|
z$t)6&io}(#1c${3@eC$d>Y}vzo5TNxx`o#Fb!UIw3x3J|T8?Xq@IW^@p5FFSZ=B6=
zpS;wkfJRcu?N>+7cVtFr0Ow>DTOJWj*u!B+D=)V?t|Bj%FJC;}2HCw^aLE*y>OpO=
zv~mMJtUae=UD={L`c2ED5I4;4W9)tdcqPlq3MC^5cG^1D7AhBdb*5AGog>HHx0xvU
zUHkoS6argqO*O2$f9|68ii~@N*jvlo4-1Qw=AVL%m7B+S4-)!Abkzy}5R#M0%YEm4
z!-|DPk_k}*8wbr{^7oP~elfimOAY0*bCeiqt#Y3X;1vEcE>&9n=m5^eV`B(SBuZ2f
zq7x`9B)Rc|f*P%%)e};*f>5J)#-?IUWV6qp=R`SW+)i!+4Uc@wS%KdbCl_skTwCbg
zu&h%7+D;{a7u`Pg75#NDbdL__-kSgATA9+y>QK78xlI=P^NG?HOjIWveXgJ7!29>)
zQnUI&Bp^;qgujgW?hZZL@(jHo(3?YAJ+WyZ_|lruj{UZgRfVWHvsDO!<X8_5Pcu<T
zgZ!x~Jj+IGt4__K<?{9N%kClIMOP81X~tbDBCmW)IExg_lR^<ok_VG-no=4*3QOQt
zO-m@A-fqX_4aH{mIM<|_xurJFW0<SpipF&cJ%~^>P*d^nN?u#0!>n6o<N#ni!(n!w
z<v}T|Em=&&$vi+>ARb_7^l@6rceF{0bD$XrDfm3aZc9f6bj|bI^OSoJWow-J_5%~Z
zQVon$OAz}L>9;#U4{WI#cfO8?iAJhv8`AE%gT7=&QUM)JO-)B-(Y2n2NPTFhz9Gqy
zOlI(7-m#+_#5S+C+_c4L{SIH5jkuO%bxlpa&*&l__Y8Cq0?HwyW}BK*g;v5Ug7W=%
z8>jlrEycC=k3-teV%d~tm8FVlbqEspliY)@?fZ3nM-W%@h?;<O6P_r%A;(_**kPc2
z<J9ulQJ7LyGN7}5_8^0kTkM_^gwLh*!`<Q9Ud!-w(Wj41<mBpx$&>{gX;<}|R~32)
z0iCm(vi{qwzYm2|O;hS;M2$Ui`Ypfd3p2Nf51Dha?>rV!Rv!Z!XWdWx0hCaBS=oA0
zwaN>Pl7kFMT{IP5q>X5Jy`l<)xi^R5NFjm<+!6Zc&mS0PPo?3VRn5uosW~T}tv41#
z)O;q%g=BAZcRi%uis(Z@IjSKuaVOAw2Nb?KsT;CtBi99)@V=IQxVK*-VH~04QS<!a
zADAc;@LKRN59aEVSIGIF%`os1`<1#RAHI`$GYhywz_n=(^`TEcHnWuK_cjwH5GT*i
z>*CPdHuN#BQ(90nLdgh<+1HvAn3{vTHO-Z!O}{3irl_*AG=nZG2JuW=;bC*kY%QYb
zz@Qu<Q@r)yZ*aGpMl`w<U_GWxK%5iMW;t{e_C513{)}O6WLn}YE#f|8_3Hm*{#1wt
zRF=DJ0Tg|Xq_pj`8EVj72t(V@S*vZ;EXA^Dfmef&Kwe6q_<ce@cXf5Og39uiT_;l7
zT7jOi2sBg*!K>ymx1J#(t*L;QPVqp<H{r5{lFT&|oDHb&FT_>iSeXr8%daJF-9VR`
zGa}AYzOr3=b^g~tfyA{FAViNVzOV5<UQeH{vV%6F>=WzaeM6o-JJFAN+ez8O(7Nbp
zcXf(6gMjwVDrp`UBZJ^1Ss8*FCF3%D(Pl6xld!%Quw^wbbcFFp1dj<96VN6lFMlNj
z+9-imdRQQr64y}MOgzvug|Razh$8jx8`viY$mm%}`*d$G*OVI3#NL@xve>c_bi{8K
zpLf7ayK`L0RDA4+8?+HPqZcy(nBSvONmfsDmgrxh47Xo6bL-Bk@0%&iqb>uOXJJgC
zkGmPQe)tCYbes4`-Vc0flVTS)eIx7LPC#2<Sk7c3l+q1D1Fgihum$(+r`$Vyc^LeT
zvUGCm=i8A#MtRbaqs&&{bc{6~_K^<j;|ul8T(KFFM6w$8ud4Sc$br+ig2cY&wp<D#
zUu*=0BR9N99f}{A#~x$Ft>C#dAs`L2VZER0sL%^0J`MA2rnIPE@A%}V<~(!DZ?>mD
zI&nl?*9jb*2?-1Ti88!-4jb%KNk>gzDZZPvy?_lq8$F4pj0haP34Q+jW=)17hx0f*
z?7N?6A{i2WF(GqLwn(XxS2uOrUEynw1XkS7t&5Oucz-G<xklRk%qh#%Pj<U9rbP`j
zH8n}Fdy$)>M*7Gvc;cij51jG00@}!HP8v#<oaE8M4C)6{gM))DC=_bp$f0$y8}kYN
zj}nv4hLi?hZ^}EqTgJhwvwFd{`HHt4d47-GFow&mYlbBEmMj^*N;_Zpbt9MwOAP{Q
z8h^AqLZo?qo=<~?2dcdsNqiS10YQF`rR|W^4ZMII28`xgSXn8ucLYd2024f^^57zJ
zPt#{-P$8;0;bM=cQiF#X%?3|=HjVOXw~po0{Jvah2wjwSlofU|KRsgH*q4gB&qy_B
za1dVSNr=I2l4$P^M*}PP8LEWpK2M)U{4!xeFASt@Y~DM_*)x&TLsT!o9s|hNs}L@`
zJ|$WY;#%+USpIhN&1cveb?7^4gYP2smcr!X6Fzz&w0LOT^RpXl5Z5k^D?TtpO`zXq
ze&6PGsAJ8^b}^wxK)@+WNqCzvndQL>ex>jH{fGa3lOnz9kJ3yo0gN0vWV8jIBF4~z
zhYX@WFH4Nfb1*-RW5mgFn0*YboY%Y`9m|7}A_dYg?$=fC_?F1(#(aiefKFE8*JWD1
ze!bp?WOY}Oy~}L<{=uvBN3W)0(tQ}K*aevUQ4wCrvb-G>U;?()wi(28MZ`8Cf7Wl`
zEC)@yf#z}dx@55{{yD@Aca{zOv8niG;vJ6c^@1&?60nkO%dc(v$W$C+c>us?3X{mX
z{jhP*oxrVSlJYuwzu+)|0SH0Hkl;jkI5=?Usyfo$6hn3r2|@9h^~V?!L)r@478fT`
zQ<$sEG$K?1f~2vyEg+rP^8f1q|Cr}Dd$K)!N3Z?D(aGt%`IP%yX&@?!#@^NS?-1Sf
zOoP~?&!w3ZnZUlDK$LV8v)}%A)6R?E?t+~lx9aHHpduzUs4TpmReH2g>2BHiTYIyN
zsR~@-S~X-=-{}sJ)qP>w2i;60{Dxv?{h`gKCzxm}o7Lf5!?6^}x;IHjp%7*4qdaz`
zkQh5%6x{lSSZp(~?_qqVZ|nL|Ux?sxPH#?}^ub+)0Q)SH{fG6!v!`U(Ov$fz7K>Q@
zQC!0Shh?M1SDb(pjo%#_z4ttQZ^6*#+3JS0aIS;_gA!?f)U2(Cahh8OwPfpBiK;qK
zOORnG&Kf{yc|be>a7gvi^y#!W59nfSKu_v7RR|~sM`q@>Pe`V`i~MKFhfW^DRpK>c
zC<}Gu3dibq$eAOEa8%;KBEO}pd+ZCrSd@5J|5g1f{|EW^>0kMOYTsl39~g}FfA_SW
zC6mQLi3k2qR2KXHef{73_uXC7l>T(Fa;xFaqs#zQmA(11(6qI+rMMdHjOR0&&%f<N
zr|y$zpkf@!Xm`H}SrP#^Cb_w}?NLMD<H+t(q@gdspp6@7B^wLv?^w#U;lF?X7NYN$
zX%%8al84chHKqcy?V)G+EEm%7S_^Ykvj1h{hlTY5dck4Zqu=JpPqp-qB1BzJtyaY*
G@;?As9G))#

literal 0
HcmV?d00001

diff --git a/selfdrive/assets/navigation/direction_turn_straight_inactive.png b/selfdrive/assets/navigation/direction_turn_straight_inactive.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c567966ee8238f2a65cba3a12994e78aeec9b6f
GIT binary patch
literal 5452
zcmbtXXH-+cwhl##(mNO+K&a9M1pxt*NCHTgF1-i=1p?Bf1VxHS3B3sjk=}c+0@Azm
zB2Aj13W&gqcfEJlz3<(B@0>Mr_W9=9-|X3QW}TTZEe#dQn`}1$001Qd4%NXwd;b<P
z5`0~3Sn?47xK-<;XXvhD=?QXiduiw3WD9clcCiK7dO6qu0A90Sl935>52)T=qZliR
zTL?r$hEYGM?9PvrUo~<f8Ws>gS><XbDxfh+Sp}JOmrDVW7u2N_;SHuxWZ~pdpGfWW
zjCO!;^^V-xYd`bS^FtG_fO!S~P@t;Q_@3t0>5*Jd|IUpl*Y1l|4O}a<nVNxv$h_3X
zv*z;T6$ThpyUMjh>UdG3o7y**A9<m4<o{hd{(`?%6z4Ou^mBoLOSRA?n_*Rh>wL%L
z<z4u%u>4BK7KoM3>%^T<PbatV({{4n#`R{W=78Iop343+D9-Hb=?j`a)3~1T5W^|o
zi0Sh!>a5o?A318nUcOA@xEs#tFXMk*mUgk3hTYtq+x97eRxQ$c+>mRc=nQ)kox4-f
zXL82yYu)Gm;&x+3&g=6nQXH#ssLgs^bmvWlw6fAYideyoy6mzKuHEkJ<KXfy$-<g5
ziz`rsNO6vhTlbz$MUlb=UCBkwj{jW&PcyWxwMCf=_L}+S=}gp;cO&X^uz;6eSGYF}
z!ZcnsFmvBNCfenv_Z@>k^TpHSi~DB;1vX`-mikQ7mvxj9s$O688xGTCO3Rw#wOlHG
z647w~e3qmRw`nsN;dI=m%YLf_j3@T6<Is(KL-AJUyA?(vS1&s@Z}jJ&G+hbGI!t=j
zvMvl7r<X6n3rV+GH*JfuxdCa;!KevVlXdAEZ%I#@sue#ih%rqB8-?r9YCDWcJ4}6g
z3VWLRi^(L2NUiWmO3jo{R0%43$T0m#PUSJsVNLrnyQF*7DF1%4cY;x_db;y3Mg!xK
zt^&1$lA7OCFFG0Ia1}cV#f^LZZL<je47cr=?A-LL-dTl0#irJnYL{W-CP~}PuRKVg
z2e%l6I6Kx#md9FxR8lm70KhI{Zw46}m9&>V647DcmHcW|?|R3u8*aJCl|au??>jiJ
z>y3hC^qKq-LJjGh-k02jFGP7?Af^(w=9?s66+U{OKbpCDTD$<;<8!>!ti29Fle})e
zq%m~sRh}fV)P!X<P42k6e#`O89~%Fy;fM1Ew8fQa7=uW<r=C5Uu}&Kqrn3IbzCA63
zEiU_(HrDS}`GwYgkNp7|&AZ=KDcq&Xo&|dhk2o`usxEG=c(XrWyF30v-Ms2UGDKwA
zD2tk$P);OmeBD6)u~2nvzQk0LpW(+O={xi?w`ooE_)ZeAFIr8GytnBrWG$4H7!UYp
ztW7GlgyyBJh7+h9vnD3Po@zvX%IrfGgcuKZ@g}l1z6)m1kZs{uUz6(O9>^BmNR)*e
z(i-3F)Adwps^6-m2q+`71@fu6oEGiGNxhz{#BrbsTSPRujC5`RD=XlN4c&3*AhAcQ
zuXpaomyZP2<!v@=h-Am7*Q;vv3i@wV`7A*YcY?<aEoYfhEApxJ-`hmZzB?Z2BLu1O
z0MQ*koesrzo_Fy(ZLugOd$+UtPR3k}tfNU1yPBDS%iH2?mg|+wG27JftiRUW6c~wJ
z2_Ba3<Bp0iw%-od5I^~5hm|NmW;u`jl+%l|8m&S1FUA1`N2Cn>-)hcj=eu&D{M%~%
zM9wy=D5RB<=fWYUO%ZBe;2$R_xb%|wld_mc;_YT!X@iqA=4piO3S*BD=X7I+8~Le7
zc281H%tg#4{TfjcM8SF$;OwA)L27(H-29pSsB=2+v0r0YNLrnE%o7f45~j;4ox6qn
ziE=e`N%ke>o#is5N^{LY)#X`(<4j5xuSBJV?mQU@?5he>5zr1Pv!IS+Gy9N{MUe#M
zx5P+M-n?llytbG)H`ToRXDb1nlY7^iPsG2h;c50LP0xGA1n(<H5{$m%t&=>`T!is*
zOA9!XT?+u1sh265)n;ZOb51Kxh}CM~kyr~Aja`a`s1d8c#oCkYy-|oZPXmz2s5Crq
z>~3tZP}Fy<i}DNokxeFQcumA7T9LwoS=cv(iNqp#eWbQwYHUB&bIGJSBDV6(vQWIO
zz+X5#zofyp7vN^#@)bT>(Z0a`3Pf5*h+UVAljML==l4oLW|PK(KW2b)KL=+lhSz0~
z3=?qcFOsvun%U_HjBOa0I%vp;iYbq$wUD(SV4?RN+8HfTJ?yd?caqvZfZ!n-`jpg)
zDp?CwN02pXmA!p8m~`E4SD6joLTWW?@F0xDK=Nc{>0981-}#S93l1%n3f6*3GAHUA
zyT&deG7?t>@zcP&x0#5dDb=!>Y)4-@sq4-2Ow6xt1r=%Z#eLNGj0m-trfL(=Ra$&e
z$FGGnU8KG9PG41fdXK^Yvh;(_J)@V-W0O}_iKIZ+2&JInXzSCpqeV8K*6!dV@OxRy
zMVK+qS~4Gige!b2vy-7$hB*Faxgep;VB0nOmSBg{w22cpD%g3|+&07Z!etEjVE+-R
zMj6)Q5qUN%aYdUIzw&yerFx3AZy@ay2zm^o63IFtQjzpLC!%wyd2=~o;V1|CKKZIs
zZVW%V)TBq!@F*Yb$KhQ&13HK8Jbzd`^k(jOc=xQ|twn)1lJ-MHJ;e87lfgdbyS$9i
zmn5^q9={PEM2*43Y}5qSIZaHnt;VLlFw@rt?DiV-dA72HB+@Dvgvulvn6a*5_hA;V
z*aU%A_T)W+AP3-y^N_9jAF(N(WoEh$hsrt2{DGFDnam)Re&E@`WK4zq)9KgSu5Xs8
zMCz^cAi6Hd@QY{Jqq_rfn(00yB_PN-jm=0e;fm_QNJsJFJ%0hHC}{=F?WSnoSSaHL
z&y5YI6PAM!F#!p)%9~gvLq>|KJ1fgsnKaQ71B9^djc6YMvJ{>02s<}o--2=py|-*H
z=3x{gL1Mv1b@TFqYu`0ry#HwTijByt2bNUA@7wm)HTq4d!!$Erv_r9FY^O8TLi_jI
zLQM5-M6nr4TqZmnmt5TTg1Xj&lC&FJq#AIc-}jcog3nFtbxW1nyI7m~#k4FYtv}Pw
zr!_eZuk@3()w~MXfATh&Rq12ph$EJuj{y>HslO_>5kaueJi3~*x56M(>_r(e*{R7j
z9&78>A(IlNc97{sw$>lPVpip2O0vA@oN_WXDrPUP<@u!hTGZ!Bx6-d2uJS!%J%LKM
z*k*QYBm}|>_7z3Y(ss=okV#sgq&*<^d!&boQx<xujDs*6a@TR`sHSd=vAfou@jZde
z+Yo_`WTNsemai4hg+&kU@%Uykgf@B8K)JNvhsy@p<<b@m6Ky(AD6!;*ak9O2mL88e
z9kd`kUQU?geoK@{=nTBFQKfZE2|pq53vPMpV7A{9XTz-83UyOMl4HtL*$34YXHX<$
zgAC&`F4v$c%@+%PAqiv+q#VevX43)z<j=C}_b96}soU~LOxliJzwaL02HjUD;t$%6
z?k=~!k!xrtU7MUTHlCx$e53Gqs&MVzpsY>nuan&m@$7n;r3R7i)D;w=a?g)91Kot1
z(s=a<wr!51V#%bSW|7if{ZXCn@3`v69EPo^rQS;u@w_MSD^M-1QCTQ*|B?4&@BYbw
z%+`9`1^MEfpiGTR;IuC{b>Rrz*L&xge(!0-B7*ii+H(T9HE-pz{t!1RQXt6H$*Z>b
z+&B=3;5@1*0H3w}fzlUY4iVSdHxizEUB2TZ0tOE;28g!l=T_5P;igA3D2~}Yo_~Kf
zzqfT(%8gqLzH(j*V4FB~4M+u^^2yyx=H$Mn%((Pr_NNH+6(uw$ZBt-Iml7>sY49KR
zqg$v6PECnhsQ%IPav=k{;S88Rg6(_%cYQUueXT%NxA}hg2=KQyFSv>#a9LVy$Lsh-
zkp{2_1~mTWq@BLK8aMoSkP)|Z;}+8|@~Onp3m$jDgq96=)ZDdyIh8_^hi{<FY)58-
zf@tiPit6#6Fh6g^nC#mKjqNW|o{^@xbuRA*E`@QWM+_$K;05*MEvHa3R2SItz1@_L
zg1AUO2f)VZcWB?(FPW+vXZ&^%iip<pk-=a^Z{yQ%B!s}icGxu$?6lcC@6Ez706_4@
z0RquNKp_9Kg~xB))BIu-;GIgqFXp;fZV{?iG_Ji`>B6Dm4;&f8wYVm37C%Tb{e9yJ
z8-{^drM-H2xyNd<{fm(Ssev-hAAqa7n~r-7-E|^^ahI3Ne3a)YhbIn@rEQrqDNXXc
z!TED6xkRc7Bczm!D@gn^SKol-23YXM(t$@5z#R8ozW;hYgXhzR2njLtyOCYey#tbi
ziO<e1i~Nxlm?F9i`lu9l<?kvbcQ{&IMH__o2lA2;!}Ka)U#v*)un(wyek_jw>Pn{{
z1{d`RZHf#TW4nz{*Tg6`PvUJ$#(|IM-WvuH)82Fx$R@n)YV4sSoa3OlvdZaxNmtL{
z7T?}m9w;Q$Tf+H=+TRn&$k*MR<3jku-!(1D5>$0dYA5o@Z&zlJ9&|=wy5$^DO)&5p
zWA+kR&Xf7_c3s^IWFLo1JrRXGYlUE=PV{Fj0RYba_=#-hHPer0M?T2C)nkHQEra~q
z%gZz@f;zt%h8uk!_+Ff<7q)UHIl0x4MSN<;AFN2M)Ks8=>%Vtqb8ajiA$Nfrq3~xd
z`oDz$kdnrN2T9!#Phg}Qq?D8Zp^Rk;PdpNWfGX>G&F(GWkU$tq+d;kkD_lYX&{U0D
z_qlS+9TH)>stJ7)<E(d95M<aV*ghxSYmu`l=9?{fBegIro35Y^R|vPjQ+c=p6`Sbp
z!qC8Z2kes+U*hiG;GVzYh{53S%<Gq)4XL@R1o!~{(}iQT9^yreS@Hhi5=L`kzzz<@
zV&T1$GLh7k+{8h8z@8A;T7iygST9<fqSW(2y3id62>b0ttq04yZ?LsCMN-(>^U4`h
z3lF~14m$OO>Q~y(joS0ZRAriZ>v)+raUQz<ZjCZ=I;zO#Y22y3kszU9x__%;VYNRh
zxAs<$MgH90<02Mx+~eB04?!Tq*+~LAS-sM4rR9#qI&3FCmnosZ*%M_tS<497o<3SQ
z>o0bD=vr4EF1NZR3H)`u2!v+P$AC4F#bSHs7Gc6CKFzH97^R!J-*yH=d&gR+5_-`B
z;fs#7b196x(H+lg=N^QAs;yb1m{$S!7#B|=iyR-;X(tgO_jqY#V-L(W#>FWNjGhgF
z##?Yn{SP9K)elLirRjS0)Hol#wiYJ+i3?#{+Q@oLn5>$vk<0dOWzJ|<?us8{S2@$v
z;Yi;*;cze20GcEFi%8(GNn(THjs{4#lLe&;{W!dHgikFs$(z+8d9>F{aTee=WAmYl
zBgf+UFgVD6=fvl(@eVc&2#-k?2=~g1QToFO8<nO_o-V8lmA5W#Zi@lY;0%#sp}lwM
z6*IXvlOrC1%n+CyUhd6i**x{fTr}oR>G1E`pm``b`m5SY5;M-t!8SkWn2qF3w7MRC
zj%Z@C7dcF0ysZc1Rl=3r>?4w|Tf@LD7Wnox(R6r)jEK2dtTq|=ezrRJ;D^rpuL8uF
zC~ba>7XvvSw%NUiRCoeDc&^xC!$8Oyb*X_Tsdqp=5Mzpk`S2vNzrJ!tcvt{qU97+3
z5&3f{$+6;%>t8kB3wg4j3!v=~$aleWfKi$X8&{wwbW45$4)T>83IjjfQ|S<IYJUPH
zWJPe$Bjm%^w3^M#*YfClOV*`hy0YOLN%-+LVosrS=HjfuO0T5y!@wM{4!nbR1>$cg
z|A_a{CiWvf2Vi_Uq63a>xx-Xq{<5z&=Ad*@+?JB6GeifjcoZ$piXA|o$^TVWRb<6h
zq0b)v!&YF$#-Y{w@x8=(OR8=WCfDFIL>9EXAo*~@ut4eaU*|;QyS8Z&I`}t_za7NA
zkW_Ubl;}=N-N1*mr=lv&ie*6O&?7_-SJP*bbEK%HnI1+X)WNPp#j>0JZbQY)TPSDp
zH6;cZE)E}3R>-}oIp+n(>P6-lYuVs($B6R={X&l#)7inORrA3#RO(RuaEJIGkN#vg
z4XD}B!Ns#t<0bBBLEGYHVeZ_+Gi3y3tx+JH!}-X=wD-5SnDqd^CCk;HoL04f()Fs)
zf%UTP;Exe>3|{!9nC2?8c`u}M<*>WETQz$$)N`6>p>)!5v+~dU+?T94ok_<Nw9d9N
ze%W`5%gYU=elp&<e{p%$S#1C07wF^r)iW2YjuDG4%g)rS2@;9qBvIa<)NmER>ebFI
z^!_%PAG{6IK87RxP$<+9(dK;OQ2k(eQy<e=tAW5gE7*_h;PDhS*Mm)e&mq6t?^d?+
za3-bSkgNfzD*`WH?=QDgVkh=Aa#5STF+5^=Lh<89i`27{tn0dj2c{2V*0kPP78xTG
z$NLlV@5#x@X{i<qVD&2&M{;AehlrK;DbZ(*xLzmjFw{>o4A`?~&P%iLSiLUg#gAb-
zSNf+&KL>G^KiY4ZV>@nOzCba@Y?m*9JxjTXyupbl?;fT{9BOM%m5QUE7c>8&?f&f|
zW9omlze2rb3*XAI?@Mhq!@XjFi3wrNX8RwC;@Jf{+e~P$Dv70jF~vRm)n|IF&Ob8N
z>H13z6j>!AGK#7_!`+M1I^SKz)0(}dKzrqkKJS{ERrGui2wU><t;)I%R+6`lIOiq{
zI=%8;Fzx<u3ci0lRDU89*~&{ZJmFZa0qo%nvGmdxJc-lkqYCNd>~A_4a)n%{=@gX4
z{k}X{?P>IB2vp+pT0Wy4@`Pku34$L-5fT&9kST!xXu!W1fl2^E0y1I{&A%J}oAwXK
z|4aLe{HxkO_5WS%pN{`8Sqt!+cF@-|2w#y9n&C123r$BMS^ayL44)DT#;v&2rA_uo
zcF)_w$aA!UKy{mGCNsF6@~Oq5Nk?{lDNe=&kU0V~5Z2qz?dDXATTPqOQ@yk+epaGi
iNNouFPyatW#)lKrGMo{QA7APG%Rs<1pe2tig8mDZ^ZIoF

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index a486110a7..3967416f7 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -526,6 +526,10 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
       fn += "turn_straight";
     }
 
+    if (!active) {
+      fn += "_inactive";
+    }
+
     auto icon = new QLabel;
     int wh = active ? 125 : 75;
     icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio));
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 2fefa69a8..07d687746 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -338,27 +338,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
         <source>eta</source>
         <translation>도착</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
         <source>min</source>
         <translation>분</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
         <source>hr</source>
         <translation>시간</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 0870ff702..424488fc5 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -338,27 +338,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
         <source>eta</source>
         <translation>埃塔</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
         <source>min</source>
         <translation>分钟</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
         <source>hr</source>
         <translation>小时</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0620382a6..1eab75a6b 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -338,27 +338,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
         <source>eta</source>
         <translation>埃塔</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
         <source>min</source>
         <translation>分鐘</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
         <source>hr</source>
         <translation>小時</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>

From 18f2a50501d67345e2fa2e44b6046d412c3452de Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 12:43:36 -0700
Subject: [PATCH 234/435] disable_ecu.py: remove duplicate file (#25154)

* remove duplicate function

* make executable
---
 selfdrive/car/disable_ecu.py   | 14 ++++++++++++
 selfdrive/debug/disable_ecu.py | 40 ----------------------------------
 2 files changed, 14 insertions(+), 40 deletions(-)
 mode change 100644 => 100755 selfdrive/car/disable_ecu.py
 delete mode 100644 selfdrive/debug/disable_ecu.py

diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
old mode 100644
new mode 100755
index ac5c6c9f8..cd3e93fa8
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -6,6 +6,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 
 COM_CONT_RESPONSE = b''
 
+
 def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
@@ -26,9 +27,22 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
 
         cloudlog.warning("ecu disabled")
         return True
+
     except Exception:
       cloudlog.exception("ecu disable exception")
 
     print(f"ecu disable retry ({i+1}) ...")
   cloudlog.warning("ecu disable failed")
   return False
+
+
+if __name__ == "__main__":
+  import time
+  import cereal.messaging as messaging
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  print(f"disabled: {disabled}")
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
deleted file mode 100644
index c01c22fdd..000000000
--- a/selfdrive/debug/disable_ecu.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import traceback
-
-import cereal.messaging as messaging
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from system.swaglog import cloudlog
-
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-COM_CONT_REQUEST = b'\x28\x83\x03'
-COM_CONT_RESPONSE = b''
-
-def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False):
-  print(f"ecu disable {hex(ecu_addr)} ...")
-  for i in range(retry):
-    try:
-      # enter extended diagnostic session
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-      for _, _ in query.get_data(timeout).items(): # pylint: disable=unused-variable
-        print("ecu communication control disable tx/rx ...")
-        # communication control disable tx and rx
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
-        query.get_data(0)
-        return True
-      print(f"ecu disable retry ({i+1}) ...")
-    except Exception:
-      cloudlog.warning(f"ecu disable exception: {traceback.format_exc()}")
-
-  return False
-
-
-if __name__ == "__main__":
-  import time
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  time.sleep(1)
-
-  # honda bosch radar disable
-  disabled = disable_ecu(0x18DAB0F1, logcan, sendcan, 1, debug=False)
-  print(f"disabled: {disabled}")

From d5719913a97f7cf3c3fc171d0aa562c7d9cafb15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Jul 2022 13:22:30 -0700
Subject: [PATCH 235/435] Chrysler: never drop control bit on older models
 (#25159)

* Chrysler: never drop control bit on older models

* update refs
---
 selfdrive/car/chrysler/carcontroller.py  | 17 ++++++++++++++---
 selfdrive/car/chrysler/interface.py      |  2 +-
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 00893b6bc..6d158e7cd 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -20,11 +20,22 @@ class CarController:
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS, low_speed_alert):
+  def update(self, CC, CS):
     can_sends = []
 
+    # TODO: can we make this more sane? why is it different for all the cars?
+    lkas_control_bit = self.lkas_control_bit_prev
+    if CS.out.vEgo > self.CP.minSteerSpeed:
+      lkas_control_bit = True
+    elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
+
     # EPS faults if LKAS re-enables too quickly
-    lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
     lkas_active = CC.latActive and self.lkas_control_bit_prev
 
     # *** control msgs ***
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8826a9252..acc08954a 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -93,4 +93,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    return self.CC.update(c, self.CS, self.low_speed_alert)
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c99a1653f..dff232911 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7fbe776f271ed2d45abe989736133a5cfa0ec826
\ No newline at end of file
+fa52fa6c6703269e23610b1c6aba8a56b911fbbb
\ No newline at end of file

From 18c1700f72e9c03750365a302dcb15b5e3d46366 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 14:28:55 -0700
Subject: [PATCH 236/435] RAV4 2022: Add missing engine fw (#25136)

Add engine fw from 909a5635aa370818
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index f40a58b5a..63b7240e2 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1302,6 +1302,7 @@ FW_VERSIONS = {
       b'\x01896634AA0000\x00\x00\x00\x00',
       b'\x01896634AA1000\x00\x00\x00\x00',
       b'\x01896634A88000\x00\x00\x00\x00',
+      b'\x01896634A89000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',

From 5a7c2f90361e72e9c35e88abd2e11acdc4aba354 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 13 Jul 2022 14:44:34 -0700
Subject: [PATCH 237/435] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 2abeab913..e51aa5ebc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2abeab913f6432e4327b07e247b8a46994ac77a1
+Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f

From c8051154d2a03f94d54f085d491469800c4e915a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 20:03:55 -0700
Subject: [PATCH 238/435] Civic 2022: Add missing fw versions (#25164)

Add fingerprints from a918d2895b3210a1
---
 selfdrive/car/honda/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index b8417ee19..c665b1cd0 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1406,6 +1406,7 @@ FW_VERSIONS = {
       b'38897-T20-A020\x00\x00',
       b'38897-T20-A510\x00\x00',
       b'38897-T21-A010\x00\x00',
+      b'38897-T20-A210\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
@@ -1415,6 +1416,7 @@ FW_VERSIONS = {
       b'78108-T21-A220\x00\x00',
       b'78108-T21-A620\x00\x00',
       b'78108-T23-A110\x00\x00',
+      b'78108-T21-A230\x00\x00',
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-T20-AB40\x00\x00',
@@ -1429,6 +1431,7 @@ FW_VERSIONS = {
       b'37805-64L-A540\x00\x00',
       b'37805-64S-A540\x00\x00',
       b'37805-64S-A720\x00\x00',
+      b'37805-64A-A540\x00\x00',
     ],
   },
 }

From 93a1ca8351d93adfc18d5a9c99ce2bb908cb43b6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 13 Jul 2022 23:51:32 -0700
Subject: [PATCH 239/435] Multilanguage Contributing README (#25170)

* Create README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* typo
---
 selfdrive/ui/translations/README.md | 39 +++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 selfdrive/ui/translations/README.md

diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
new file mode 100644
index 000000000..0ddb03a24
--- /dev/null
+++ b/selfdrive/ui/translations/README.md
@@ -0,0 +1,39 @@
+# Multilanguage
+
+![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
+
+## Contributing
+
+Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
+
+### Adding a New Language
+
+openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
+
+1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`).
+2. Generate the translation file (`*.ts`):
+   ```shell
+   selfdrive/ui/update_translations.py
+   ```
+3. Edit the translation file, marking each translation as completed:
+   ```shell
+   linguist selfdrive/ui/translations/your_language_file.ts
+   ```
+4. Save your file and generate the compiled QM file used by the Qt UI:
+   ```shell
+   selfdrive/ui/update_translations.py --release
+   ```
+
+### Improving an Existing Language
+
+Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them.
+
+### Testing
+
+openpilot has a unit test to make sure all translations are up to date with the text in openpilot and that all translations are completed.
+
+Run and fix any issues:
+
+```python
+selfdrive/ui/tests/test_translations.py
+```

From c7771d1783ef7d7e1efb29e81aae44ad26747c5c Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Thu, 14 Jul 2022 11:49:27 +0200
Subject: [PATCH 240/435] Bump laika and catch Downloadfiles exception.

---
 laika_repo                              |  2 +-
 selfdrive/locationd/laikad.py           |  3 ++-
 selfdrive/locationd/test/test_laikad.py | 14 ++++++++++++--
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/laika_repo b/laika_repo
index 828612e1b..3ce2628df 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da
+Subproject commit 3ce2628dfc8ddba1769c518f90275e3caca9e8c6
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 4868e8ae5..13829b22a 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -15,6 +15,7 @@ from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
+from laika.downloader import DownloadFailed
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@@ -212,7 +213,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cach
     astro_dog.get_orbit_data(t, only_predictions=True)
     cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
     return astro_dog.orbits, astro_dog.orbit_fetched_times, t
-  except (RuntimeError, ValueError, IOError) as e:
+  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")
   return None, None, t
 
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index c10a470d1..bc7a0d7fa 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -8,6 +8,7 @@ from unittest.mock import Mock, patch
 
 from common.params import Params
 from laika.constants import SECS_IN_DAY
+from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType, GPSEphemeris
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, TimeRangeHolder
@@ -51,6 +52,9 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
+GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
+
+
 class TestLaikad(unittest.TestCase):
 
   @classmethod
@@ -109,7 +113,7 @@ class TestLaikad(unittest.TestCase):
     data_mock = defaultdict(str)
     data_mock['sv_id'] = 1
 
-    gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=1))
+    gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
     laikad = Laikad()
     laikad.fetch_orbits(gpstime, block=True)
     meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
@@ -165,7 +169,13 @@ class TestLaikad(unittest.TestCase):
 
   @mock.patch('laika.downloader.download_and_cache_file')
   def test_laika_offline(self, downloader_mock):
-    downloader_mock.side_effect = IOError
+    downloader_mock.side_effect = DownloadFailed("Mock download failed")
+    laikad = Laikad(auto_update=False)
+    laikad.fetch_orbits(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
+
+  @mock.patch('laika.downloader.download_and_cache_file')
+  def test_download_failed_russian_source(self, downloader_mock):
+    downloader_mock.side_effect = DownloadFailed
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
     self.assertEqual(16, len(correct_msgs))

From 3160f86aa085c300204a5d3e1c37d72ea5fd3051 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 14 Jul 2022 10:18:16 -0700
Subject: [PATCH 241/435] bump version to 0.8.16

---
 RELEASES.md      | 3 +++
 common/version.h | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index b87bd2ee7..b47a18a3d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,6 @@
+Version 0.8.16 (2022-XX-XX)
+========================
+
 Version 0.8.15 (2022-07-20)
 ========================
 * New driving model
diff --git a/common/version.h b/common/version.h
index de550d6be..bf1c58df1 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.8.15"
+#define COMMA_VERSION "0.8.16"

From f38204ad260f2af6a01b71191850178d0af03e8e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 14 Jul 2022 19:21:40 +0200
Subject: [PATCH 242/435] camerad: cleanup unused RGB code (#25172)

* camerad: cleanup unused RGB code

* hdr is unused

* more cleanup

* remove envs

* remove from sconsfile

* fix docs
---
 cereal                                       |   2 +-
 common/modeldata.h                           |   5 +-
 docs/c_docs.rst                              |   2 -
 release/files_common                         |   5 -
 system/camerad/SConscript                    |   2 -
 system/camerad/cameras/camera_common.cc      |  54 +-----
 system/camerad/cameras/camera_common.h       |  16 +-
 system/camerad/cameras/camera_qcom2.cc       |  26 +--
 system/camerad/cameras/camera_qcom2.h        |   2 +-
 system/camerad/transforms/rgb_to_yuv.cc      |  36 ----
 system/camerad/transforms/rgb_to_yuv.h       |  14 --
 system/camerad/transforms/rgb_to_yuv_test.cc | 191 -------------------
 12 files changed, 20 insertions(+), 335 deletions(-)
 delete mode 100644 system/camerad/transforms/rgb_to_yuv.cc
 delete mode 100644 system/camerad/transforms/rgb_to_yuv.h
 delete mode 100644 system/camerad/transforms/rgb_to_yuv_test.cc

diff --git a/cereal b/cereal
index cda60ec96..3ed1b8c51 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3
+Subproject commit 3ed1b8c51afb616880565e5868806cef82bbc835
diff --git a/common/modeldata.h b/common/modeldata.h
index b19384141..e13840d53 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -34,12 +34,13 @@ const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
-static inline mat3 get_model_yuv_transform(bool bayer = true) {
+static inline mat3 get_model_yuv_transform() {
   float db_s = 1.0;
   const mat3 transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,
     0.0, 0.0, 1.0
   }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+  // Can this be removed since scale is 1?
+  return transform_scale_buffer(transform, db_s);
 }
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 5638b40bf..94d0adb56 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -29,8 +29,6 @@ camerad
 ^^^^^^^
 .. autodoxygenindex::
    :project: system_camerad_cameras
-.. autodoxygenindex::
-   :project: system_camerad_transforms
 .. autodoxygenindex::
    :project: system_camerad_imgproc
 
diff --git a/release/files_common b/release/files_common
index 954726d96..38f86d247 100644
--- a/release/files_common
+++ b/release/files_common
@@ -324,11 +324,6 @@ system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h
 
-system/camerad/transforms/rgb_to_yuv.cc
-system/camerad/transforms/rgb_to_yuv.h
-system/camerad/transforms/rgb_to_yuv.cl
-system/camerad/transforms/rgb_to_yuv_test.cc
-
 system/camerad/imgproc/conv.cl
 system/camerad/imgproc/pool.cl
 system/camerad/imgproc/utils.cc
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index b181fbab7..25e366210 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -10,7 +10,6 @@ if arch == "larch64":
   env.Program('camerad', [
       'main.cc',
       'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
       'imgproc/utils.cc',
       cameras,
     ], LIBS=libs)
@@ -19,5 +18,4 @@ if GetOption("test"):
   env.Program('test/ae_gray_test', [
       'test/ae_gray_test.cc',
       'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
     ], LIBS=libs)
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 04f313648..1d4ecd526 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -32,15 +32,14 @@ public:
   Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
     char args[4096];
     const CameraInfo *ci = &s->ci;
-    hdr_ = ci->hdr;
     snprintf(args, sizeof(args),
              "-cl-fast-relaxed-math -cl-denorms-are-zero "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d%s",
+             "-DCAM_NUM=%d%s",
              ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             ci->bayer_flip, ci->hdr, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
     const char *cl_file = "cameras/real_debayer.cl";
     cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@@ -63,12 +62,10 @@ public:
 
 private:
   cl_kernel krnl_;
-  bool hdr_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) {
   vipc_server = v;
-  this->rgb_type = init_rgb_type;
   this->yuv_type = init_yuv_type;
 
   const CameraInfo *ci = &s->ci;
@@ -89,11 +86,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   rgb_width = ci->frame_width;
   rgb_height = ci->frame_height;
 
-  yuv_transform = get_model_yuv_transform(ci->bayer);
-
-  vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
-  rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
-  LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_height);
+  yuv_transform = get_model_yuv_transform();
 
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
@@ -104,10 +97,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
-  if (ci->bayer) {
-    debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
-  }
-  rgb2yuv = std::make_unique<Rgb2Yuv>(context, device_id, rgb_width, rgb_height, rgb_stride);
+  debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
 
 #ifdef __APPLE__
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
@@ -135,7 +125,6 @@ bool CameraBuf::acquire() {
   }
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_rgb_buf = vipc_server->get_buffer(rgb_type);
   cur_yuv_buf = vipc_server->get_buffer(yuv_type);
   cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
   cl_event event;
@@ -144,12 +133,7 @@ bool CameraBuf::acquire() {
 
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
-  if (debayer) {
-    debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
-  } else {
-    assert(rgb_stride == camera_state->ci.frame_stride);
-    rgb2yuv->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl);
-  }
+  debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
 
   clWaitForEvents(1, &event);
   CL_CHECK(clReleaseEvent(event));
@@ -193,32 +177,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setProcessingTime(frame_data.processing_time);
 }
 
-kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
-  static const int x_min = util::getenv("XMIN", 0);
-  static const int y_min = util::getenv("YMIN", 0);
-  static const int env_xmax = util::getenv("XMAX", -1);
-  static const int env_ymax = util::getenv("YMAX", -1);
-  static const int scale = util::getenv("SCALE", 1);
-
-  assert(b->cur_rgb_buf);
-
-  const int x_max = env_xmax != -1 ? env_xmax : b->rgb_width - 1;
-  const int y_max = env_ymax != -1 ? env_ymax : b->rgb_height - 1;
-  const int new_width = (x_max - x_min + 1) / scale;
-  const int new_height = (y_max - y_min + 1) / scale;
-  const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr;
-
-  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(new_width*new_height*3);
-  uint8_t *resized_dat = frame_image.begin();
-  int goff = x_min*3 + y_min*b->rgb_stride;
-  for (int r=0;r<new_height;r++) {
-    for (int c=0;c<new_width;c++) {
-      memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*b->rgb_stride*scale+c*3*scale], 3*sizeof(uint8_t));
-    }
-  }
-  return kj::mv(frame_image);
-}
-
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
   const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
 
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 4695d4e2c..2a5605255 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -9,7 +9,6 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
@@ -27,7 +26,6 @@
 #define CAMERA_ID_IMX390 9
 #define CAMERA_ID_MAX 10
 
-const int UI_BUF_COUNT = 4;
 const int YUV_BUFFER_COUNT = 40;
 
 enum CameraType {
@@ -36,11 +34,6 @@ enum CameraType {
   WideRoadCam
 };
 
-// TODO: remove these once all the internal tools are moved to vipc
-const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
-const bool env_send_road = getenv("SEND_ROAD") != NULL;
-const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
-
 // for debugging
 const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
 const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
@@ -51,9 +44,6 @@ const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
-  bool bayer;
-  int bayer_flip;
-  bool hdr;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
   int registers_offset = -1;
@@ -92,9 +82,8 @@ private:
   VisionIpcServer *vipc_server;
   CameraState *camera_state;
   Debayer *debayer = nullptr;
-  std::unique_ptr<Rgb2Yuv> rgb2yuv;
 
-  VisionStreamType rgb_type, yuv_type;
+  VisionStreamType yuv_type;
 
   int cur_buf_idx;
 
@@ -116,7 +105,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
   bool acquire();
   void release();
   void queue(size_t buf_idx);
@@ -125,7 +114,6 @@ public:
 typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
-kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index f001009b9..31af284d5 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -46,19 +46,11 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .registers_offset = 0,
     .frame_offset = AR0231_REGISTERS_HEIGHT,
     .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
   },
   [CAMERA_ID_IMX390] = {
     .frame_width = FRAME_WIDTH,
     .frame_height = FRAME_HEIGHT,
     .frame_stride = FRAME_STRIDE,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
   },
 };
 
@@ -614,7 +606,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled_) {
+void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) {
   multi_cam_state = multi_cam_state_;
   camera_id = camera_id_;
   camera_num = camera_num_;
@@ -638,7 +630,7 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
   exposure_time = 5;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
 }
 
 void CameraState::camera_open() {
@@ -833,9 +825,9 @@ void CameraState::camera_open() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, !env_disable_driver);
-  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
-  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
+  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver);
+  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road);
+  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -1233,9 +1225,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
   auto framed = msg.initEvent().initDriverCameraState();
   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
   fill_frame_data(framed, c->buf.cur_frame_data);
-  if (env_send_driver) {
-    framed.setImage(get_frame_image(&c->buf));
-  }
+
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
   }
@@ -1248,9 +1238,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   MessageBuilder msg;
   auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
   fill_frame_data(framed, b->cur_frame_data);
-  if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
-    framed.setImage(get_frame_image(b));
-  } else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
+  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(b));
   }
   LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 57fef8d49..03d3d1a82 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -55,7 +55,7 @@ public:
   void sensors_start();
 
   void camera_open();
-  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
+  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled);
   void camera_close();
 
   std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
diff --git a/system/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc
deleted file mode 100644
index 5e51579cf..000000000
--- a/system/camerad/transforms/rgb_to_yuv.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "system/camerad/transforms/rgb_to_yuv.h"
-
-#include <cassert>
-#include <cstdio>
-
-Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  assert(width % 2 == 0 && height % 2 == 0);
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-#ifdef CL_DEBUG
-           "-DCL_DEBUG "
-#endif
-           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width / 2, height / 2, rgb_stride, width * height);
-
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
-  CL_CHECK(clReleaseProgram(prg));
-
-  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
-  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
-}
-
-Rgb2Yuv::~Rgb2Yuv() {
-  CL_CHECK(clReleaseKernel(krnl));
-}
-
-void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
-  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
-  cl_event event;
-  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
-  CL_CHECK(clWaitForEvents(1, &event));
-  CL_CHECK(clReleaseEvent(event));
-}
diff --git a/system/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h
deleted file mode 100644
index e1de180d4..000000000
--- a/system/camerad/transforms/rgb_to_yuv.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-class Rgb2Yuv {
-public:
-  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-  ~Rgb2Yuv();
-  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-private:
-  size_t work_size[2];
-  cl_kernel krnl;
-};
-
diff --git a/system/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc
deleted file mode 100644
index 2f909e3b7..000000000
--- a/system/camerad/transforms/rgb_to_yuv_test.cc
+++ /dev/null
@@ -1,191 +0,0 @@
-#include <fcntl.h>
-#include <getopt.h>
-#include <memory.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cmath>
-#include <csignal>
-#include <cstdint>
-#include <cstdlib>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <string>
-#include <thread>
-#include <vector>
-
-#ifdef ANDROID
-
-#define MAXE 0
-#include <unistd.h>
-
-#else
-// The libyuv implementation on ARM is slightly different than on x86
-// Our implementation matches the ARM version, so accept errors of 1
-#define MAXE 1
-
-#endif
-
-#include <CL/cl.h>
-
-#include "libyuv.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
-#include "common/clutil.h"
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-void cl_init(cl_device_id &device_id, cl_context &context) {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-
-bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) {
-  int min_diff = 0., max_diff = 0., max_e = 0.;
-  int e1 = 0, e0 = 0;
-  int e0y = 0, e0u = 0, e0v = 0, e1y = 0, e1u = 0, e1v = 0;
-  int max_e_i = 0;
-  for (int i = 0;i < len;i++) {
-    int e = ((int)a[i]) - ((int)b[i]);
-    if(e < min_diff) {
-      min_diff = e;
-    }
-    if(e > max_diff) {
-      max_diff = e;
-    }
-    int e_abs = std::abs(e);
-    if(e_abs > max_e) {
-      max_e = e_abs;
-      max_e_i = i;
-    }
-    if(e_abs < 1) {
-      e0++;
-      if(i < stride * height)
-        e0y++;
-      else if(i < stride * height + stride * height / 4)
-        e0u++;
-      else
-        e0v++;
-    } else {
-      e1++;
-      if(i < stride * height)
-        e1y++;
-      else if(i < stride * height + stride * height / 4)
-        e1u++;
-      else
-        e1v++;
-    }
-  }
-  //printf("max diff : %d, min diff : %d, e < 1: %d, e >= 1: %d\n", max_diff, min_diff, e0, e1);
-  //printf("Y: e < 1: %d, e >= 1: %d, U: e < 1: %d, e >= 1: %d, V: e < 1: %d, e >= 1: %d\n", e0y, e1y, e0u, e1u, e0v, e1v);
-  if(max_e <= MAXE) {
-    return true;
-  }
-  int row = max_e_i / stride;
-  if(row < height) {
-    printf("max error is Y: %d = (libyuv: %u - cl: %u), row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], row, max_e_i % stride);
-  } else if(row >= height && row < (height + height / 4)) {
-    printf("max error is U: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height) / 2, max_e_i % stride / 2);
-  } else {
-    printf("max error is V: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height - height / 4) / 2, max_e_i % stride / 2);
-  }
-  return false;
-}
-
-int main(int argc, char** argv) {
-  srand(1337);
-
-  cl_device_id device_id;
-  cl_context context;
-  cl_init(device_id, context)	;
-
-  int err;
-  const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
-  if(err != 0) {
-    std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl;
-  }
-
-  int width = 1164;
-  int height = 874;
-
-  int opt = 0;
-  while ((opt = getopt(argc, argv, "f")) != -1)
-    {
-      switch (opt)
-        {
-        case 'f':
-          std::cout << "Using front camera dimensions" << std::endl;
-          int width = 1152;
-          int height = 846;
-        }
-  }
-
-  std::cout << "Width: " << width << " Height: " << height << std::endl;
-  uint8_t *rgb_frame = new uint8_t[width * height * 3];
-
-
-  RGBToYUVState rgb_to_yuv_state;
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
-
-  int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
-  uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
-  uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
-  uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
-  uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
-
-  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
-  int mismatched = 0;
-  int counter = 0;
-  srand (time(NULL));
-
-  for (int i = 0; i < 100; i++) {
-    for (int i = 0; i < width * height * 3; i++) {
-      rgb_frame[i] = (uint8_t)rand();
-    }
-
-    double t1 = millis_since_boot();
-    libyuv::RGB24ToI420((uint8_t*)rgb_frame, width * 3,
-                        frame_yuv_ptr_y, width,
-                        frame_yuv_ptr_u, width/2,
-                        frame_yuv_ptr_v, width/2,
-                        width, height);
-    double t2 = millis_since_boot();
-    //printf("Libyuv: rgb to yuv: %.2fms\n", t2-t1);
-
-    clEnqueueWriteBuffer(q, rgb_cl, CL_TRUE, 0, width * height * 3, (void *)rgb_frame, 0, NULL, NULL);
-    t1 = millis_since_boot();
-    rgb_to_yuv_queue(&rgb_to_yuv_state, q, rgb_cl, yuv_cl);
-    t2 = millis_since_boot();
-
-    //printf("OpenCL: rgb to yuv: %.2fms\n", t2-t1);
-    uint8_t *yyy = (uint8_t *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
-                                                 CL_MAP_READ, 0, frame_yuv_buf_size,
-                                                 0, NULL, NULL, &err);
-    if(!compare_results(frame_yuv_ptr_y, yyy, frame_yuv_buf_size, width, width, height, (uint8_t*)rgb_frame))
-      mismatched++;
-    clEnqueueUnmapMemObject(q, yuv_cl, yyy, 0, NULL, NULL);
-
-    // std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    if(counter++ % 100 == 0)
-      printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  }
-  printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  delete[] frame_yuv_buf;
-  rgb_to_yuv_destroy(&rgb_to_yuv_state);
-  clReleaseContext(context);
-  delete[] rgb_frame;
-
-  if (mismatched == 0)
-    return 0;
-  else
-    return -1;
-}

From 811bb1b762cb6a58c9bd28387c44de21a02a86f9 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 14 Jul 2022 19:24:30 +0200
Subject: [PATCH 243/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 3ed1b8c51..a4c1afa3b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3ed1b8c51afb616880565e5868806cef82bbc835
+Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22

From 98676fb3b05630bf6e62b0a1fbfc8804948a578c Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Fri, 15 Jul 2022 04:34:27 +1000
Subject: [PATCH 244/435] Toyota: don't send UI on Prius V (#25036)

* Toyota: don't send UI on Prius V

* Update selfdrive/car/toyota/carcontroller.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/toyota/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 33e3fe118..61a41b9c5 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -126,7 +126,7 @@ class CarController:
       # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
       send_ui = True
 
-    if self.frame % 100 == 0 or send_ui:
+    if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V):
       can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                          hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                          hud_control.rightLaneDepart, CC.enabled))

From e203794b2d2341d5b3c0e39b6ae2b08da30ea203 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 14 Jul 2022 16:41:20 -0400
Subject: [PATCH 245/435] VW MQB: Update supported models and model-years
 (#25123)

* updates for Atlas

* updates for Arteon

* regen CARS.md

* consolidate wagons, update Golfs

* update Jetta and Passat

* harness footnotes for Jetta and Passat

* update Polo

* regen CARS.md
---
 docs/CARS.md                       | 45 ++++++++++++++++-----------
 selfdrive/car/volkswagen/values.py | 49 +++++++++++++++++++++---------
 2 files changed, 63 insertions(+), 31 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 754052085..3e35782b2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -70,7 +70,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 70 cars
+# Silver - 77 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -133,19 +133,26 @@ How We Rate The Cars
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Bronze - 80 cars
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+
+# Bronze - 83 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -219,11 +226,14 @@ How We Rate The Cars
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -239,6 +249,7 @@ How We Rate The Cars
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
 <sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
\ No newline at end of file
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6e64f705b..8f38a00d4 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -109,6 +109,9 @@ class Footnote(Enum):
     "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
     "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
     Column.MODEL)
+  VW_VARIANT = CarFootnote(
+    "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
+    Column.MODEL)
 
 
 @dataclass
@@ -118,24 +121,42 @@ class VWCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
-  CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
-  CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.ARTEON_MK1: [
+    VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+  ],
+  CAR.ATLAS_MK1: [
+    VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
   CAR.GOLF_MK7: [
-    VWCarInfo("Volkswagen e-Golf 2014, 2018-20"),
-    VWCarInfo("Volkswagen Golf 2015-20"),
-    VWCarInfo("Volkswagen Golf Alltrack 2017-18"),
-    VWCarInfo("Volkswagen Golf GTE 2016"),
-    VWCarInfo("Volkswagen Golf GTI 2018-21"),
-    VWCarInfo("Volkswagen Golf R 2016-19"),
-    VWCarInfo("Volkswagen Golf SportsVan 2016"),
-    VWCarInfo("Volkswagen Golf SportWagen 2015"),
+    VWCarInfo("Volkswagen e-Golf 2014-20"),
+    VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
+    VWCarInfo("Volkswagen Golf GTD 2015-20"),
+    VWCarInfo("Volkswagen Golf GTE 2015-20"),
+    VWCarInfo("Volkswagen Golf GTI 2015-21"),
+    VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
   ],
   CAR.JETTA_MK7: [
-    VWCarInfo("Volkswagen Jetta 2018-21"),
-    VWCarInfo("Volkswagen Jetta GLI 2021"),
+    VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
+  CAR.PASSAT_MK8: [
+    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+  ],
+  CAR.POLO_MK6: [
+    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   ],
-  CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]),
-  CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),

From 70678bb772ecec78c174b3a71632045f2f6a8806 Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Thu, 14 Jul 2022 15:55:08 -0500
Subject: [PATCH 246/435] Update Corolla Cross Hybrid f/w & doc (#25178)

---
 docs/CARS.md                   | 3 ++-
 selfdrive/car/toyota/values.py | 8 ++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 3e35782b2..cf5853ff4 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -70,7 +70,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Silver - 77 cars
+# Silver - 78 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -126,6 +126,7 @@ How We Rate The Cars
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 63b7240e2..49aa3c9a9 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -124,6 +124,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   ],
   CAR.COROLLAH_TSS2: [
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
+    ToyotaCarInfo("Toyota Corolla Cross Hybrid 2020-22 (Non-US only)", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
@@ -788,6 +789,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
+      b'8965B16011\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@@ -808,15 +810,16 @@ FW_VERSIONS = {
       b'F152612800\x00\x00\x00\x00\x00\x00',
       b'F152612820\x00\x00\x00\x00\x00\x00',
       b'F152612840\x00\x00\x00\x00\x00\x00',
+      b'F152612842\x00\x00\x00\x00\x00\x00',
       b'F152612890\x00\x00\x00\x00\x00\x00',
       b'F152612A00\x00\x00\x00\x00\x00\x00',
       b'F152612A10\x00\x00\x00\x00\x00\x00',
+      b'F152612D00\x00\x00\x00\x00\x00\x00',
+      b'F152616011\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
-      b'F152612D00\x00\x00\x00\x00\x00\x00',
-      b'F152612842\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
@@ -832,6 +835,7 @@ FW_VERSIONS = {
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',

From 505bbce29d45c246be177d81e618f9289e78aa16 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 14 Jul 2022 19:55:18 -0700
Subject: [PATCH 247/435] controlsd: handle radar missing + cleanup system
 error handling (#25179)

* controlsd: handle radar missing + cleanup system erorr handling

* fix carla

* update refs
---
 selfdrive/controls/controlsd.py               | 25 +++++++++++--------
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/process_replay/regen.py        |  2 +-
 .../test/process_replay/test_processes.py     | 12 ++++-----
 tools/sim/start_carla.sh                      |  1 +
 5 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b344705f9..a20a3a9f3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -96,7 +96,11 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
+      ignore = []
+      if SIMULATION:
+        ignore += ['driverCameraState', 'managerState']
+      if params.get_bool('WideCameraOnly'):
+        ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
@@ -224,12 +228,8 @@ class Controls:
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
-    # Handle car events. Ignore when CAN is invalid
-    if CS.canTimeout:
-      self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
-      self.events.add(EventName.canError)
-    else:
+    # Add car events, ignore if CAN isn't valid
+    if CS.canValid:
       self.events.add_from_msg(CS.events)
 
     # Create events for temperature, disk space, and memory
@@ -309,14 +309,19 @@ class Controls:
           self.events.add(EventName.cameraFrameRate)
     if self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors):
+    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
+    if CS.canTimeout:
+      self.events.add(EventName.canBusMissing)
+    elif not CS.canValid:
+      self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    no_system_errors = len(self.events) != num_events
-    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
+    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
+    no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
+    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index dff232911..00bf28ed8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fa52fa6c6703269e23610b1c6aba8a56b911fbbb
\ No newline at end of file
+7c1168af0311d2fef67b82812cd863a0e97c030e
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 1a2d436f1..39f75ce42 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -263,7 +263,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   seg_path = os.path.join(outdir, segment)
   # check to make sure openpilot is engaged in the route
   if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
-    raise Exception(f"Route never enabled: {segment}")
+    raise Exception(f"Route did not engage for long enough: {segment}")
 
   return seg_path
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 4ebb0701d..08933d143 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -38,18 +38,18 @@ original_segments = [
 
 segments = [
   ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
-  ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
+  ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
   ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
   ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
   ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
   ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
-  ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
-  ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
-  ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
+  ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
+  ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
+  ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
   ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
-  ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
+  ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
   ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
-  ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
+  ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
   ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
   ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 67ced7eb2..7ead6699f 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -22,6 +22,7 @@ if [[ "$DETACH" ]]; then
   EXTRA_ARGS="-d"
 fi
 
+docker kill carla_sim || true
 docker run \
   --name carla_sim \
   --rm \

From 5ccc2b89213f37649440984b8b660504a2c7fc29 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Fri, 15 Jul 2022 13:18:52 +0200
Subject: [PATCH 248/435] Laikad: improve logging + posfix every 2 sec (#25184)

* Improve logging for pos fix and caching

* Set to debug
---
 selfdrive/locationd/laikad.py | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 13829b22a..b67c48349 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -79,8 +79,8 @@ class Laikad:
       cloudlog.exception("Error parsing cache")
     timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
     cloudlog.debug(
-      f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
-      f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
+      f"Loaded nav ({sum([len(v) for v in cache['nav']])}) and orbits ({sum([len(v) for v in cache['orbits']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+      f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.orbit_fetched_times._ranges]}")
 
   def cache_ephemeris(self, t: GPSTime):
     if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
@@ -94,10 +94,15 @@ class Laikad:
     if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
       min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
       pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
-      if len(pos_fix) > 0 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
-        self.last_pos_fix = pos_fix[:3]
-        self.last_pos_residual = pos_fix_residual
+      if len(pos_fix) > 0:
         self.last_pos_fix_t = t
+        residual_median = np.median(np.abs(pos_fix_residual))
+        if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
+          cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}")
+          self.last_pos_fix = pos_fix[:3]
+          self.last_pos_residual = pos_fix_residual
+        else:
+          cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
     return self.last_pos_fix
 
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
@@ -115,10 +120,11 @@ class Laikad:
       new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
 
       processed_measurements = process_measurements(new_meas, self.astro_dog)
-
       est_pos = self.get_est_pos(t, processed_measurements)
 
       corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
+      if ublox_mono_time % 10 == 0:
+        cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
 
       self.update_localizer(est_pos, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
@@ -212,6 +218,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cach
   try:
     astro_dog.get_orbit_data(t, only_predictions=True)
     cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+    cloudlog.debug(f"Downloaded orbits ({sum([len(v) for v in astro_dog.orbits])}): {list(astro_dog.orbits.keys())}" +
+                   f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
     return astro_dog.orbits, astro_dog.orbit_fetched_times, t
   except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")

From 91eb096ac98b46605c283c637ed1e6b15598dc52 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 16 Jul 2022 01:53:10 +0800
Subject: [PATCH 249/435] replay: add support for reading from plain logs
 (#25053)

* read from plain log

* reduce memory copies

* cleanup

* fix test_replay
---
 tools/replay/logreader.cc         | 22 +++++++++++-----------
 tools/replay/logreader.h          |  2 +-
 tools/replay/route.cc             |  4 ++--
 tools/replay/tests/test_replay.cc |  1 +
 4 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index f27224ac5..9b7a07a83 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -47,22 +47,22 @@ LogReader::~LogReader() {
 }
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  FileReader f(local_cache, chunk_size, retries);
-  std::string data = f.read(url, abort);
-  if (data.empty()) return false;
+  raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  if (raw_.empty()) return false;
 
-  return load((std::byte*)data.data(), data.size(), abort);
+  if (url.find(".bz2") != std::string::npos) {
+    raw_ = decompressBZ2(raw_, abort);
+    if (raw_.empty()) return false;
+  }
+  return parse(abort);
 }
 
 bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
-  raw_ = decompressBZ2(data, size, abort);
-  if (raw_.empty()) {
-    if (!(abort && *abort)) {
-      rWarning("failed to decompress log");
-    }
-    return false;
-  }
+  raw_.assign((const char *)data, size);
+  return parse(abort);
+}
 
+bool LogReader::parse(std::atomic<bool> *abort) {
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index fb63bf391..bd666d0a7 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -52,10 +52,10 @@ public:
   ~LogReader();
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
-
   std::vector<Event*> events;
 
 private:
+  bool parse(std::atomic<bool> *abort);
   std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
   std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 5b4709022..c91b27ae8 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -82,9 +82,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2") {
+  if (name == "rlog.bz2" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2") {
+  } else if (name == "qlog.bz2" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index bd5dee013..d6482c3ca 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -71,6 +71,7 @@ TEST_CASE("LogReader") {
     FileReader reader(true);
     std::string corrupt_content = reader.read(TEST_RLOG_URL);
     corrupt_content.resize(corrupt_content.length() / 2);
+    corrupt_content = decompressBZ2(corrupt_content);
     LogReader log;
     REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
     REQUIRE(log.events.size() > 0);

From 98a0cd9455ad4ae02145d0653c0dabdfab0b3f0f Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Fri, 15 Jul 2022 19:42:13 +0100
Subject: [PATCH 250/435] Ford: FPv2 firmware request (#24211)

---
 selfdrive/car/fw_versions.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 5a33cdf6b..c7256e743 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -99,6 +99,11 @@ CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x
 
 CHRYSLER_RX_OFFSET = -0x280
 
+FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
 
 @dataclass
 class Request:
@@ -207,6 +212,13 @@ REQUESTS: List[Request] = [
     [CHRYSLER_VERSION_REQUEST],
     [CHRYSLER_VERSION_RESPONSE],
   ),
+  # Ford
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    bus=0,
+  ),
 ]
 
 

From 93cd0285ac014427cdd137fa2c8852c58bdef4db Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Mon, 18 Jul 2022 04:57:21 -0700
Subject: [PATCH 251/435] nav: toggle to show on left side of onroad ui
 (#25169)

* nav: show on left side of onroad ui

* add toggle

* capitalization

* update translations

* single params object

* skip unfinished translations test

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 common/params.cc                         |   1 +
 selfdrive/ui/qt/offroad/settings.cc      |   6 ++
 selfdrive/ui/qt/onroad.cc                |   8 +-
 selfdrive/ui/tests/test_translations.py  |   1 +
 selfdrive/ui/translations/main_ko.ts     | 132 ++++++++++++-----------
 selfdrive/ui/translations/main_zh-CHS.ts | 132 ++++++++++++-----------
 selfdrive/ui/translations/main_zh-CHT.ts | 132 ++++++++++++-----------
 selfdrive/ui/ui.cc                       |   4 +-
 selfdrive/ui/ui.h                        |   2 +-
 9 files changed, 232 insertions(+), 186 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index c4f65a9e0..77be6f36b 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -140,6 +140,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"NavSettingTime24h", PERSISTENT},
+    {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9a6e20396..7b6be919e 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
     },
+    {
+      "NavSettingLeftSide",
+      tr("Show Map on Left Side of UI"),
+      tr("Show map on left side when in split screen view."),
+      "../assets/offroad/icon_road.png",
+    },
 #endif
 
   };
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ca39a89ae..fe39cd0cf 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -52,6 +52,12 @@ void OnroadWindow::updateState(const UIState &s) {
     alerts->updateAlert(alert, bgColor);
   }
 
+  if (s.scene.map_on_left) {
+    split->setDirection(QBoxLayout::LeftToRight);
+  } else {
+    split->setDirection(QBoxLayout::RightToLeft);
+  }
+
   nvg->updateState(s);
 
   if (bg != bgColor) {
@@ -80,7 +86,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
       QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
 
       m->setFixedWidth(topWidget(this)->width() / 2);
-      split->addWidget(m, 0, Qt::AlignRight);
+      split->insertWidget(0, m);
 
       // Make map visible after adding to split
       m->offroadTransition(offroad);
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 3230a9954..d5409dd41 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -61,6 +61,7 @@ class TestTranslations(unittest.TestCase):
             self.assertEqual(cur_translations, new_translations,
                              f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
 
+  @unittest.skip("Only test unfinished translations before going to release")
   def test_unfinished_translations(self):
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 07d687746..d737a9ce3 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Serial</source>
         <translation>Serial</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Driver Camera</source>
         <translation>운전자 카메라</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>PREVIEW</source>
         <translation>미리보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>Reset Calibration</source>
         <translation>캘리브레이션 재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>RESET</source>
         <translation>재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>캘리브레이션을 재설정하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review Training Guide</source>
         <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>REVIEW</source>
         <translation>다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="121"/>
+        <location filename="../qt/offroad/settings.cc" line="127"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>Regulatory</source>
         <translation>규제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>VIEW</source>
         <translation>보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>Change Language</source>
         <translation>언어 변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>CHANGE</source>
         <translation>변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <location filename="../qt/offroad/settings.cc" line="147"/>
         <source>Select a language</source>
         <translation>언어를 선택하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Reboot</source>
         <translation>재부팅</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <location filename="../qt/offroad/settings.cc" line="172"/>
         <source>Power Off</source>
         <translation>전원 종료</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="186"/>
+        <location filename="../qt/offroad/settings.cc" line="192"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="203"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>down</source>
         <translation>아래로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>up</source>
         <translation>위로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>left</source>
         <translation>좌측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>right</source>
         <translation>우측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="210"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Are you sure you want to reboot?</source>
         <translation>재부팅 하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Disengage to Reboot</source>
         <translation>재부팅 하려면 해제하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Are you sure you want to power off?</source>
         <translation>전원을 종료하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Disengage to Power Off</source>
         <translation>전원을 종료하려면 해제하세요</translation>
     </message>
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="269"/>
-        <location filename="../qt/onroad.cc" line="272"/>
+        <location filename="../qt/onroad.cc" line="275"/>
+        <location filename="../qt/onroad.cc" line="278"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="316"/>
-        <location filename="../qt/onroad.cc" line="319"/>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="328"/>
+        <location filename="../qt/onroad.cc" line="331"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
@@ -710,33 +710,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <location filename="../qt/offroad/settings.cc" line="321"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="347"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
-        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="387"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <location filename="../qt/offroad/settings.cc" line="350"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="355"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -975,68 +975,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Git Branch</source>
         <translation>Git 브렌치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Commit</source>
         <translation>Git 커밋</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>OS Version</source>
         <translation>OS 버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>Version</source>
         <translation>버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Last Update Check</source>
         <translation>최신 업데이트 검사</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Check for Update</source>
         <translation>업데이트 확인</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>CHECKING</source>
         <translation>확인중</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>UNINSTALL</source>
         <translation>제거</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>Uninstall %1</source>
         <translation>제거 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="260"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>제거하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="269"/>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="296"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
@@ -1194,12 +1194,22 @@ location set</source>
         <translation>오전/오후 대신 24시간 형식 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="89"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot Longitudinal Control</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 424488fc5..682d1a05c 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Dongle ID</source>
         <translation>设备ID（Dongle ID）</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Serial</source>
         <translation>序列号</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Driver Camera</source>
         <translation>驾驶员摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>PREVIEW</source>
         <translation>预览</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>Reset Calibration</source>
         <translation>重置设备校准</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您确定要重置设备校准吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review Training Guide</source>
         <translation>新手指南</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>REVIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="121"/>
+        <location filename="../qt/offroad/settings.cc" line="127"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您确定要查看新手指南吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>Regulatory</source>
         <translation>监管信息</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>VIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>Change Language</source>
         <translation>切换语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>CHANGE</source>
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <location filename="../qt/offroad/settings.cc" line="147"/>
         <source>Select a language</source>
         <translation>选择语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Reboot</source>
         <translation>重启</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <location filename="../qt/offroad/settings.cc" line="172"/>
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="186"/>
+        <location filename="../qt/offroad/settings.cc" line="192"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="203"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation>您的设备校准为%1° %2、%3° %4。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>down</source>
         <translation>朝下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>up</source>
         <translation>朝上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>left</source>
         <translation>朝左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>right</source>
         <translation>朝右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="210"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您确定要重新启动吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Disengage to Reboot</source>
         <translation>取消openpilot以重新启动</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Are you sure you want to power off?</source>
         <translation>您确定要关机吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Disengage to Power Off</source>
         <translation>取消openpilot以关机</translation>
     </message>
@@ -486,30 +486,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="269"/>
-        <location filename="../qt/onroad.cc" line="272"/>
+        <location filename="../qt/onroad.cc" line="275"/>
+        <location filename="../qt/onroad.cc" line="278"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="316"/>
-        <location filename="../qt/onroad.cc" line="319"/>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="328"/>
+        <location filename="../qt/onroad.cc" line="331"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
@@ -708,33 +708,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <location filename="../qt/offroad/settings.cc" line="321"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="347"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
-        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="387"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Toggles</source>
         <translation>设定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <location filename="../qt/offroad/settings.cc" line="350"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="355"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -973,68 +973,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Git Branch</source>
         <translation>Git Branch</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Commit</source>
         <translation>Git Commit</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>OS Version</source>
         <translation>系统版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>Version</source>
         <translation>软件版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Last Update Check</source>
         <translation>上次检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Check for Update</source>
         <translation>检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>CHECKING</source>
         <translation>正在检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>Uninstall %1</source>
         <translation>卸载 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="260"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>failed to fetch update</source>
         <translation>获取更新失败</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="269"/>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="296"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
@@ -1192,12 +1192,22 @@ location set</source>
         <translation>使用24小时制代替am/pm</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="89"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot纵向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 1eab75a6b..c04a30535 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>N/A</source>
         <translation>無法使用</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Serial</source>
         <translation>序號</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Driver Camera</source>
         <translation>駕駛員攝像頭</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>PREVIEW</source>
         <translation>預覽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>Reset Calibration</source>
         <translation>重置校準</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <location filename="../qt/offroad/settings.cc" line="115"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您確定要重置校準嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review Training Guide</source>
         <translation>觀看使用教學</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>REVIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="125"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>觀看 openpilot 的使用規則、功能和限制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="121"/>
+        <location filename="../qt/offroad/settings.cc" line="127"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您確定要觀看使用教學嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>Regulatory</source>
         <translation>法規/監管</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <location filename="../qt/offroad/settings.cc" line="135"/>
         <source>VIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>Change Language</source>
         <translation>更改語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <location filename="../qt/offroad/settings.cc" line="143"/>
         <source>CHANGE</source>
         <translation>更改</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <location filename="../qt/offroad/settings.cc" line="147"/>
         <source>Select a language</source>
         <translation>選擇語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Reboot</source>
         <translation>重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <location filename="../qt/offroad/settings.cc" line="172"/>
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="186"/>
+        <location filename="../qt/offroad/settings.cc" line="192"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <location filename="../qt/offroad/settings.cc" line="203"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="210"/>
+        <location filename="../qt/offroad/settings.cc" line="216"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您確定要重新啟動嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
         <source>Disengage to Reboot</source>
         <translation>請先取消控車才能重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="229"/>
         <source>Are you sure you want to power off?</source>
         <translation>您確定您要關機嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Disengage to Power Off</source>
         <translation>請先取消控車才能關機</translation>
     </message>
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="269"/>
-        <location filename="../qt/onroad.cc" line="272"/>
+        <location filename="../qt/onroad.cc" line="275"/>
+        <location filename="../qt/onroad.cc" line="278"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="316"/>
-        <location filename="../qt/onroad.cc" line="319"/>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="328"/>
+        <location filename="../qt/onroad.cc" line="331"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>
@@ -713,33 +713,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <location filename="../qt/offroad/settings.cc" line="321"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <location filename="../qt/offroad/settings.cc" line="347"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="342"/>
-        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <location filename="../qt/offroad/settings.cc" line="348"/>
+        <location filename="../qt/offroad/settings.cc" line="387"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <location filename="../qt/offroad/settings.cc" line="350"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="355"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -978,68 +978,68 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>OS Version</source>
         <translation>系統版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Last Update Check</source>
         <translation>上次檢查時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Check for Update</source>
         <translation>檢查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="251"/>
         <source>CHECKING</source>
         <translation>檢查中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="258"/>
         <source>Uninstall %1</source>
         <translation>卸載 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="260"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="269"/>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="296"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>
@@ -1197,12 +1197,22 @@ location set</source>
         <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="89"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 縱向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
     </message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 7922714c1..317ef497a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -192,7 +192,9 @@ static void update_state(UIState *s) {
 }
 
 void ui_update_params(UIState *s) {
-  s->scene.is_metric = Params().getBool("IsMetric");
+  auto params = Params();
+  s->scene.is_metric = params.getBool("IsMetric");
+  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 1aee3df9a..16f78cdef 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -101,7 +101,7 @@ typedef struct UIScene {
   QPointF lead_vertices[2];
 
   float light_sensor, accel_sensor, gyro_sensor;
-  bool started, ignition, is_metric, longitudinal_control;
+  bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;
 } UIScene;
 

From 2a5da48a7cd39d5289fbc933d4b89fd75fd453fa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 Jul 2022 15:07:56 -0700
Subject: [PATCH 252/435] 2021 pacifica is supported

---
 docs/CARS.md                     | 3 ++-
 selfdrive/car/chrysler/values.py | 7 +++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index cf5853ff4..78044d9fb 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -153,7 +153,7 @@ How We Rate The Cars
 |Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-# Bronze - 83 cars
+# Bronze - 84 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -165,6 +165,7 @@ How We Rate The Cars
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 80baba9bd..5a979776e 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -14,7 +14,7 @@ class CAR:
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
+  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
   # Jeep
@@ -51,7 +51,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+  CAR.PACIFICA_2020: [
+    ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+  ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"),

From ee081f278b090b5bd4a06f12749fffeb780c6162 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 17:05:16 -0700
Subject: [PATCH 253/435] FPv2: fingerprint on all FW combinations (#25204)

* Try to fingerprint on all possible combinations

* build_fw_dict creates set dict, tries each fw version for addr, subaddr

* clean up

* static analysis

* comment

* fix comment

* revert changes to test_fw_query_on_routes

* remove comment
---
 selfdrive/car/fw_versions.py               | 52 +++++++++++-----------
 selfdrive/debug/test_fw_query_on_routes.py | 21 ++-------
 2 files changed, 29 insertions(+), 44 deletions(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c7256e743..9db03390b 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -228,13 +228,13 @@ def chunks(l, n=128):
 
 
 def build_fw_dict(fw_versions, filter_brand=None):
-  fw_versions_dict = {}
+  fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
     if filter_brand is None or fw.brand == filter_brand:
       addr = fw.address
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
-  return fw_versions_dict
+      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+  return dict(fw_versions_dict)
 
 
 def get_brand_addrs():
@@ -271,17 +271,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
 
   match_count = 0
   candidate = None
-  for addr, version in fw_versions_dict.items():
-    # All cars that have this FW response on the specified address
-    candidates = all_fw_versions[(addr[0], addr[1], version)]
-
-    if len(candidates) == 1:
-      match_count += 1
-      if candidate is None:
-        candidate = candidates[0]
-      # We uniquely matched two different cars. No fuzzy match possible
-      elif candidate != candidates[0]:
-        return set()
+  for addr, versions in fw_versions_dict.items():
+    for version in versions:
+      # All cars that have this FW response on the specified address
+      candidates = all_fw_versions[(addr[0], addr[1], version)]
+
+      if len(candidates) == 1:
+        match_count += 1
+        if candidate is None:
+          candidate = candidates[0]
+        # We uniquely matched two different cars. No fuzzy match possible
+        elif candidate != candidates[0]:
+          return set()
 
   if match_count >= 2:
     if log:
@@ -303,23 +304,23 @@ def match_fw_to_car_exact(fw_versions_dict):
     for ecu, expected_versions in fws.items():
       ecu_type = ecu[0]
       addr = ecu[1:]
-      found_version = fw_versions_dict.get(addr, None)
-      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
+      found_versions = fw_versions_dict.get(addr, set())
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # Ignore non essential ecus
-      if ecu_type not in ESSENTIAL_ECUS and found_version is None:
+      if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
         continue
 
       # Virtual debug ecu doesn't need to match the database
       if ecu_type == Ecu.debug:
         continue
 
-      if found_version not in expected_versions:
+      if not any([found_version in expected_versions for found_version in found_versions]):
         invalid.append(candidate)
         break
 
@@ -327,19 +328,16 @@ def match_fw_to_car_exact(fw_versions_dict):
 
 
 def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-
   # Try exact matching first
   exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
     exact_matches.append((False, match_fw_to_car_fuzzy))
 
   for exact_match, match_func in exact_matches:
-    # For each brand, attempt to fingerprint using FW returned from its queries
+    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
     matches = set()
-    for brand in versions.keys():
-      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict)
+    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
+    matches |= match_func(fw_versions_dict)
 
     if len(matches):
       return exact_match, matches
@@ -408,7 +406,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+
+    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
+    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
     if len(matches) == 1:
       break
 
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 9ce0ebb3f..191411f45 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -89,24 +89,9 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          # Older routes only have carFw from their brand
-          old_route = not any([len(fw.brand) for fw in car_fw])
-          brands = SUPPORTED_BRANDS if not old_route else [None]
-
-          # Exact match
-          exact_matches, fuzzy_matches = [], []
-          for brand in brands:
-            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
-            exact_matches = match_fw_to_car_exact(fw_versions_dict)
-            if len(exact_matches) == 1:
-              break
-
-          # Fuzzy match
-          for brand in brands:
-            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
-            fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
-            if len(fuzzy_matches) == 1:
-              break
+          fw_versions_dict = build_fw_dict(car_fw)
+          exact_matches = match_fw_to_car_exact(fw_versions_dict)
+          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1

From 54e168fce2b98d573ad5924a31e7014dec1656cd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 17:19:33 -0700
Subject: [PATCH 254/435] Honda Civic 2022: add missing FW versions (#25206)

Add missing 2022 Civic FW versions
---
 selfdrive/car/honda/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c665b1cd0..3ce467e29 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1407,6 +1407,7 @@ FW_VERSIONS = {
       b'38897-T20-A510\x00\x00',
       b'38897-T21-A010\x00\x00',
       b'38897-T20-A210\x00\x00',
+      b'38897-T20-A310\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
@@ -1417,6 +1418,7 @@ FW_VERSIONS = {
       b'78108-T21-A620\x00\x00',
       b'78108-T23-A110\x00\x00',
       b'78108-T21-A230\x00\x00',
+      b'78108-T22-A020\x00\x00',
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-T20-AB40\x00\x00',
@@ -1426,12 +1428,14 @@ FW_VERSIONS = {
       b'28101-65D-A020\x00\x00',
       b'28101-65D-A120\x00\x00',
       b'28101-65H-A020\x00\x00',
+      b'28101-65H-A120\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-64L-A540\x00\x00',
       b'37805-64S-A540\x00\x00',
       b'37805-64S-A720\x00\x00',
       b'37805-64A-A540\x00\x00',
+      b'37805-64A-A620\x00\x00',
     ],
   },
 }

From a80324528942e2df1a6f27df65583976c0b1bdbc Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 19 Jul 2022 01:29:16 +0100
Subject: [PATCH 255/435] Ford FPv2: send engine FW request to OBD port
 (#25202)

* ford fw request on OBD port too

* Ford: whitelist fw query for ecu type
---
 selfdrive/car/fw_versions.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 9db03390b..ee2c0f31d 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -213,11 +213,18 @@ REQUESTS: List[Request] = [
     [CHRYSLER_VERSION_RESPONSE],
   ),
   # Ford
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine],
+  ),
   Request(
     "ford",
     [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
     bus=0,
+    whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera],
   ),
 ]
 

From 500d16622c2c2a60d11539f20f7dda5205bb0915 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 Jul 2022 17:53:00 -0700
Subject: [PATCH 256/435] simplify compatibility docs (#25190)

* simplify tiers

* little more

* cleanup

* fix test
---
 docs/CARS.md                      | 422 ++++++++++++++----------------
 selfdrive/car/CARS_template.md    |  16 +-
 selfdrive/car/docs.py             |  31 +--
 selfdrive/car/docs_definitions.py |  48 ++--
 selfdrive/car/tests/test_docs.py  |   8 +-
 5 files changed, 239 insertions(+), 286 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 78044d9fb..0fee4ddc8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,20 +2,9 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-- Gold - The best openpilot experience. Great highway driving and beyond.
-- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
-- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
-
 How We Rate The Cars
 ---
 
-### openpilot Adaptive Cruise Control (ACC)
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
-
 ### Stop and Go
 - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
@@ -25,223 +14,206 @@ How We Rate The Cars
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tight turns.
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 
-### Actively Maintained
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
-
-**All supported cars can move between the tiers as support changes.**
-
-# Gold - 30 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Silver - 78 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|EV6 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTD 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2015-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Bronze - 84 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2017-2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
+# 192 Supported Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
+|---|---|---|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Acura|RDX 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G80 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|CR-V 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Fit 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Insight 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|EV6 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Stinger 2018-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2017-2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 <a id="footnotes"></a>
 <sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 891445a55..8603f3143 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -5,12 +5,6 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-{% for tier in tiers %}
-- {{tier.name.title()}} - {{tier.value}}
-{% endfor %}
-
 How We Rate The Cars
 ---
 
@@ -23,20 +17,16 @@ How We Rate The Cars
 
 {% endfor %}
 {% endfor %}
-**All supported cars can move between the tiers as support changes.**
 
-{% for tier, cars in tiers.items() %}
-# {{tier.name.title()}} - {{cars | length}} cars
+# {{all_car_info | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|')}}|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-{% for car_info in cars %}
+|---|---|---|:---:|:---:|:---:|:---:|
+{% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
-{% endfor %}
-
 <a id="footnotes"></a>
 {% for footnote in footnotes %}
 <sup>{{loop.index}}</sup>{{footnote}} <br />
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 860503dbd..583191603 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -7,7 +7,7 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
 from selfdrive.car.tests.routes import non_tested_cars
@@ -47,25 +47,21 @@ def get_all_car_info() -> List[CarInfo]:
   return sorted_cars
 
 
-def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
-  tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
-  for car_info in all_car_info:
-    tier_car_info[car_info.tier].append(car_info)
-
-  # Sort cars by make and model + year
-  for tier, cars in tier_car_info.items():
-    tier_car_info[tier] = natsorted(cars, key=lambda car: (car.make + car.model).lower())
-
-  return tier_car_info
-
-
-def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
+  cols = list(Column)
+  if only_tier_cols:
+    hide_cols = set(StarColumns) - set(TierColumns)
+    cols = [c for c in cols if c not in hide_cols]
+    for car in all_car_info:
+      for c in hide_cols:
+        del car.row[c]
+
   footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
-  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
+  cars_md: str = template.render(all_car_info=all_car_info,
+                                 footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS)
   return cars_md
 
 
@@ -73,10 +69,11 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+  parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier")
   parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
   parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_info(), args.template, args.tier_columns))
   print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 1efa23037..99873a9c2 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,5 +1,3 @@
-import math
-
 from cereal import car
 from collections import namedtuple
 from dataclasses import dataclass
@@ -12,9 +10,9 @@ GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 
 
 class Tier(Enum):
-  GOLD = "The best openpilot experience. Great highway driving and beyond."
-  SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future."
-  BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns."
+  GOLD = 0
+  SILVER = 1
+  BRONZE = 2
 
 
 class Column(Enum):
@@ -25,7 +23,6 @@ class Column(Enum):
   FSR_LONGITUDINAL = "Stop and Go"
   FSR_STEERING = "Steer to 0"
   STEERING_TORQUE = "Steering Torque"
-  MAINTAINED = "Actively Maintained"
 
 
 class Star(Enum):
@@ -35,6 +32,7 @@ class Star(Enum):
 
 
 StarColumns = list(Column)[3:]
+TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
 
 
@@ -72,6 +70,7 @@ class CarInfo:
       min_enable_speed = self.min_enable_speed
 
     self.car_name = CP.carName
+    self.car_fingerprint = CP.carFingerprint
     self.make, self.model = self.name.split(' ', 1)
     self.row = {
       Column.MAKE: self.make,
@@ -82,17 +81,14 @@ class CarInfo:
       Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
       Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
       # Column.STEERING_TORQUE set below
-      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
     # Set steering torque star from max lateral acceleration
-    if not math.isnan(CP.maxLateralAccel):
-      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.FULL
-      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.HALF
-      else:
-        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+    assert CP.maxLateralAccel > 0.1
+    if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+      self.row[Column.STEERING_TORQUE] = Star.FULL
+    else:
+      self.row[Column.STEERING_TORQUE] = Star.EMPTY
 
     if CP.notCar:
       for col in StarColumns:
@@ -105,7 +101,15 @@ class CarInfo:
       if footnote is not None and footnote.value.star is not None:
         self.row[column] = footnote.value.star
 
-    self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
+    # openpilot ACC star doesn't count for tiers
+    full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
+    if full_stars == len(TierColumns):
+      self.tier = Tier.GOLD
+    elif full_stars == (len(TierColumns)-1):
+      self.tier = Tier.SILVER
+    else:
+      self.tier = Tier.BRONZE
+
     return self
 
   @no_type_check
@@ -156,11 +160,6 @@ class Harness(Enum):
 
 STAR_DESCRIPTIONS = {
   "Gas & Brakes": {  # icon and row name
-    "openpilot Adaptive Cruise Control (ACC)": [  # star column
-      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
-      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
-      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
-    ],
     Column.FSR_LONGITUDINAL.value: [
       [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
       [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
@@ -172,15 +171,8 @@ STAR_DESCRIPTIONS = {
       [Star.EMPTY.value, "No steering control below certain speeds."],
     ],
     Column.STEERING_TORQUE.value: [
-      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
-      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
+      [Star.FULL.value, "Car has enough steering torque to take tight turns."],
       [Star.EMPTY.value, "Limited ability to make turns."],
     ],
   },
-  "Support": {
-    Column.MAINTAINED.value: [
-      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
-      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
-    ],
-  },
 }
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 98c909a9b..dbdd9769d 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -4,6 +4,7 @@ import unittest
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 from selfdrive.car.docs_definitions import Column, Star
+from selfdrive.car.honda.values import CAR as HONDA
 
 
 class TestCarDocs(unittest.TestCase):
@@ -11,7 +12,7 @@ class TestCarDocs(unittest.TestCase):
     self.all_cars = get_all_car_info()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False)
     with open(CARS_MD_OUT, "r") as f:
       current_cars_md = f.read()
 
@@ -43,8 +44,9 @@ class TestCarDocs(unittest.TestCase):
     # Asserts brand-specific assumptions around steering torque star
     for car in self.all_cars:
       with self.subTest(car=car):
-        if car.car_name == "honda":
-          self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+        # honda sanity check, it's the definition of a no torque star
+        if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT):
+          self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
         elif car.car_name in ("toyota", "hyundai"):
           self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
 

From cc3857eb62cd169be05a4cb22c844a8b2ec94139 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 18 Jul 2022 21:18:10 -0700
Subject: [PATCH 257/435] updated: add branch switching (#25200)

* switch param

* add to ui

* fix that

* fetch for new branch

Co-authored-by: Comma Device <device@comma.ai>
---
 common/params.cc                    |  2 ++
 selfdrive/manager/manager.py        |  3 ++-
 selfdrive/ui/qt/offroad/settings.cc | 20 ++++++++++++++++++--
 selfdrive/ui/qt/offroad/settings.h  |  1 +
 selfdrive/ui/qt/widgets/controls.h  |  4 ++--
 selfdrive/updated.py                | 20 ++++++++++++++------
 6 files changed, 39 insertions(+), 11 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 77be6f36b..1ead28d6c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -126,6 +126,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOnroad", PERSISTENT},
     {"IsRHD", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"LaikadEphemeris", PERSISTENT | DONT_LOG},
@@ -154,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
+    {"SwitchToBranch", CLEAR_ON_MANAGER_START},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 140c7f1d4..9c370cb3d 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from system.swaglog import cloudlog, add_file_handler
 from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                              terms_version, training_version
+                              terms_version, training_version, is_tested_branch
 
 
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
@@ -78,6 +78,7 @@ def manager_init() -> None:
   params.put("GitCommit", get_commit(default=""))
   params.put("GitBranch", get_short_branch(default=""))
   params.put("GitRemote", get_origin(default=""))
+  params.put_bool("IsTestedBranch", is_tested_branch())
 
   # set dongle id
   reg_res = register(show_spinner=True)
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 7b6be919e..65b9e3e4c 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -24,6 +24,7 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -253,7 +254,19 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     }
     std::system("pkill -1 -f selfdrive.updated");
   });
-
+  connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled);
+
+  branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"));
+  connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() {
+    QString branch = InputDialog::getText(tr("Enter name of new branch"), this);
+    if (branch.isEmpty()) {
+      params.remove("SwitchToBranch");
+    } else {
+      params.put("SwitchToBranch", branch.toStdString());
+    }
+    std::system("pkill -1 -f selfdrive.updated");
+  });
+  connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled);
 
   auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
@@ -263,8 +276,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
   connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
 
-  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
+  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
   for (QWidget* w : widgets) {
+    if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) {
+      continue;
+    }
     addItem(w);
   }
 
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 160f10f99..45efe255c 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -71,6 +71,7 @@ private:
   LabelControl *versionLbl;
   LabelControl *lastUpdateLbl;
   ButtonControl *updateBtn;
+  ButtonControl *branchSwitcherBtn;
 
   Params params;
   QFileSystemWatcher *fs_watch;
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index aed99edae..4245a9c04 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -24,9 +24,9 @@ signals:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void resizeEvent(QResizeEvent* event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override { 
+  void mouseReleaseEvent(QMouseEvent *event) override {
     if (rect().contains(event->pos())) {
-      emit clicked(); 
+      emit clicked();
     }
   }
   QString lastText_, elidedText_;
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index bdec383f5..34ab338bb 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -311,21 +311,29 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
 
   cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
-  new_version: bool = cur_hash != upstream_hash
+  new_version = cur_hash != upstream_hash
   git_fetch_result = check_git_fetch_result(git_fetch_output)
 
+  new_branch = Params().get("SwitchToBranch", encoding='utf8')
+  if new_branch is not None:
+    new_version = True
+
   cloudlog.info(f"comparing {cur_hash} to {upstream_hash}")
   if new_version or git_fetch_result:
     cloudlog.info("Running update")
 
     if new_version:
       cloudlog.info("git reset in progress")
-      r = [
-        run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ),
-        run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True),
+      cmds = [
+        ["git", "reset", "--hard", "@{u}"],
+        ["git", "clean", "-xdf"],
+        ["git", "submodule", "init"],
+        ["git", "submodule", "update"],
       ]
+      if new_branch is not None:
+        cloudlog.info(f"switching to branch {repr(new_branch)}")
+        cmds.insert(0, ["git", "checkout", "-f", new_branch])
+      r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds]
       cloudlog.info("git reset success: %s", '\n'.join(r))
 
       if AGNOS:

From 758069464cfcc2d0c3c991533aa800707aa823c1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 22:05:11 -0700
Subject: [PATCH 258/435] Fix release tests

---
 selfdrive/ui/translations/main_ko.ts     | 153 +++++++++++++----------
 selfdrive/ui/translations/main_zh-CHS.ts | 153 +++++++++++++----------
 selfdrive/ui/translations/main_zh-CHT.ts | 153 +++++++++++++----------
 selfdrive/updated.py                     |   2 +-
 4 files changed, 253 insertions(+), 208 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index d737a9ce3..4662a862b 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="107"/>
         <source>Serial</source>
         <translation>Serial</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Driver Camera</source>
         <translation>운전자 카메라</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>PREVIEW</source>
         <translation>미리보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>Reset Calibration</source>
         <translation>캘리브레이션 재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>RESET</source>
         <translation>재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>캘리브레이션을 재설정하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review Training Guide</source>
         <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>REVIEW</source>
         <translation>다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="127"/>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>Regulatory</source>
         <translation>규제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>VIEW</source>
         <translation>보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>Change Language</source>
         <translation>언어 변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>CHANGE</source>
         <translation>변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="147"/>
+        <location filename="../qt/offroad/settings.cc" line="148"/>
         <source>Select a language</source>
         <translation>언어를 선택하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <location filename="../qt/offroad/settings.cc" line="168"/>
         <source>Reboot</source>
         <translation>재부팅</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="172"/>
+        <location filename="../qt/offroad/settings.cc" line="173"/>
         <source>Power Off</source>
         <translation>전원 종료</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="192"/>
+        <location filename="../qt/offroad/settings.cc" line="193"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="203"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>down</source>
         <translation>아래로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>up</source>
         <translation>위로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>left</source>
         <translation>좌측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>right</source>
         <translation>우측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Are you sure you want to reboot?</source>
         <translation>재부팅 하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Disengage to Reboot</source>
         <translation>재부팅 하려면 해제하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Are you sure you want to power off?</source>
         <translation>전원을 종료하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Disengage to Power Off</source>
         <translation>전원을 종료하려면 해제하세요</translation>
     </message>
@@ -710,33 +710,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="321"/>
+        <location filename="../qt/offroad/settings.cc" line="337"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="347"/>
+        <location filename="../qt/offroad/settings.cc" line="363"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
-        <location filename="../qt/offroad/settings.cc" line="387"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="403"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="350"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="355"/>
+        <location filename="../qt/offroad/settings.cc" line="371"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -975,68 +975,83 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Branch</source>
         <translation>Git 브렌치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>Git Commit</source>
         <translation>Git 커밋</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>OS Version</source>
         <translation>OS 버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Version</source>
         <translation>버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Last Update Check</source>
         <translation>최신 업데이트 검사</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="247"/>
         <source>Check for Update</source>
         <translation>업데이트 확인</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>CHECKING</source>
         <translation>확인중</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>Switch Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>ENTER</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter name of new branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>UNINSTALL</source>
         <translation>제거</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>Uninstall %1</source>
         <translation>제거 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="260"/>
+        <location filename="../qt/offroad/settings.cc" line="273"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>제거하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
-        <location filename="../qt/offroad/settings.cc" line="296"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="312"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
@@ -1124,92 +1139,92 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Enable openpilot</source>
         <translation>openpilot 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>차선 이탈 경고 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
         <translation>우측핸들 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Use Metric System</source>
         <translation>미터법 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Record and Upload Driver Camera</source>
         <translation>운전자 카메라 녹화 및 업로드</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>가속페달 조작시 해제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show ETA in 24h format</source>
         <translation>24시간 형식으로 도착예정시간 표시</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>오전/오후 대신 24시간 형식 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="89"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot Longitudinal Control</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="91"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 682d1a05c..744cf9034 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Dongle ID</source>
         <translation>设备ID（Dongle ID）</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="107"/>
         <source>Serial</source>
         <translation>序列号</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Driver Camera</source>
         <translation>驾驶员摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>PREVIEW</source>
         <translation>预览</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>Reset Calibration</source>
         <translation>重置设备校准</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您确定要重置设备校准吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review Training Guide</source>
         <translation>新手指南</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>REVIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="127"/>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您确定要查看新手指南吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>Regulatory</source>
         <translation>监管信息</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>VIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>Change Language</source>
         <translation>切换语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>CHANGE</source>
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="147"/>
+        <location filename="../qt/offroad/settings.cc" line="148"/>
         <source>Select a language</source>
         <translation>选择语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <location filename="../qt/offroad/settings.cc" line="168"/>
         <source>Reboot</source>
         <translation>重启</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="172"/>
+        <location filename="../qt/offroad/settings.cc" line="173"/>
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="192"/>
+        <location filename="../qt/offroad/settings.cc" line="193"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="203"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation>您的设备校准为%1° %2、%3° %4。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>down</source>
         <translation>朝下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>up</source>
         <translation>朝上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>left</source>
         <translation>朝左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>right</source>
         <translation>朝右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您确定要重新启动吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Disengage to Reboot</source>
         <translation>取消openpilot以重新启动</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Are you sure you want to power off?</source>
         <translation>您确定要关机吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Disengage to Power Off</source>
         <translation>取消openpilot以关机</translation>
     </message>
@@ -708,33 +708,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="321"/>
+        <location filename="../qt/offroad/settings.cc" line="337"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="347"/>
+        <location filename="../qt/offroad/settings.cc" line="363"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
-        <location filename="../qt/offroad/settings.cc" line="387"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="403"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
         <source>Toggles</source>
         <translation>设定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="350"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="355"/>
+        <location filename="../qt/offroad/settings.cc" line="371"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -973,68 +973,83 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Branch</source>
         <translation>Git Branch</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>Git Commit</source>
         <translation>Git Commit</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>OS Version</source>
         <translation>系统版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Version</source>
         <translation>软件版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Last Update Check</source>
         <translation>上次检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="247"/>
         <source>Check for Update</source>
         <translation>检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>CHECKING</source>
         <translation>正在检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>Switch Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>ENTER</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter name of new branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>Uninstall %1</source>
         <translation>卸载 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="260"/>
+        <location filename="../qt/offroad/settings.cc" line="273"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>failed to fetch update</source>
         <translation>获取更新失败</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
-        <location filename="../qt/offroad/settings.cc" line="296"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="312"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
@@ -1122,92 +1137,92 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Enable openpilot</source>
         <translation>启用openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>启用车道偏离警告</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
         <translation>启用右舵模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Use Metric System</source>
         <translation>使用公制单位</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>显示车速时，以km/h代替mph。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Record and Upload Driver Camera</source>
         <translation>录制并上传驾驶员摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>踩油门时取消控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show ETA in 24h format</source>
         <translation>以24小时格式显示预计到达时间</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用24小时制代替am/pm</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="89"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot纵向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="91"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index c04a30535..30fd666ed 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>N/A</source>
         <translation>無法使用</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="107"/>
         <source>Serial</source>
         <translation>序號</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Driver Camera</source>
         <translation>駕駛員攝像頭</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>PREVIEW</source>
         <translation>預覽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>Reset Calibration</source>
         <translation>重置校準</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="115"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您確定要重置校準嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review Training Guide</source>
         <translation>觀看使用教學</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>REVIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="125"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>觀看 openpilot 的使用規則、功能和限制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="127"/>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您確定要觀看使用教學嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>Regulatory</source>
         <translation>法規/監管</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="135"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>VIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>Change Language</source>
         <translation>更改語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="143"/>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>CHANGE</source>
         <translation>更改</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="147"/>
+        <location filename="../qt/offroad/settings.cc" line="148"/>
         <source>Select a language</source>
         <translation>選擇語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <location filename="../qt/offroad/settings.cc" line="168"/>
         <source>Reboot</source>
         <translation>重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="172"/>
+        <location filename="../qt/offroad/settings.cc" line="173"/>
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="192"/>
+        <location filename="../qt/offroad/settings.cc" line="193"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="203"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="216"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您確定要重新啟動嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Disengage to Reboot</source>
         <translation>請先取消控車才能重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="229"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Are you sure you want to power off?</source>
         <translation>您確定您要關機嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Disengage to Power Off</source>
         <translation>請先取消控車才能關機</translation>
     </message>
@@ -713,33 +713,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="321"/>
+        <location filename="../qt/offroad/settings.cc" line="337"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="347"/>
+        <location filename="../qt/offroad/settings.cc" line="363"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="348"/>
-        <location filename="../qt/offroad/settings.cc" line="387"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="403"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="350"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="355"/>
+        <location filename="../qt/offroad/settings.cc" line="371"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -978,68 +978,83 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>OS Version</source>
         <translation>系統版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Last Update Check</source>
         <translation>上次檢查時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="247"/>
         <source>Check for Update</source>
         <translation>檢查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="251"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>CHECKING</source>
         <translation>檢查中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>Switch Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>ENTER</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter name of new branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="258"/>
+        <location filename="../qt/offroad/settings.cc" line="271"/>
         <source>Uninstall %1</source>
         <translation>卸載 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="260"/>
+        <location filename="../qt/offroad/settings.cc" line="273"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
-        <location filename="../qt/offroad/settings.cc" line="296"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="312"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>
@@ -1127,92 +1142,92 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Enable openpilot</source>
         <translation>啟用 openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>啟用車道偏離警告</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
         <translation>啟用右駕模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
         <translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Use Metric System</source>
         <translation>使用公制單位</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Record and Upload Driver Camera</source>
         <translation>記錄並上傳駕駛監控影像</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>油門取消控車</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show ETA in 24h format</source>
         <translation>預計到達時間單位改用 24 小時制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="76"/>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="89"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 縱向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="91"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
     </message>
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 34ab338bb..e8905962b 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -311,7 +311,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
 
   cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
-  new_version = cur_hash != upstream_hash
+  new_version: bool = cur_hash != upstream_hash
   git_fetch_result = check_git_fetch_result(git_fetch_output)
 
   new_branch = Params().get("SwitchToBranch", encoding='utf8')

From b30871daada85f63558518daa3157aae0b5fb79f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 22:34:50 -0700
Subject: [PATCH 259/435] CarInfo: parse out model years (#25208)

* add function

* split model and years

* typing and clean uop

* one function to split into make, model, years

* add test for bad years

* simpler re

* don't match only numbers

* clean up

* we can just use name

* clean up
---
 docs/CARS.md                      |  6 +++---
 selfdrive/car/docs.py             |  5 ++---
 selfdrive/car/docs_definitions.py | 29 ++++++++++++++++++++---------
 selfdrive/car/tests/test_docs.py  |  6 ++++++
 selfdrive/car/toyota/values.py    |  6 +++---
 5 files changed, 34 insertions(+), 18 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 0fee4ddc8..834e8e402 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -117,7 +117,7 @@ How We Rate The Cars
 |Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2017-2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -162,8 +162,8 @@ How We Rate The Cars
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 583191603..eb2f1923c 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -10,7 +10,6 @@ from common.basedir import BASEDIR
 from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
-from selfdrive.car.tests.routes import non_tested_cars
 
 
 def get_all_footnotes() -> Dict[Enum, int]:
@@ -40,10 +39,10 @@ def get_all_car_info() -> List[CarInfo]:
       car_info = (car_info,)
 
     for _car_info in car_info:
-      all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+      all_car_info.append(_car_info.init(CP, ALL_FOOTNOTES))
 
   # Sort cars by make and model + year
-  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
   return sorted_cars
 
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 99873a9c2..3c58b3043 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,12 +1,13 @@
+import re
+
 from cereal import car
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Optional, Union, no_type_check
+from typing import Dict, List, Optional, Tuple, Union, no_type_check
 
-TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
-GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
+MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
 
 class Tier(Enum):
@@ -45,6 +46,16 @@ def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[En
   return None
 
 
+def split_name(name: str) -> Tuple[str, str, str]:
+  make, model = name.split(" ", 1)
+  years = ""
+  match = re.search(MODEL_YEARS_RE, model)
+  if match is not None:
+    years = model[match.start():]
+    model = model[:match.start() - 1]
+  return make, model, years
+
+
 @dataclass
 class CarInfo:
   name: str
@@ -55,7 +66,7 @@ class CarInfo:
   min_enable_speed: Optional[float] = None
   harness: Optional[Enum] = None
 
-  def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
+  def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
     min_steer_speed = CP.minSteerSpeed
     if self.min_steer_speed is not None:
@@ -71,7 +82,7 @@ class CarInfo:
 
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
-    self.make, self.model = self.name.split(' ', 1)
+    self.make, self.model, self.years = split_name(self.name)
     self.row = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
@@ -80,15 +91,13 @@ class CarInfo:
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
       Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
       Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      # Column.STEERING_TORQUE set below
+      Column.STEERING_TORQUE: Star.EMPTY,
     }
 
     # Set steering torque star from max lateral acceleration
     assert CP.maxLateralAccel > 0.1
     if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
       self.row[Column.STEERING_TORQUE] = Star.FULL
-    else:
-      self.row[Column.STEERING_TORQUE] = Star.EMPTY
 
     if CP.notCar:
       for col in StarColumns:
@@ -105,7 +114,7 @@ class CarInfo:
     full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
     if full_stars == len(TierColumns):
       self.tier = Tier.GOLD
-    elif full_stars == (len(TierColumns)-1):
+    elif full_stars == len(TierColumns) - 1:
       self.tier = Tier.SILVER
     else:
       self.tier = Tier.BRONZE
@@ -117,6 +126,8 @@ class CarInfo:
     item: Union[str, Star] = self.row[column]
     if column in StarColumns:
       item = star_icon.format(item.value)
+    elif column == Column.MODEL and len(self.years):
+      item += f" {self.years}"
 
     footnote = get_footnote(self.footnotes, column)
     if footnote is not None:
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index dbdd9769d..e31ad0d5c 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import re
 import unittest
 
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
@@ -50,6 +51,11 @@ class TestCarDocs(unittest.TestCase):
         elif car.car_name in ("toyota", "hyundai"):
           self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
 
+  def test_year_format(self):
+    for car in self.all_cars:
+      with self.subTest(car=car):
+        self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 49aa3c9a9..08ee9593c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -119,12 +119,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)", min_enable_speed=7.5),
+    ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
   ],
   CAR.COROLLAH_TSS2: [
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
-    ToyotaCarInfo("Toyota Corolla Cross Hybrid 2020-22 (Non-US only)", min_enable_speed=7.5),
+    ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
@@ -159,7 +159,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
   CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
   CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),

From 777b090b4e41974f83a9de56c795e2560dba6de1 Mon Sep 17 00:00:00 2001
From: ridgewayer25 <76834151+ridgewayer25@users.noreply.github.com>
Date: Tue, 19 Jul 2022 02:16:09 -0400
Subject: [PATCH 260/435] Car docs: add video for 2016 RAV4 Hybrid (#25209)

* Video for 16-18 rav4 hybrid

https://youtu.be/LhT5VzJVfNI

* Update selfdrive/car/toyota/values.py

* Update selfdrive/car/toyota/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/toyota/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 08ee9593c..2bbf951d7 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -141,7 +141,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
   ],
   CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
+  CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),

From 7351384f155a767d8db809e538946a54cb376a9b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 23:17:12 -0700
Subject: [PATCH 261/435] Hyundai: add missing 2022 Santa Fe FW versions
 (#25205)

Add missing 2022 Santa Fe FW versions
---
 selfdrive/car/hyundai/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ffa29c60d..156754474 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -617,6 +617,7 @@ FW_VERSIONS = {
       b'\xf1\x82TACVN5GSI3XXXH0A',
       b'\xf1\x82TMCFD5MMCXXXXG0A',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
+      b'\xf1\x81HM6M2_0a0_G00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -635,6 +636,7 @@ FW_VERSIONS = {
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
       b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
+      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {

From b5e3678245cfbe29041593742f94acc4f7e057cc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 23:17:29 -0700
Subject: [PATCH 262/435] Car info diff comment: don't fail if car info
 structure changes (#25193)

Don't fail if car info structure changes
---
 .github/workflows/selfdrive_tests.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fbc0d9419..780032319 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -553,7 +553,7 @@ jobs:
         id: save_diff
         run: |
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment

From 5ea641b79aaa57115b71313eee4cb47b78394c28 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 18 Jul 2022 23:54:45 -0700
Subject: [PATCH 263/435] Highlander: merge params (#25210)

* merge highlander params

* weight is average of tss normal/hybrid and tss2 normal/hybrid
---
 selfdrive/car/toyota/interface.py | 14 +++-----------
 1 file changed, 3 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 337c03956..21a5d47f6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase):
       if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
-    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
-      ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
+      ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
-      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
-
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
-      stop_and_go = True
-      ret.wheelbase = 2.78
-      ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.8
-      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
+      ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):

From 06acb1234f3df9fae833d5e99e4a07e8c95fd9bf Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 19 Jul 2022 15:56:13 +0200
Subject: [PATCH 264/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index a4c1afa3b..1c2cba75d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22
+Subproject commit 1c2cba75d66383fb0d0957f9cb2f6ffebb4f8915

From 86c1e8164ab6b1c3363f7833b7dc0ea735dd26db Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 19 Jul 2022 16:57:13 +0200
Subject: [PATCH 265/435] navd: add back VisionIPC map renderer (#25212)

* builds standalone

* process live msg

* render into nv12a

* VISION_STREAM_RGB_MAP -> VISION_STREAM_MAP

* cleanup sconscript

* main include cleanup
---
 SConstruct                          |   1 +
 release/files_common                |   4 +-
 selfdrive/navd/.gitignore           |   5 +
 selfdrive/navd/SConscript           |  20 +++
 selfdrive/navd/main.cc              |  31 ++++
 selfdrive/navd/map_renderer.cc      | 236 ++++++++++++++++++++++++++++
 selfdrive/navd/map_renderer.h       |  53 +++++++
 selfdrive/navd/map_renderer.py      |  78 +++++++++
 selfdrive/ui/qt/maps/map_helpers.cc |  42 +++++
 selfdrive/ui/qt/maps/map_helpers.h  |   1 +
 selfdrive/ui/watch3.cc              |   1 +
 11 files changed, 471 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/navd/.gitignore
 create mode 100644 selfdrive/navd/SConscript
 create mode 100644 selfdrive/navd/main.cc
 create mode 100644 selfdrive/navd/map_renderer.cc
 create mode 100644 selfdrive/navd/map_renderer.h
 create mode 100755 selfdrive/navd/map_renderer.py

diff --git a/SConstruct b/SConstruct
index 1209894ba..940b2367f 100644
--- a/SConstruct
+++ b/SConstruct
@@ -415,6 +415,7 @@ SConscript(['selfdrive/loggerd/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
 
 SConscript(['tools/replay/SConscript'])
 
diff --git a/release/files_common b/release/files_common
index 38f86d247..411e4ff6d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -380,7 +380,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
-selfdrive/navd/*.py
+selfdrive/navd/__init__.py
+selfdrive/navd/navd.py
+selfdrive/navd/helpers.py
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
new file mode 100644
index 000000000..a070fe32b
--- /dev/null
+++ b/selfdrive/navd/.gitignore
@@ -0,0 +1,5 @@
+moc_*
+*.moc
+
+map_renderer
+libmap_renderer.so
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
new file mode 100644
index 000000000..4fbe41e80
--- /dev/null
+++ b/selfdrive/navd/SConscript
@@ -0,0 +1,20 @@
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations')
+
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == 'larch64':
+  base_libs.append('EGL')
+
+if arch in ['larch64', 'x86_64']:
+  if arch == 'x86_64':
+    rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
+    qt_env["RPATH"] += rpath
+
+  qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
+
+  nav_src = ["main.cc", "map_renderer.cc"]
+  qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
+
+  if GetOption('extras'):
+    qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
new file mode 100644
index 000000000..3a2fedb7d
--- /dev/null
+++ b/selfdrive/navd/main.cc
@@ -0,0 +1,31 @@
+#include <QApplication>
+#include <QDebug>
+#include <csignal>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/navd/map_renderer.h"
+#include "selfdrive/hardware/hw.h"
+
+
+
+void sigHandler(int s) {
+  qInfo() << "Shutting down";
+  std::signal(s, SIG_DFL);
+
+  qApp->quit();
+}
+
+
+int main(int argc, char *argv[]) {
+  qInstallMessageHandler(swagLogMessageHandler);
+
+  QApplication app(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
+  MapRenderer * m = new MapRenderer(get_mapbox_settings());
+  assert(m);
+
+  return app.exec();
+}
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
new file mode 100644
index 000000000..cb24f2087
--- /dev/null
+++ b/selfdrive/navd/map_renderer.cc
@@ -0,0 +1,236 @@
+#include "selfdrive/navd/map_renderer.h"
+
+#include <QApplication>
+#include <QBuffer>
+#include <QDebug>
+
+#include "common/timing.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+
+const float ZOOM = 13.5; // Don't go below 13 or features will start to disappear
+const int WIDTH = 256;
+const int HEIGHT = WIDTH;
+
+const int NUM_VIPC_BUFFERS = 4;
+
+MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
+  QSurfaceFormat fmt;
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+
+  ctx = std::make_unique<QOpenGLContext>();
+  ctx->setFormat(fmt);
+  ctx->create();
+  assert(ctx->isValid());
+
+  surface = std::make_unique<QOffscreenSurface>();
+  surface->setFormat(ctx->format());
+  surface->create();
+
+  ctx->makeCurrent(surface.get());
+  assert(QOpenGLContext::currentContext() == ctx.get());
+
+  gl_functions.reset(ctx->functions());
+  gl_functions->initializeOpenGLFunctions();
+
+  QOpenGLFramebufferObjectFormat fbo_format;
+  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
+
+  m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
+  m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM);
+  m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr");
+  m_map->createRenderer();
+
+  m_map->resize(fbo->size());
+  m_map->setFramebufferObject(fbo->handle(), fbo->size());
+  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
+
+  if (online) {
+    vipc_server.reset(new VisionIpcServer("navd"));
+    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
+    vipc_server->start_listener();
+
+    pm.reset(new PubMaster({"navThumbnail"}));
+    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}));
+
+    timer = new QTimer(this);
+    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
+    timer->start(50);
+  }
+}
+
+void MapRenderer::msgUpdate() {
+  sm->update(0);
+
+  if (sm->updated("liveLocationKalman")) {
+    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+    auto pos = location.getPositionGeodetic();
+    auto orientation = location.getCalibratedOrientationNED();
+
+    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
+    if (localizer_valid) {
+      updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
+    }
+  }
+
+  if (sm->updated("navRoute")) {
+    QList<QGeoCoordinate> route;
+    auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
+    for (auto const &c : coords) {
+      route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
+    }
+    updateRoute(route);
+  }
+}
+
+void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
+  if (m_map.isNull()) {
+    return;
+  }
+
+  m_map->setCoordinate(position);
+  m_map->setBearing(bearing);
+  update();
+}
+
+bool MapRenderer::loaded() {
+  return m_map->isFullyLoaded();
+}
+
+void MapRenderer::update() {
+  gl_functions->glClear(GL_COLOR_BUFFER_BIT);
+  m_map->render();
+  gl_functions->glFlush();
+
+  sendVipc();
+}
+
+void MapRenderer::sendVipc() {
+  if (!vipc_server || !loaded()) {
+    return;
+  }
+
+  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
+  uint64_t ts = nanos_since_boot();
+  VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
+  VisionIpcBufExtra extra = {
+    .frame_id = frame_id,
+    .timestamp_sof = ts,
+    .timestamp_eof = ts,
+  };
+
+  assert(cap.sizeInBytes() >= buf->len);
+  uint8_t* dst = (uint8_t*)buf->addr;
+  uint8_t* src = cap.bits();
+
+  // RGB to greyscale
+  memset(dst, 128, buf->len);
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }
+
+  vipc_server->send(buf, &extra);
+
+  if (frame_id % 100 == 0) {
+    // Write jpeg into buffer
+    QByteArray buffer_bytes;
+    QBuffer buffer(&buffer_bytes);
+    buffer.open(QIODevice::WriteOnly);
+    cap.save(&buffer, "JPG", 50);
+
+    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
+
+    // Send thumbnail
+    MessageBuilder msg;
+    auto thumbnaild = msg.initEvent().initNavThumbnail();
+    thumbnaild.setFrameId(frame_id);
+    thumbnaild.setTimestampEof(ts);
+    thumbnaild.setThumbnail(buffer_kj);
+    pm->send("navThumbnail", msg);
+  }
+
+  frame_id++;
+}
+
+uint8_t* MapRenderer::getImage() {
+  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
+  uint8_t* buf = new uint8_t[cap.sizeInBytes()];
+  memcpy(buf, cap.bits(), cap.sizeInBytes());
+
+  return buf;
+}
+
+void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
+  if (m_map.isNull()) return;
+  initLayers();
+
+  auto route_points = coordinate_list_to_collection(coordinates);
+  QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
+  QVariantMap navSource;
+  navSource["type"] = "geojson";
+  navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+  m_map->updateSource("navSource", navSource);
+  m_map->setLayoutProperty("navLayer", "visibility", "visible");
+}
+
+void MapRenderer::initLayers() {
+  if (!m_map->layerExists("navLayer")) {
+    QVariantMap nav;
+    nav["id"] = "navLayer";
+    nav["type"] = "line";
+    nav["source"] = "navSource";
+    m_map->addLayer(nav, "road-intersection");
+    m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
+    m_map->setPaintProperty("navLayer", "line-width", 3);
+    m_map->setLayoutProperty("navLayer", "line-cap", "round");
+  }
+}
+
+MapRenderer::~MapRenderer() {
+}
+
+extern "C" {
+  MapRenderer* map_renderer_init() {
+    char *argv[] = {
+      (char*)"navd",
+      nullptr
+    };
+    int argc = 0;
+    QApplication *app = new QApplication(argc, argv);
+    assert(app);
+
+    QMapboxGLSettings settings;
+    settings.setApiBaseUrl(MAPS_HOST);
+    settings.setAccessToken(get_mapbox_token());
+
+    return new MapRenderer(settings, false);
+  }
+
+  void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
+    inst->updatePosition({lat, lon}, bearing);
+    QApplication::processEvents();
+  }
+
+  void map_renderer_update_route(MapRenderer *inst, char* polyline) {
+    inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
+  }
+
+  void map_renderer_update(MapRenderer *inst) {
+    inst->update();
+  }
+
+  void map_renderer_process(MapRenderer *inst) {
+    QApplication::processEvents();
+  }
+
+  bool map_renderer_loaded(MapRenderer *inst) {
+    return inst->loaded();
+  }
+
+  uint8_t * map_renderer_get_image(MapRenderer *inst) {
+    return inst->getImage();
+  }
+
+  void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
+    delete[] buf;
+  }
+}
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
new file mode 100644
index 000000000..855dc9189
--- /dev/null
+++ b/selfdrive/navd/map_renderer.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <memory>
+
+#include <QOpenGLContext>
+#include <QMapboxGL>
+#include <QTimer>
+#include <QGeoCoordinate>
+#include <QOpenGLBuffer>
+#include <QOffscreenSurface>
+#include <QOpenGLFunctions>
+#include <QOpenGLFramebufferObject>
+
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/messaging/messaging.h"
+
+
+class MapRenderer : public QObject {
+  Q_OBJECT
+
+public:
+  MapRenderer(const QMapboxGLSettings &, bool online=true);
+  uint8_t* getImage();
+  void update();
+  bool loaded();
+  ~MapRenderer();
+
+
+private:
+  std::unique_ptr<QOpenGLContext> ctx;
+  std::unique_ptr<QOffscreenSurface> surface;
+  std::unique_ptr<QOpenGLFunctions> gl_functions;
+  std::unique_ptr<QOpenGLFramebufferObject> fbo;
+
+  std::unique_ptr<VisionIpcServer> vipc_server;
+  std::unique_ptr<PubMaster> pm;
+  std::unique_ptr<SubMaster> sm;
+  void sendVipc();
+
+  QMapboxGLSettings m_settings;
+  QScopedPointer<QMapboxGL> m_map;
+
+  void initLayers();
+
+  uint32_t frame_id = 0;
+
+  QTimer* timer;
+
+public slots:
+  void updatePosition(QMapbox::Coordinate position, float bearing);
+  void updateRoute(QList<QGeoCoordinate> coordinates);
+  void msgUpdate();
+};
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
new file mode 100755
index 000000000..dc39f335c
--- /dev/null
+++ b/selfdrive/navd/map_renderer.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+# You might need to uninstall the PyQt5 pip package to avoid conflicts
+
+import os
+import time
+from cffi import FFI
+
+from common.ffi_wrapper import suffix
+from common.basedir import BASEDIR
+
+HEIGHT = WIDTH = 256
+
+
+def get_ffi():
+  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
+
+  ffi = FFI()
+  ffi.cdef("""
+void* map_renderer_init();
+void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
+void map_renderer_update_route(void *inst, char *polyline);
+void map_renderer_update(void *inst);
+void map_renderer_process(void *inst);
+bool map_renderer_loaded(void *inst);
+uint8_t* map_renderer_get_image(void *inst);
+void map_renderer_free_image(void *inst, uint8_t *buf);
+""")
+  return ffi, ffi.dlopen(lib)
+
+
+def wait_ready(lib, renderer):
+  while not lib.map_renderer_loaded(renderer):
+    lib.map_renderer_update(renderer)
+
+    # The main qt app is not execed, so we need to periodically process events for e.g. network requests
+    lib.map_renderer_process(renderer)
+
+    time.sleep(0.01)
+
+
+def get_image(lib, renderer):
+  buf = lib.map_renderer_get_image(renderer)
+  r = list(buf[0:3 * WIDTH * HEIGHT])
+  lib.map_renderer_free_image(renderer, buf)
+
+  # Convert to numpy
+  r = np.asarray(r)
+  return r.reshape((WIDTH, HEIGHT, 3))
+
+
+if __name__ == "__main__":
+  import matplotlib.pyplot as plt
+  import numpy as np
+
+  ffi, lib = get_ffi()
+  renderer = lib.map_renderer_init()
+  wait_ready(lib, renderer)
+
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
+  lib.map_renderer_update_route(renderer, geometry.encode())
+
+  POSITIONS = [
+    (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45),  # San Diego
+    (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45),  # Amsterdam
+  ]
+  plt.figure()
+
+  for i, pos in enumerate(POSITIONS):
+    t = time.time()
+    lib.map_renderer_update_position(renderer, *pos)
+    wait_ready(lib, renderer)
+
+    print(f"{pos} took {time.time() - t:.2f} s")
+
+    plt.subplot(2, 2, i + 1)
+    plt.imshow(get_image(lib, renderer))
+
+  plt.show()
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 66acb7a25..f97137a7f 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -101,6 +101,48 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordina
   return collections;
 }
 
+QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
+  QList<QGeoCoordinate> path;
+  if (polylineString.isEmpty())
+      return path;
+
+  QByteArray data = polylineString.toLatin1();
+
+  bool parsingLatitude = true;
+
+  int shift = 0;
+  int value = 0;
+
+  QGeoCoordinate coord(0, 0);
+
+  for (int i = 0; i < data.length(); ++i) {
+      unsigned char c = data.at(i) - 63;
+
+      value |= (c & 0x1f) << shift;
+      shift += 5;
+
+      // another chunk
+      if (c & 0x20)
+          continue;
+
+      int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
+
+      if (parsingLatitude) {
+          coord.setLatitude(coord.latitude() + (double)diff/1e6);
+      } else {
+          coord.setLongitude(coord.longitude() + (double)diff/1e6);
+          path.append(coord);
+      }
+
+      parsingLatitude = !parsingLatitude;
+
+      value = 0;
+      shift = 0;
+  }
+
+  return path;
+}
+
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
   QString json_str = QString::fromStdString(Params().get(param));
   if (json_str.isEmpty()) return {};
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 1c08c541c..2e1402cce 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -24,6 +24,7 @@ QMapbox::CoordinatesCollections model_to_collection(
 QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
 QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
+QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
 
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
 double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index 00d23ea97..d6b5cc67a 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,6 +19,7 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
+    hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
     hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
   }
 

From 8553893e73c605dac86df3862caf840eb7985270 Mon Sep 17 00:00:00 2001
From: bnoeldner <108907208+bnoeldner@users.noreply.github.com>
Date: Tue, 19 Jul 2022 12:43:23 -0500
Subject: [PATCH 266/435] Kia Niro PHEV 2018: add missing FW versions (#25187)

* Kia: Niro PHEV 2018 fingerprint

* Correct formatting

* update years

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    |  2 +-
 selfdrive/car/hyundai/values.py | 18 +++++++++++-------
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 834e8e402..f584890b0 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -100,7 +100,7 @@ How We Rate The Cars
 |Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 156754474..303558b5a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
@@ -986,20 +986,24 @@ FW_VERSIONS = {
   },
   CAR.KIA_NIRO_HEV: {
     (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F4051\000\000\000\000\000\000\000\000',
+      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
-      b"\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\xf4\'\\\x91",
-      b'\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\000\000\000\000',
+      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
     ],
     (Ecu.eps, 0x7D4, None): [
-      b'\xf1\000DE  MDPS C 1.00 1.09 56310G5301\000 4DEHC109',
+      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\000DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\000DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {

From 50f7545ed7ef008526b6b081bbc2f96e05fc54e1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 Jul 2022 10:45:39 -0700
Subject: [PATCH 267/435] UI: add description for branch switcher

---
 selfdrive/ui/qt/offroad/settings.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 65b9e3e4c..0956f6c8d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -256,9 +256,10 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
   connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled);
 
-  branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"));
+  branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"), tr("The new branch will be pulled the next time the updater runs."));
   connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() {
-    QString branch = InputDialog::getText(tr("Enter name of new branch"), this);
+    QString branch = InputDialog::getText(tr("Enter branch name"), this, tr("The new branch will be pulled the next time the updater runs."),
+                                          false, -1, QString::fromStdString(params.get("SwitchToBranch")));
     if (branch.isEmpty()) {
       params.remove("SwitchToBranch");
     } else {

From 30f21cb8fd2cae562fa7f2f5486d360366b6e938 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 19 Jul 2022 12:34:06 -0700
Subject: [PATCH 268/435] Update translations

---
 selfdrive/ui/translations/main_ko.ts     | 34 ++++++++++++++----------
 selfdrive/ui/translations/main_zh-CHS.ts | 34 ++++++++++++++----------
 selfdrive/ui/translations/main_zh-CHT.ts | 34 ++++++++++++++----------
 3 files changed, 60 insertions(+), 42 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 4662a862b..ec8f3a52d 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -710,33 +710,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="337"/>
+        <location filename="../qt/offroad/settings.cc" line="338"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="363"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
-        <location filename="../qt/offroad/settings.cc" line="403"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="404"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="367"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="371"/>
+        <location filename="../qt/offroad/settings.cc" line="372"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -1025,33 +1025,39 @@ location set</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
-        <source>Enter name of new branch</source>
+        <source>The new branch will be pulled the next time the updater runs.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter branch name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>UNINSTALL</source>
         <translation>제거</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>Uninstall %1</source>
         <translation>제거 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="273"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>제거하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
-        <location filename="../qt/offroad/settings.cc" line="312"/>
+        <location filename="../qt/offroad/settings.cc" line="292"/>
+        <location filename="../qt/offroad/settings.cc" line="313"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 744cf9034..9485e9449 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -708,33 +708,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="337"/>
+        <location filename="../qt/offroad/settings.cc" line="338"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="363"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
-        <location filename="../qt/offroad/settings.cc" line="403"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="404"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Toggles</source>
         <translation>设定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="367"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="371"/>
+        <location filename="../qt/offroad/settings.cc" line="372"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -1023,33 +1023,39 @@ location set</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
-        <source>Enter name of new branch</source>
+        <source>The new branch will be pulled the next time the updater runs.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter branch name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>Uninstall %1</source>
         <translation>卸载 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="273"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
         <source>failed to fetch update</source>
         <translation>获取更新失败</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
-        <location filename="../qt/offroad/settings.cc" line="312"/>
+        <location filename="../qt/offroad/settings.cc" line="292"/>
+        <location filename="../qt/offroad/settings.cc" line="313"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 30fd666ed..9a3b80041 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -713,33 +713,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="337"/>
+        <location filename="../qt/offroad/settings.cc" line="338"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="363"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
-        <location filename="../qt/offroad/settings.cc" line="403"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="404"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="367"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="371"/>
+        <location filename="../qt/offroad/settings.cc" line="372"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -1028,33 +1028,39 @@ location set</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
-        <source>Enter name of new branch</source>
+        <source>The new branch will be pulled the next time the updater runs.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter branch name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="271"/>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>Uninstall %1</source>
         <translation>卸載 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="273"/>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
-        <location filename="../qt/offroad/settings.cc" line="312"/>
+        <location filename="../qt/offroad/settings.cc" line="292"/>
+        <location filename="../qt/offroad/settings.cc" line="313"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>

From 464db126a551639b036c4a5e4e494684c68f56f2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 19 Jul 2022 12:38:58 -0700
Subject: [PATCH 269/435] Multilanguage: readme improvements (#25214)

* catch2 needs to iterate through the whole function each time to test this (spams warnings)

* Update readme

* Add update the ui header

* build in scons

* release by default

* scons in another pr

Co-authored-by: Vincent Wright <vincentw@kmwperformance.com>
---
 selfdrive/ui/tests/test_translations.cc | 30 +++++++++++--------------
 selfdrive/ui/tests/test_translations.py | 11 +++++----
 selfdrive/ui/translations/README.md     | 21 ++++++++++++-----
 selfdrive/ui/update_translations.py     | 10 ++++-----
 4 files changed, 38 insertions(+), 34 deletions(-)

diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
index ba0612b4c..fcefc5784 100644
--- a/selfdrive/ui/tests/test_translations.cc
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -17,25 +17,21 @@ QStringList getParentWidgets(QWidget* widget){
 
 template <typename T>
 void checkWidgetTrWrap(MainWindow &w) {
-  int i = 0;
   for (auto widget : w.findChildren<T>()) {
-    const QString text = widget->text();
-    SECTION(text.toStdString() + "-" + std::to_string(i)) {
-      bool isNumber = RE_NUM.exactMatch(text);
-      bool wrapped = text.contains(TEST_TEXT);
-      QString parentWidgets = getParentWidgets(widget).join("->");
-
-      if (!text.isEmpty() && !isNumber && !wrapped) {
-        FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
-      }
-
-      // warn if source string wrapped, but UI adds text
-      // TODO: add way to ignore this
-      if (wrapped && text != TEST_TEXT) {
-        WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
-      }
+  const QString text = widget->text();
+    bool isNumber = RE_NUM.exactMatch(text);
+    bool wrapped = text.contains(TEST_TEXT);
+    QString parentWidgets = getParentWidgets(widget).join("->");
+
+    if (!text.isEmpty() && !isNumber && !wrapped) {
+      FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
+    }
+
+    // warn if source string wrapped, but UI adds text
+    // TODO: add way to ignore this
+    if (wrapped && text != TEST_TEXT) {
+      WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
     }
-    i++;
   }
 }
 
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index d5409dd41..59751eec1 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -35,13 +35,12 @@ class TestTranslations(unittest.TestCase):
         if not len(file):
           self.skipTest(f"{name} translation has no defined file")
 
-        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
-                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
-        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")),
-                        f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
+        if not (os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) and
+                os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm"))):
+          self.fail(f"{name} is missing translation files, run selfdrive/ui/update_translations.py")
 
   def test_translations_updated(self):
-    update_translations(release=True, translations_dir=TMP_TRANSLATIONS_DIR)
+    update_translations(translations_dir=TMP_TRANSLATIONS_DIR)
 
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
@@ -59,7 +58,7 @@ class TestTranslations(unittest.TestCase):
             new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext)
 
             self.assertEqual(cur_translations, new_translations,
-                             f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
+                             f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
 
   @unittest.skip("Only test unfinished translations before going to release")
   def test_unfinished_translations(self):
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 0ddb03a24..4038b1e0c 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -1,7 +1,5 @@
 # Multilanguage
 
-![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
-
 ## Contributing
 
 Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
@@ -28,12 +26,25 @@ openpilot provides a few tools to help contributors manage their translations an
 
 Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them.
 
+### Updating the UI
+
+Any time you edit source code in the UI, you need to update and compile the translations to ensure the line numbers and contexts are up to date (last step above).
+
 ### Testing
 
-openpilot has a unit test to make sure all translations are up to date with the text in openpilot and that all translations are completed.
+openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker.
 
-Run and fix any issues:
+Tests translation files up to date:
 
-```python
+```shell
 selfdrive/ui/tests/test_translations.py
 ```
+
+Tests all static source strings are wrapped:
+
+```shell
+selfdrive/ui/tests/create_test_translations.sh && selfdrive/ui/tests/test_translations
+```
+
+---
+![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index f06d54b2d..5ccae0eb0 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
 
 
-def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR):
+def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR):
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
@@ -26,16 +26,14 @@ def update_translations(release=False, vanish=False, translations_dir=TRANSLATIO
     ret = os.system(args)
     assert ret == 0
 
-    if release:
-      ret = os.system(f"lrelease {tr_file}")
-      assert ret == 0
+    ret = os.system(f"lrelease {tr_file}")
+    assert ret == 0
 
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
   args = parser.parse_args()
 
-  update_translations(args.release, args.vanish)
+  update_translations(args.vanish)

From 38e8abed1e640a8a01d08d0ca4b593d4fdbcf3d0 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 19 Jul 2022 14:48:05 -0500
Subject: [PATCH 270/435] VW MQB: Add FW for 2016 Volkswagen Golf (#25213)

---
 selfdrive/car/volkswagen/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8f38a00d4..912978435 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -266,6 +266,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906023BN\xf1\x894518',
       b'\xf1\x8704E906024K \xf1\x896811',
       b'\xf1\x8704E906027GR\xf1\x892394',
+      b'\xf1\x8704E906027HD\xf1\x892603',
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MA\xf1\x894958',
       b'\xf1\x8704L906021DT\xf1\x895520',
@@ -303,6 +304,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927749AP\xf1\x892943',
       b'\xf1\x8709S927158A \xf1\x893585',
+      b'\xf1\x870CW300040H \xf1\x890606',
       b'\xf1\x870CW300041H \xf1\x891010',
       b'\xf1\x870CW300042F \xf1\x891604',
       b'\xf1\x870CW300043B \xf1\x891601',
@@ -379,6 +381,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1',

From 2de0af2aa5ae88c4bb5db50d713400bce096f29a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 Jul 2022 13:37:03 -0700
Subject: [PATCH 271/435] jenkins: patch sshd config in continue.sh

---
 selfdrive/test/setup_device_ci.sh | 24 +++++++++++-------------
 1 file changed, 11 insertions(+), 13 deletions(-)

diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 2e5ffeacc..bf2f93e1c 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -21,28 +21,26 @@ umount /data/safe_staging/merged/ || true
 sudo umount /data/safe_staging/merged/ || true
 rm -rf /data/safe_staging/* || true
 
-export KEYS_PARAM_PATH="/data/params/d/GithubSshKeys"
-export KEYS_PATH="/usr/comma/setup_keys"
-export CONTINUE_PATH="/data/continue.sh"
-
-if ! grep -F "$KEYS_PATH" /etc/ssh/sshd_config; then
-  echo "setting up keys"
-  sudo mount -o rw,remount /
-  sudo systemctl enable ssh
-  sudo sed -i "s,$KEYS_PARAM_PATH,$KEYS_PATH," /etc/ssh/sshd_config
-  sudo mount -o ro,remount /
-fi
-
+CONTINUE_PATH="/data/continue.sh"
 tee $CONTINUE_PATH << EOF
 #!/usr/bin/bash
 
 sudo abctl --set_success
 
+# patch sshd config
+sudo mount -o rw,remount /
+sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
+sudo systemctl daemon-reload
+sudo systemctl restart ssh
+sudo systemctl disable ssh-param-watcher.path
+sudo systemctl disable ssh-param-watcher.service
+sudo mount -o ro,remount /
+
 while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-  sleep 10s
+  sleep 5s
 done
 
 sleep infinity

From 26dad2423bd4078aab249ea9db3301a2a8a6c73e Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Wed, 20 Jul 2022 08:56:06 +1000
Subject: [PATCH 272/435] Multilang: Improve Japanese translations (#25108)

* improve japanese translation

* characteristics is probably the better word to use

* more explicit

* misc fix

* space

* translate Dongle ID

* drive -> driving history

* more appropriate translation for minimum character requirement

This is hacky and should be fixed

* copy the home work of the chinese translators

* full width -> half width

* better speed translations

* device pairing procedures

* main features -> perks

* subscribed -> joined (as member)

* stop update -> pause update

* add japanese to language.json

* qm

* honorific

* shorter texts for buttons

* close -> recent

* maximising driver monitoring performance -> improving driver monitoring performance

* developer perks -> developer facing perks

* expressions

* expressions

* full width exclamation mark

* accel pedal to cancel -> tap accel to cancel openpilot

* qm

* deal with unfinished translations

* qm

* change all mentions of driver camera to interior camera

* failed to obtain update -> error while downloading update

* update translation file

* update qm

* remove google translate

* this device is facing %2's %1 deg, %4's %3 deg

* ja qm

* reword this

* ensure -> confirm

* better wording for device reset page

* more consistent

* wording

* qm

* mark as finished

* update after translation refactor

* bump translation

* update translation to reflect new changes

* Japanese qm

* update translations

* remove from selector

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/main_ja.qm | Bin 19159 -> 20204 bytes
 selfdrive/ui/translations/main_ja.ts | 538 ++++++++++++++++-----------
 2 files changed, 318 insertions(+), 220 deletions(-)

diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
index 552545cf879ed5c9a4009e63d334dee10c479e33..1c98d5a1e38da73116211e91d817d4c4bbf65293 100644
GIT binary patch
delta 5988
zcmai130#!b+JD|*W|$df0oi4HSrr95DjM#A0;0%nXoP?=3?n#$Fn~*nUbO^siIb+d
zluOxn`@E@?W!ExGExnaidbQ6qH!RItec5;OmOA(UzC+{I?|$%`dFDOmInQ~P|FgWO
zRtwiR3N6Fmsth{%!-mzLM27A!-~7(mG$PLwBE<|M-;toVi4tBU^00uu584cR8T5Ig
zL^Y8T`=&)is(wUCiJ-$kp9C!d&q)`J{wI<8C!!wXAv+AT7IX;cYN8g;_lS&N6X`!B
zicKPlJAsYUM7_Z1s|5w4uZ<{uG10&`iN-C(#Z5%ng`oS1^7|8Mqd}{Qf?7eBKmiR=
z?Pkb{Bx<+=`WBG``@tUM(W=7b%Srk4dLsH?YLR~^6|RNYi7uL+K+3hSQV>abFc}xE
zC*>y)l6aYv$CN}7uaT-vB<dGJsvX;*{Kur;a}M-p@)RdQkuS-!FAOpCBxVBj`i3%(
z%mx1~%KY{XqLe@ytDOqNHnz~X!Egiq#x=wBiMcfXm5D?lM#`<_aBT_YU4SA%Q>b9x
z&p2qIBE<(-e}#&sE`+5=>9OtGh;&<MQr2_e+f9$Z0{5q{pwa_JaA6hAx{Y(jw`lXx
zPl+;?&~C>RqP`pGpl>b=X>m|jTO$N|2mwP9;QkOHXj2SPyr(c|1!A3?CgdNE$NHB-
z$4RV@C>A~~QW6E87EUX+5`~=;t`1xbg<nwUEQg5toL9tlT_hUhr^wJb;PO6-C%j?t
zz_W^tClJo?IK|dl6BIe8c=MSk#DCBV#k*N6h`hTLU*zM0@coLjM*yDw!HV-Q`V)or
z@K7cN5(O;w2)mBhh0pPbS~d!nJ?qh!j|+wsdTcnb3K#A0c-06)l5#zE@5v+bS?=-n
zZk!)j=y9;ue1I{@<5-Vh5Yn|CHydAqzY~?|S9ehh`Cm|$Z|{VF$CTDAtoxi&&b~O3
zDDn;ElT)F&=QQQh${R#OcPrOs?Sr6AF6y1>qJcUW6^|=7Y`aOsHY>MWt^_@+{O@C{
ziDDv@uh(pY#e0=|^-}1Plz+Q&2J0)8f4la53qbIJ^5Ur1i8L>$bb}F_(OoLTvYAA~
z|D_sjjD<y;RFldPyP+v6i|$>3>QUA77+8?(P)(P>r#l7;%e2|5*;TW^|9`5v$wp*T
zvufEID5Cq9i$<Ju(Z~oFO~0Yq(6<Ge1wN|Uuo9rrcc`{KwFI76q<a5$408WV)tR$U
zAm)(j(jtH<uF*x)^HjgyhC=<HQ!65iU|ERT_(KvrmaZOtH3J?ytWL`T27;p1nY-U1
z8uf{~L_jFwcB!}Cyh9W<Sbel%1+a8W{cB6^NuaURGb$dg>NCajrJjpm*(J}{Y?q)w
zhvzTX;0a|P&)<f91F)^rjE+Bu(Dl}g^Ei)CC1}k5_zf=oT(i8f1N+gM7hc7A|Ccmx
zbVUO@m$jaTGN4@0MsGk(c;sts%!~uTTC+CwCkxKq(Y8z+e;KY%(LS~aF3Zf)mOKF$
z_cm%P4<jA>^wF*$fR8%0C(h&mY%glh`q)v;8g!|BQSsD2=_-$ZLL~mGYrTqs6>%GM
z1d3L<ZrL|LxoFotcL$;EwNAHo-&TNlkZ!~2i2&~?-KI|vYURQf-HxTt!G%S-x0wq0
zJyQ3+1qW3-bq96fKx>!oV8C!F^mpC2(;RRec?o;wBfsDAihl196w-QSoNEP!oL;3D
zQ7>X{dCmMn3B}iXEo}0G2cx|XU;h;8Z1(zS0z4O3=hYQI8Lscp`@IK6SWB@!ayJ-y
zeXdU&F&mXCR-ZBYGorMw^y5-W5xX+|_%wLrQ6K$dt07oS(a*?%g6cs1^S>5DKrj97
zXOWH(L-a>pga-$T`j5|m_MfCba~O)Mk__sXVsP<#L%*<7FeukB<TexzooLvRjQy7A
zA%-`b@ndAG;b7FuKykC-U>azAis9&RV8ZKV!-+{q&wxWl|NnXk>o<%&pN1#=elteh
z91V|cH>R9N;To{nIQ|)U(m&5QGc6rpE;F{SM;+)JY5emx$WQs&_|89pjj+c}njcX)
zHP=mksr#s$h8!^kT)9IuSYrx$tca-R4Aa=l5R|;pl<NTMwSP9*EM4$Wv}x7pCBQ<H
zX`R^y#fnY)>u$kQEv65@L8BS)mFeuan-GFL)A@|Q5Tzcs0#F_NZS@>4W7W^*oy?X)
zRcU;PXB{8dCy>AInQ8EIu6NcsS2;I2XE`@<Kh1DcfOC;^u5*)fZTDJ<W~A0gsgy@K
zB=TK}0ep`pB03q;irJX^d7W*}7o78)8z6Bpq^(E^;ZDsEPa|dFw8%$jQ^G?3<B2wH
zN_5nmIZgAJjm^h@4eqF7!oq6>C)*NBI^^g1Y%>2$`(<?0)X$6Jq<s=8mim*(+MP3@
zb3H!uaDSb19Y3N=7RGTQ!{4W!6&1uc_GS~=Gi+JG1XjbNyq@Ym7^ezx*N5yl+s5`X
zJ0uNYHd)?ICV(c(PXlQut10qf`TT3I{E!&-CcDHwU>~vf*vssOtmB{9Qns8G^Gtnq
zU}*mG<;?{r?_FnOn1yfCr}s;CHalzK+h^e64(Rx#)8^dB+SxVsS6QNDZ?`P@jJF{#
zI6U9HdO_7q*5118f!!9vB!A^(ZPm{xEyxJzGkR=lPG&kUH~Git+Nf<4Yrk*bG`hON
zW-*J|_-?GQm?cJGxa6YfcD4g%-GCzB$*SLPWHz&~3H*D*5FuIO4tapP+hiBlNaNtx
z7<L4*cCzmprx*T$5cQ@pWG5S0sFuul&cbs%Uu5j9(ycg}zl85GmZ+34a2XFZO-`?s
z*4V4;0=o+5oMPA67p#ljlJycG`6|M7oZV`=)Vc=2*vk&H^UT(|rZJnf&w9IUIdkc8
z+0<XC<pJI?US?ZEW4&2)R986ot~6iY>WT)@Vz*a{P1XkMRBNr(F`GZ-ov1-%<~!}q
z#r&_{G2QBX>z%LFv@LHNUVdm&e?HD9J|g^&W9UA+!iRb4T`}XI`3x0A$zdv6{p_;W
zIqOjx*BzHtv!-rx$IYkETx*`@5G%ymdm>}d!@6s1i_43AO^?`arQYvh7j{Zwi|tG(
zy@FIJWA?%u0BbVs%;|#fgd8271_8M8UXB-@Qo8qQ+<<Q{{Cm!6md}=z9co<&ucfgz
z@K0t6{-fS6rp%vBnAgE3$V-A7qjolzRWr`4(jne5%)j#o-$8<A)%X<`pD@=rc!K|j
zfdS4YXS?%x*6z-PF_IL1$A18?3}6!m++Qo0-KmnY&ir&qaZVRhx8$1(*303}W#!1)
zF;2nltI!;?xl*ifh_&X528S5ipN|fR3=9P%ZU71&0VXa0yKcM?z!I6WQO>w0k#*Bi
z=@z3_EWqyu)C#Hop<2mzxlY6dCI|L}i@sy~k#m=7=iIYr4ICI8%1*M)xa~XEE>~44
zXI&?E1om&y=PWJhC}7QxR;8`xZk;{MjtWmHKPObwr5B|N9{8=ik3&&i{~&`NKwA$t
zN(!!Xi&E6gc#u);T#33Tv$V)%KrzGmAdjLz?H1uN!)kkQUq>Q*R4rY0mrty6NPH$}
zon>oq)HhCZSnak3S$!i8JggtaNe|Jb;UAuou6f8JQMTw0`8D8o8z<Z5A-atFLw2RI
zVBDHY-W6DCnvRm(*48kOvFX)gQDMr0LIfS38<Zt9@<TzxxDcEj8?*3Q$r5JE&7Jxv
zvjd>zq>~$s)Fxa(En%Ej2ea6i1<jMt4E`U^&fwZek$njW?yn!~T;f~?kj=)&UFh4Y
z&?E-;9Ox5jp_QL8ThsSVi;J0@HnVz;YzboL&<0Mi_O>0YW#v93nZ*SycSyVt3NhPW
zQE9bVq|j*bTx_*f+MDH|1W_h>ZDH<(!e3bXv@Lg$>lR=tuCO|ASgf+wi<x<a_X<(i
zn|WD4Oq$Px##)Cpw@wQ77;8nX-Qoi5eI-lnDp}I`hxz#~Oflj2CpnJ~8Q#m!xl}5!
z@{lmA$l&ZLrM+7@jigjmZ2u^pAL6Ig6bxRIw<==F%Y1D}lvZP*j??nf{*W96RdZ8l
zq^Fu@P#t~`3*DlmCzzfe3y<_Qpl6&x49+(WdwwdbS$VtQMXrsA)48u1%@>HH`N+tC
z!m&*6nq=;lM2Ve2#MFH#gw;$aypiWX@yw?J)(N3UAbf9ktCTXoyFR&Pr|@7gMUw45
zhFz5BitpUAEiMIv4VYxMu-DLP_ev3RpH1NJMkGjQgA?3ms?jW`p>@u{e+8zfU&Y5g
zy>n=aV>RcKBZu=(!z05n##n$FsVkn(?OAkz)illJ1Eh{E7v1BLd0xiV%bMmaP{~6~
zuc%~|x_);4EM6HkGdL*cC=AWR@MK2;ctIKj<<Vp@zaEtk97LljmnPsp6^i8HcNPZ0
zA}Zv)q89}Q+^ZS_QBPK=Y36&QlYG2;`I4A#&g}^k=i^hxe~kXxQ@y&CO+uGH5tA7l
zBo$ug^C(@eacB<mL@LX5ymxGL57=CXQNf09D~1L;Ie2MoOkik1m?fexKt}fclTyFV
z1F;K*L5uHB1l_FCc=Z~4MQ#q=x-bRP%aekEeT6cAgFoIoDvs&z8G*Vte#e2_$J*z0
zEY0Sddp%_+XL_ncJRDTP44n0jF+L>kv~Q1xD*#W8Pt@O=0(?$<AHA~$9$1WaG~GF~
zb7%Zk!O(+>VRa&9;9KNV`kwm_&dN$y9X3Vomr~g(LzpH~0cA@Qv20>7cP6}w8NPe9
zb64Vc!N=P|1z~JFYh{aBThq^Ma;Im%l}axiLY#^KkD*k)ap1nNIN<cgL!I^Rw42B`
zCO^rYkEnf5v43FPyNW@qogHA?QN~{Dj2cv{NDPoN9E%SKa)Vw!(Pl+&si>`$T6w?0
zf&Ak~2F511URWM#(=|>95L3spo8~k|aPJheDFG$Via?B|Mw&`u=buux2>vPT3UYN1
zyH#W$Q4Ez-5X1QXApv~+&|KjrUq5t)Nxc6c_Z{}ggKM1=hxsXla%s}y^F{>wv19PY
z5p;gb-653!WyE$LhV+?**>T+p6I;NLv(gc-c6n0VD6Mnb$dP@MrSgTh4AE7!<g~T3
z=`0s3HCXFMILRzat7i}82L}6gUL3hdp$eDh<GR!h*>QMz+JqK8PtMa0XFao(UO{oH
zL5Gxcm$ger-JT68thP6cQp2#@#B6hwLoBpbnnin+I5CUoX9TniFHjfMOGQ#T#%z<4
zi!@9?<=Ki<k%sPVzhCfsTax*t6vBw;zJ|%y%y3;(D_zqdUDI4`wux4o*ieV@T5OnB
zZ^m<z)!dvUwG4fc-NGkl7=0eUXVkY<iFwC(d|G6nd#IO&U-mi@_-$##=f!Eu4M{-g
z1o$cs-(u$vX_bn|u@-H?UN&7e026U{am9dkZ#WG1y|eJ=(rblqgvn1mKhC_j$cM*f
zqzSX+P|wZC^^?+PW@N!$lp5(Z6ec?b{y!P3!Zu)-T#h;^y}m6%G~`!jyvWVN)3e;3
z8KXe-dFFVnh_}*AO2gBo%o7h~bWG=!v86)E;Jb-_Z&`5Vj5NzUSm@yT@y-ah^Lu94
d>n&!7SZqzqu!=cmN3*@YMsA^__?&U2{|1l~r)vNJ

delta 5251
zcmcIn30TzS);}}MFe@|cAdCEm#SsO0QQTNmP*E1y4T?xbhGArwAskTjDq2{IYrLW5
z(lyh(MTS>O(=5G7u9<er<zCawC37i#wD0O?TKD%K5Y5~DzUTX%=jt<_|GWL(bAIQ%
z=NzxCk(_9eG$ejd=6~?|>XyTXpj{JR|LAlIk?UF_>3yO;?-IF~A&){%gS-j3f~c=I
zkqqm)9YpdNqNoH&{Gys5i#zv-GBkilu^an*iM0EO!m@})Hxk9ZM3g=sIQVYJ%*V%J
zqTE;_Wgo~2BJX>U^8kp04vc+jNcQ3?BD&fsT{=2tSZ$|FK1Q-vE)YqANY)Vtythbp
z_yfqBBs(G_>ghr9CV?nAg5;Yv5^3&}>((<+%18|gp$Hd@B}Lz_Ffopp9#S)o#vGVQ
z)Q@P)_wN%8JWpd)r9>VAr4MR>A~0YYnCe?X*;Wn<n<?j8DByjJ@@D-+G-v=7NcUj=
z8!9NB3qwxQ6C2kPseYoOw3l(8fu8!)ABa*0Hc-i54nVVNswxWwz($&W9{_IG>Ggx3
z6OD|bEskf1BHyMCuWX{=<8-m97Qpcm-=R@N;RzD|*TRX6fs%ns;G+HklH9$Kn7=Jq
zc?|Oj8p-DcGT=^>oRq#n6!etj@_<I7fLN*8{3%iIh99L77ti6~HEF8a0nOG(pLU1E
zvD>6;zEa`9E7EO?pxA(N>BnhHh}?apU*-ZhI8u800DK(dCOx~>2Y}06g0IQ3|C&qa
z!r?Gzl}l|d@P<lUT6Iu3s>Ef>)*PH)?XqJF_Qxi>bQovD|1L6@Bc8Y6yJnX=wHrWe
zv~2X{KNERPl1<#$4uuZLENPf_KO?I@H;hPdk-aFpMKolh?3J{g2(~V%f3tHO(o?p2
z{T;ZjMYirj8RQqTcaF3m7)Q$9t6UF8C(5>KMc0^QhrT;S4HViYJ9Ono_;#%9-0=5^
z6kFx$L7;rZJ94*$&l1INl#kR!z=C(=MHAtY!9U8)>W>jCQ{_{_p>Y39`4lmz)CNcx
zqRf}qmruw3U*$97bcp&D@`cNxh&sDd_8izLL#jmCfFM{YU%eE;pgAI6|H3?2{118C
zzOzK^sQi=rpjx_3zQ^zdk-kQL>NFGyy(mBb`~mp5rBf#VxBTvXC>Ar{Rca^z-Y2fQ
z>-~sAxNG9&R2bC5b<CEJh!UG!izT2w{D|utcYXnrjjlWUHM|Oqx4GWUK87HxRD?!?
zs@_(`hJfc`*@ucY+j%H3LvcNC9jKe9_^*>az*M8+_7yPWa!v7b!X^0JPdPHO1FvC_
zGTjA=yXPxSKl}`ZRm#P+D~STvDF4_BJg*4l`xnD7E>$VqCLo3;tHK&qEAhNqRmnHa
zI51E(KH~y3wy2(X9@LHeOjZ0esO}}G%J!x}v0<tu<VQrCR9~ISLU3iNPJ7squ==W#
z`yvs!u2YvCMJ@>$t6p$981KFWGKnZ+wtC?uJ;r;~FaH7;N3^P6+4%+(YE?I^J~<vS
zm!^L0Fnlf>uHH2NWl;FDdIyu^9jn!!m~l{EqwY}mM3A0Rclahkp=;{zCp$o4mPWF5
zHujfk!gha(pxmY@Ifr}@7NmLhOBob?Q!}^D8w~ns_FjXFjP;uR<G_^H9j*6n+}p3X
zL2KB8g@_B<=%jiC$xLnPNcejATiWy?CGc4<ZAJ<hNIb56q6L6G7ip`qM1_uNSKKWG
zKws^am+;(zS7{Hd1!J)~?PsSTV=}d;_Chh)6*t!n;duXHZZW|pU_gf3(EAJUTu-=d
zio?30!Q!@U8a@)T+&V(vL@YGAb)-NVGu;j*A{I2H^Lc9nEK%qJUWCP-OLd`lMuM5C
zx*=zgfLMzzV-Xnh{JU<!D!lK=7~PsnBjC#8y0_N@cTlVDqkq8nfhTpJk3b#q74*s*
z$cTy`^xnyMzGDWj(EEP(3lhxN`mq-P)W245GhYNF$@*m{=fT%?`d3XhF!R2CSM@zG
zlcGQU{cCsy4*l8GcZr6zScpaibBWQLmn+KU%JQE~oB0VvwcM3G$1FTuS*-D7Kd^i3
z8+MCr=3A7B81H3U*%jyb<CGrUR~4bsQZnUG77096HNYU4HnT!D>ft{21>4T91LXi~
z&Nbz&;_s?b<XTFj9DZ9h#K-&hcJfU15WQ~3j7k|Z&%Kg&tSP#9CEuw2TS(8+zZUcY
zemPqQ9oFNwo$UwqRT3zIV)+}IxQMZ2r)n~h4gXrmijjjg=S9}`W>2z(Yyz9hDw&=C
zqIqF(A_;6CI|`ib%-)GWo1L;hRw|rd1G;A7SaW^6^X5_feQmCvV2+xQ&nlPyY+D9&
z1)B_=o_o&D4Q`npzMX5iix*GJJBBl}d86BCV^rrX+r-X;!Q<>2^xnoU!G>mxKV*Ag
ziMaP`V+=Ry3?boN`}aF{9uhfc??6}ZxL_gnP0|(l1$5uvW!ds`b7NT{AFm(k7tnQo
zx7A&1yYz$fI-rPnB5!FliU+v&*0^KtGVqVGdwh(0u|~~K;N~ycMT|GPKiRPS;W}$&
z-(s)r;SO**pEWT_H=nlr<E$y`B+Jbn*I;AKW?E*+_l12DGp#&{lihc*bL<e?)frRS
z`76Cx^W>x1t3)Q?FDdn2axlxlY|DS<<2?+L7x^@g@R$mdwOX)OJ1kX}87863RA-rN
z5~}RAHiyM#7OL%2Ee?y_CY0N2gi_N~2mf}2m)bPF+EimP*(RI#XCBeY2aI!xXShn)
zZD$|PTn~4Q-i6iO{^5<Dk%0lf<F_ua@y|S&mp{BGo_NGh+{G(i(ucETZ}$aDXURyI
zGGWer67mMklJO$15?s3tYOG^d`F*blg=-hpMsK_1Jsk2$wlhh|cloziCB@NZCdpFc
zYoPN>gRdd@vd!#x;wGzXiU!4S^Mp?q%w?G@1&(l%C!!?TXT3UWWnCkytT0qgX5-l+
z1nMX}1RFCmNofWG)ck;qZVWq{$toCUmi7dnbcwRdS;zTe-+c%Rr}M?o=9PZ^y_6(0
z`RCvMRf2MaLV}-`2lyL!uihbir=Q0-Pcvm_Ezfc4HU){rMnd;aU6#pICQNb&R@0=Z
z4ncv#nlxK=tz(pBlGSdOxM0E)A=&-Rd7eM>@n>)2`Fy}OvNn+3oPQ$w+pK8b<{zi`
zge4!dtL*rK^VS)dyX!x|!<!vruLI*MYZen6W>b5_g6%eudwwUNWaxA;bepEmVr)vq
z*xY%naef7!dS%Nxk&lU=7R9pW2`j)@J~+t)TjRPyQ{Zy~(<F8LU|@no;PRl%z<{||
zisvy~-Avw}O<{%TT%5u0OkZ_DEHGfsw4%6wvwkSZ>gUV;h7j6SGnO4hG;Dd0Ab3&m
z0DXX&iaX$0TiuU!jfISRB>C_^2S@U~Ju5T;50flU3Q6pthIf(Z@VG;}xt5F1f&VeY
zM=r}7v^<A@6cQ?zndwO*|2`y3TAsp(2nIO!j7Sy5U_4P+*C71^se$tFZz9sE6=Mh0
zJCke@87US&fu=g=tVq1#Top~C8ZsjR+b9|*OjM5bc<hTs3|G^1O2DpRkD-hABx1Lv
z3ootSdGucaOU0~?zjj<Cf(|715EL0j%;{I*s&#Plhip4))3QL;0PGki`u}$C|La;I
zsH^lnC@IZL@8_)*f|1_ESlh!I+F0SQTFRw7)(+Pqk2h^%4NG^j1~H)iv&zwAvh($U
zK>^U_6fQqoo3Nr3N&7hTYJ=17u{IuW==JX@5~&ki{|I#tLQCRM3(h}@cB|m1uQnwa
zV~xU8N4*taRg-GW7F)E{RPKluVh2`FPcRPa+Aau*R?Bbqxks1U9S(a{yfBbCxAOMT
zsF=hUtL1+<^e<<8Lx=pI&rC6l^nLW6#2CA^^G^OvsIR7HcVVmGy0E9@I*NV9!R=v*
zl6by0PzXT3AXY=Mex5~byd_pq&^v`K<X6IS6zZ0Rbu;G3`RMRCl{zbdO%Y20pB?@z
zp8P0hI>|w-?g7GPXB9cXl@U>>((OPx!%hSB7TeFqMLgd<*L4@a6wyzmG<uP+=w8z%
z-mBL)a@jJ<z00-6F>YG68<^Wr%Uao4ZZ(E^B6HruCAW|-)}ysU%fVkahCgUn@`BAF
z&LTa#{cGc9$%Jy8-H!h3EIORdrSYuzLGnX#tVb!aId$9%$PQK^COVdxm%hBrS!g;d
zxZtdux9|>;f=hSeTt#PR!c~1<P!&)aQiX#i@zs68T}ha}qiHe!OJpd&(Pt}+{cRrH
z-Zxsy4vT6#JIXeGvu__hyuVL-Y}87L#+?e0Iie|*Ec|5jna9jO(yzr(DmI`_)h5t*
z%A-t{X;$TJN1{mS%<p_|OshiMxz;|AWk@vY+{NHv7iinx{!;8x87jvYFm^ZZJ7{NM
zR}%=={iYdpwsFeA8&uAgTC}Kr?_jIc==u1@M@pf3yv<^p>X>A;3jFL~KVBC<z{6iG
zSPY#M%1`B!v8F=)dA!N34~>DD4jN0fRN9`BuukF?$G(GtTiLw=Hz7!DgoR)}H_@Bx
zld>f@_=Kb?%_B$nsieV=j@u2xyro`ZMt!Vn=IJ8>{Bs=4wk%`Gxo4um(!-|B#;1?i
z*u%do!Cqy5N2np;E;tX@qiXV;<YB>4%R-)c6ODBhfGcp?j^~g~l^DlRMSFYlYN;mt
zAtWytwL19ehvTjuGlMNajO~MYyZDXK1~(h7yvp7~LfwIw?wz_=6NUeOj00p2jcflT
zwM?o>b^3HlQCxwN_e=H*u|K9|^AbIq!z!G*q95XxG^?by*emJ9CU#-rb9FzNwikFX
z8^4j3;#KoI#EePLac9lX8W1{_ot-Kfcx(DH`E1Ijd|s3h&Sz(2$YbHD6#mzYuO17{
z@b(j#C6d9u591XNOnfw8P6&RGR>?QjUSl>nghESnszt~$Ii}fbDuqzKG^^yFkmf=*

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index f3b873312..dd7643e21 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -11,7 +11,7 @@
     <message>
         <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
         <source>Snooze Update</source>
-        <translation>更新停止</translation>
+        <translation>更新の一時停止</translation>
     </message>
     <message>
         <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
@@ -24,17 +24,17 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="121"/>
         <source>Back</source>
-        <translation>もどる</translation>
+        <translation>戻る</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="129"/>
         <source>Enable Tethering</source>
-        <translation>テザリングを有効化</translation>
+        <translation>ﾃｻﾞﾘﾝｸﾞを有効化</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="134"/>
         <source>Tethering Password</source>
-        <translation>テザリングパスワード</translation>
+        <translation>ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="134"/>
@@ -45,17 +45,17 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="136"/>
         <source>Enter new tethering password</source>
-        <translation>新しいテザリングパスワードを入力</translation>
+        <translation>新しいﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞを入力してください</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="144"/>
         <source>IP Address</source>
-        <translation>IPアドレス</translation>
+        <translation>IP アドレス</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="153"/>
         <source>Enable Roaming</source>
-        <translation>ローミングを有効化</translation>
+        <translation>ﾛｰﾐﾝｸﾞを有効化</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="161"/>
@@ -65,24 +65,24 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="165"/>
         <source>Enter APN</source>
-        <translation>APN 入力</translation>
+        <translation>APN を入力</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="165"/>
         <source>leave blank for automatic configuration</source>
-        <translation>空欄で自動設定</translation>
+        <translation>空白のままにして、自動設定にします</translation>
     </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="220"/>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Ok</source>
         <translation>OK</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="225"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
         <source>Cancel</source>
         <translation>キャンセル</translation>
     </message>
@@ -92,7 +92,7 @@
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="140"/>
         <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>openpilotを利用するためには、利用規約に同意する必要があります。</translation>
+        <translation>openpilot をご利用される前に、利用規約に同意する必要があります。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="149"/>
@@ -102,157 +102,160 @@
     <message>
         <location filename="../qt/offroad/onboarding.cc" line="154"/>
         <source>Decline, uninstall %1</source>
-        <translation>拒否してアンインストール %1</translation>
+        <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Dongle ID</source>
-        <translation>ドングル ID</translation>
+        <translation>ドングル番号 (Dongle ID)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <location filename="../qt/offroad/settings.cc" line="107"/>
         <source>Serial</source>
-        <translation>シリアル</translation>
+        <translation>シリアル番号</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>Driver Camera</source>
-        <translation>ドライバーカメラ</translation>
+        <translation>車内カメラ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
         <source>PREVIEW</source>
-        <translation>プレビュー</translation>
+        <translation>見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>ドライバー向けカメラをプレビューする、ドライバーモニタリングの視認性を確保します。(車両の電源を切る必要があります)</translation>
+        <translation>車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>Reset Calibration</source>
-        <translation>キャリブレーションリセット</translation>
+        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <location filename="../qt/offroad/settings.cc" line="116"/>
         <source>RESET</source>
-        <translation>リセット</translation>
+        <translation>ﾘｾｯﾄ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>本当にキャリブレーションをリセットしますか？</translation>
+        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review Training Guide</source>
-        <translation>トレーニングガイドを見る</translation>
+        <translation>入門書を見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>REVIEW</source>
-        <translation>レビュー</translation>
+        <translation>見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <location filename="../qt/offroad/settings.cc" line="126"/>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot 規約 機能 制約を見る</translation>
+        <translation>openpilot の特徴を見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>本当にトレーニングガイドを見ますか？</translation>
+        <translation>入門書を見てもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>Regulatory</source>
-        <translation>レギュレーション</translation>
+        <translation>認証情報</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="136"/>
         <source>VIEW</source>
-        <translation>ビュー</translation>
+        <translation>見る</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>Change Language</source>
-        <translation type="obsolete">言語を変更</translation>
+        <translation>言語を変更</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="144"/>
         <source>CHANGE</source>
-        <translation type="obsolete">変更</translation>
+        <translation>変更</translation>
     </message>
     <message>
+        <location filename="../qt/offroad/settings.cc" line="148"/>
         <source>Select a language</source>
-        <translation type="obsolete">言語を選択する</translation>
+        <translation>言語を選択</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <location filename="../qt/offroad/settings.cc" line="168"/>
         <source>Reboot</source>
         <translation>再起動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <location filename="../qt/offroad/settings.cc" line="173"/>
         <source>Power Off</source>
         <translation>電源を切る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <location filename="../qt/offroad/settings.cc" line="193"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot は、左右に4°、上に5°、下に8°の範囲に設置する必要があります。openpilot は継続的に校正されているので、手動でリセットする必要はほとんどありません。</translation>
+        <translation>openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <location filename="../qt/offroad/settings.cc" line="204"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> デバイスは %1° %2 と %3° %4を示しています。</translation>
+        <translation> このデバイスは%2の%1°、%4の%3°に向けます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <location filename="../qt/offroad/settings.cc" line="205"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <location filename="../qt/offroad/settings.cc" line="206"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
         <source>Are you sure you want to reboot?</source>
-        <translation>本当に再起動しますか？</translation>
+        <translation>再起動してもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Disengage to Reboot</source>
-        <translation>再起動するために離脱します</translation>
+        <translation>openpilot をキャンセルして再起動ができます</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
         <source>Are you sure you want to power off?</source>
-        <translation>本当に電源を切っても良いですか？</translation>
+        <translation>シャットダウンしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Disengage to Power Off</source>
-        <translation>電源を切るために離脱します</translation>
+        <translation>openpilot をキャンセルしてシャットダウンができます</translation>
     </message>
 </context>
 <context>
@@ -260,7 +263,7 @@
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="37"/>
         <source>Drives</source>
-        <translation>ドライブ</translation>
+        <translation>運転履歴</translation>
     </message>
     <message>
         <location filename="../qt/widgets/drive_stats.cc" line="39"/>
@@ -293,25 +296,20 @@
     <message>
         <location filename="../qt/offroad/driverview.cc" line="56"/>
         <source>camera starting</source>
-        <translation>カメラ起動</translation>
+        <translation>ｶﾒﾗを起動しています</translation>
     </message>
 </context>
 <context>
     <name>InputDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="70"/>
+        <location filename="../qt/widgets/input.cc" line="71"/>
         <source>Cancel</source>
         <translation>キャンセル</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
-        <source>Need at least </source>
-        <translation>最低限必要なもの </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="167"/>
-        <source> characters!</source>
-        <translation> 記号！</translation>
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %1 characters!</source>
+        <translation>ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！</translation>
     </message>
 </context>
 <context>
@@ -319,22 +317,73 @@
     <message>
         <location filename="../installer/installer.cc" line="56"/>
         <source>Installing...</source>
-        <translation>インストール...</translation>
+        <translation>インストールしています...</translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="144"/>
         <source>Receiving objects: </source>
-        <translation>オブジェクトを受信中： </translation>
+        <translation>ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： </translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="145"/>
         <source>Resolving deltas: </source>
-        <translation>リゾルブ解決中： </translation>
+        <translation>デルタを解決しています： </translation>
     </message>
     <message>
         <location filename="../installer/installer.cc" line="146"/>
         <source>Updating files: </source>
-        <translation>ファイルを更新中： </translation>
+        <translation>ファイルを更新しています： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>予定到着時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>ｷﾛﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>ﾏｲﾙ</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> ｷﾛﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> ﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> ﾏｲﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ﾌｨｰﾄ</translation>
     </message>
 </context>
 <context>
@@ -347,7 +396,7 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="66"/>
         <source>CLEAR</source>
-        <translation>クリア</translation>
+        <translation>削除</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="81"/>
@@ -357,39 +406,59 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="95"/>
         <source>Try the Navigation Beta</source>
-        <translation>ベータ版ナビゲーション</translation>
+        <translation>ベータ版ﾅﾋﾞｹﾞｰｼｮﾝを試し</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <source>Get turn-by-turn directions displayed and more with a comma
 prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>より詳細な案内や表示に関する情報を得ることができます。 詳しくはこちら：https://connect.comma.ai</translation>
+        <translation>より詳細な案内情報を得ることができます。
+詳しくはこちら：https://connect.comma.ai</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="164"/>
         <source>No home
 location set</source>
-        <translation>自宅の登録なし
-位置を設定</translation>
+        <translation>自宅の住所はまだ
+設定されていません</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="169"/>
         <source>No work
 location set</source>
-        <translation>職場の登録なし
-位置を設定</translation>
+        <translation>職場の住所はまだ
+設定されていません</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="282"/>
         <source>no recent destinations</source>
-        <translation>最寄りの目的地がありません</translation>
+        <translation>最近の目的地履歴がありません</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>マップを読み込んでいます</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>GPS信号を探しています</translation>
     </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
         <source>Select</source>
-        <translation type="obsolete">選択</translation>
+        <translation>選択</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
     </message>
 </context>
 <context>
@@ -407,44 +476,44 @@ location set</source>
     <message>
         <location filename="../qt/offroad/networking.cc" line="87"/>
         <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>のため &quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>ﾈｯﾄﾜｰｸ名：%1</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="97"/>
         <source>Wrong password</source>
-        <translation>パスワードが間違っています</translation>
+        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
     </message>
 </context>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>km/h</source>
-        <translation>km/時</translation>
+        <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="202"/>
+        <location filename="../qt/onroad.cc" line="208"/>
         <source>mph</source>
-        <translation>マイル/時</translation>
+        <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="269"/>
-        <location filename="../qt/onroad.cc" line="272"/>
+        <location filename="../qt/onroad.cc" line="275"/>
+        <location filename="../qt/onroad.cc" line="278"/>
         <source>MAX</source>
-        <translation>最大</translation>
+        <translation>最高速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="316"/>
-        <location filename="../qt/onroad.cc" line="319"/>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="328"/>
+        <location filename="../qt/onroad.cc" line="331"/>
         <source>LIMIT</source>
-        <translation>制限</translation>
+        <translation>制限速度</translation>
     </message>
 </context>
 <context>
@@ -470,78 +539,76 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="86"/>
         <source>Pair your device to your comma account</source>
-        <translation>デバイスとアカウントを連携する</translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;モバイルでアクセス https://connect.comma.ai&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;“新しいデバイスを追加”をクリックし，QRコードを読み込みます&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.aiをホーム画面にブックマークして、アプリのように使うことができます&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <translation>デバイスと comma アカウントを連携する</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>モバイルデバイスで「connect.comma.ai」にアクセスして</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
         <source>Upgrade Now</source>
-        <translation>いますぐアップグレード</translation>
+        <translation>今すぐｱｯﾌﾟｸﾞﾚｰﾄ</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai のプライムメンバーになる</translation>
+        <translation>connect.comma.ai でプライム会員に登録できます</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
         <source>PRIME FEATURES:</source>
-        <translation>主な機能：</translation>
+        <translation>特典：</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Remote access</source>
         <translation>リモートアクセス</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>1 year of storage</source>
-        <translation>1年の保存期間</translation>
+        <translation>一年間の保存期間</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
         <source>Developer perks</source>
-        <translation>開発者特典</translation>
+        <translation>開発者向け特典</translation>
     </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
         <source>✓ SUBSCRIBED</source>
-        <translation>✓ 購読しました</translation>
+        <translation>✓ 入会しました</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
         <source>CONNECT.COMMA.AI</source>
         <translation>CONNECT.COMMA.AI</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
         <source>COMMA POINTS</source>
         <translation>COMMA POINTS</translation>
     </message>
@@ -556,30 +623,30 @@ location set</source>
     <message>
         <location filename="../qt/text.cc" line="41"/>
         <source>Exit</source>
-        <translation>退出</translation>
+        <translation>閉じる</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>dashcam</source>
-        <translation>ダッシュカム</translation>
+        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="18"/>
+        <location filename="../qt/util.cc" line="21"/>
         <source>openpilot</source>
-        <translation>オープンパイロット</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="66"/>
+        <location filename="../qt/util.cc" line="82"/>
         <source>%1 minute%2 ago</source>
         <translation>%1 分%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="69"/>
+        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
         <translation>%1 時間%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="72"/>
+        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
         <translation>%1 日%2 前</translation>
     </message>
@@ -594,7 +661,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/reset.cc" line="34"/>
         <source>Are you sure you want to reset your device?</source>
-        <translation>本当に初期化しますか？</translation>
+        <translation>初期化してもよろしいですか？</translation>
     </message>
     <message>
         <location filename="../qt/setup/reset.cc" line="38"/>
@@ -609,7 +676,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/reset.cc" line="59"/>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>システムを初期化させます。 すべてのコンテンツと設定が削除されます。 キャンセルを押すと再起動します。</translation>
+        <translation>システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。</translation>
     </message>
     <message>
         <location filename="../qt/setup/reset.cc" line="68"/>
@@ -629,13 +696,13 @@ location set</source>
     <message>
         <location filename="../qt/setup/reset.cc" line="88"/>
         <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>dataパーティションをマウントできません。 確認を押すとデバイスが初期化されます。</translation>
+        <translation>「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。</translation>
     </message>
 </context>
 <context>
     <name>RichTextDialog</name>
     <message>
-        <location filename="../qt/widgets/input.cc" line="257"/>
+        <location filename="../qt/widgets/input.cc" line="258"/>
         <source>Ok</source>
         <translation>OK</translation>
     </message>
@@ -643,35 +710,35 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <location filename="../qt/offroad/settings.cc" line="338"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <location filename="../qt/offroad/settings.cc" line="364"/>
         <source>Device</source>
         <translation>デバイス</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="327"/>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="365"/>
+        <location filename="../qt/offroad/settings.cc" line="404"/>
         <source>Network</source>
-        <translation>ネットワーク</translation>
+        <translation>ﾈｯﾄﾜｰｸ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Toggles</source>
         <translation>切り替え</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <location filename="../qt/offroad/settings.cc" line="367"/>
         <source>Software</source>
-        <translation>ソフトウェア</translation>
+        <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <location filename="../qt/offroad/settings.cc" line="372"/>
         <source>Navigation</source>
-        <translation>ナビゲーション</translation>
+        <translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
     </message>
 </context>
 <context>
@@ -711,7 +778,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="147"/>
         <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fiに接続</translation>
+        <translation>Wi-Fi に接続</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="165"/>
@@ -737,7 +804,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="248"/>
         <source>Dashcam</source>
-        <translation>ダッシュカム</translation>
+        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="253"/>
@@ -747,7 +814,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="281"/>
         <source>Enter URL</source>
-        <translation>URLを入力</translation>
+        <translation>URL を入力</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="281"/>
@@ -767,7 +834,7 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="321"/>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>入力されたURLが有効であること、デバイスがインターネットに接続されていることを確認してください。</translation>
+        <translation>入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。</translation>
     </message>
     <message>
         <location filename="../qt/setup/setup.cc" line="334"/>
@@ -777,23 +844,23 @@ location set</source>
     <message>
         <location filename="../qt/setup/setup.cc" line="341"/>
         <source>Start over</source>
-        <translation>再スタート</translation>
+        <translation>最初からやり直す</translation>
     </message>
 </context>
 <context>
     <name>SetupWidget</name>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
         <source>Finish Setup</source>
         <translation>セットアップ完了</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。</translation>
     </message>
     <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
         <source>Pair device</source>
         <translation>デバイスをペアリング</translation>
     </message>
@@ -857,7 +924,7 @@ location set</source>
     <message>
         <location filename="../qt/sidebar.cc" line="84"/>
         <source>PANDA</source>
-        <translation>パンダ</translation>
+        <translation>PANDA</translation>
     </message>
     <message>
         <location filename="../qt/sidebar.cc" line="86"/>
@@ -908,68 +975,89 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <location filename="../qt/offroad/settings.cc" line="242"/>
         <source>Git Branch</source>
         <translation>Git ブランチ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <location filename="../qt/offroad/settings.cc" line="243"/>
         <source>Git Commit</source>
         <translation>Git コミット</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <location filename="../qt/offroad/settings.cc" line="244"/>
         <source>OS Version</source>
         <translation>OS バージョン</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
         <source>Version</source>
         <translation>バージョン</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>Last Update Check</source>
         <translation>最終更新確認</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <location filename="../qt/offroad/settings.cc" line="247"/>
         <source>Check for Update</source>
-        <translation>更新確認</translation>
+        <translation>更新プログラムをチェック</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
         <source>CHECKING</source>
         <translation>確認中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
-        <source>Uninstall </source>
-        <translation>アンインストール </translation>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>Switch Branch</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <source>ENTER</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <source>Enter branch name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>UNINSTALL</source>
         <translation>アンインストール</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <source>Uninstall %1</source>
+        <translation>%1をアンインストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="274"/>
         <source>Are you sure you want to uninstall?</source>
-        <translation>本当にアンインストールしますか？</translation>
+        <translation>アンインストールしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="291"/>
         <source>failed to fetch update</source>
-        <translation>更新の取得に失敗しました</translation>
+        <translation>更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="254"/>
-        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <location filename="../qt/offroad/settings.cc" line="292"/>
+        <location filename="../qt/offroad/settings.cc" line="313"/>
         <source>CHECK</source>
         <translation>確認</translation>
     </message>
@@ -984,7 +1072,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubのユーザー名を入力しないでください。コンマのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。</translation>
+        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
@@ -995,7 +1083,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
         <source>Enter your GitHub username</source>
-        <translation>GitHubのユーザー名を入力してください</translation>
+        <translation>GitHub のユーザー名を入力してください</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
@@ -1010,7 +1098,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>ユーザー名“%1”は GitHub に鍵がありません</translation>
+        <translation>ユーザー名 “%1” は GitHub に鍵がありません</translation>
     </message>
     <message>
         <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
@@ -1057,84 +1145,94 @@ location set</source>
 <context>
     <name>TogglesPanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
         <source>Enable openpilot</source>
         <translation>openpilot を有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
         <source>Enable Lane Departure Warnings</source>
         <translation>車線逸脱警報機能を有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
         <translation>右ハンドルを有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>openpilotが左側通行規則を遵守し、右側の運転席でドライバーの監視を行うことを可能にします。</translation>
+        <translation>openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Use Metric System</source>
         <translation>メートル法を有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Display speed in km/h instead of mph.</source>
-        <translation>速度はmphではなくkm/hで表示されます。</translation>
+        <translation>速度は mph ではなく km/h で表示されます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Record and Upload Driver Camera</source>
-        <translation>ドライバーカメラの録画とアップロード</translation>
+        <translation>車内カメラの録画とアップロード</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>ドライバーカメラからのデータをアップロードし、ドライバー監視のアルゴリズム向上に役立てます。</translation>
+        <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
         <source>Disengage On Accelerator Pedal</source>
-        <translation>アクセルペダルで解除する</translation>
+        <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>有効な場合 openpilot はアクセルペダルを踏むと解除されます。</translation>
+        <translation>有効な場合は、アクセルを踏むと openpilot をキャンセルします。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show ETA in 24h format</source>
         <translation>24時間表示</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Use 24h format instead of am/pm</source>
-        <translation>AM/PMの代わりに24時間形式を使用します</translation>
+        <translation>AM/PM の代わりに24時間形式を使用します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="78"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <location filename="../qt/offroad/settings.cc" line="90"/>
         <source>openpilot Longitudinal Control</source>
-        <translation>openpilot による垂直方向の制御</translation>
+        <translation>openpilot 縦方向制御</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <location filename="../qt/offroad/settings.cc" line="91"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation>openpilotは、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEBを無効にします!</translation>
+        <translation>openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！</translation>
     </message>
 </context>
 <context>
@@ -1147,12 +1245,12 @@ location set</source>
     <message>
         <location filename="../qt/setup/updater.cc" line="29"/>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OSのアップデートが必要です。Wi-Fiに接続することで、最速のアップデートを体験できます。ダウンロードサイズは約1GBです。</translation>
+        <translation>ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="40"/>
         <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fiに接続</translation>
+        <translation>Wi-Fi に接続</translation>
     </message>
     <message>
         <location filename="../qt/setup/updater.cc" line="47"/>
@@ -1200,8 +1298,8 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>Wi-Fiを削除する”</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？</translation>
     </message>
 </context>
 </TS>

From 5f021ac1d6b307fae892e2966cb2b2699d2799cb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 Jul 2022 17:21:07 -0700
Subject: [PATCH 273/435] Subaru: use CANPacker for counter (#25216)

* Subaru: use CANPacker for counter

* bump opendbc

* bump panda
---
 opendbc                               |  2 +-
 panda                                 |  2 +-
 selfdrive/car/subaru/carcontroller.py | 12 ++++++------
 selfdrive/car/subaru/carstate.py      |  6 +++---
 selfdrive/car/subaru/subarucan.py     |  6 ++----
 5 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/opendbc b/opendbc
index 3fb3f5e82..e2465cc70 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8
+Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08
diff --git a/panda b/panda
index e51aa5ebc..1dfee5973 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f
+Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index dca86c30a..3fb4bc855 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -49,7 +49,7 @@ class CarController:
     # *** alerts and pcm cancel ***
 
     if self.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
@@ -66,16 +66,16 @@ class CarController:
         self.cruise_button_prev = cruise_button
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
+      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-        self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
+        self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 45ea66fb2..b26118697 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -173,7 +173,7 @@ class CarState(CarStateBase):
         ("Standstill_2", "ES_Distance"),
         ("Cruise_Fault", "ES_Distance"),
         ("Signal5", "ES_Distance"),
-        ("Counter", "ES_Distance"),
+        ("COUNTER", "ES_Distance"),
         ("Signal6", "ES_Distance"),
         ("Cruise_Button", "ES_Distance"),
         ("Signal7", "ES_Distance"),
@@ -188,7 +188,7 @@ class CarState(CarStateBase):
         ("Cruise_Set_Speed", "ES_DashStatus"),
         ("Conventional_Cruise", "ES_DashStatus"),
 
-        ("Counter", "ES_Distance"),
+        ("COUNTER", "ES_Distance"),
         ("Signal1", "ES_Distance"),
         ("Cruise_Fault", "ES_Distance"),
         ("Cruise_Throttle", "ES_Distance"),
@@ -206,7 +206,7 @@ class CarState(CarStateBase):
         ("Cruise_Resume", "ES_Distance"),
         ("Signal6", "ES_Distance"),
 
-        ("Counter", "ES_LKAS_State"),
+        ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
         ("Signal1", "ES_LKAS_State"),
         ("LKAS_ACTIVE", "ES_LKAS_State"),
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 63511d183..e6efe7aa7 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -8,13 +8,12 @@ def create_steering_control(packer, apply_steer, frame, steer_step):
   idx = (frame / steer_step) % 16
 
   values = {
-    "Counter": idx,
     "LKAS_Output": apply_steer,
     "LKAS_Request": 1 if apply_steer != 0 else 0,
     "SET_1": 1
   }
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", 0, values, idx)
 
 def create_steering_status(packer, apply_steer, frame, steer_step):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
@@ -72,13 +71,12 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
   idx = (frame / steer_step) % 8
 
   values = {
-    "Counter": idx,
     "LKAS_Command": apply_steer,
     "LKAS_Active": 1 if apply_steer != 0 else 0
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", 0, values, idx)
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
 

From 0eacab70a079ce67b1fe5443a146a535e467674c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 19 Jul 2022 18:10:08 -0700
Subject: [PATCH 274/435] Car docs: hide footnotes for hidden columns (#25219)

* Hide footnotes for hidden column

* fix, this should only affect website
---
 selfdrive/car/docs.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index eb2f1923c..26f8949e8 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -58,7 +58,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co
       for c in hide_cols:
         del car.row[c]
 
-  footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
+  footnotes = [fn.value.text for fn in ALL_FOOTNOTES if fn.value.column in cols]
   cars_md: str = template.render(all_car_info=all_car_info,
                                  footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS)
   return cars_md

From 1b2d0ce2ac0108fcba6e38c65a9b5666c943952d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 20 Jul 2022 17:32:26 +0200
Subject: [PATCH 275/435] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 1c2cba75d..7870a1123 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 1c2cba75d66383fb0d0957f9cb2f6ffebb4f8915
+Subproject commit 7870a1123d4e8dfe5c39e86224c2f851382f3fed

From 4212aface76b7a780f94a1f237d846821461fd29 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 12:56:22 -0700
Subject: [PATCH 276/435] Car docs diff bot: detect name + year changes
 (#25224)

* These cars have TSS-P standard

* temp

* debug close matching

* check everything

* clean up

* combine and use a dict

* programmatic

* revert

* clean up match_cars

* comment

* clean up

* clean up

* restore car changes

* test

* Revert "test"

This reverts commit e96f6936816051720db44072768f4df4e2cf5e82.

* we don't need this

* fix footnotes on model column
---
 selfdrive/debug/print_docs_diff.py | 110 +++++++++++++++++------------
 1 file changed, 64 insertions(+), 46 deletions(-)

diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 5cf3867b2..c02649e3f 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -1,13 +1,16 @@
 #!/usr/bin/env python3
 import argparse
+from collections import defaultdict
+import difflib
 import pickle
 
 from selfdrive.car.docs import get_all_car_info
 from selfdrive.car.docs_definitions import Column
 
+FOOTNOTE_TAG = "<sup>{}</sup>"
 STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
-COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|:---:|"
+COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|"
 ARROW_SYMBOL = "➡️"
 
 
@@ -16,69 +19,84 @@ def load_base_car_info(path):
     return pickle.load(f)
 
 
-def get_star_diff(base_car, new_car):
-  return [column for column, value in base_car.row.items() if value != new_car.row[column]]
-
+def match_cars(base_cars, new_cars):
+  """Matches CarInfo by name similarity and finds additions and removals"""
+  changes = []
+  additions = []
+  for new in new_cars:
+    closest_match = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)[0]
 
-def format_row(builder):
-  return "|" + "|".join(builder) + "|"
+    if closest_match not in [c[1].name for c in changes]:
+      changes.append((new, next(car for car in base_cars if car.name == closest_match)))
+    else:
+      additions.append(new)
 
+  removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
+  return changes, additions, removals
 
-def print_car_info_diff(path):
-  base_car_info = {f"{i.make} {i.model}": i for i in load_base_car_info(path)}
-  new_car_info = {f"{i.make} {i.model}": i for i in get_all_car_info()}
 
-  tier_changes = []
-  star_changes = []
-  removals = []
-  additions = []
+def build_column_diff(base_car, new_car):
+  row_builder = []
+  for column in Column:
+    base_column = base_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
+    new_column = new_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
 
-  # Changes (tier + stars)
-  for base_car_model, base_car in base_car_info.items():
-    if base_car_model not in new_car_info:
-      continue
+    if base_column != new_column:
+      row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
+    else:
+      row_builder.append(new_column)
 
-    new_car = new_car_info[base_car_model]
+  return format_row(row_builder)
 
-    # Tier changes
-    if base_car.tier != new_car.tier:
-      tier_changes.append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
 
-    # Star changes
-    diff = get_star_diff(base_car, new_car)
-    if not len(diff):
-      continue
-
-    row_builder = []
-    for column in list(Column):
-      if column not in diff:
-        row_builder.append(new_car.get_column(column, STAR_ICON, "{}"))
-      else:
-        row_builder.append(base_car.get_column(column, STAR_ICON, "{}") + ARROW_SYMBOL + new_car.get_column(column, STAR_ICON, "{}"))
-
-    star_changes.append(format_row(row_builder))
+def format_row(builder):
+  return "|" + "|".join(builder) + "|"
 
-  # Removals
-  for model in set(base_car_info) - set(new_car_info):
-    car_info = base_car_info[model]
-    removals.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
 
-  # Additions
-  for model in set(new_car_info) - set(base_car_info):
-    car_info = new_car_info[model]
-    additions.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
+def print_car_info_diff(path):
+  base_car_info = defaultdict(list)
+  new_car_info = defaultdict(list)
+
+  for car in load_base_car_info(path):
+    base_car_info[car.car_fingerprint].append(car)
+  for car in get_all_car_info():
+    new_car_info[car.car_fingerprint].append(car)
+
+  changes = defaultdict(list)
+  for base_car_model, base_cars in base_car_info.items():
+    # Match car info changes, and get additions and removals
+    new_cars = new_car_info[base_car_model]
+    car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
+
+    # Removals
+    for car_info in car_removals:
+      changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+
+    # Additions
+    for car_info in car_additions:
+      changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+
+    for new_car, base_car in car_changes:
+      # Tier changes
+      if base_car.tier != new_car.tier:
+        changes["tier"].append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+
+      # Column changes
+      row_diff = build_column_diff(base_car, new_car)
+      if ARROW_SYMBOL in row_diff:
+        changes["column"].append(row_diff)
 
   # Print diff
-  if len(star_changes) or len(tier_changes) or len(removals) or len(additions):
+  if any(len(c) for c in changes.values()):
     markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
 
-    for title, category in (("## 🏅 Tier Changes", tier_changes), ("## 🔀 Star Changes", star_changes), ("## ❌ Removed", removals), ("## ➕ Added", additions)):
-      if len(category):
+    for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions")):
+      if len(changes[category]):
         markdown_builder.append(title)
         if "Tier" not in title:
           markdown_builder.append(COLUMNS)
           markdown_builder.append(COLUMN_HEADER)
-        markdown_builder.extend(category)
+        markdown_builder.extend(changes[category])
 
     print("\n".join(markdown_builder))
 

From a1f4723d1cbdd1fdb4f7d2553e2fb4a07eb7aed6 Mon Sep 17 00:00:00 2001
From: Thomas Staudinger <Staudi.Kaos@gmail.com>
Date: Wed, 20 Jul 2022 22:02:35 +0200
Subject: [PATCH 277/435] docs: fix Table of Contents link to "in a car"
 section (#25225)

* Fix Table of Contents link to "in a car" section

The heading for "Running in a car" changed to "Running on a dedicated device in a car" so the Table of Contents link no longer worked.
This PR updates the link and text in the table.

* Update README.md

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3dce9d447..94837575b 100755
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@ Table of Contents
 =======================
 
 * [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-in-a-car)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
 * [Running on PC](#running-on-pc)
 * [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)

From c50a14a7d3baf2449234e9d17ba809e667f5f4e8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 13:59:26 -0700
Subject: [PATCH 278/435] Car docs: update Toyota supported packages (#25218)

These cars have TSS-P standard
---
 docs/CARS.md                   | 18 +++++++++++-------
 selfdrive/car/toyota/values.py | 22 ++++++++++++++++------
 2 files changed, 27 insertions(+), 13 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index f584890b0..3462673aa 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -18,7 +18,7 @@ How We Rate The Cars
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 
 
-# 192 Supported Cars
+# 196 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -149,10 +149,11 @@ How We Rate The Cars
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -171,15 +172,18 @@ How We Rate The Cars
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2bbf951d7..46b43ba25 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -105,9 +105,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   # Toyota
   CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
   CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
-  CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
+  CAR.AVALON: [
+    ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
+  ],
+  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
+  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]),
   CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
   CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
@@ -132,7 +135,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
   CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
@@ -140,8 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
   ],
-  CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+  CAR.RAV4: [
+    ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
+  ],
+  CAR.RAV4H: [
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
+  ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),

From 180c2abdd9a99f0851a1bc0b3dc2a4f3ab55ddf8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 14:11:59 -0700
Subject: [PATCH 279/435] Improve Japanese translations (#25226)

* Minor Japanese improvements

* fix

rm

Co-authored-by: PONPC <fuzitanirenti@yahoo.co.jp>
---
 selfdrive/ui/translations/main_ja.qm | Bin 20204 -> 20202 bytes
 selfdrive/ui/translations/main_ja.ts |   4 ++--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
index 1c98d5a1e38da73116211e91d817d4c4bbf65293..b70c5abe0d4e0c023a452eda5df85614d61b81f2 100644
GIT binary patch
delta 1667
zcmX9;2~1R16g_|D{}1!$&x{K&pbo<_fPf+>A}Xjr06_&&peSM+H>%Y(Dpsww)L82V
zC>;>02rA%OtO2)LH7<x--6BRSVid(KcCngjF+h)DlF3Qld;h+3&pGeD+$y}-Dr~ex
zl>^#rpx-ItVqy!i1n4gUVmn}32}lEgpg`hq;#b5>p1IY9-fs$L`U(9C^Q}>bfW$TY
zG6xttk$3_~2?2E8#7_a&RYd-SWMJ-gpob^0u!DFM$oa6}S@?%FWFo}XTY%UAh^3DK
z!2@D_D2x3F@d^+2Z-ID?)T}j-)_DK}-0YEpIrkPE0viECF9e&2`lpD$xQx4Ph<`>}
z;m#PXn+EjUio~#DeE20Uj%KxS7_&PK=&c}muAR+hV*Eqi>N*({zJ9~+W+GK{mg~Eb
zI&B51UqJe<DnQwRjD#Yd+mFe+mjk)6dB{3_kr&Rul6HP*Jc{j?t^#o@QJXUr2;7YN
zp2?)W0Ilm5v7lCP8QKr<brW36ZGgWd3@)Jhp`(P927j*K7B=7FdSse#HB|)6jlvyG
zC1ANHJRkHO32)IT+2??O`x>9t7UW`Z4^5ns1GxEWrgUS+gPJs38+CxYO;b77L?ZVz
zNAkRY!FigK2?ap6R?W>6Uf_O0(|nP3hL|-EwmAcRj9M|s47hx&wY-$LzeMY`ek2>)
zpk0*0`omMSWv4gto;})qMm7>OPFs6;yb5&B*B+~7fk7$uW{qF&1aWo(RqlRUT-q`M
z@T?P;Pa`dd>EdefH8AXeSekI0DJt*6Zt-1cmb=j7s#sR_4hXIgcRZd!Y!ZLERt(rI
z;=#|V*v=907xjZNLE_~nO<d0xFTePc2A>sMMjoUgjuny;M&V-~Nrv_Ffrz(KjM0aD
z%cP7?Xw0xMDO)+o#Eg>W*s3Y~0%=aoE;@US_?Dp^D=nS1gy&yN%R-HS&mw94CK6Hp
z>q6_zF7&i?VeBiZERe*^5mMQP<upXyELDBKibCZ|XWDIm=69*7nFMTSrAI576yJqi
z7@H)uwUbcD53<HHm7TfC#=nB7Sd1L;JdTPr$k9oBlde`dzLqa)<YhTipw7NO%a!js
z0IyK_(!v5JrA=;2zQv?vI(YdP(~y8E4%NL@va^Twe9^2cag6b=XX1VBHKN(m)3IV7
z_nfO854C#J^%k9j;bXepsq-##1co%*TSaSbye@MJHR`MCW;F1%1oYJvfZ0HuuCXbJ
zSt!>vcmD#A7b;PK91-$A%8ct*0FQUd+UFLA{XH=f@SCcvf65Gc%u|XwXpUcrQhL0S
z84FR$?xZnWkxKa$dL^z<YSt7{f(gp8V2LJ%M<{2q`Jr?`saM=N3|f_Xmk1JSRGv-G
zp++5g;qW&c7QgDfPn{zn2YuZAwM;>$KC6Y#+193?e^Vs!P5KpII?)4feZxy??LS?A
zVI0LU&(*j3Poj3Es?#YF2~JZzYq{@tUF{#alqTwZ)VP=%K=fTTF+7XnXQ^YNsmLgk
znqJJp9%1UdBodU(YDwEiEa0Qo7V@=Nho~2~8TlC8)!&+kA?a#U1BpsO2D#eCi%Sdx
zEVtQEvSDaD3HM1c)P!>1dx+u4V&aI^hI+4^>{PedP#?XMjKd6<B8oZKb{ZNp>L}f5
zqw}6>uD>$&T1_RK-W$E%#c*I%8^a%Pt_-ZOpODQ7R^#3(mJ4q-p7@t`TQW?Je{+mE
zzBD;S@%0ToZ*qCk0ffmW*Ys4N*KE`1$3=|H7E^K#GpgHb`aHXpdU)C`4rceSP3NC-
zW)Hk;YJOHub(2gF;`RekS7!t9rFOy3scx3T4QFj1ZLNKT#Z8!0mtmPG3#07YdV3h*
W5uDwb*ICh7(z&3su<nkxQ{ev{YrN$E

delta 1685
zcmX9;2~bm46g@xrKO{dti6|Nrfk03M6oZNl3L-Fos1+9!>OO8%>snE?+A<DWMJh@I
zbpu2JwOYD>`?!m=XkA)GWe}xE+{P|bTdP*2r<2TN&dhu7-*@gg=iR5p!n0ywOF&F1
zpiT#RpC@J#TZvnNJ{mx515DX~)E5ZtLmW(8O`OCt^)9r&$e$f3gywJZjX4So-@q@I
z10%-~&j4e>0G*ZiKH!-{T*nGpVE%5PqaU#JE%6wT!Tql4{9k>;#zS1c6Nv8(aT}=!
z7Kk+iSZpW6D?Hez72-7!@cjnTMhno_%Mm4*vl`$QauYCggUv+LKSE;ND(=2P;^V`B
z-Hc(n89=9E3?EpC|9`_XV_7X3BleF6yo^Ym?_jf&F!~qX>Nyo-KmLo~r6Wakf$RH`
zGGh&?U&4fa<$$~gX-Ne<SA~iDDM(g)9;TeD<ArmuqKzLKk74(vt3bj!RAo#BLW)q+
zDVel0;M};31=T{Ah~7X?FTt}U00?pu!t<#9fLLKnZ4lQRgdO!<k4hD;rig&~j&Mg+
z26*2Sp7dW!!n;&*`b8kPS=GbYf-Ho4s1oE1iWsb#+<_hUZ&DTC)B!#{Rb}%{Byvx6
z^fP}TJWq8xDG%u2RNWZE3w+L~n(An0SXWhZX=k8&N3|Gg2D+?Odq0!7|B>21H=2#*
ztCx*o{lVkZMd!Bgo=WvWBO3`#R#zPvtpM(u)F-M~p#L~WlPWN4f;cycD!bnnSGEiR
z{0@t&XONcLOmV&V92it3Zc94J6qUHJL!t}KvI{NO#iH_;fNi(9r*#&wN&M<sArRmz
z9{Ql1?Hm`6EB_l4Dqeor$o0+Q<)^>V;0t0)^dTCe-6hEbDSVt$GUP4+B40^y#vbHb
zBBf2IF@x+<x_p|687j>SsG#r}(!9!jboLtYABJ|Mv~tc0p8s1~HNXh;$dq!wAQAbM
z3w`Td=;!Og_~%kl2#J}8N=2Jj(-38cRQ~BY3Y9ILZwmla4N_wh2?Sh}9%M5qJ(syK
zezf$ujfBDqG%CLocIKrq{vJxj;x&;^5~x_MCU#T{qh{44R-FQ(uV^L-)Vb$(nzEN~
z0sn!TOH1>ZlsB5!$@NUy6gU5%LK+f0)vcmiHamOZ*d&^D+qH2)HB5XjN2O@?vubx8
z<X-0r?O~^tuD9yk4AU4-L1!)E^L*#N!zub^CFv$jrbfMtx>>b+Ey2OMJTM!m*4=Cz
z#VnNSn%oxwnx%3~2uFnGPkGk$D}d#-ob$w+)!K+rK;U#a_YpH_StJ*{r8$Ay<!vX+
zn6YrV=+1a%D_SnOLa)R%a^;2sN{}L-ut_x0K14pB&JU$;<r>+C!@w!mbcrOPTk_+X
z8SEW;;m9W(7N_*qvlmH7r%$+-!xXgZr?l`n2fWcQxgnDHHvO9A9`wMfuYE?XgJ$c0
zc$Z?B7wert?@_xQipN<Jv85`0RooB!S?LqCk|yeVC<$>t0kL<L;r1yMf0{BPmWm8@
zS0)s)u*I${7)62_v$FMdDhmWERr!1^z7a}YsgaMtqWsuM3`<iQYe`fJHE1dVc=1j{
zU+>#&DA^FvM#A048!88I-x^^!nn@gzW2o`p%T9HfhML&DWNbHFiY(+{+iSR)R!!+H
z8asbk!S(0HZtJOp$G=AZmvJ0e`;7Kx&Xs<<9j7$rBtPSUa+b5-H=cSyyS*oxw104n
zX`h)qV)*(Z>P%f8z6AzqO`a1{fNl#+!&(a%nPO9N1~aNVU|N{&q#jm>x0~4~%k=#t
z&g_17O-+wWsP1S}bHdj^%=NiI;*RREZqCkr7F&bujqS{b!`j!i=eC!$ujGGm`|9?E
o?ZvjwH_ox8R;PH6(+EQxrCt^V7F)XQw(W_n+}2!u%jyyGAFN5pjQ{`u

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index dd7643e21..c3b2b850e 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -406,7 +406,7 @@
     <message>
         <location filename="../qt/maps/map_settings.cc" line="95"/>
         <source>Try the Navigation Beta</source>
-        <translation>ベータ版ﾅﾋﾞｹﾞｰｼｮﾝを試し</translation>
+        <translation>β版ﾅﾋﾞｹﾞｰｼｮﾝを試す</translation>
     </message>
     <message>
         <location filename="../qt/maps/map_settings.cc" line="107"/>
@@ -567,7 +567,7 @@ location set</source>
     <message>
         <location filename="../qt/widgets/prime.cc" line="192"/>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai でプライム会員に登録できます</translation>
+        <translation>connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます</translation>
     </message>
     <message>
         <location filename="../qt/widgets/prime.cc" line="199"/>

From 9c9a0f0ef35933e354c52b39cfe9e7849f1d8d7e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 20 Jul 2022 14:27:10 -0700
Subject: [PATCH 280/435] remove comma two branches

---
 Jenkinsfile       | 1 -
 release/verify.sh | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 4e1371785..b8ed52611 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -70,7 +70,6 @@ pipeline {
         not {
           anyOf {
             branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
             branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
             branch 'testing-closet*'; branch 'hotfix-*'
           }
diff --git a/release/verify.sh b/release/verify.sh
index 2ebd50a29..56f21183f 100755
--- a/release/verify.sh
+++ b/release/verify.sh
@@ -6,7 +6,7 @@ RED="\033[0;31m"
 GREEN="\033[0;32m"
 CLEAR="\033[0m"
 
-BRANCHES="devel dashcam dashcam3 release2 release3"
+BRANCHES="devel dashcam3 release3"
 for b in $BRANCHES; do
   if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
     printf "%-10s $GREEN ok $CLEAR\n" "$b"

From 1f221017cb47eab270656dbf771ddd41e7feb665 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 20 Jul 2022 18:33:07 -0700
Subject: [PATCH 281/435] car incompatibility docs (#25227)

* car incompatibility docs

* we're getting somewhere

* try the table

* run generator
---
 docs/CARS.md                   | 43 +++++++++++++++++++++++++++++++---
 selfdrive/car/CARS_template.md | 41 ++++++++++++++++++++++++++++++--
 2 files changed, 79 insertions(+), 5 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 3462673aa..073b5343e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,8 +2,7 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-How We Rate The Cars
----
+## How We Rate The Cars
 
 ### Stop and Go
 - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
@@ -230,4 +229,42 @@ How We Rate The Cars
 <sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
\ No newline at end of file
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota Rav4 Prime 2022+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Yaris 2022+
+* Toyota Corolla Cross (only US model)
+* Lexus NX 2021+
\ No newline at end of file
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 8603f3143..22228c1e0 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -5,8 +5,7 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-How We Rate The Cars
----
+## How We Rate The Cars
 
 {% for star_row in star_descriptions.values() %}
 {% for name, stars in star_row.items() %}
@@ -34,3 +33,41 @@ How We Rate The Cars
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota Rav4 Prime 2022+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Yaris 2022+
+* Toyota Corolla Cross (only US model)
+* Lexus NX 2021+
\ No newline at end of file

From c875f540a87a7226f53e83b8817791ee0764b3b4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 18:40:48 -0700
Subject: [PATCH 282/435] Car docs: fix typo

---
 docs/CARS.md                   | 4 ++--
 selfdrive/car/CARS_template.md | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 073b5343e..eb4dfd884 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -236,7 +236,7 @@ Although they're not upstream, the community has openpilot running on other make
 **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
 If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
 
-### Which cars are able to supported?
+### Which cars are able to be supported?
 
 openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
 
@@ -249,7 +249,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
 | Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
-| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
 | Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
 
 ### FlexRay
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 22228c1e0..ba95eeccb 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -39,7 +39,7 @@ Although they're not upstream, the community has openpilot running on other make
 **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
 If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
 
-### Which cars are able to supported?
+### Which cars are able to be supported?
 
 openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
 
@@ -52,7 +52,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
 | Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
-| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
 | Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
 
 ### FlexRay
@@ -70,4 +70,4 @@ So far, this list includes:
 * Toyota Tundra 2022+
 * Toyota Yaris 2022+
 * Toyota Corolla Cross (only US model)
-* Lexus NX 2021+
\ No newline at end of file
+* Lexus NX 2021+

From c528decd17a71bb8f9eb0be2f0d78ccc2e74f70a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 18:44:47 -0700
Subject: [PATCH 283/435] multilanguage: compile QM in scons (#25217)

* All in scons

* delete all this

* delete the qm files

* No need to check QM files in test_translations.py anymore

* readme

* add lupdate to third party

* fix

* one line

* update files_common

* readme imp

* add j flag

* add to path

* duplicate scons!

* update readme

* fix path

fix path

fix path

* no path
---
 .gitignore                               |   1 +
 release/files_common                     |   5 +++-
 selfdrive/ui/SConscript                  |   7 ++++++
 selfdrive/ui/tests/test_translations.py  |  29 ++++++++++-------------
 selfdrive/ui/translations/README.md      |  12 +++++-----
 selfdrive/ui/translations/main_ja.qm     | Bin 20202 -> 0 bytes
 selfdrive/ui/translations/main_ko.qm     | Bin 19439 -> 0 bytes
 selfdrive/ui/translations/main_zh-CHS.qm | Bin 17931 -> 0 bytes
 selfdrive/ui/translations/main_zh-CHT.qm | Bin 17969 -> 0 bytes
 selfdrive/ui/update_translations.py      |   3 ---
 third_party/qt5/larch64/bin/lrelease     | Bin 0 -> 546824 bytes
 third_party/qt5/larch64/bin/lupdate      | Bin 0 -> 1095744 bytes
 12 files changed, 30 insertions(+), 27 deletions(-)
 delete mode 100644 selfdrive/ui/translations/main_ja.qm
 delete mode 100644 selfdrive/ui/translations/main_ko.qm
 delete mode 100644 selfdrive/ui/translations/main_zh-CHS.qm
 delete mode 100644 selfdrive/ui/translations/main_zh-CHT.qm
 create mode 100755 third_party/qt5/larch64/bin/lrelease
 create mode 100755 third_party/qt5/larch64/bin/lupdate

diff --git a/.gitignore b/.gitignore
index e1ff5d500..07626f4e2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,6 +32,7 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
 compile_commands.json
diff --git a/release/files_common b/release/files_common
index 411e4ff6d..0980f7929 100644
--- a/release/files_common
+++ b/release/files_common
@@ -303,7 +303,8 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
-selfdrive/ui/translations/*
+selfdrive/ui/translations/*.ts
+selfdrive/ui/translations/languages.json
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -421,6 +422,8 @@ third_party/acados/x86_64/**
 third_party/acados/larch64/**
 third_party/acados/include/**
 
+third_party/qt5/larch64/bin/**
+
 scripts/update_now.sh
 scripts/stop_updater.sh
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 0835c1637..9e89576a5 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -63,6 +63,13 @@ if GetOption('test'):
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
 
+# build translation files
+translation_sources = Glob("#selfdrive/ui/translations/*.ts", strings=True)
+translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
+lrelease = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
+qt_env.Command(translation_targets, translation_sources, f"{lrelease} $SOURCES")
+
+
 # setup and factory resetter
 if GetOption('extras'):
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 59751eec1..b44ab11ed 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -23,8 +23,8 @@ class TestTranslations(unittest.TestCase):
     shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True)
 
   @staticmethod
-  def _read_translation_file(path, file, file_ext):
-    tr_file = os.path.join(path, f"{file}.{file_ext}")
+  def _read_translation_file(path, file):
+    tr_file = os.path.join(path, f"{file}.ts")
     with open(tr_file, "rb") as f:
       # fix relative path depth
       return f.read().replace(b"filename=\"../../", b"filename=\"../")
@@ -35,9 +35,8 @@ class TestTranslations(unittest.TestCase):
         if not len(file):
           self.skipTest(f"{name} translation has no defined file")
 
-        if not (os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) and
-                os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm"))):
-          self.fail(f"{name} is missing translation files, run selfdrive/ui/update_translations.py")
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
+                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
 
   def test_translations_updated(self):
     update_translations(translations_dir=TMP_TRANSLATIONS_DIR)
@@ -47,18 +46,14 @@ class TestTranslations(unittest.TestCase):
         if not len(file):
           self.skipTest(f"{name} translation has no defined file")
 
-        for file_ext in ["ts", "qm"]:
-          with self.subTest(file_ext=file_ext):
+        # caught by test_missing_translation_files
+        if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")):
+          self.skipTest(f"{name} missing translation file")
 
-            # caught by test_missing_translation_files
-            if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.{file_ext}")):
-              self.skipTest(f"{name} missing translation file")
-
-            cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, file_ext)
-            new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext)
-
-            self.assertEqual(cur_translations, new_translations,
-                             f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file)
+        self.assertEqual(cur_translations, new_translations,
+                         f"{file} ({name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
 
   @unittest.skip("Only test unfinished translations before going to release")
   def test_unfinished_translations(self):
@@ -67,7 +62,7 @@ class TestTranslations(unittest.TestCase):
         if not len(file):
           raise self.skipTest(f"{name} translation has no defined file")
 
-        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, "ts")
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
         self.assertTrue(b"<translation type=\"unfinished\">" not in cur_translations,
                         f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
 
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 4038b1e0c..a6f2f665e 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -9,7 +9,7 @@ Before getting started, make sure you have set up the openpilot Ubuntu developme
 openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
 
 1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`).
-2. Generate the translation file (`*.ts`):
+2. Generate the XML translation file (`*.ts`):
    ```shell
    selfdrive/ui/update_translations.py
    ```
@@ -17,22 +17,22 @@ openpilot provides a few tools to help contributors manage their translations an
    ```shell
    linguist selfdrive/ui/translations/your_language_file.ts
    ```
-4. Save your file and generate the compiled QM file used by the Qt UI:
+4. View your finished translations by compiling and starting the UI, then find it in the language selector:
    ```shell
-   selfdrive/ui/update_translations.py --release
+   scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui
    ```
 
 ### Improving an Existing Language
 
-Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them.
+Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot.
 
 ### Updating the UI
 
-Any time you edit source code in the UI, you need to update and compile the translations to ensure the line numbers and contexts are up to date (last step above).
+Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above).
 
 ### Testing
 
-openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker.
+openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally.
 
 Tests translation files up to date:
 
diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
deleted file mode 100644
index b70c5abe0d4e0c023a452eda5df85614d61b81f2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 20202
zcmb7s33yx8weGep$+j#H88B&XhLf2<;_M_QO+(t^DYl6%*^(TG1_-irEGd#Dp}~%!
zW_W~4;*52g1VRX9EVnHe9&`$~T%b@0P@n@8UMXA%4O807Ys2^8G3owmpQEEA>DXzL
z&psOVUVH7e)?V}W+MoNTJ^SI21JBQy@#y8ZKk|AbW2LJZD;{8M$~W-*g0Uq>87uMQ
z`52x<c%H!X5MxVCjG6F#_4SOImoZj%9-bHAc_p5kFy>|DIqxIJEPrQg@_N9YiDwwk
zui<$BPr$7DFUD+7Gqzv}V+&ux=dUuh2;-)d<B4%oB8;_cV{GM57`tdY)=e_j;llF~
z#=4g?Rz45U0Atf`z!N`p7RJK21I`@A5?|u^bH<YNeVUc*Fk{W#%yi=|jIqBdPgAk-
zT;NikE$1@RO@C&rNMfcZ>#@$w%=A29EIq+YFJjNL?_=gsiLqs0Vdne358QvvEI)k%
z&yQHCv=QsP%u3J0J}Rd(UX5qPyR7w@t1$jk*7_dyu=*_4R^Eqw-O4Un1sdSrMMI$b
z(oVMi-X6yO#mXGv{h;e6*7X+fnD#B^9Qg?IWach@0-xW@+<n(!pU2sT@889k^$xbN
z{ks_V@9bOmejBvf#V&pP8La1HTfe}(s-LslpM8O`b=R{8lb11e-eLCS6bJSZXD3Hf
zfLBsf`!%BdSBj<`ozK`}bJ6*Gz~}l4i@Kj$jL%;wI{Y#||9Vf+3vLr*XTMbRYVn<n
z&HPi*`zyBr-&=~U{$DY6?i<AmPC_=$pIp4onq=%N3yUwQ!G2f1R($JA;N`6O#dn6Q
zfybYUf3|Bb#_cNp&-Oix)toH;eK+9GdZhUEXCODr&n|xRduK5=qpHMIcQ#|S*Otuu
z3-~r`YsuW5-^9N5mZZ7?|AOw4BaiRHI{#Mk!z%2fuCwI9pLQ`eX?MxP4`Tkx?vf`L
zT@5*`D|vD9$KdBpC7-132DO)(THgQPjGgtC>GJPCg!xWWupJ*ydc`z+;v0<3dC2tb
zKHy#IHQi`B&Dfd;OgFXv0&tEh&ze@{dA3D)N-vm>-1P}#{5I1afA-<|n(0R`9$;+#
zOw*4;cVWLjGaa)L-|9@yz4IDA-)(yCgZ~EqpD>;H=8qXGyUlD}1->-BZLZvT1!HSJ
zHaAr*z<!RHH(n0DtyyLETmKXCbfJ06eBfUnH*X=iv%ZKY_Ep|t9`4_Y@u$sK)mPyh
zrOZ1I0uSr|SDv$fuRQ0>RGuw=Gaoq*c%8l0d}J@=#dg?y*T3EXI$UG^<rnjD=KqiR
zwb!x!{3pzBUk^E2m{6WAcJrrS0H5V!mf|^X?CUF*st@ZxuO`dd_t$}5Pgxr6;QzGQ
zmevPxHoy6tWm6IOu<(A%ou7Qk*xY){vxz;BqfafLI$nkxZYrI-7<4-KlG3}UUypsg
zReFEqZLEK|^y3de2h+KwpIz`S<m^yc)8Z$=wuNOEmAnZ)Eh&@#`Wfi?yRzM>!}xwq
z*=;|>{Il*Z`^m|9ked_brIni@FX{4mN6Hxc>g(n62Ofu<4V5?i-H&-+miMgxGw8m$
ze8csiS8Hqerb|HIb8O|lr*IC>J*RvRgWR!)%3pfT4mmqo{`#aSbXdaLa31uW<?mMC
zZ=PpN`oy~9edwv#pW*p+=&H-CJKu$TO9R&LehI!VI%K`+7k5H_ms^j#+5@@$y7lPu
z;IrvE>wVk53;H>&4|6ll^;+vM{g`Kd!1|<h7UcA#^~u_`z~?3Fd)_4I`(;JZPp`(g
z{*Q`zkNpbxlvb>JV+Z6XU2*9N=!yBCR$TFW6YxG*aoyll&~IMFQ-65@=h$0uyc2Xg
zJ6v&c@x`F~O}43z0T13|oAV&PU-TQ>(ytFgKP|AWYx*r?jeoRVwE9x;?NZzNM$qHJ
zYTJebfGe%C4cLL7<!sxbPkS+cf$hQX;2h5Ws_mKYfqpAz*?#>Rp367bUV937n(Hbp
zchASVhbouNd<FY)RDSIX;5(zc^1ga}KkuuRKO4gH8#h)yIrkpO?@;BFjd(6zRr%~%
z$V0_Fl`n0?xvYJ>>a2ge8=wEJYWj_!!_?2J=6=!ydfi>M`c3Go6}MHb-vv6J)m3#x
zV+-VXbJdPpaQ@GmUG;;z0DtxCRge5X$i>W!)n)$|`m*dV)l(aAj=%PFb?rM}GPcT6
zJ#B-VvFX9;wm$<-{VmmwB;>vP2h|b(Nzi9b^}bhcfE)}~-z-OfS8w&BvCl!Lk?N=4
zg>6~!$LiPLI|};StKVGr?~FCP5QH$@RDv0n13UOez7xWS*Z46vg`)|%6t5~9`Vz^w
z$D3>j%kg9p4X*9py?e;{GVkU6{0{yEe}zBIKj+7_$&;LNUo@JOJQ1JN6Z3hJ;{mGb
z|44p-N9?S>vFnmhp9Y}P6^TZ#lqa5SV-2i}*_kxDbkkvNYDGhrU2@6EWH90<^d~p?
z20an4?6b?sp=dmWkHsELeHZAqYijg(LlX`kdGFv;+9IZw=63f)!>6WiNypOr(zm9!
zrjPP5f4TFRt5%y{)e`aag=NVZ^$eT=&D!+!>8sL5(>IL+szwFnmXiTFeg<Gw8H(|-
zZrOQ@hEI7*Bq_%wP;R0<)q_>Nyg3)4^l19F^ho*$cDs#sN^pf-IQZqfhc|0$%uv>d
z$U{;xgR2ztBobhXZ=z+ZSUcD(LC~Jzf8ob8fY$adsln%q%ZbE9(`QVCuLf+gMn9?R
zAHZqul~)dq@Cd&e|3hNCMb~}ce3=AMyuX@Xtbtw>mOX>A)ED+dLQ;P;E_qVP=zu2~
z^h(}nq(A6S#qlN@nP?MMejk6EpXUF;Pib&1O(fP~F|COJ#R+IM(j4@JqpFNE2V1XA
zD0V0kKHgyC15wc|d&9wq+~x7h;^55f`<;6s?U_kz0b35vjHR!DbjI;B0wIW{Z`PJP
zOP#z#N=1T^MA8!uOAD40$^~FAVo?@jGK=7MkcIIsNuasgxj1zWBxx7l>Ffk?i|GB1
zy(1<ba@#!B{9?Xy^RISX$2)i<9|b!u=Ed6bO&3Q~(m*N!P2}~;v804EBDv-GKtiY{
z5W*KEk|m^IM1mON3?!pcDj`eJm>h`(!_j1&A+oE0nhX4Yn*WC1#gFkQD6xV^1U(+$
zMR?YWcPrTgKywoB&O>a81kB=+PaX_<Wht1DV$mRupby0P<pa`!6#~5lE9rH81_K(}
z<%!5)!G-z!XOM^|_;LOizXy^*s`!8L?R+<0HFH16us%IoBgDLhxGW8W7>ShnV#pH#
zIigs22)mB<_kUB}XznsIbeevA@Y1;8<H8Ua!>&&crNdBcyP)0<Lu|gCj-+n|$3K9W
z)5a#=(s>iCnUIr`*Aou*DJRQ#`B~lafouCe;bS{?PDs0z6D%|sBy|R%f`JS|!u^sz
z74*r*3z{x2@Bc_+iKVHn!QR?pNOkKd8-*^-8DHHL@I?Hw)PdhAoJGTlYsWc6n)VPx
z&6S)ENJ}Tlr-oW>b1)%C{8)q}q)SMMqrcy9#rl6_MOBCjSDKQulHxTOE;Ap>|1^Jq
zpGs|UeGJ8O4r|835$1=cknz49?-y$uC~uBN{IIX>&4$3Nd!FsSf&Y-d#oyPaR5r(h
zgE$FIo&h=TF`Q<Bud$3ZXj4k;%Nh&^njleGPpY)b*|MR%rPpw%_26fbeSFMWs+&+g
zF~!4K>~UCLfld59KMD7Xj!O~9^gcAwZ}{hfZ|^t=9dV35#oy$S9S2h#d~EB(qr0If
zRetkgcFvw>?Q?h}i$ty})sZyZ6^F7?rQN5{s^8-!k@pIck*LTKp<j{#Pf}9H3`8Tr
zWRx5eDd0&+{%F)E4F(gzzF;_*9Ilhj8I%J-FL))?bRRTtfB#}bQk6kfT%C@lw`mM8
zJ6l{W!VQBp$<<rAEU-+#0gED>8c@pwQdl;+dvxvPzuLH58*O#U{#4k59S$2JJ<C|f
z6>J3_Gbyd6tkN<BXVdAdtc0EAR9NHAD4|wTLWTe&!{Zu>4{!dlP=r~at5u++-QuaR
zoLD0D%bq0c2VRk59}W%#lfvUjfN5EaX}GSc(e`caJF3xcl1mQDUf5;{uF?29%?2s{
z0N$TC`r2fR3*N3rct2-gzG>XUS8T7);F)~UA>o1*Kr6oVo$RQv+@Cbu-~)z)jq;*P
z-+^x3%%iT;@CfSJ1NM{9Jw<ja-klHcKzwJfz`NDzcOlKI7<2u>{wjQj0tZKUgCFoe
z;Ou`6>bwipIJWsL-Z^qu(d5tr86z6ySMdPf&x7J*D=yL|yw5sG_iDb56qm0^1;Jop
z(p2XJ#~P<{Aes{X$xtvEfUi^!&xA+;r%8$j{Q)J^Q@=bPU#4R8)oQ#Vy4Gc-gPa|>
zy@<|I(NrQloVC*t{}Ld8Q$Ud$4U2o?G6twf`HcObV%KSnJ7$53A$yALR&7{uDrPvw
zG_q{8OdD0!(9t2e+dGAYwhHUug19Gy_f@uU{hkw-$f2Y*+#*JZNF;x-slV~Ser=$+
z4W6IzI2K|9+PLENorGmRFbjVJ`u&tP%-k8o*)$qy>TcVYRaE6&4KBCT+tRY$Xl!kI
zFg=z&#K*L-zB$Jus8)46JotDfu&x$6j&FcbaCzm35*(Z%P^oB-#8OFJgt8(pevGEg
z<V4FiZtAt4#3AwL$CK$IZR<1aGCXFO8U$Ey@fR$Yya5j-D&%-#j^J?qYBNB((=dt0
zacoWrgDJMj>gc})x3XP{R3L_RbwcXO)lcNO;66{Mgwy(MIIdd|;BP|&bS+*d5CKux
zPk}I5V*xxpok<$#DNfld2M0;OqkUVT{1R&<!ZdGz=}-Zu_@mIsZ-=iO2h?O(jA&SZ
z^2y<(#~9KK{xZLv1cr}^REsfMH6lqvSoM=M8RBHKZ{Kv-$%ih?k>(OPDV!xsrzh6p
zZV=?jmG|O6oOY-mV1rS-1@cCe%EpStp@IB?mh@hPmAWAV!Tce`PK!p}5+qadzqc|8
zyb91-*>RGh#H)ccaW<aviYQQEUxf)q=#@wceuk51m4f|9Vn2rC%P>B7YbBDhH^bp3
z=S2s78v5p@j+O=|ZL|y<$cBWr#FxG2@W|kQ4{qz_+UO}wsd!vQu-7anaCEg)L+;!y
z2pva96C<2&3AA<JKt2vk$|1fJVQwJDWweeaAdwCp#Wx<l1L7S(q@G07o?vU>A1`BG
z;h9I^mwWMfop?XM2ABu0JuIkUmTHB^1BW8Av~PGRJtZHEkHQMPOvJ*TVLIUOH3p&x
zTgkk@S@1>&20YeSJUAdDob5|^<G~oQuTF9W{SmS}k?7DGDUeLY5^I(%gRzMKXq}i=
z=Me&wyZ8CmeX!{U9&tGOF2t^`=9e?8NaRq?K{>=Qm>Sko?NKQZ9gwZzs8<kEg2^gm
z#{6rCHX;Y`PXMLl<Qah4{A}-U3pq?mC6~d%Amr|HM#+Qmw)73@olsQ6_|f9+(SBX%
zceXn|EUdrXGZ^$M`)gFscpf}GE@TR|42+&ywUH<cxIoXBl|KXYropaJB6)1|K7P&K
zU%*50EBaF-d<BGE>WF%L&{IV3a=h;iM&MtFb32W-B2DOWyyg0sk9qINYE2D5b*~56
z9#V2}O<KEL20+eWz9x01!pWdRh?~xcnR47(c&6mm67=!L(?QeFD$69OX@)f~OI^c%
z3w!k;?A0@QIa}nADQBzCpyp4Wm1kT#4(#98!@U{Hq+w9i8%Ml6A*iY8?G$>6JnvR_
zB~Cr8v<9GzC^~n+^0`J^D08kl*tKu=W%p>q%^mHXO8UIqKIqr+u*}a6znU|&q_bh8
z;8X5EQ_di>tE;6&g!=jL$fJTr3TR84LIcYJ1^_J>7t@U^8HgDVlXmvIFVetSq=t?b
zrxJo9LlTE{wm~-tfwZvPv8BpbA$Aq{gH2?evtWC=nj73oZYY1`CERu<4a+N$7<dgb
z^JeOTLw!87_Y3Fu#Ca$}81)K5g9x<!Iv#RdgWoy&UBjTMF&YgGc;X>))^qeH#reo2
z#)T4;pnYXILZ4CAGzecT7?Po~B~MH^*|siEkb?iNXe<>IWNG6zrH+sda|C|Cx$hT9
zTLyTM>vUHV0Z}(|@`n`3#~DykSmeLtR~A+`g@fLZG}q(vNmO1?0++eMa3s9Ig+kbF
zCwAgPdO>-sMGA!oHuDoAt9wdA(EksSJOtw2kJRNcBDF@yC9P4S&Un^{@DbFE1)>oV
zvKJz>L_;KiOcz;K#hOw{<cA{pdz_E$o9A0Yxo~aag+zG;b~cg|O9@Lz8F7l~=qwa2
zSz~9HB@gU}{d#@VM*nPG_%dm^G%R~4V=N_*^-vR$m0e_x8+^S%pI=sLgcqJkN|8eM
z!!^4teF#3@cO28*Z}HIJRr^<D(o@<_mNm*i8B(Q~en~O?1M)y0^dH>+d<ms386Z@3
zVCUeK*P1CCA0O`Cs)4UY?nn+J2!=A1;~`<245nLXQhIuJT9*^Sp|q~0!QF#A)S7Wt
zt-*0S0U<t~kq!+&rBfb=Cb2D)CX^DE!K%~j&w{I6D6m8Ytx!!Ax$>+tThSBq$32j2
zdvs_V9Hy}*6oNYOzX1Z&h1cy!WxAP5!^PI*=<IBex*Y9xw@^^kf}uSLIj&==B;eRF
zw*{}<aObjc>j1l5gICk!u-jXj+;swOT|+xzW(c!ZFVIlIaTI?Bn5;pnP^4Axd|V(k
zi>5HCTXsyx(YqQyo3-gxCywlwTs@7hCTDx2Vj~REs1c<bNj{0^3MM%_H3&Aul|Iif
z)nxop!l1O<AwoBy%_b}JC?+bHS&5keXv%S>s!KX81rw_=5ur>fDUUNXzgTZ-*%}ll
zIS021GMhQ$rcuBuPN7nXxe~r1g|jh@2BkhvB7hWt!S)M^cG{$JEw5BCZH9BEf3~Yu
z*rf5RN@uF@2xX?|Hc@afBO+Fn&l&tU-AEJV#5J5to0LK-VXPZ80VQ>#>eXF^E?zG8
zW+agpEBWQkyLhO3_h|q24zX+1hUwC9a|QNNzXuVxuTE03&}2H2@W?%Wl$S&*Lbu*5
z%`SAPD^tXRLJnm!bomS<9Wq%pg<5J>LkFrxs}zhWpfrluT*HZ^JOF&uFh@6Qn>H(=
zB0$Bv`}w^h#iAZXUd(Nx?oi49gp>v{m8zM~)K2q|r}5cpH(Z&VSt36*HgZ^yF}K(&
ztC+?KQ&27F_sel2B`OyQk#wXIIZ+e^9ylvhi-ze)Qs_i6rb?rPHbIovX*}kqV1KBk
zC7%bE!!__Bs!cKvQ2i|w{ZstTOiC6Z4V7k(s}@b9UH@5PXpCs;QF=yzk4VNsDJ4Dd
z*^!S^qThmTDumFTl6>S%umtP11=RL{Dre9eaLZfuS-P@}q-ldKFq)`G(>bYfDJk28
z&XJ#77-(u!t=Z6Wyy-T5w4qHbRb!*^XI%puxeaN!E$J(?S!J$he{u+^<ngAJq4+l1
zpXP1alu~!pkMg1L1dMi9%wEyP7C&)lJiz007@0vY)fZmNFXa)Xt05;dIkst+{a>Lc
ziVy-jxR0;r5s{l28~ss#mC!8uE(d#~jQ9)r5m|!srFpoBMV25nnmlps%?af7BEdue
zZ4RObLy7B2=)F-YdM3!d@*&I*h7*dAWN}=WgBd(b{s?l4$06C@hf6cIZ!1saq>86E
z1)}I2lQLwd1Ei);iBP)TPiDO^_Dk71{FZpgd-q7Ti>n5Tn8FU4-5XrGPNZ#gb1f)!
zpfIAbp$y{@+ouGVb>pVzuHiqIR^fh9Alls8%v_OSil&l=D^7*4eGCfhP5u5g7}ZVa
zGKmgoyUyF{KVV{;vnE!De~sGS@mGq2$gX5pY(`-v3?@tKgvrQTajJfzeQBOasLD)6
zXqK@CS(aZWlI~<oHp5@+VNTXTtvEu9lTd1!TZqP^K<#<aupw9|T6HLGrlbxtv$U{H
zXY#sQGWB8^rDJ3>knQVnc2MnS5QR{PFNr8cZ;IU#l1zOv@d)G`x|<{fnLnC9h2?zF
zt;*tV)b56*@`zT3{NF}?9S>!xj2xxN8KL$QM}tn@gbB*`sAK01uDkAoOaHd(NA}NP
z4_*{RJBE|JLn*#HZW-wx$1_-`^aJP=IkhVx8bTPR=0s8Vh>(#(8YUKxdeyp!m;ot4
zi7pY!Cr*vV#<9E#I06&Vy{QmAZxc0s=A21r^KE=|@FQL7&?-nIkwVFvW22l&db-1Y
z@Uz}U8fmBYHaP9=_SQ8>>J3R7qNrggT`fBCpPnmW;_!}bzG2H|`%)boU0N?A9eEf`
ze0Zl&`fB0>T%-0RiEdZY&f4;}b&6^g$A^}!5U+G$)6^`b`5&P(KY&k=&Gl4>I6X`2
zg6X@m({scBya1b;V$P6yXNw_v8VbBO51tl%F^Pg*K9*WJ`rJ4|xv?O<AVg7#*3_dZ
zouj_clJASfiS~v)!2u;Tp^NUQ^FxjcF)g5h31%Y8@#3XRiO{7kbUE~Sl$x9gVOy)l
zl;Rbw1|wGLN31j&alU@U`356$j8v%_<rXYufeZXT|6D`I+~RaPM8zftXA9zJH_Q4R
zB`xl@0$3(L+n24Gm|7hUk?G6>By!){dL?RhJ7<vT@T-x<+7MG)du!oh7HE1mYtcrP
zbSPQKTtG+wIJ6<fc1HouR{jI{2-Jv_EzXxZ)~)Mkx3?4w&i6t^fjVbF0(UwOoW)@`
zgl0v4qX7su>l(GpT@ChT(W;dL))bsEGFRJ&#f73;Qz1!Ak;S^ywaMMm*;Tj&YNOI1
zm2PNhYe$W)V3;-QjA(<+ns<|f+d}Ax(>b0OWj@D`mB(-J)EaL^j9i&<%d%y|+z8m*
z)Yj4@SYR;JLN0(#^_Gdj(BZUIgYnZu&G{AnS9I>Z56@|gKMt?)34Xt}{hFqLjNC0L
zVBJN5LL_TY-3cPflF;<>J}C3J2Ep2jtaD==!J0_e8(@*0`w;&xa#V8XHld!VWKRs{
zqT)8vNV~{M6HMx$h64p*N$g-80@NVFasg@d<ME$UpH6mZhfCUkMg_Pp<ILSw*ipng
z{EQL_5Dx9q1&;{7EYw%yyiMq8vds}nNI};lOwf<*ekW;xi&M1cS+(b{1F?@%<lKqG
zdnXD5*KE2Cv9+2=(D`b9H{7r=Z97SYS1q@L60FEy_NT(s%tPFS7f1Z`P%W13e$+`c
zS9y)ZafEt$Qs}uJ3Lw=X+&l7Q;KRWH2=#BkhnoEJpb@gX2Tp{`jc%QB=vYfBI*4B0
zfzkljdh%M+4VJeWaIkb@_AL>zA1P=I38j<BwZ(YH;FYP_B9_zVD{Gbf4~0Gba?%@6
z$u`c`OjJ41Hd4~iEKGydl?YHs6OSsb;!D)C)5cP)55gGX??4=X%0G9b=91rEqd}Xl
z)E9*hi6hpQ>Z1}*Jc4FV!X|$a8xHyB@Ko;1ac)XG91YE?e#oDZ+th#-%}&P#p)>Ob
z*6NZ<k3uKD30B^tJH_aoyds6-vXD%lgaFP6K`RcTi?uOne@fe9nakBCt(S*Iq@Ta+
zsw|n{CoK|*-bEl^6z>#elp$zn(?&F2P`*oF`d&cUb0U|tXu<MD=!26Jkwr;K-Wmj|
z2wD`P8lk#czp^xgR+eTOue?8HSazS6yEb*+q7Wa#PA6XZ6Y|v2#zD6mc9EvY+i66-
z;nIlc?qWU+lN9L=AJ_>jwxVDsWk?JLDV4CX(dDiWsVoK46;bpN?#Wo}CoirQ<8$d~
zB$!(eN%}J-KWMXuAYX3)7KP$Zz{x;lnvY|adVEZj7HNGdcwThVMnI!?RP>Ch7e+){
zP7{g8dJ#$?DqaJnMPVfjOEMvmoG5h~I+>I?jHUWebyP@-XiR@h5^6rIPO_u26jwr9
z#A|t{NQxq|#f1~J^()gwqhtf(TJ*O_@<1#c9hRx<1*_RxHncb;Pa;Gk1q!HjVmc~(
zc~FG{%@^ewjWPK*(X8tAF>H_|u^g&HNq&jyhKX+2XrwVW_)+W?!`yU-M!OMYq8mZl
zuu}ETkHNsnVB7sdQHbul9OyMJFBDc-Yz`JBCJu3V?m}gmyFc1uxVJ^Oc@|1gc<Nmq
zgLN-2G^G&nj!WO^O75G!y<^8-XDc#UsZHB)h*5n;bbcEB7N;P1x$X30FpWyZe9ZOX
zwO?eedg;t$upt~qG@CV#5SM75JS@6pmx9$`Tiny%uU!5bMAk!GKcdf3e1zE?Fld~I
zvQV0A)t>qU`mhC`ZEB)2>&$Uf3b&$7{^mW^{8~=+;(`JVc0MM$(r=}48YO3CuVOeN
zQUh3k>z>ruE_KO1rO~=@xq9lu5E@amPXM$Z=V}XgU}3fOf<D_G7+z!GQ!K!e)Z`^4
zVwADKF{17ak))K7*FuRIT^QqRblRS0NB+2P^>xd4_HSIiWiyzOFWR$I(Z+=t8O?8$
zDW}U%>iHHbzi>m7b==Pfcy{L2CN(@SZ6ltE7FZIvLP#@=DW7)}G;@7Z6BuJ)2m2fM
z&1Ng%$B6FVbQyZbIZ-%Wj-K5ccpG%uG5!)P@H5=MJGQ;UzLXcq$J~>=rNe7B1o)Wa
z5?t5qfqnWG4+Up*e=4}KnP{lQRcN&hiMt>jJKmwZ-^O}(8TpC$K1BBdq0tf0BJDfo
zdd2aUuyy(r^c_lHD-~66M;QI%QFI5$&~AOWRttvWJ+u||`9q-v&@dwOW#;M!#JV4o
zL@L@td1$2dAP-_RT|LzDvL4YcC?(M6=Lth0Cxe6VFMX;fNvDI_y9At-D51sz(mCgI
zAykXU5u;hU%QTVwD^eH0FeuKo$hc~!V>UL33xXnj(F4s4@f5t*Ul=Ns0UMGM_2i1v
z0nlL8x&lxU=$0jkUr`?*Zy8rNjXA#%*H@3Ce|1EZ{|~3*JVI)VhtNMNS_1f34)A{w
zz^PRZTBCzn^eIb1XQ@XN;R}&m>$EuI)F>oQX++_?@Z^q(+eLR}R?KwhiE-rZ=p}%Q
zbqADn#npfWtt*&~ZQ`6GOjEms=pNBH{P>ohAN^9-i^6fIU`OzS^mCq0)~+~#Z>RW=
z;VV824>97NL?XR;_{!(tq~xNyNoAlYprL0AH9<--8{KK5Gait`F)28Jyee+->PG5r
zHhIE+TyaVU2FBSHHAi%!53LKo;eXrT=6i8hHI$K#&3&7zaYV04DNbbeBHnDcaXJan
zYevt&vY4pH7cz7*F1FE8Jr#brKq*clh@CR3qh3j=ml})RuR+bnKy|8S{sA`o6d*n<
zoUh}m{SJuBC#O-W{Tzyi?&fK>5_5?w$DyVQtWTz748>IpH!Py4Zn1ZA%tGXJUbdQt
z!tdd3Z-=<FqJ*&+E1XYpD^fUd=oHHfWH*Z-HbgoWkhT=u2mT%Ho>-`<TPdNGw?)9}
z^Psa6O!mf8xBw}N!*EH&nHRb!B+IdkoZyl;{CFx6*C}^-JxQu0tJR3iofT?NB5#pm
zW}y{R0s%Od>RqZjqz`cUiPRP@)+91TXesFlVS<c|C~9Eh5E0sHoGk9_LhWVZ<w6l?
z6C~Io&N2uJhLAswO8^tQ1-iO>{`p?lOKMvdHE0xOVpLOCuvR*lGR{JboCU>cMGLoj
zi&P``IOk(lp`0-3>V;&$oU1n9u4&F$8X(jRK(%BF&A?brjdqPid8-j{5;GDWA;gbC
zgvYL!Lw}+{D3}bj0_qK``%t6>8tNUZo4H+4C?uk2gl#|;w~?GG6$1S|04N;YMU_|<
zZQ;#>FyhZYs4QJXSDkzw%9y~Ek-JaaSIig^=oH73{`Mn?qY=2&4B4p5I5KM#!BJr*
zq=uHpImU!If@>?g(Qik0t*?hk5r3Nkx2{L<?mHlbKB=TTdD)~THmQ{OG9i?o7a==6
zJ8$lo!*zHH96@oZ7^hshpswiepCEpJm`6uUa1fUxa3jKr^R4lCZv(F4!xu)48iztX
zo=WmaTnbaJsG+R`Ocxbm;Yuj=6Y@JmK2;>3h`jyCSW#*~1t4z)<e)50t(%m7riPjb
z;;)V1{Gn|%9^D#*Ii{;;%Uc_T#FqAmM3!1<F#bCUIb;6m(ss^ln?CWY5vEjEMb8;t
zqqfXnW6v-1TGe)WwZxk<Yl5DpoN>yZXwl?BL#JAy2^xdMok39<&6!w639y`!b)`B*
z$#Id8=1j0raiw4nm1>a%StNBEmfm20u%}&#P;+j^Sk^h5t;&sH{h(D@5!N@BD0x8w
zfD=1Wa(()`Xq-AL6wy+<P(;7G$f@g>nx&S)sbl|s_%3SSa>1^qxzLy_{$K!E9+b1`
K_D3RbgZ~2o8}qCH

diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
deleted file mode 100644
index d59698e07432f37ed105ada86a1c83bc815e0e0f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 19439
zcmb7s4R}=5ng1cVGf5_s4<baCB3>YTtq_Q!MQXK^4<Hbdm`osTv2~KUNk-<2nLB)R
z=|1kGR;?e4UEJc9?b<E=tN%_|NTMW|*d$9bi3JQ`Q2$~d{uZ~oYu9#HyRNHtfA2YW
z?%bKV6L-xM?qu$J-t(UKyyyKs-q!D)_wolvo;<r~!7uLq$<SMsjODCgEX&7ONeIu+
z82i&t8O!cu?1qJS?#1(Kc>WO2HpV2pFREe8vWBr$590Y1JYU80n}B&rJQqLBnDyTn
zoBbqkUx()lc;1TVYj_SbR`^rK>@micj54+iV@u{Swj6LJz`Go9B}W*mxu3C$Uof`i
zA<R3)SY0#b`4h(OtY9qn0X(}HyB71`iO;J*m-i>YA7(84Ii4RgrsDlP3(J1kf;n$y
z(t|%@jQw6bv&Y4A$$R2i`E@28zRK7vnMtSDVZM);bhaOOZ)egg5@QRWVwUgAjIG|y
zEZsi??QP8Z!msfBKFg6?LC2dc=LW39-pAG!;hFz!wrTRu7%RV>ZF={4#%}(AZO#LY
zC6jE+E#L|M+p@P3^ZcA`eYS<M`8L+z{VVYGI@b9ALC3Y<U`^lskg;3tV9u<6#P|0w
zXWL(3{)KG&&yF%?o5xyf4*~8N`^K{e7^^(V?i!iI`$4wvGmI<T!+!GeImW7<Wj*S*
zu%GkU>1!IWj&HGdz8}H+$yuehu41fgXx6+Rmx1T^&ARz<?DLK5XWcozlCh<MS${K)
z@4r$p>zq?!tn^p2UeCgwEjTypy_@a_y-#M@I>#7W`Hifl@4St1pJr{eso?jjtewSJ
zZ^b)VfBR}4W7m~t{nT5;ShXeV<fDrjyUCsPQtji66+e=7@lN2s?jN$=nuOe}*_w6b
z>AArBdA3x3En{;JWncF`_U*cRvKK#c2iEnQ?8u$Kf9u@rBO?bfPjB|m3$cz>&t><#
z&<K2=WuNN7_=;WGr<eaZWcUx+uax`;_Ve-Vk0Z~3+c!ux@10<5&VNdG|Ew3|TP05|
zzMg%nwEykf8IvEB4zz*poP6m)>E9V!{~hUY?I7g2OFWBn#Iw{Up4T6jjvR%ImA@hV
z{Z%*Uzeb9_@+4!6C#Ak!N5S{Y(tsWNR`{Xx%YS+ka=u#n<v;%`_WuLv?K}D)zeN_?
zE!Y=_Y$<qTH)9*lTdE3|Vm*JbwBC(<TW_^=+FpV@U9sF#2KsMov)n^+XRE>!>&iW5
z+264be5tkk*}6jPW4`5)zXlz)-Qu}$NIb9qPw}iOwj8+ubd_$f9QjMgi+!!-==UA~
zA0DubepUv4bz9zi3-d4ew&mCNL5`Nr7SGD>T0Z#<^sJe%W-W4JUF)rdAC!Y%*IRFU
zZzK5Sw^r6;|F2zS-PAM0*lnk+-<*YgSXyiS>BpY~?i1@L4bza5U*{}d3I42jIp>-A
z_hCK1%=riZuQ6{Z=Rf`#>(Bnzod5dDZy;Y!<W{XbjqSQWcT4sa?CWT*^4tG{{2$JJ
zEb=#aKR5U9eva{ThH{^OX9;6pdOa_v;M<Usf5}^NBp2uG#k?}#2*y?9IsUB^<Hqw^
zwq6CDqj}r!1D~qf^1itfd|h@p&ploVdXD5h&LD5BH}BOq>mgs?%6n^e0J>|5&2a<t
zoAn1a_taU&u7B0`@O#it3*W)>t61MBwnu&gxxRjz?a=4g&t)rZhX;QOxoxl=dA$Yu
z@}%v@XR*K1&9?4`4uNmGZKu{+aGpzTqn#LM3EEEE7D7JH+fJ9>hV$pNz1yyWUlaMW
zUifpI=U?S786JZiypq51R}V9G%?<f?y$$`a<WT<ZixT)*oc|Yl=74_%`Qz_nf0q9`
ze_|W>R(g+p&M@XLf6Bh72j4Hd+rIj%`ym&9Yu{LPp0TgZvTs>`7xw8}_N|rR!&kHH
z+n)r!>r3svdZO#B{fD3Iz<7_n=Lwv<g-h&{PlIn2x7*LWiRYRh*xwunebWCcus&0U
z`F>Qe=DOFgj)sC;KLed#`f5S<I=o->LBYwrcz)&ag42ut59IZ&g430FE`Oom<=Y?!
z`NajVw&EPljTO#)?iuVupm6?!SpS?`3m1P}1wK7ixc&<C)7sYxw>}E~&G}B@?#ddB
z`)%RFKf-xm*<JX5j{^TKBZWhMfIKW{Ez12J^keRpqB#zn+b^FeD*dO=p>L*&=52Q}
z_9wfGHeUsv8y_iZP$A!W#YO(kcd(DWMF(Gh0Q(;*dP?zwProesMetL`?)Y9&>^F<B
zZfnt7@BSF)`VU1{HXdW__SZZRqV8;rkb3^**jk7jgap5qDsLdH<ls|*qb;n4T<xmE
ztAx~91UhGItTz}_FZ45cu!zaA=+M0vE&9;eO-frJpvo@4TW$%uU1}yYB?&aK1EZHG
zXHO36ND7+$fxvf^nGx8TgEg{xCXbX&%+-hHI~wcdW<^y!{!UsziNn3e<!@Kq^@_ST
z5ZZ;W`6{Hoqy0PeQBtL=eb<cO7yBpAC%|i}Yn?NJ+xmA77BG1@I{utKsIbQGYV#^`
zQ^4i>0^;oF>w297BPj@qH3UvY?NUNtgd)zJ*aQ7bbsF+&{HhX?!K0a|Upzd)<Twd0
zRS&Ykhc2xjIDowduIbj1_2Y+hj0*%tzp__W<8;YES2zr2yJwoj#%i&B^2DbjkLt*5
zwT-gF?G7p7@JvICQ)$x?l<2&X8~+D1l*JDAzCq#>t7h_aYk%1(mC4bM1}kE>_3vbI
zUt`izmwOf09z|~Ry8OH3jzCCuMbv=LrFz=s_JF^`(-{fjkAQzB(xtQS8rEyABGL5n
z0ab(|MCbzkYLCks(B$+|OKhLMzN`izrI~=ug*v}lY4>{kN~5b&;lf`M4Nl~;RZM0}
zSq1iBK{TjOF;@d#B}e=oe^_;Sz4FouA~6k3B@3`1Q<xwBdYBh~sl-T<`ZzOV>iBa^
z9{X-L8=GQs?;Ek!X>|;eH0|k`=()<u^=YfV9*D@kNEn)<y<G{aGGttKDj{E(s}d~O
z?IG5LWshHmXhDkAfE)=cav-SqgC1`{EjJ}{iy$a=FxCnIe&$?j6o!ef`#68zDAX9f
zxrvEy){&@3*+6vaX!HukJT&@z3bCtXP#con${tU<B74GeFyO(#a)VK$$K|Cra*~(c
zM4#8isUpxumtXPn9hg5MjZYD?CLZWNGu=9RIr=osa;%Qsp|fO(Bc#at!Ip4D`>@yL
z2V(-5ZZFm!=;*jZTXHh;QlXPcq)ida84-uL@;1j>cJA;%^d)<LZcH6%CDLP2IyxEV
zxM7Al!ip-lyS$z@abC=)TXvzJrs{c%_9CYCU8Y^>xjK4z@I%u@-8935dpx9`AW$%6
z9!Pbk+!^t>74wOu!QtqTz6sW<&5rs_HKu&FjrEW9L41txMO9rcf2ShX;ok_(o9V!X
z$-6J~&a^tQAVs;BR(ryVzY}O^*Bkk+H*|EE;+&t@^o;nfNx~;AwJEX^R*lo_XPr3J
z3XVxFtJXP^R~_(o!j9Een+`1;@0*Zf2bp|MJ>@)kKp$369rEmf)K<BCO2}n8)Cz09
zhB@>h+4XB2rhvIGemoEz{LtXB<TN(bY_F}^VG3>|c8jB?<IbCzn+M{nIQ4AL#QC)Y
zBQaQpiAQ2zBWWDHJW@diAX?gcy8kXF3s{oR>1U>Q##c^%6P-*RvIzYFMy@!s;^gGm
z@1n;E6YY54ys^I6Lt}jgrMOZj(%Tq<iqT}(E%?{rY9|41=WHagQ2bm!s9i2q)?j=A
zzef#_iy(Ko!g6OI;FkAz!k#vd*Q4$)msjjjx;*XJL#}Y!phG)4R+_TTDh|0$k)^4o
zxrVzwum;ImCs!O!!=_kg*b^X5@*Ax)NTbw!d18T1f~`sEjCfsG-+oh)=NR==TubSr
z;h&QFsY<9HQzY|KwNG647?wA;No<ZYu2eRWQZYq$i;1O#IqJTA?(1ZRkFD)_MwlU}
z00>YTC)aCJkq!$*yh?bL+@ZKs*adtdSKI6Hc~tH@gt3_kn`lZ+3F$2o&k=d*trV3r
zyIJun?Xbc!+?>oB%+8vj7(y`nF6PylYi)*K>f-)Pns`V_=T*vhSgm8#Cl4E4b9Z1b
zcd61a=1x3%ZV`EE`uvht=}=9Ve9mM8a01C6AVv@-CcjYJa|oyTII!X!TSxvtOg-L5
zTNIOC9>RAw({}=n=zMvIL#~fQ_G9x#%Fd-YIT)AjC}D=l;gQECW(i+&@WY9@ee+%%
zCJY17k*%a}qCxUmrmM#fO}9=C!;RXK=7~J3dp~kW*&XpfAh@B^Tob4VoNiwr!o8Ed
z9<>YJ(>nMi#3;B?a>&!!C4x2W<;{2*3DT?e_(Z%fPe>EFI&gInTSWqquy=pLiu*fP
zfdHH=in|Cb<O(SO(1>!IdqKIJ*Tx;RaDq&?P>M;0t<H)B&7mfwGkv;1<T~o=WM}O*
zZoh5Z0yX29ghdEA@#*x#I;fSu<#9(EARG=!2efR4?`ICjwlbd%m$h{pQJ9L%#<p>1
zSz%!v)UwTkGi?TKog6-XWa3jDGOy9m?38!Z)ND0_E)+JG$)lHJPfX6%M-^$-0^WQm
z9vBz#^@g^?yfn8fei0aC3{UcF{lSQ8h)Wip-8u3o1e*sCv4iAPb3qk;{UUwp1@#L2
zVwffbPjK#+R><vLE=njUq3|NUgQ=M9bbuyjvvT^;@f6gGSOnr#Ue2W{Py0p*@!hnI
z&KtclIs1?EnXC`Grb%g6JbOqa18w&}t%WzpG-t|Cd+)xf;lcCMo}|GguoM9=AM94V
zsw>0Ti}u)oXvOH2q_M?3^+EG?(9W99D)pW|lQ8w!iprfL>o!-g#_13Onk08wT_K`9
z34rY~3fwMVI)IOPbarI<JgER#L-*^ivyqlaeQ(7UcQ7>pBMSvv1Tu;Lp-4NA$~e6Q
zY$PaK78IERO8_<;7Mas-3Q1^<%gC0+I!uA3;ckPkV5zFBaWv7QazSt+{IXw?VsOk(
zJvTASkaoJJDiR7Q2(hY_Fph~H%qNdM5IZ=so~(3qsDJ0!=HuLwj!#h>MCk+84rTAd
zj|-oJ+(i1ALhfR>w|7ifTS&I8@Av(8L1wy`ik~10vkmZl*YMGPc-{&=senshD+k8J
zUPd;-i-7~+U){EUH9ciFl)u;vd<+M@uKjfI;2Zb?2p>tk!>G3hd_I>g81ncOgq3aK
z_K+t?8(1zkdpiB3`Tc>t8{{rk4Td+YSp#M72hwsrtlY)LCz%_?ljoU@;=sOnlfz?M
zVs*Nx%&8B^T>+nB^9I^ED`l96^sOkl^yqMO1{9RE`vMg9vpc&#P2WvA{K=ciRctc-
zi%*ojR2_YkVp_Ih@ad^xwvrqIp2JWFKTJvhUF!_(=hn5}wa3#b)>NsT+hnXIMv7p#
z#|?Zb^#@=UIce^MoSBejn;h;v&E)=_&nMJGKEznA3%K0SEyT+_{Jq2Dhn?mpu#{~=
zQmvU*0H5;eK$ILBqaoPgLKcP85)AyN#%2=~8BM_KZ4s~PY2e~wFa#1gk@}{?10?s6
z@MeIwMXwyoOG(=1#*?%(&X$s?E&YNFB=V}1(=_HBGom0fbz!)Fz3`)Sstb375Yx_x
zqGY=D*xHyx=bkO*R&TLBJeRn+cxlCAGxBY$4&n1Q{5tgkmb%()B7vM&zo*l%e^vlG
zSgQ`0z0J|e_b3_62JgF()!-))mRp(|Yif8%o`N%%bTTwcmyT81<y+Hbg4PPSpaCx1
z7c>Wx$La<Kb#zwQQCHI>f<j~`LXghQIQMarkOZ3}V7cJsrvm53O9BbhEsfO<r^vpf
zLVx3nbS3HBvE645pM-8O<|Hp|X7VNHDRm4vfx$WbJEQE_S~@WUXZkLW{&w{8c$q$b
zRb?Qs%jXL1BDXh56H?@j++2vOI2n3WQT+5BWh6cDc09WjC|}tX<Zi0H(dD6VyfF}r
z1UX~A#(0*U0uUyjJp{pAOf*cX1KrcDly)318`#G~jyqWslV5R)1X%Rm;YpD@)oEN`
z<@L1hk{7$&Zkf{X!u4OwRe!i0G*HlZXA@T7MxZbL)V=I<!fyZHnj~W5#O#sBQUb|U
zn*zj-OqPTw;rt7B1^hf{PA6q?JUn~FJ%EZt^z_8sDE9K=VMMPZDO^}a92OW8u@9es
z+b+r~Qxrr}pFWYDRh+1f!Xuerv1fF~&aRO6D=x~j%3)+1v}9gEBN<PJdxyu}sfdc$
zmM@aTv8j;-nLGnx9}=7oq^xI6r2@hsL&9Xs!esjtUmJ8C-04(#q=lJ~W{)lyTo5}5
zfnQ+I(nZMKC|-n)P@76<7q>kogG-=fnz-_+5jl!K&exe!)YycuO5RxGaJC>Pv?0U%
zw(+Sb3IHS@`p|+V#TQVqG$i^(p~qzI;>qD-xj4UL-5*mLxbLz)JijH_8FE3E>jQf;
z%sP)%u?DD8Ql>H%(SSwNGbd}-k=Uymwrz9BjSaQ+POglK__nr$m5^a$WsavFV{7oq
z33n`kw;Z@@b$rED4fXXkRnBsbx7<-nl$qizHMn#J2T{kAFXWZ)cSa<(<=1HbWJ0SK
zzJ27c<mQ&j=BlRJN?{312`JWLwgY&g_%V@)Z0(57+^+ppzvv9m+&OnP@UV$%tP(Mf
zVv@9x1sK@{ZJ1%GHs#R$X#<Ne5Mf6|RWb~fs6e7KN2=N9;b%CBvKexTNpOYC4IerT
z1=o&eBKXL0yTV-vkxiDImbcMK$<s40X~P!A_14+kV{0!t5gD7;VZNwF!qu11X1r8k
zK}4#loQz(Y5hkg0m{TPRj6|&gXa?RHpjO3KGJ5sm3LFEi>VFCDDdj3D;m~_J9^2?F
zTFmK{J6wo?-Q}{@833c8!jE=!q7=gedBZ$&G<(STmX-rRI3Le239e|F00RQM5rIyK
zy?K9FReYd83qcGc_M~l=R+@y)MCo<#{tJWTNc2bpDus8ap6!EiKHfL}9GN0sJI1$y
zJ$)<VdH%Dg@{&1^j}lCxgm+ruQ_*M(5pCd%r?XQD5xbE45A$>zm4$htKjeaQLG@TD
zf0aTTitaRyg!KWuq)hM_AAtp-c8pX$JE?=?{94#j`-R_$YTm%ac;AKo>ASI)^C)78
zry2zt;3>r!VL$nPB5_Ko%Csd_wTMm!(7;oVP%5em-ZgShBGyb>npnI+-ct#dl4Myc
zgBLb=+Pj>}K4V@=qV3c--U>s9x+}?iVY5h1h7InvEfM_bLu`rQF4M5w6J;0r$Inb9
z65lym%#vw@ZRF8u31i+JGvp?l10CvKq)9UklFmPUjOldcI0Kz1yK!4>ww5gRnhu-w
zk3Y<a)VxK&0`6#@>6Wuc22qGS2I-iP$UBKQNQ_rgshWJ#QxB5QLMiEy^+WfPcRlT+
zLo(cVv2XB0QOZuL?$=i;h>?(mP-Hkwx)+K_VHFaC>f84|6-K7a?+JIIyw7_MM08C8
z-X5T`VVImDH-c@CH!OrBL9s}=Lvj;bro(4a-I!n16+mZ`9A`Zp6D^HM3^Q<{knKg9
zwgbO1mFslY7DJ6vAV4E`cvf%ZDG|dsDSF!A>f{0%@pgpou>oq10sA;l^&3Z(#z*n2
zO(3G0&a@EDNCehQ<@qKVAz^@0b-?UG)=AMRE~-LTMZl-8Ic=fU=0>qPVH6FN7xr8o
z@9W>$M>-$2ATdidN(EkQsJxM@`;=LV<HORFdSQGZ!lSr8Pi$=ywH);=fEU*SSG0~;
z6_YPLE5wkFI`8V(cYf`OFN=-h5QovbgSskUAL=<oVoKU0O-(h{#4D!?im1pTAYazf
zR7cf|Jtz-CG)ep@dJ@)#ODXkvg#3_U=wOlq<j!aSl~_~7(k^HQ6(%iMm?(usJc}k$
z_X(~d%g6IIs9J>3V3Il{b7315-4x(e)2%1UMvp?1f7o}K&NY>yiGA^A1d{VK8@^H0
z$qlNR8gLMmATZK$ipb~t$y6Z;5)1{}wR}Gx0hvIFDZDF{HK|?)LIU13C>WhWxGnBt
z#GcR@W8(~wNj0QE&x;O0MQz~9tA(WD__361&zv2Oruy3YO&gF%+beGmAh$32Gz?<C
zAg<zp2eAt&H=a-%A`7omF~^uri%UidJ<D(?12~WrOZ-oc>ot^2n)%3Tl0y1eC&j)|
zs84=$h=hFp$q>wFu91kI^>O(;Zcgw$ZP-0=|A?*lqA-`O6oIZ5pmS4U9_>(i<Kh8Q
z(r3E6y=f=2H7%Iuq9!6E?cm8Pv=4f6dL=)v?OvD1ClUdMNQycfln@ugv=vHhHCwGS
zBy06*VqZ=(YWZz0QCpG_C~ZnW+_=dE;wB@+O=b``8zF8sfk-kmIa)-SJ{2-U2@l6o
z)6~?!D;!A_TVrak^Td~RnzL)1o6|9&p(T;8mo_yt@cdyiB9T!}AkwnNNkGzx9~cpB
zuHBSAnH70ZC#y*ysuOv=WJCzH8+4GY`i3-`bH~f3rIQB?J&`#L8#mU~*4LzgN~8%A
z$QpRbG-*2P_=+S{)`oghOg7{Y93ZXQ(41sxbktY#_M~K#l%X?Z+^x+hKvku)LmFSv
zds-(>a@K5XOkV(LXdNbJd(Gxr)U(pSY-|VIl+|pbp*&>KeUl{WN~qN{Lo}MX-B51?
z<xyxs+<8ir(~`Y&OV#F@D$Z;ZP%D{Y1AlTkFtjl(%LKkKo)Z>ET<1n{RhNRSCn-xq
zn|V5Eg^*tlydoK$i*`d~VB3T&ZDk0-5>IiP%xsU3Ja=_4U!Rwct3nk`<RMJP%{jYs
z^a^FJ;$8BPh^Rh(b{&<$1<5jBLxzRp4i#KFgk6RNjjf?s-j2dKoQ@2mzDI>8GVZWB
zsjazSLYye>9#=#^ig%xI|48q1O~4^_fu@V@k54{JeJ&)92`@|QUYm$jKVLU+242n+
zy>Fyx@=hn*Coe5orIMqbGePl@Xa71PUTPzuy@dBgyNQH#gx?z|mual{j3lg|x=AAF
z|J~b#bOLwF$OnP%1=Y?KyUAWiNv+L!Ein7dPV|Ii;GT`Z!8<fH=o@BlNoj*Nn<i<O
za%SG51;$N?vWfNMt48O=<86J~Qjs;GFr!0J+q*PIWFTCk3W7d1+fmIGxve?eMWI9}
zpfw$961^FYNSmmM#13M)#_rDfqMF9NHyn}8kv1x6g#2hXq`6a3LOKl9$(*_dN40jA
z(;$<!0<D4D8n$y?mI_!re&|d$`N5QsKbsp(G{2yCZ+8SGQ!Yzx8G(@*NmLwbW~lK@
z9o0FK+uXca-m2{9(R1pAWo$W5Z7%1%TtZ!N7STCM+nA-4BPMpp%a>LxM~9RW_Aggu
zWuFIxAs7%$Gb8Lz^?BfQqqm%a^<OmGlH}Q_n-k^ZU0BJCbIr1o?fc{WnA)EcMVroa
zD{oCO%%+9)phRS}q92VTPd{~(*4)c@nNwrqm}_J`g$>=0PVXdtdg$J<_Y;|}*ul{&
z6hu&gjf5$t4%|;rW7R#-3C8uMz`&yx*GVWo8<-G<H%cuUJ;uoqbjd^W%#4SGf4Wuc
z#f9)>?3Nqeflvi;<_4%13fiFl)v!#mA!-qH+9<ykjI^PqCfJN<$9NdRS{A8Xu15_e
zBmzgoLn&uP4j^vC6$Lbdi{ZSH&Vi^A{TH(03wi_l73#{sZ1pwUYno(Nco#u(5>Uy*
zaMZI>uyQq*D!$Z;$>p84K$m!%c3B9EBU#LYDi8@Ip39f$CWa1cade`5$-$g-<3hhD
zBGEk&9V|z?8Dat`PfsN7e24~4oZzEV-hOvVS+Kad9qP!-mkA3H<VQF!Wm>u~qECxE
zJ#-6XnG98?-2pM7fPyR&gC`n0yBp6xFS>0hkeg(q^RyZ(T0IeppkaOFIuW|0wS5B~
z&=02>Hjl&WMf8|3Xb_!1o3fvGR<6djV+%vBjt+4-Xb<uW{PGHYkCGb<ozJ9M8|p(e
zWNLlfVf6U&J-2Jgzl6(G8f7DoT|C@_T<k<J_5|hN$sp@oTbO9|Z}7_wuo@TmsA*bm
zRNSIPHyvrYXaFD$KrT$YaiD)Ew8dk+r^#!0b?4~iG-fQtWYlmZhl3RT<H%5l0Z-*A
z$Oxf;icW$|3pul5L?*p4MI~N}-MKDFEJPDzT&Pgcm_=D+x(=hAWUkQD7g9)#rPKTR
zuBITnHhu?>+Fn<0rrqFekR(v)Smve6R0_WMl{{Sx%n=>usTOEO^bfC%a~1LQO}Kr<
zTQ1m2;=u3-X;R`eah$qSr(3Ckr}vF9n6tr^(`XW(93H*g_j}T?mv)X+Tyj#|6}0UZ
z(vrg?Q%LMksX2=BDP_$x-b%D{9N*o<<MHF-O@in2p0`M(Ud#G>(LqUN2i*TeZ*c&%
za0QyJ4HqV{!T1}Rih9MN%(~D5!F6T)dI7|^1A}-1*G1V|B+MWm9GWhq>G@3;Z)KCi
z=s|ONp^R0}9^4#tYrY<x25MU3cy2<$FxVxpxOpuXvXvRcil1sSNb#1~6Z@$WM>kf-
z#wdTO3)uBoA}*Bi<UtGcG6a^(gz>6Mx@;^%N?@JvQ7+9LeM>ZPQ%C1`?!;X2JslN&
zmeS@fs0(y<(&@NyT^ISfxa?;xFV46c62yx=6(t+mDX{=eg=x2K;`dbWwk~>QAUb)N
zR9$qzNcvT~Z)&ULRT;GFptwXiPP6MJbU?ZkZ&3F5klMrLM+2ncl8MXPiQ6V>moLL+
zEE_MIkl32>GAbBqx+RHyDaY!1cs&Lt85N1kw<gF7wdq@8fAQn<YX_f9!8Mz3ZBtNK
zYnMf-&79|NkM;G=zVN%3?C^rT{qIgb1krgHw?N!NXta}r^Ct`ji57bHgR~!L3!}50
zW`M|v9X)z}CohfgOOXjLhfXkE`$)XgZf*I7N9e4^_`QT<YsdS?-Z$J0qS7ly#!E7E
z^-TD7A~xfxT*5p!32pj(9Wc!re=hE=>B4w{ctTsL>n%AfDx^FDbGy*whs|yeMR5O&
zR~uoo`2pcacbB3B<MM)Aws3r@=2$K+MY>cfO=@ZJc>6zftdL_xK_FKm5l#SnFzp&k
zIbvblH=$FGI||`=RZ~`7yD&gO@(v{zu3(64E%4*lAfYAV0bsgFY}S<Ig1Fivt4SS1
zJ?|6a<K@}(ts^G$09PyN>a5$igS4E&3!JDB1gS_XsD_R-SlJ+1S>fNI8&|u;r?Wf5
zIk_#J5Xe;>zNM>pl*Wjlg~5ZraO(zds`wif+2w%Y7S2L_8YH;EQ#FEaQ4phrg687?
zc>2_2Qn*+xC$mIdIJlG!aer}L|I$m&(aYj`Y}^l_a=5r1I_2e6g$3e{QEXrI^x&7c
zGP)1fIdSKg_CloSkyNW;m4x%9YOzzAYmvA=5KJtFJIi1uzeTT!!E(B3;&xHm0M>%M
zX_6RWDUctg(3jkgPQ*<Ffg7igr}DV>ut5l$hBGWXYAP3HVh_*8#6$O#>kf1(wVOoo
z!rs^vG%+uzjKM`igBNV~OLq_KBkipxhK8nJC&nN${wVHKQA0(%z&7QDhB$-~-^E^6
zAO@<8J&<w}`7a%~4Go79<x(6S?GTHc3BQFS?gXKm0GrRtmfSvzbUzt$o+jjZ7h-4!
z5;YWGYY3Em!0b`@*>;kNh?n@n9{kT4a7xkL7z*t3z>d*fpNdVDT&{Ckc>YF9otxL2
zlVJW=wbrDO65SQi&t{IHl$!)*rz}NU<<X|~QEOGlq!FnFD#P`}BsfEQlCHn#q!bAr
zpyPyJ%HoB)OaqhZs0G?Uk^UiJOd4h<nMzwpfmSO(>P1_Ob%&?J(^AWWy<F;Q9NRpd
zXce<=Y-rjfu5lUxSHy*v$%gWmHW(tP^*tM|sL$UR2vI>_h>_L=!CRqus@RBpUIHbh
f$f+$Is=#=~XI?Y9Rr&2~vO=h_QtN*>WkLT9hUDmH

diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
deleted file mode 100644
index eed52b27788c46e02689a14fb9f11e17c776755a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 17931
zcmbVz3w%`NweQDdW-^&f9ta|)pqn5NUP*WskzyzBNU|rHnGm>vz&v(l#>~rkg<uVW
zV8NgPE9yZ{)hdM^+f(X2)!LqlZ2_wuw6@yXW3_4<tK3>!^@0bF=Kj~WXZGyL?BKmu
zezJ#|wbr-3wbr-3_1bHG<emQ92lpR3Gi%0)tq=Y5^*Y81s~FRT7@NEl&(9c}_X%SK
zKE|pl@EpK%4W9Sl*~^$7zn2y<W~gCo{y{vi!Shu-djKQJPXX}84;d?Wfc8v06L?;Y
z=OH|wW~>BomS-57B{DYmWqc3(d4QX2z!PwjH!;?@o3ZK$W7qA)y8p>o8)(g+%~<CW
z&=|wh&)B8E$8!(94>A^f2z2mU{Bt}XXDor=r)^{f`#{t9Fw=kiKE~K<^0VMh`8g{o
zKiAyH^!NUmu}Nm8Ke-(1jWPY1AAxQQ)4!-^Y{pNR;WmM>1#xEh-ciPiuV==`-@x-u
zRw!)1IyJ0tA@))HV^&*+r+JVyKYJr%3!7N;yFX-X={(j_<i@`CvFlbs2Keu~0m!}T
z2W;K3F2<%WWwziqAeXmT$6Mgz((f|+O&<eqfH`%)fV``j)4dbx3vB(-M;I&WU>jQR
z!n!*4KaPEku{Hn2HvjBd{C=8k`wVy`YuH22y};O4{=gnfKxgyJ?Bo<1_A$gpZ%g9$
z;Yri3Uc^}C!b#J=c@<+<Jv?c}9nf?2yOTOk&&T&?CLMkS->*C~=>?}A{H&eys_tRN
zD$Y)NZ`p3}`%|6ScM7`e)6E%uo3WZ>x+Zf1{M@YDRF3^tAJYBv%dn9zt<*gnEMsi#
z3f&X?D;cXT)jidE2V-URy5Dqy{+C|Vz5XohW|2$x=7X0qc6nuizWOr8re0Do^RLj`
zmu@Sl9KII&`bR;s6ZBUU6x{!_1B_i(Q1ECe_A&nl1&=-60eVjq{P;28S1&9$Id2Fy
z{A$6Amz;+_w-<bpJOXJi)HlBO1IDHt)NeidKf&jB^?_D=UG|ZF@a?sXT`{cxnj3r@
z2lZdqf5h1GsQ%v8e}_FUm!GAl<mc2O`8o5n{{BZk0ok|o-}<u`{Lj*V_r*hu36lQb
z`X9l5%k@uMptq98_0PZa8ovL9{`s?igZ{s-fBV{hW2|t8!MqZBx#qB;WcUWidB9L#
zItTl?VA!w~dRuNX_{>kip58WGe--$znP#}2?5=1KPwdN7Wf<(+2Dz*=+_=0H=ja~8
z@ZI2}=wbOe<B#(5iZc266}#d7h2U%IzZ&izfxQ&3H9T_b9?0SMhM#|S734Kyc<ptp
zFZ{#sr(0l0l@a;5=7izGXW(bi%SPQSC+umPvGjv#$ZMH#&3jFd*MA!8MCkw0xUu=M
zpE9;;fw5;2^iX-!`0yv61MY(Hg6$R9$?pm)=R-boJ}f*^aSQe{Q271upRn%w!t-ab
z|AHSEetOMcU|&Bp)z3ePb8)ljx`H>MpY0~;{ZC>4>rJ;O599YGrUxDc{*-Rh4@YOi
zUd|O2mTZAt7Z=UG-^AFG|6O!d=x2ccpvd~656@eRy4L*}@?KQ5{uan-?X5*Un;_TO
z?-Y4Y<NVEeuILU1dt(n2z5JR8`?{{^^~vx#hDXiTg*Dh;soDFhGmOnVYu@)B{L@SW
zo?iiegL(Kbu<Mxt^Ie}qpR;$G@BR0O!Pjrh_rKZ&z1(O1<{9X>;4}00_TB}#J!<}O
ztpVp*H2>TOJcHhR(tHK%^JnIh)7IepZ8N{?NkCq|ES~iE5a5O4*-xK>9h@j`dSf5#
z=Dp(0Z^J*#5{hs5jUMt`RJ=1a75JYPpZ+WKbJeHCzifxxroLgB`ZU&Gc+@iMF?>J!
zG0Wnw48ktXSeoizVr=!3mg`n+X6(x^Sk~1+4y*i@^@l)j=2A;YB)+;W_gv@({tcGL
z4&vO+sJA@(Amq0Ag5^J6!*kJtme)>$Km8pg#v@lj??ojwGk*s@t}eOyGw^x2tK@sj
z@%xoelsqwj=a(x>PF8*!_Ub4(S%>FUFPA*G26kXxQ}Xf#oWrS&rI&u^2=s7YX~oyE
z|4aT@TKP#m<n;a0Rd2#SE&fL7y8V#fl#0?D>Kb9UhSGia;k?g%xb$Bh0sW=#mHzY`
z?4e?)%=CBo$HLQPQ>{3+%bqNo_Ri<<H>tAe>z(iyPn5O%8FXr{Ewd$H-=>?(!oE?+
zXL8wrSNA~w{<43P!jRKg*@@_XLrz=Ep83lxtpD?}*Wdjn&c&T&Z#MlaV^=>PfDt`g
z01SO+{LuR_IT#84H`E6saj6iWO04d9BIfcWtU)Q3m_(rFgJ+yIy{W#BrQ-_1WV_^!
zL=u84>=nAAURPowWK-X+j!ikJC5~_;vR%43nweQy2NQ>%+7VXPEVg!tf<sCq0%0Gq
zdWqGWa)mvTSCkS1kyt;z=KShMUS9u(f~Bu>dHOF3zGK?R!7O-VL#y**;1*|1vPz12
z!jXmHRSH^ZW7y>mN`gJ&3Vi{4<wSsWvjA&if$00uClw;)X(CQ3;g@1xK*l`sjZR6H
zl0u-UF`STM0_1eD9ZV-o>3C|lnu(s%+a@V=X2^8H(twc2@FGNA@i@fny%=c|Yh@kX
zwcTG;NSRwZ1gqB@lj8A<A(l_b%O#35gpU6U4oZ_7w{I6mcb>H$JJ_x=o_RsZm68N^
z&=u|%`XVvGl}toJu0+5icp~AxfG-)tKO*6aF{yX_HndmSnX#UXFUS$<iA0RZMZygM
zS1^*c#Emzlb}I-vn{0;@0c)FWaf9Ru2EtN@%O`R3E_MHU==I)|W8270Yz|wZkiRqy
zxJXEb1L1hW6$}b<mJoY+B&xR_+j8pO8$CxHzw^2J*E;w6T;e%#)V2eL8DUW-u`vD)
zups`GsMRS;)NhO=g-|k%bMNs;(S!gy6`WEm6z7fr8}kN81aTn{7GNr{#Y99%#w8&V
zmBP_LFp{X&WN5+GW2xQ4Pi-vp&+0rauBLsl<4nMFY3(HZy)6B&<tk<t3E(Csc%@Xp
zBME`H5RC+2{$6bQ=f{OPOF2t(meJ?snN<n2!xff-T$1Hmk8KP09NxFHGwxgMylm`B
zWuvpLF-aK2X5-29hXGd@+l^q60qiQ$*LQ7tBe^7}W=I}9BOQ0v*pKCq6(%Gb<L*?O
z=JYJh9pQ|Sa_BC+2;I1p5InA6z%ASN7cAi$9VnKLyVrRN9o;!gEW5}OsQ@_&m;x@2
z0Bp}E_>uvyq`j2hUg&Wvf;QH-SjFZ>O<9@<a`^q*m;zl^?{|fLlF){~lQ<8WXfx=P
z=9{rNN?KM(O=}3mrLYe~NUI%OtG2#AO^U)q6f;Uzs7}eDD&LWsB(ESn!dW(qnOFmu
z4Kp83n*@`m?}`+HMGcX#5BExIgC-fv;i1DR=LT;>$BP@6D@Y{`u|Nt|TJH);F_$Ky
zk%_E^SrwE5vBs(isK0mjzF#U}g&p?B^{tKF+MqcCF1ol(8{Cd9tT#o})q5DTh@;!W
zw%6tFQZIRqb`JQ8c11ScwD0u67ix9lsT+1j`=xV^50X_XUl8nw!40IX&@1o0&*dRg
z^l%}NlBF;|%?ZCNA*5kKk#Happ{rK#yW)Z`67dSDKs?|M1Oth|YN0A6`2!xvpF2G_
z{8(S#eC^F2Jfpg84E9DxBM&3sdviU6o{pFzP~*kqNpY77lDi1a#Z9S~ZhXl0*4Bsu
zZMI9kWYC4Z4QgUoh~11YQLqrzk-MnRx(iKYQ^rFmh?m-B@jEjPpqU(iCh~IHfBx}I
z?WWsj-%0!BWCD)oI#c!sZvM=<|LzX^N|mBlr57S^6H5lA_#&ZCawXuU@ri=bU?3Do
z@OwB8Wo7RjO<qg~irnwzc$mo!DJXexzX=EwCiXGL-Vys{j`Pa?jSj?XE*=Yffx`6@
zA0OXLF>4rlZ)AW6BO3H(Zhl8uSs#@85}KR4GhfL2b_VN6={@`Qo=WZRu<cr~@7LW`
zo8Mu}*>UH7$4B%O*B$zJ%wqdM{5$<7n%N5aO)O@s<lk@x*{(%CX&6xXE7&SLlZM`>
zc%N?aG0T>{n<n4G_U$BdQ>pQo5)TM5>4szg>f;wk`ZC91#aRnQlKeg&2qgT7Czj(T
zr_Ca;5MlwJUrs*KKd!)!$teA_3ZF=J)mhzBaDX5Wc|$Uij0Xp^_hHz#2n@jHDW@Q?
zm@6g$AkCClJ8sbXW;#AnG+^M&XsQ5!qFDjdC8OF<o&E#wDo`eCTbtl)ZRdBQnR{{v
z3_8vu7Nc}(d$AN%fQ|fj9$AkE)o&`3&MAO~7Q{;0aGk+}|DnL?*0mFldBk@8Lj`1L
z58&i!!I?&$ar{JNPQOC1sKe@T3f+y3>$Ko4{hsbB3X@WwsP5*nw9iHi8_OhnWqhZx
z^>FeIj}(?e;Ryrs;?{69nNUUI(|3L(8zK)XmoPzG(9?b6+%Z+oBT9%JaWx=OK!7`E
ziQw_OC=r%o@mXAN<7sl{=_m<vg}KUxOIqdF8wOQf&F!Zs{f!jkI^<}cBht#T3MMFM
zQ|yvQ3Z%#kBkt?rg5s+MT2%{qqdsBGLB0fjI}+r`UMZMxY2%iYu<2+@Ul-5i;Ft3h
zp4RRo&1$Z!@BYOGr^0T5l;DAdvE3DIbXxhwaxG5hj}iYl0IZ*d6cW1rP(DD21+oC4
zKpueIc-I38Kmk(i@eoERxQ`{WFoNtJ%fKk<A(r&;3`IUp09Lb9Ajmvv0_y>+;$Gm~
zYeEta>Wvf#@=i2?^<l&I?Fzew`nE=^oi=3x!`W2Dyv1Q}PyH>mySr9_ol>8S#U!L9
z4N@G(L`h$BF}=gzy4%1!aMdCFae=iciy^lQF-aV~<q5}cd;WXZf?6HEH*bI55f8rG
zxgWOSX9@g?vN&6fII)J~hY_Vp_>^GPDtgtRnbldc8Sw+I<M3kl;9`0TUO0DI<oFnm
z23>=6%y3hOB1o;sedDtAL_#5#IT{OuB&1yKxF;5flA5XoN5B^*&mN8ptQP!<L^Qs-
zrUuSD45HN>t=h%SBzM>5p2x>3d<%x3>N%{)YpNI#{E?7k4n{m&SOOe>zNjsmM{S!l
zk*Ub^1;}O}8+mEGp6F=js);+#T#ieJUrAPxE<)>uUx~FSTwmsl4f4BDbfp45neV#v
z>C2^Hk>1o;eOfqz>x?tt&Dx0u1Lp49^`F}x9JxtctSnv(BNW;qE-!ooNva6{?hb@;
zzsj!c#?~!+U^&gG)j1TTvThfu0OU+?9XEG4G!Q3r+>_gr!9>8um9KK&dJ5E(1rTjf
zkVbSTf<OG~&`|~6lqnPvhIw4I&_va+oaz^9c~nJH*SqqN2;tD>!yhPXly=9Esa+K5
zk{z8xe{hxz{vGG5l9xCt6?7BHs&dYfN-Y-6tPN>lJO0l)U_)DLyIiO&5>q~vPE0;_
z_|=}n2eQSCf_Cc$u7g}aGjl*~jrh}`uwig?G&b^7b39e@lkfxCi(TIzs_|=(H3BZG
zf-49`wZVkpKKBu2WustiYqZNL6Y}sFY_0`oHRGmpU<+kfZdk?Rf%Q4XW@A@JgVib5
z7sf+&Y$8WZp7A1{4Lz}ydtS8HQh`dmW|OVAi}DlOiH;Y0?@Cr}FYX-?ng7d_yY$?m
zY^J_066p`QV*M0$=6EW~Ls3_XaYrP;&q-34zM~ph0I^4)UxITKTu~k>S~^?-N=`c>
z(PWg1qB8nq=cmGq(5LnXrQ;OJ3p2+o?tagUj*o0d#r;DctE#xG>VpAKzfkG&dIc)w
z%E5IdcfN5CR-q)S(+(cJNNnYQDzR+-(rde`-0OU+Mf329Lw|$d{(rBCMa>b~@kG9y
zIN=hC`XgbULguq_#U^8>U?`Sm@1oo1I?f+#@A)r94|7R=GPP`G!HM&mgQ}R6V~`c+
zFJfU!dJ|OW@7d6COd&aWi7+U+r~)X&kzJ>YP$eC7by>aL0k2PzyC%HA@kQ1pj?#Ub
z-2ud^+|ITN=LTijnmP$A!#3orQjo98kQ8#mQz2*_Z)db64W`UnnB%3J4TB^0`3mVW
zR4Ak%5;C|vDb~+#1`X61+FZs4ef47%Sz;Y_q%J~Jqt)4k8p!Gi_%Mz9VS6#zk%Cxa
zmqL*QHi*Kq+$zxE!4yB<UFB$2x%T3&s4wP%{fd!+3D%my>X{ARvmMP60Upl=KZ+EE
zIigRhGAT>Ft-akUbl6%&CwDAmT%}!cDW+1Yz-fuVZ^S1j0--GJYS3?0_ETPO6UD}Q
zXEmo=ZEYp)G-*!L7OX<4ShiKJ@d=5T=S^Y4<_{^>QxHqvzW*D7qpQwQZ*Q%Wy}Bj?
z<@_!ZHqNJVI}_~f3Iz+YAg^nXYU#cRtzFn@<H-s4MVH8UlxOB)mH^WaKX-9distiB
z%Ycf&KADgvK-M2%ofi}y^^MyC`~>Ilrk|*GmIGzp+cwfSe0)oncvhiT=yk>YNI*5V
zo7WmqkcyOgMjl#D^*-aZa!Tu8RK4d8OZH#9q;5dAmv%A}#!+gRZQ<cZ6iy54<yIB(
zsRo)zUMiRwRK(f1<n}p~Eo4gH;^@IM!>_1HJC&R}q0fa((pxR0`^0eg3B<839~uNa
zDOS<td1<B|nUhN+DbCbp<o%~JY8A3&t9xTf=LN^EoK~^LF&IxsA*`Mb@l_aWH-EVA
z9mh*w`*i4!wCGp`$wwTu3wL|nU-cDr?&*2bxu2-j>ZtB7j`n+cS5b|Eu3ObcrSuvx
zS_8Wa_<T}~wv1YIoEMy^CCCfUF&D0P>c_!NCny!5{3pG$xPrjji3AV)Bz!$J*vHGN
zN_sQ+ibpqc6J1PpqhmGcLf!yvCSzYJHtW0O&NS%qf*KBV!i6{$l@&R|%41jFkjm=D
zGojaNYnIvr9=}uCrmni^No0!Y8FA5||3;Qq>X1uraaG`|r{qTgHfPhF2@xosRuBr)
zas7nQBM~uM4>LI;eTe}S`z8d>NgWHF5g*zx{BG3ZUB`Z>Frxd#JrfeuZt)r*jdXms
zXbao;JQexGb@ui#%kX#Hlf}RG?01(_ovAk^K0kB@x6ge;r+4jA=~%3jkUt=smIQ<!
zN-T#MdJ)Q5iMMb5r#LD*;XvGv#w_m)%XuW3p(jGEqBsQ?UZj<QU|d#rmZx$`zV_{u
zi^e%ptf==#FgGG(gh|GmE_RU!RQoC&dBbzWUYqIiE5a&=JE8!YFuMbbn|La(!qX4^
zW$1kc+5~81mPxKP71UI*gy?6e_oi~Nre&~rwIPyBXs%@5dA8@U*qXDyvU>EoBOzsf
z<2E$|tveS=B!1lBE*2UyWv>%e3$L&td!eX!Hi^X}H<340c30MbvULzj6Pmd59Jd;;
z8xm5Ei!99`Ax+45$E@nAhR;(sO}z7F=Z;Pi5p~kUsg&|!{G*H6S(~p&YEhX|M`NZ-
zCZS=5JQ&rQE_)l*##3ku!Jx=!D07fKGPf=2yT`(?Joq=#CMq|CK<%{g#>CU@9i6HP
zk@V0C78$o;6P<+|w_b+o60a<vA|6Ale;fj4np9QfbORC{yK!J&9X`(|9Y|?0p2*OX
zYFlv@A3EXNBCgK(QQLjV709oq?L51;&Ar2Y>fRUb4yc6HB=<N~u95~H5TheONLRK{
zLk`n*fb>2Zi+IvCW{v@EqmdEs&l3^d#W|i6!7-n<l0`mlI|y}rl43+=E*gOj^*A`o
zaG&$Ku?m}*T;Uj2;HP$5?P9Cgyc%Vm0bzXv)nmD@t};~%m3he7k_D+SRb`%x1&mv>
zTpT5f)i_#HsNiw&<7Fbhm!p46lkCK}fzwjO{F5p`H&OnVBfDar17;<chmz7xCSe%4
zr2zr0`rL2w%AjLKv^=`nw>o}HCZrwN+oo@QQ)NUO@{&|;I&##XK2Snc`h!yPoX^jp
zC+G@<<OElhB~X`IigB~b+pV50X4(3lZt-FgW1$1xTDME?Pw0^ZG%H%xEp66-Sf++p
zrUkJ=4Y490qBJ*?Qr0U>=S_Kwn#lM%FC4mD0W~z*?KWO3&*9%Fj&5AAqf-GZXmqyZ
zQPYznR6z92HXE;c<q{fK*DOfaGIN0RBhN&$7nHuGwK;z=BkFff)~GC3&?Z-;atP_9
zHx&S#Xv^n#@Fznj6o^7wQ&U^3*q9GS-B|@pXX9<RoQ3q=RVqS8o2W_0j7-^zJhwqL
zBx2~WiVfDhC5_%0H&v>N#zqHP81?yLFwwaT&+q-V!k*sQ*xr#x&ot6Ea%+yODO}&!
z(u&SV9;lgL`HN|iQXy(k;)tAWE5lwiIG2-uO+4(S4ASwut0WWVWZN>i!yJbCmd1K6
za1Bs?efyvGjpo!RO&kUOm$s&XWy-@SulGx+>XG|Y4c_LnHWk(zK(9t%b-3MJxZgag
zs;s#g)yBFQQVw36)mS-;U!U$Bftn&@j$e<ijhuUH;9Ep<|ExUjC$~{^Rc2h^JDF(X
zl%K^~d|6vI+Z@7rG-DB5On|deG>fc%mb={kKxX08Zt2{ik85=#bY84I)m;_5X{1k{
zA{zPC-Zqsd_Bj#O1c|`}HKLT99xW+emFi0dX?TF-kEn<=fFf#=Pd`@+ge!kWaWG6X
z1WC+64)~D<^Kgk`0>ngc&D=3-NK8+bsYtk}3)iy4iD`fdc5CJnpfn?yodLCUjT`;c
zSjI#lZjNLNFD_OKbqPs;InnAgIm4&Gy-!Mb{OQe4z^tAs*2>-rtPR}VnjLXJ1?RDd
zJdjyIfhoT@W!r6GN#;&gxxefzQE)5d?hKEhV8ks+Hx<ugVT^gv+T%%@sOe2zErmc~
zo6XvgK5^rr^;88=ATgZPZd=d2&Uir6@cCff?R!)c7MPv7A&CYXw;iv5G((FWYPvXB
zOV8=MvVoMz;b;-oNrODQ9KTRy`WSOjz`jd*Hgs3XA`xbg?uD5OzjLTsNrDjO%~>)J
zQ!r9IJTD<g+X7$<A-OCrEw<+7QtYnET{ZZSuPBG**|{sx>>S#R{n*3B*LhHmK}UYS
z$>`ZD?v;f>bzoop-5o=}-+D~FE`@&L;?!<ll?mQ;q*iAyw2#Rqvh(cbf8d^<h8Qc)
zR8SJ3IE}Zvof|ff23L*zK`gOV(Dc*RV`PZpZ^gfAV=A(Ix*LHza;nuh*p$k^RVLyB
zX-ck8ligEACz^Dl%OY<bvA^0Z<LMelwIHIx9+T54WC!D{R)`>*!k{!pTV-@Uyktc#
zg`T(|g`&a8phTT=tR^<DZ?p@pct1gM7SP)PI=UR=sB$MW-k8k%)dOyU%0|uUmkzKs
zvWy}eNx9g;YrJ}=#Z{)j8mvAvtT>pHroNS#bUn?aD`17`NpuZBbND6uF>#b8&lT`;
zhX)QI$hQMO8|4S5D0cyKc1~Tv!<zv#c|KQw3rWwNYpmGRX&wF%%wgPA`+;Q7-p%iz
zXZFZ}ime~mhI>=!ETD%*gQvYmMYG$tw=Fw_s=6cs)?g5sQucCyAw=BLAfHWJ3?)J#
zF;`!o{9-{0IW!-Lr|;2T!KD$>7(T_}<ej(7PjSpNat&J2g{N%DQGUn#;FE{m#Rx2l
zlb)mYm5MyB$PORd!h#i|#49{B0xEP!UU@h%pIl|%+QHQ$eFv_T&QW7C)8-Zb)HfzK
za#dTOg9T`SLx@KykA=BY515yfBvdWX5<{<dBDTr&u#Tg{Huw|r0$H}x28f|<38O4j
znWUln^!ejXF`sSz7LMbiT`R7iwIyqxmu23<q4B`QEhKY3Hb!QVPh%QC4SANKFqU~8
zM^Uvlnd?b<x9=Hw25%`Wk!6NVaRsZ*$a1WRWV>tB|8!`by_SO8+ix3rhGa2xLY(Sb
z;C74zos*-HF$={!n~aW^Ixmofa7=!6@XoErsAx#gDouP#o))8`GTzd{>|_MpNC{rV
zjhCIE5d0fnfo53YIQ(cabH9`sX7<JceL&)cKNnT~P_ltOIW)a$qSVP;e3VCsV+O|+
zgyTyDQh3wLn~rKgMxIwA=e7(@o2Xx?T2af5V*UhXFl|eheI@FcW}BcM`&MLrB{qf^
zM|g7E1<wbwk_Z1(!|eH*yaI;1lr5)Dlz+{ZGBW9VcMm@VVLwITpF(|_!;hnjc{Q@#
zrOW*k!{MbJZN1ixXA-d_itb~U-fH`Iq^n0>%esdf?+L0~AU$c$d8Hkr3}^ySy-aH?
zolMj(1*1YBgz^wxP*OpvhSOa^AEwk3{?G(soxuxQX%X00^3#ioBnCF3s+qMbacir#
ztv<M}P)(G#yz+%>A=;fm`$|Wbtz8l2WTMqBq3z)j<VJ|L6r-H8yhAqf+TOOEXAkIl
z@7ny<t_9BhWZ$;eJ(EWE*uPV&Bb<IO4S-AM<X4rXbM|ZK_u#v(GW&hCy5UiZ4pO@j
zmR{XmB}engD|0HDza|bzoXYtX;&NArNA6x1hKwL^Pb`TyL3n2dw-7fxeh~U4DVot4
z-aA7GMg5s-`K2RQg4#IgGG}I3nELP(5>WEMk7SZFfaoDTqF#-R2UF!V8ik4Gc%}m+
zBwYPKkWjQiA)FsqVmqBM@E4A7<}!&xzJjXBk2y=nEO*Qoi|KB-qs+GhZbb7n7?l%g
z>L$-1@%9kvx>0Id$-K#J_{{AQrQ1V}KQO_UerZM#>I4>9k$>e5{m?l%_rg+$p!f*6
zB$Ajj!&2##K--`?@(FJ;4(_DOW#rb>?z_*AJk^`>9J%o!l7w@={pyjv)NWc9M#BrB
zC~Gvbx=qHtj}n$@0yvswhX-5OEPtmnt&Djz9qvUIM`xA;klti3is~FCF?0p`5DOCo
z-nW8Qt26i5YFXuJnsLF}ST{?1gX_I#Y@6sNpt*TUyTJJQY>ko%BiTlZJi^)c@s|I^
z&%$w=<M4h==u>N9-lnplZ{uCMC5VvgRB9iw;@v!iB4`1@5YtCO&RqEfygZMOJ|@(_
zTQmIbkPE1E(eUyL&wfcTeMpxn>q!%kwt;d$;wQyPPA}8ahzIb>FKix@O|i(f0K6{E
z*)M6X<Mvb7#k1&i0aCk5mIL$u)KAL6)Keczabtz5c2y1-FV|4snA2@Br)MG4ot7Mo
ziAN69n=@s!s<2Qd|BPNWe-VN=HF5}>@^bHzG>V*plNse8aNfyIa(FLES5}ewrr9@k
z2l@hCt#Y8h<<;Tr>)pmCo4r|nfk_QCgMcz!Hfji<x|E(|WY;Pis%VPDs0}F_O1dq}
mhZ}hrO-+!u{%L%Th~;oQ-GK=;{w^VTYxI_A_%=R{@&5xUm{|G%

diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
deleted file mode 100644
index 029332de238d74b5cf8c40073a31d27ea6f0bf4f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 17969
zcmbVz3w%`NweQDd-kCgrND-lI!Yd#N;UO0hACnN02$`A8ObFftlgZ4^%#e98F9;ed
zhzcP>5D5>JY73Pf+fz$V?a@<Dwe@id$D*fVy?XGd6|3G>Tj{UmYHiMceS2olo=4)n
z*ZgEBGi$AHeQT|6ee1PX|FdW6nNJ@&^zy9fKkI(<nG1D{>8co01sR)Y#PdtW=Kqwj
zA}^kA<GB^jzu|e9v8ri|squZur;KS9GqzwEp4Z`dC!QUE>5`r^f6tiqGseoV2JIPm
zuE+CQJh6uES>Rh4Grh!^@OQ@My@t=9z#0U10Z+h9T+Ud-F2<@aF?REAtc(BGJMcWq
zSnCqd!1}E|#;*7wo_AyY3dRDD0^h(`3^dF4F&4-7Q|7axJsR-x1E#+BLB`kx=~*-+
zJ!j38o~wV%)JNWDY(gnhKaaJm9%Jg4{~6CeGW9t%W7C67Gbk{&a0b(S|1rjjH!$s!
zkWKL&OebsvA73)v)!0Yz307N%r?HPU{_-}!zt0*!{4rxoe$AQ;J=m9v-Mr!u_`tTd
zLhe;=w(e9LV^gOyYv3T{@)EPX3qGzGWcGnSGq!X#bE<y9SZM`w_Uynu&#(=TonXwc
znr&=;0C2Cf|9R?m#;(7DZF=sPSTDe~eF?mhD)#7^U*Yr1>~#EA$oLF<ellb}eFeKX
zn85e32~)0J#MrF=nlSbF9LDB|6Rz0@J=a7hw7$52vC172j-AKnD;}QkE2kRkR8Dw9
z^=-zc{dB@d%XWd^lPaV41<+ljntSm*#uhJCtu@9WZ;Pt49Q&=gQuXj_(8aXBslFX3
zW9)`j)lY^h0e4LGug%a+*=*IXTS5P-gQ^R^gxy^Ik?NgCu3+rS(js-u*BG08xoF1k
zp|`7SMU{JR#J=t;O0<Ih@|TJpdTto&yjt{lDfY3Tz3B9lHqbj*^z>=qSO1{s`T2Li
zhF>W<H|ej?=k}t@iIb4_)#`?iU@Mbj>h8yW1pMu4e=|NVJE!h{?*_)c-k`p{2YhSq
zR^O|J%`IQ9KGIBQphkL@o|K*yJ<@Z=?dpe4Tn5>G^|#*l;Q2%K_s$)HJzt^zr@j-|
z?;`b6Cg`o?xcck|Z{hQp`s~M_K>zou-@Eaj7}MRRF|L4KuKSLrWbYQpxlvPJIv4x-
zmS$r&^tSA2jo0|Eu%|Pc&2zwi&2i0UvO9x_C-$YErs?n92KY;w+m@F?kIkCBBjCfZ
zUwTeIAU$WiAU&_&ta<2a@KtfY=Ar$tm*Pd56ZhN=IXtHM`ImDbuf3YLE?|A(QO$4f
zf*n=PmY%EM(tQ3U_*vAcRn2n3o*vMaep<uWj6Y~sf3z0z`aoM}f&Q;(*EXJhhOw2C
zv>g+mhsqA^w=e%4a{Zq6bL)B7$zfgP0?23Xle&}B?!taXbw3FG7VFw{fBhKyFM3k<
z#dW`fz1*v>U+_H6#Y+9nMejgA8}#BIzJUF&*58*nhVLipzxg=uCts`o@x|G&m)8xt
z68M~}&KYJuq{lfsYM2vz4)Es;=Fhx%`V4LB-iN$v4IA!)oNhQ}=;(x8XAc`ZFXH^o
z9W?A?us8Ni!)tF@7`vw2aA9H?KI~tN=BpQDf76VfS6;?`A2IIv2>xmMzu<X2@YTk>
zzk^-Rm}z|A@6hM$#l|B){Wkdek@2B7+F-9{<MEfF-=Z&!-{1WJ<o1&B=~@l=``q|*
zFYq*zjL#dt4*Pt@`23XBIDe~*AG+g^*B!+Zp1cF_tBYqp`vUCnuHv<C?}6PsSG?&x
z_y^&Y;w`^cgYVCZcO)x-|9^^K{5|wD=c(d<Yk}M<er~FG7VBSqqiNP@d_KF|RDFFv
z?BW^I+WJ=+TlHPj%_}!C_CHRT*404{D{ZC?hd^)oho+!~`0|<#f8GxKGSle;ICs-0
zn11;P<W{}Y^zU!sxv0wY){EdzeSeAe<Q%N`hmyrJegi(PFS+(h@Oh=9<onC<{Y-Dk
zPqyN@;x8r7SAGZf+EDU*9iDUUFFCUsc3@ms^4dn6!-@r^SA6#*_R~>1?OyDE(oae&
zFW1BGxl32R1OHTgRq47R$Zyi+(k*ojz`Ins=RutJdG6AGI05=gA1;07FR+Jcwle)6
z;U9HRmQ|Q>ZkL72rhM>s#%hgaQ#Uvn``VteruRXo=A|-g9QLh`mW8|*VW+Q_4Zm?W
z^zSP>Duy7ZKb8F~@;AuIQufmCW?}uC%PxF)9CEKKduQ!GGIs5c{4k<Vi-4g%^q+_J
zz~o>g_+L{W2**Snek(Ee#NttxJ8lk$(f9-cH6D1mt;;g6_s`-JGQvc=*b@%N1y{%;
zv_(9w_*lsL-p6g7S*RtBP&m9@93RcZ%*@6tOc<>GMo3<@*le>14ly40hrGn>B(o>!
z3b{p(MT~C^NBi(G=UBVpZHw{91Q}0V=W_RrhoBz#aR1^Ac*B}z=Xl`ywys1~`0C-C
zWt7r}kgF#k3ihxo_!Z2V2zlW2eV^L3md9lR<tYMAG42ziUqxd7%2tsHl8j^$hK5jF
zj0%v^c)V8-uJ}Z9SDJ;67q|UXrZHWj5fZlw@iZqw#1)G{yq@vM8d)<GCbZYK-y{<=
zHroWV#}gG}vGGt%1v!}{OG2>yU#wrAxMlnH<Uprx$H(^b2U-+HGe01@lA_QPaE1DW
z-f&cKCF0?rEADp-?r^Br?@dJUM>sSdi)zQ~!QJw{wDn|k0gg~lB%(wv99rXd1;UaA
zs<%DeaZE-~StaWm19(hxEnXwK1OAX`b9qH>*yTO{G0<k2=h(L20QJvhOXMZ4NP#XA
z5+Q#m7Iy^#!rUdqVjhv@-KV-<IHGTDa-Vek#`kdF4bCCo!<N7FwA}fn^&5#Q5Dv2l
z6IlrV`dI*f#cNgaLiM+V6GAW%!`XMc#YkL$y$Vh-8jNvgfGv9bB#fBg4+$_DSY$jb
zBx0fvj)<X%KM;=B6lRMF*6!r4!D`#l<R|tP?+om3skBS>1QRS59cTDw%lT)^=raXd
ziv;i$6+B|n?-m7rOo)X2I1U~N;pa~XbC+`F<}Rb(m#5b!P@5|x2Doe|b)O=ob)VX^
z<IsO@?rQth=uCOjv&~Ua=*PxmiPSG!T_J2ejAgcBhvDAd8&jLgCR!m8-LvDs%i<Gl
zUH0=?WQ8%wM!9?aN}AsY`DTSivS?mC4$YVt7u>FZzelq8!sMr>S>E&P)?zXU@s^Hl
zSxYP%XNjbrTn9`7mxv#h=oP#Pzeg;*lo}VqwX%@4^-X3=V?#kX>Iri2_#l&^%j$iu
zkXIDe<KG0%M?tiT!LzMRbavg3?K?vTPMVcTOj+ZPi6JkLNs~6NNo#L!K}u6|DWw%E
zQ=6PcO}ZZolA6TU;7o;>7iWvScr#lg6EUm_hrGB)n%5LWH61;F^eyMR;tbolBh@le
z$(pD?2`j931;wbVAfkTDtiX9vri@f%S!^x{sy<S_=NTDHXR|kKXl`gP44NfQ!}t=s
zf#^#7Cx7dH?BKgcsuO*Odqz!`i`$;IUT96WZuJ^=hHn|zGjiZpwJO^S?NwWLMf!T{
z9G@nt6em4ki{g-{tjr_ryw~L>Q*(0xkTS&(KdEt_D=ws9g5i)q9;T~R@VR1wHyri|
zNq@}W;}7`b{WU^WQuO)VkUe*9J@8k(y$cF&`@qYJ`$c1Ka5V660iHJd^sDIz$)ePb
zBT0RpIcdkSAY<VCp8afb^0&7=DpNPwMQ<YD!VdcjGL01^Zy{qKh9ieipK%BU5lu=z
zAR}L4mz3a4AM-{!<^>7V5`jXu3KNpM$R_vfw>Q>Kuz&N;FP%dpHv0;Bk(H@M$e%<L
z0Wr2n=oMXY_+b1-p=ZD!^vC(#8-uzsH%vi3^uyacFJ<|Vi4HL!x^a^U2oA>fBI;ZB
z-;?ngS_k4Y7r*_#LgDH$501)`F$=XPyp;zZdDK*!K9EJB4v4++g4-I&zpj~ZnC;oo
zsoQ<w8=(!KcN}Z4+Vp|rlFhp56R2Uibepz%M@`-t7GvtuYf_)y-7^KB7N<U4nf|m^
zMd!7>s%yycM{kjP!W}~tXVK*|YU<kEInisN70JYsySiU!{juV_o|5l<Au4W3_@O+0
zL8Pu~99EpQU^u~V>#hE{4{^hC+|#sS1Q0^h@AXNEM(WFJ@MR)GU#-M%B)yu9=IQE3
zSceQD5l+Mc{h9kN<Xr>?VDXea5Lna|6#<Z9%2PNhP&qEiI?!-d3MxTmG0I@7M5G{$
z`i|>cx5!X>^ZNCIv$=)ecSi2P9Wdn>k44nt3)?dmqUGQ67&;HIv#hsHrm1N{3{)7d
zHE`hHWjNKk7UD3E*v>yGfHW<BoVbE;7NgTA6EoP%4yVxG(6Fu$tntv^wyxym&0Utv
zeN~q7(}+@|=~S+a?=iXoj@{uFLsGaqX4qZa9Ev33ig<e}nct2}ofCO*xP%F|;*R##
z`q4}dINc&58pL&gbO6EY+$DnB=b}VcjK*ehedW^BckJ1H!BQ>Eleb#ZEJfBZpqd(P
zFNV}7VwCI6<UT2`=qwp>jZR~Nj5gUWx<!AI%r4xs84f45N}v^Uk?mUV@TN}^ku2m%
z@Y3M`NA`$;xN8htO0hRT;A_glE$68@t=mhwEV!z={TCaZGOI;moCgrv7FVRfX_kyJ
z%f?i`DDj>J!1`EFCZXyJ<^u$oKLZf-=K<KY4@{K-ijYF*LTI7bUKY>52$DN21EZva
zXu{324$d(FD_JTMB%TTas{yRwUf|ppge0=cjT8yeP6`66Lz)qf%&w+>eS_Ifo6>{f
zOwwUYB<(H9Pm;UZYh~EU^@(UyM0&ACjNy35$!RvGr>8vfG#GNj{Ri>mV#2XE2Bvw7
zobOuip<A`Hbmv04Q<-u5Sx0Q}y4FG1hL6SZ6Jas7iY>+uVTbS|;<q@fQBbP^#f;7p
zjffO*@rJ5<`m5<Fc;Lt-k>l4`B;e|&<Apmp7)FXjt{T^>I~)wUjFG56C?a+0iMgZx
z2&t(?aQM9;^5UWJ)>VQp9*@LUEnW=A9RkrBj#lI1W|F<@a__>y>W*W~Xtj1cX;r5A
z6_&8z3kOAGAnfKM6X5Fe1uhfVbkW+GM}Ue*UqQg=W&2;v)fgS{Y=v>hna#Utus5R>
zS=(Q8M*I1FXmKU|UWxO%)G5rypA@*?Yv8NzBHa#7J*bwcObLZ?k#QzG8LKJ4gdP=|
zDfUP98)VdC7^JX1?DD`*kh~1|yWJncy(+o1+nT%XhMhH{yyK9O%GzDX^2xE_8g8^X
z3LuW@yeGCK0&%~U8-l`xt0_E_7eJInp&8K~6MpH)J{ex0E(H>XF{d7=r<zw*oeT9k
zs+B1#TX{%?aB%V933-ju_9(Kmagj^|y^vKUm1bC_jHo9mRnA>fS%^9H@XQgL460e*
z+#(ep4VI)=p$D~>9eYCtD{3)s<TB3z8lHLUcVr-q!`9Hi6UiJ}dh(7q{h3Q#-4|T!
zD?m^SxQGI-C>SXWCb(ZYaKF5=Rxqz`uuDl1GU_O-s|jZ_?VPh<brLK$q2gR%st{zV
z&e}HH8naWX5adESJ9Q~<IF3JKg8h+JvHMhVm*u)n>#c2+d|H2IJJ+*ra~H79*lPr(
zCboGtdC-o#<PFu=g~NS8SG13U%Pb#7*(NGOQSN*McsNlE(Pvcg@*~>t_la<ef-Ay<
zLX*wqrxer{jwB*n9IKAMJ-m(EjEi~jBXDoL6;BVmauO9dH=dPD=o)h0<v!=QG&~6I
zhX%f{sM@Zq5BS}ELZ!>&5vX)4h1Qka9mm{Qof4>4J9zgXt(E?iW7&L`Rwt@RAj7kF
zTml>azgNbh#xTiYEZ<IiaJfZ%;Sf(8^BJk^)KNKbr;aoRRup&Lt;_D|I?&QtB5P<K
zNminm$t?H+{5GL#CFK}o<M|6svanm@$z3C#ZU1!l`h91zT<gRoLci#u8lMnDcAY9U
zmDuP~Gke<o9<M0%NtP;Z<Z*2<xhs8B%iJ%n6Tv1dMY=Kt>B<a>!5(-i1g*JNN82dC
z0;28Y?RRSW_uCi9q{~p15CcfU;O@j|AHNd{pq8e2iuNCWdvsa`-DXFUBCKsNJKIp{
zST)AV`r+>F#e)mmtTJMWT?~ff*b>UbQUjpCs`{hfvltzX1DW-T+alhm3wCM=ZyjT;
za#qi*tOY-2CTwr9Yvnaf_12aavtY9}Tb$gXlyNn+#l)yWQ3A)epuN<9-<$}0GW2Rd
zvstEBUT?Kn8tR=joNkS|nK&v)vqEW{X;I2_iX|K5S{;*wasFf`Z2D|ab?ApOV(EJi
z9TXgGb&h&_bDiYN3odWuH;!=20(*;$YeJ6WarIN}+Z(1;b*)yOen|Jagh8>r0;dEx
zK6tb7ktkYMAe8|LA$uY&j)A5gdGF9(nJ;z2Ha|ayS^SJ!0n36krjO``%>AYFxMDt}
zm3iBolwTc@88OI}i99s92u>x9bXy{;2>w-dcJ6v4PsEGg8su>)M=@q(q=eb_^x%Cm
zr@DHn%|v`EfX0=X0&Y6(;+7?1d#!5lY`W6eHPm|FV6UQ3Q^`3LdR@pBJvBnA!wVN4
zM}+F~qMXlDUIkqf(IpR^l_ewHO;=f@{ikwe1)~1;F9x;{vb;l+qdyiGgIF~cwkx1l
zr=d4}w&!y4cG`s7K=QFK9P#wr<TbQ<JDze5QLDIC<u*{gzq_aFyVPz`Y)?$B5TzBc
zC%@M#Mros{C&zfvh#GmkcpP=%@}>?N+-{r#d&+B4dy2^jya`C~z)!$;Q$svgLRD0E
zcR#q_Aa3)#Y1cY#$}mscr+ba$r(m<bP3k0rE-#AV2*+KBIZ-K*GN(Ltr41?UEtiRc
z&B#)_-|cgX+muxlHSr>=M2m|99Wt`HQioJFizx$AN<w5{V<vqW6M_1?GJ-A@qmK!_
z@4t?{CPV8T;okUG6zs+Xr?gN8*Ez#pv{Cq7SBQ5N`;82%`o-a~h>qEq)j%Gp_^qbB
zs%N5YqQ!XMr<Qg0mQmB*gY<XDP)|9pAI-Cz9k>>E&4UBAw>_)Sv!zZ%R)9=d6c9kj
zQ5hoTMJQ3l-@Ef@3{{(uKjuRtmG^U{+>lJs9j10qi~<G^Qbm6tCaFBbRXHV7dv*{9
z$z55JoL27(W7b1R3zQ5vRm37OD0WslJllQJUb|)1z?%c72VAni%HfPC1SZUOfAw0P
zrYrE&cieu*kPNK{G&02m*PH@MXs@Dt7ExV0V%%!B7XP9j(EUQ-IZJUCg(+zYys8jR
z#0#!!>^Np$k+avbdi1HoL3yt^8!UK{tjSy?3U2k5;{68lpz^-T)}ZhlfVzaW++pU>
z<_KACu{4c<@IUPlGYY$D@T}B*rc^b#t9P;2AT}j;kpc%!x8H<BWuB#iAn1rn!yCi1
z2i}Z6>sm)WGlgN<8q&Ql5p6JJxv0yu+1FFWJBd~g%!^EjG6Kmvb4#OMc{Bt&gvTS@
zqDDgq)FjI_EuKshPqHXdgC|%dM+oXx@z9+zSQ%<ayk>wpcNDGpT;M{@MD*Zt!0HCi
zQf{{IjK#>46Bmo}j46hi7Lriwg9zil2n~;#c3vbaf`8r8eTr9yKlZ$K<kZMNC`7eZ
z>R2jVCk-ti21mG`s$ii;9HQ$134A0PcBg8{90U4Cb0XH4C!q8VEAJekFrSu^1fH`Y
zeu*F2d&^lF+{gta&>_!(E#2Geym@rm$QK)bJ#4XBWQ>Y-v)$5cX<UUu&Q@VV7<FQ)
zBd#!E6CLLrm&ge#YVj4yLQdKWa#k&Lv?fzYWBlW#Cm)zKzhzo0IW%tev`8`kO%a;w
zDW}W2g^GDzmyui^%Jxp49um^dbO|6;5als>CKVG{Rn8}Q1y8ns3B-bB-jS(}*YnfP
zbY$PUu=^c_A#Kb{KDqfwQGe=4300|I<nrbMeiGdQmp>>au8J&yy3b;in^xYA)o_>9
zvhG#Y)g(%t1O3+?7y1yR_%HMA(#G+=T{iBw*W`SQW%QIIdrR#9OI|^j%8{~{0jN5w
zc&2Hv+pW9;J_e^n4bG-~8h!3tSISGN8?9De&&rU%I@+AtWKpUfnFXY_Srz3obyIU=
z&SF_oD_SpAnX*V|y$i|Z%G{_d);xZ-n?4(PPXVK|u3fvn+0u{)sJ5`3i!!9Fym^+r
z+@{a6meX1-1u5zGo!NiY@U+2915#r%Th{R5jx2)tfLaHd67@NPAkBpySCkRe&W09S
z-Ujli={7VpHKWgw4VooajT|pzai$o(qS3ajJZtRHD|yh3=T{}^fF{#iQE&d1_o6Ig
zO?^{CJr{EUP%VKf+@hWX!=ut>3c%|LKC3oaUhfl8gCn=77>Lbh$^>imqt_zXwPI%E
z)YynxVO<m{1uw4_SW(7vzhcRhq&Z$ax-3#gT?o%&?3=~8tvhs37RJQ&)C83n6*%W(
zZIp7aXp=W%t46Cs*np-fLWD7JR?w0?<@Rr;g@kwpi`S}1U_{UHvA3ulS9pg_n(%4=
z>+bamZ|Zd-I0+DgacUgNSvp!syq46P2vB36<c-*dB#shif=?mW2!t#Bj*?x7`uhpY
zB5w5|spUZr-R+2M;9j|NEg&&9*`O>bLmMtuhZEiUF?MS#FpX(y%NfEfv`m&%b>oZF
zMDZtyFDnL}BIW87i1&(dw=cEvF&I^gPi#Cc@2kkXhPzUuBj%$3I~tb8AceuR6oPi2
zLUbirY7<Ma9*WIT7GB}ZR9vS?Jro`b!F-z%Jyi6LhA@Oh9OM$#?l-iGiX*05Z#Az;
zov>V3b^jNN<|ziJTC5wmU&#g351tLw-FLTQ1_Dz}TM}r2aoh0-NEZq*V`2{cG%=y$
z#Rnp?O!N*%ldw+g=Xqo9QggD!LBfED=JPVzd^8P8IySav#_Q%%&5=YQ%%8htKBiQ}
zSZID+5V!fk8iH#{V1-z#8Gjv0nkd(`d|_?NVt#h^iZtVfreGg-GyZx{NHOK`m7O~G
z?mi=LU}Y(uO6`_vUS|nBfc8jQbX4u_GmhA5Rd$_yl#J%^t=*?~e7xyTyjY(_Lo%IO
zm9k3ee0S5uT2o-<aJQwzTU1-JXGfr}`&94?`y-auZ4<|)A*<`zb_D0hrdHw5Q?dg0
z8IK91L#gIW=Ypy@kwg#rBa$c(-zyC^ma1#i2o_Yyqf)|z3?Rpzg)s6Z3^HTnR6^%N
zM`mP8=x+;RFcJv&i`4bTYL<o#4R*m5>mx|c0=hClM|UEJDtAD+W;Tgl56B2PE7UTk
zUJ}3-$#M)hx>BKoS9H}h&n*i_WA>sI#lf63oh{Fht7(Q@2GgbH#tQ&W3cYGSzvI%8
z37t2jC&gv7a)%oZBfz%@pB&+b%#gj1F*92(<6)|wCdKCoa5<?t@d7J1<ri(4(5dSz
z!4O-VMo5R3?p{wrq>xjUb*<&);Y7#o!`+)cIC>tvu@l47TyE=Lwm@;E_|1U;GNa5@
z0@Dchi2Z!ZtQu;CilVOGUg@QPB=TlH!cL!~X@V;zSYV74$5<LpOHG)@Fq_DAYD$%#
zGNFhm@YJC@(}T#eG`^l08McN5GX#m3ZfJy4u!$aN#4w-Kax##vp-~g{dfWcd+Hxe^
zzp7K$bsWN=W-Z#fOc1Z-!y&0QuR;)Wu_O&^2(bv|vN#UZ`Q;@h5w#37xzOPqV-w}H
z^1d^}4x4r4J@Oivjid|{!`LFmR;XG@gYv2K$=zxGM)->`j!Q?+Z=TgvCX@PF`b`=d
z`>Spu4e-%0GLw87Q&XoU?~MhSUU`b1top));@H>B_Nv~x;hB)*HLR8iG%`m9#+IR(
zFVJipWrvoF7Ne!YyRgS0KINRa<=@gJt5MS}JG~Ft5}`%*T8hYzzSa6Uy~jZE8hEp}
zZq$^#z4ddY^b}h8mNX$oMQ6Nqh55)ZdW|AHP7hvOf^zUTJP1vx!pZp1VCFt7J+KV(
z>je@o3c9Ewhyo6D%c1G@5xH*W;v+ml46`?`0GwpppTwJ6o>X*1R!k!uoX#?|bRs^X
z>Y7?^APdGYi7C`7MQO@t`w^W>I+I;nZ0BU@&&0;?5(rOp+u$W(VqBZbVfB2iRvsxI
z)Z1%^ofI~biHp~ApSTpms{-#>WoCq@ID9zRm{lWNUb@^z@gQEuDXitCN=B2r4ytYE
ztoJya_U}^3*8Pg3F};c8uF%M~r(^djbkvdJpV#9t(tuV0)zAtJpp()1#6U#w2T?S_
z%SQ@G#TdFP;Ke+8+!q`}xHVMhf(0tJjT^KI!l|~c=I46}y&)qBgk?IuGZ6_WM4>#~
zuHfPbZ<6H;-9)Rk2J9<H;IaZI60H^y?Gm>jHBbsmHj?5s?;uj(Xt~aQzN>80yE_*;
zhv)=YFSz-*_o#`cL%W8g0v$~ikGyE94t(e;vp+a$q9|wYVDF#XtI`EEI#*poiJ4-P
zLNEV89Fl<L6E4K0UJ}m?JT43xK?Uw;0&jcpjt*`vZjk(d^oe35twp?NhVYE~IyKVk
zM6Nise^SNJ^q?^H<0-75<b)s91ZMydNNPB}1{oFR$>}U%nmLy490_q(9}q+oc2GR$
z$C%hoB_#YsBAmr^Vv?^Q+41jNu&<2nlTMwti0%}aNCC0CAG5Deh-qy*`3;dbmrw(a
zP}57|P-@YqZ=ML<JW?csxxUovF|ugKu+-^=7`S7Jb0RSz+tSx%GAL6*KJf%*&ahZ2
z{U~f$^!{1S+h`OEc#G%-){(ysI|q#jPv^N$-u5WT#5rWQ>^qa(CGDO}X>{7~m6k3E
zo`%*3&UDY+a_hb`+_jrA0#HY8ozhapv~VQDDi7))3jTg)N@4S9dfbCdl1@4YAl*uy
z6IDJ+rsyj5A_gZ2yl(}~*QD>mRgzhxXvPF{L*1;xoA*f7e$UI+PGXSC*pviP6ERcu
zl-e}dj-rubxfqLf9rm)W|Bc)m7{^{ahUPDCV$AO>8&IdbM<c6Kn8<!J-q=I9gGLif
zH+6`lT$<0zOVj)4m_lK^0mN@1sWeMh7BBAbe4ND8iv*tXuoMAt8z}olezu(CIMeNu
zm>(|#<CM4}@Ri&A@ZB_(zofB_+nTP8=k?Nf^_cy*EU5pdzEu{cn%XV0x#|>cu`DpX
zl*uXv!;Pu=$y8q_8#?X1WWtJ9d$J)($D}P8vP{}Ny5juB3EncvM#-xQl%!Ck(g2xN
z76Q5e18-WYG4p~Sd7Y9}4HxNnY75$Sf3Lr-SxPLjMwzv1t@cLgg(oFYB>`m{A+;Lt
zNopFB-6$_NZEZM8O;5>SQjK6fAjwO4O0pF+^d_|+sc(_P_f!X_+xT0C<m=JDq5<Am
H&KCX~?L~Ng

diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 5ccae0eb0..973116075 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -26,9 +26,6 @@ def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR):
     ret = os.system(args)
     assert ret == 0
 
-    ret = os.system(f"lrelease {tr_file}")
-    assert ret == 0
-
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
diff --git a/third_party/qt5/larch64/bin/lrelease b/third_party/qt5/larch64/bin/lrelease
new file mode 100755
index 0000000000000000000000000000000000000000..5c0195d29afb08fce69d0511dd1743cb188180c7
GIT binary patch
literal 546824
zcmcG%4M1GQx&ME5A(5Cgl6Q>O0I`a(RW<=ad|fsnAx0x1s8n0og>1qm1PG9brd7aJ
zsqtr7O_f@&MXVOMt)=y)iES;xUN5b^y)?EqwO(B|YN@G8jY(KF^7}q#W_F()cBs9-
z|DP6@@8`^!*Jqx2X3inpR(R!Vr^8{XuO#cI7O6Ae6~rws6m3Y6KUtRB%D1NBzh_tr
zt*M~N_;$;y`sbL;T79Zql8~P6%Xf+!_0KZ|Mj7Hu)sQ}?NS5g1?lVOR>eI4YBmPTu
z9n2Ef2eYQxx2w;hb46}-=c`;riBvthFa0ucU;1U@KJ}R`>#sgl`>1X7T`I5ZpQ~_<
zzSJkBrLW>Q8#mF<>9?F>YyI=*b8Kv>Pj%l0+(-5Nv|p(*VTmly)Gzt6U(}}>hYPC%
z6&F@-`a*S}W@pnEe7^e1s=S;F8fq_aiFVIL{xrsG)?Z^ich0O^T)x2IlM5H!ddCH;
z4_tlWBfV5_ssrUmY3Pg6i&k3}b=!|{k*<q&rQ@e$o8bqm;p<l_(;%7fE6JK}bq-9t
zlw>VHM~iV(SCdii*-EfaPkLg0(@e{n#nP!C=fgM?<+EW~V!k;qF)zwZ%&SjJ%y(g&
z5|#UfMTz;>VW^4H|HzR3hcgnV|Ni{M{F<!9{QGAo=07*|+go2qoc=~b|D17A;`E27
zC+0uCFfqT(Q2!lgCQiS@&<{He_56*YUHzX)oPTe2V*VwA-S!yri7Zc?&)u1c`5!Pz
z6WIyPT}+J$UuR%mBuZazu%BNV@_*k@pKMIsMERd)=+6ZU6Q}?9oW%S_G%8X4$5$kt
z@0;PY5~W{jm`5j(I8pka&P&X{ZI~BFunr{3rxNu{#Ls}UO2ktP{du{;o>Sm96Xml2
zek_qcbQt=1|5=Ii`Pkscz6VQ7RPOTg67$Cm?X58Q;RmpqB+9=W@jxQ(H~6t@4edH)
z@Y{XxONsjJ9arLV=Nrb$GR*fPETD<%Kg(d}3k>D9d@gZ5M-2Tu_W8u=FEP~fMg$Cr
z>e*x9c?Lh6VHn>Z8vHN?n2E~$nxWsWOiP@;&(J?rhV=UuC(dV{!9PEU`IV@i4<KMl
z#NRi}m-h|hzSyvC{=l#fK4%#BYYgSSV(?4f&re+cdkucuWf;fn4fgg!gFW{d()TY-
zT%T{FlN0r`!%+X141Q_I5O4g<V7E^j`fZ*ep1Jyh#PwWY@K=8_*ynn*3qw5N%Vn^)
z3`0FHH<bIB!B4(t@DCWSgz?5}hWytX*3Gt@#QpPxA>KH{unu0jBym1v20IBE=I<X2
z_Le*&asDlac<D#z|3u^UM}wby$6%k|G4%hrhJNcX@R^4GDKgBLGQ+&c%1+!5ZyEeU
zj=>Ha4Sw|!L%f<}@XvX364&SRhV`PuQ2%EP{dSF^{w;=ezu?rw_4$dRKJ|w5uN&IC
z$*`{d!eCeL8S4Mt<iz#7+_3(BV(??H7}C!-__4>GiOcOW#ACA!e&7~^z1?S6kLKaf
zBGG!0W$2&#4feUjP|sf)=Fvxn_O3P9+XII6{oF4ku79mz98VhB^=rd8x-$~zpJnL(
zpBU!dZHD@18v5aDhPdT9gTJaU)aPYGKWv(pxLq$A>K`%K^G^-^Gt;oX3>)@YM-Be%
zq4dP{%rp4m9>e%X4D0x>4C&Vz`ZL>L&$k)+;YvgQCmZ6E*A4s1G=qOT?exU`GuIF|
z78&O6Y{UHR{cPg=2T~IAWd^&-HpK0R41RvQ!T#$E_VbWoUi{WD@7^)==K{k%dWXT@
zetLG|et5z#U;bf;)4pn$FVp5G&OaIb2@{?0^$UYPUuCfWuNmU`&l=*lTtj^Lx?vrE
z+0dUqGK~8-4gUOAgC7_*oL}8%DEE28xOfcqIm0l2e`_fB%ZB;;Rl|Hd!!Tctp`R1Q
z$=L?GU2JIAJ%;%FGQ+%n#^49eH~6<34Su`cmDp~x4fR=Th|~Vd;Gb_X*vS=!_~(4X
zJbKX(Z`^6v?>uK1$40CRiN@=v20MJk;J1?ue(yYkeSXU@F4s&?-2d+z>f<%63t>ZC
z^oC&^-!Sw~x?#S5-(WvaV;_;IKQ|fnDfE~uQ5-wl5YN13@O#Zu5|>+s`XtK#K0`nM
z+AzPaG5G&`4g1_o!}@iXp}j8~{QoD0cw>)Ye$6r1+ck!9?=|de-ZZRhUpCYy-(deC
z!#rJSXs^@YC&vx@puZWOkKAe4Z=N*p+YJ7EiD7<yWU#ArL%($x=2x}Benv39iRRHc
zhWKs3U{^00;@+Pc`t3qPJvSQShgS`L;1>q_{Jo){GY$3GVDJNH8P=T(4DnLGVg6oX
zSoZ^l`VSlSeHSC5L#Q+1tI6QEe`V;mTI7((U;Ue5ox0DE&&`Io;&X<0+Y7&u$lkUs
zO<bQ_4f8ksg2d_P8ph>uL;p`RlslN7IR9%6^Jtr4zLyx{r8Gl*+6{c0p<T}#{MDI;
z^UtG(xP6Zy|Nk<?52qM-kzrmhJtuL0ww#`rA2Rqor=h)18S=l%V4n`dI6iFXpQ{Y{
z|H;tLUo!a5Ul{y+w;^8rs=*(282rY227k5J5Z}IS;NLLpTdy+srC%7<qk9bdplc25
z_}hkfX4uf)G{ZP9H;m(N4e?ltA$~Y+SVv|U;>-sOe&B6`KfKLgKO=_u^&aBSM1K2D
z!}&voAs&0kFu%TSu=8IV+FNIszqc9U+pik>;X8(PdAGsdHW~7{!%)vv20#A;gZ*4@
zn2(WZiTi(n!7sHK=GS)(>({Rg^KQPuuKsvR;`)5X(EszWzGvbki?&}n>=*)WN_^ox
z$PJCTW!tOi<;PsBd~NAf<(vHV{w;xqMt^<jRV%A&Yy73YifX@AUcO~}ZB2PYqp!ZP
zyj&zrobdYfuDlJ%b7Nq8UA4c&??aBOT!p)=a$L!$E35pQeLJfgi+nYks{Qq@Jb%rm
z;(Gt)K+{#ey1GEkmco*C%QtLntjCYIskEwQX-;|KTbI@Q8)~a}`3q|r1C2Mc`!+5u
zFDZ8AQfX^z>UK76tle2(iB?c<`H3^j_1D+e)*}y5$zor9gTJt;(qGpYsI4(oe$`UD
zVdh+y-{h;W5p6Q$i+gjj%h$_dwZ3uLl@fhn?!p!5!3kX;8cSIx?Dc$q6UMm4S1oQ_
z<*%%c?>}^*snyFXYqxLr*EF&lL}@fopSB_ETsbs61&tW!ik*%AhTL7g>Ye^V*Rl;)
z`Wgc@uBZhV8qnZxTvc1SlPYp$ZKbafgIDZwQJzxT)t_LCE2S+a9A{THUJCZF-?_cQ
zU#~{i*oDh{s_qGU4;?s3AO5e*ZKW``#2vD%VOyZC&Y#c{)=!uV=!W7I8`fUE%D*dM
z&y2*G=I^YjqnRLcH8qsFI$?({-|lZ{@NMx+<DD=XxpwX}>k>@XgjM>~Gb*v!2Wloa
zdtu1SmL{Gy`L+XGRl16q{^a94=^dqO6IIf-+XS96AJcs0s)Eu2Wtpa0n*2e+{&Z#A
zZJLnrr=7<Wy}c_JQ?rn~sdVv}m-fJOmUwcymgClywHTuswLaixyD#FYeY<Wla+!fg
zb>)3(M<jgrr)(_}n>u|$KPK+&{7+$kiSPV>ayPDJ!g8g<6w~qlgGRgTY{eSF=EOgl
zMY<u=a3z`vuBA1#jaUq7YZ5vhQHt^Af5CSpEc{=OE)q9FxByd#1NUJYbAk!)S`pY%
zQ(I2~*mYF_ERl7-N`HJWCob{RbeqYJDI6mQXAIbQf=T8>;vgYmeV4lG>T4^pP#{oR
zThq{3zq69YoV8STQo<$1wY0Lfdgt~UwrVFV#r6LZ^0-WfE@J4Fwe@}(MAJf;EyLFm
z|7PhH8m<d8R<Q=HU%H{umAlf{;NR%4X$Uk1c2NKeL-6m2MZZ`TSx#gnD>ht-*nE|*
z(T56E`Re_f%4>F3SJRE_5jb7ZfSDqvxQe;s@^EE0)?Qg#vxUA3iz@>5eJdztLbT=g
zZI4D{>h8P^tNax^w<t-=G!-JEV{-AXi6QDbttNSahV@iQvZ&=dFuax9>+Gg^Zf^7!
z)YtoN-slo@z_o#zCaN+qKv}V&$k$M1H-6bBf1|Ims=UfyU57}mc=fL0^&87`*4J+G
z7Z&d#jVucTcKh_|<oc*cyEgR=C5RYfWtOmg2l{$-pxVE-W^-+xzX`qGz=n_dExJj`
zZK$gbG#2J=ScwrqHC)R!67cw|e7gdON{wS}TMBjOwG{d0H`b!%v{$gFUannywBuFH
zmRI{XH^Qz8McbBdDDiJ8Y^qxxXeiuX2NSaIr7@3oZVufclP}FqFxD#aju{>`FJ@}X
zHw7B%YOx!#`<Qx5*jx4nd+_W5$=>AmRaa9Oj$|9lw{I6&sQ5A;#<l56gw};k;zD#J
zCz$a%(Qwu0vOV#(omX42)nC~t8XJpZms2SP($dz8d|*cL?TQYYe@CLd25WX*y}yoj
zR(2JZZ=hX8wIBImi1V-X)oj^GaV^C1m9;x-8td)pyMA5FZ1Ok5eu{mV_jV50?}#jl
z>jS&cPp)N^;=a<_m1MW;RS`VD+#S?Yu@-El?&G8Da&4}!-Cp9m$sU*Db(OYVtk}?~
zO3A@y4MDbF*j7U!3|{<rZNPuiMr;pFo`_jM9yaFG6D8|5+7oqM&W2TidW4y1H8~_)
zh-OPVZ^P<p-<F28=$t%EB1GJUg&UWZlg{5*Ti-}m3vDBcj>a-yJ#G9qmIuT<qIN2q
zcjYwJUV|FctNE_#5jT0GQzbS6uBE;T91vi485;(>>N%C0uBlT4E4pJs8&&D~+i_SC
zC_wcB#l^A%)HUD6L^h<Z=GBOe<R&pFeAsZKYDC;*)s_p{-TcmF+XI`VX9F(9HlD1f
zl2$={tgfwJ@7qp60>6iMrfTQJeRg$Y%+8cY)@?SYS{lA?w6PgMh2?K37AyMFY&j=4
zHsZL)SHH>L1BjldDsu04HJj9NP0K;-zsp|_GeRznel^gpr5kW!M0W4NI_iRt!33?m
zs<xr=N_aebEr@zUD#!L#ISqkZ)Na&ecOQlyE1$}g&0p8@N?%QFO#r#lN)R(4m>u=I
zxG|B_$*IM3DJ;$}Uwd`=>a|xEM(0D!SGks6jWkzb%*13sgtK-%GNzKmp4^o~KZ`9?
zY{Kwi&BO5*wZ@+E%II9nFj*Qm=O>seu}W9#i<xki2rB%IRI0Qgl_w2pbf(faRD?5f
z#WOk(wK&13{f+28+Ihn=<8rm9BO-*7+FI$)MXvd@lx(SmSG8SU^d`C3(&T|R`SeSz
zW-Qs281zQJZ6tv}vA9Z#OsT?dFM3*d2CTMx4OP`&9;n&mZ@PN3@LFa!8m+qR;%*Kw
z2N%8Ma#i~p8rRAUMGpif$uj2R)XKU|%_(ujV%v0yefa9ij-FFB#JfDKWulOrwKWJq
zebs?m?9G<#nN>6M0yPbodxe3C4kPNIm7`Mum&=~lVm>dokM#;v1fsHyb9DdAkk&>0
z31aww?eJuCRdz9>v@OGEl6?A5gelicv7iN-WSE3hQOA_mSnH{+tuC~UB5vmA+h-MU
zx;Ua>o|rq^rI?K3G*eE;@<2^pwY`grx%Q})<u=x?#i^={%i}z_H2X@*95FaTscn7)
zRHnVaI(aI?%wR=h?KXc+>CJW0`$cWfHp`}jW{J}nwG+d_9EiFxOgz^{aVh4R;_8cD
zyN0zzd4jlTEU|stvsyZfjW^dc`kF+vnX}<qe|-bCg<_xQ%BHwSbRF|4#kMa*>uE<;
zP=`1iegrqUFk5j{QC(eH@2hF3j-D3Bq}{Xna<_bozmY<{0-U_bATQ>>N}>^4Z1F2u
zk2oi9V`Y7y4p9*a9?iwpMYY_-0yTu@qBS(C<&`)C^P$SHP}p4Tf;I^gcOkbxEKkDV
zv^yt_{GzrI^>P2)C8?Q6`+kZyZMSHyA6ZM(@L5druXadmI3_ELFW9+uprqWT9YZL`
z?^=qOAA7c)4HKgWwMSc3yA$Uzg`238qg#x)ErKgA79>dnrNB43WuQCRUUsS4IElrG
zu15Pm-Xo|DLSDnoctE#ZG$ED~!htGm7L*T*-!kO~8hCt_z(GuS_7T55&1sCf4mH#{
zl~uKMvN*+TZ=%^6U-9^`N7r(7^Lkk2r(e=zTQxjP!LnUgTx^d+tVi-U*Zaj9FRrYM
zU+42{5XG^PR@Gqj61(dJkp>M@+-g9p$-fft*%?gmQ!5&!e?n{4RU!(<|AkA73wG^>
zi5;I<M^x2aYP+YxzhdmC>0ClzzRj~`;?g0Xa?<{Q51-s4h_w^53Y*{w@r5Wn&ZeV2
z1*a{dd+i32pQ9FG#vmNe^)(i%tv6<a*f{6Z(AGxIH8HcI?oAY=8J@Y3s=u`RC-sWz
z9+wL>q{9w-0JcsH4D3}7JrzBIi7uSx_@BBcS^)ODSJvK?aK9T{u*l$+ZxE9@?(XHZ
zGR8$6u{ej<DlP<rwb>TA6tP7`y|4aeI{3;*BSl0=Gay%9p~0}vXYCufYgNIhJm!f;
zZLZv#e1S&nO;-nM0u5Donka@m7RI_<YNw8a1u?`47V&(XL#P!U>0&#wXwTsg&9;?%
zPoQza6yUvt4S1Yw3QKfl`<r}~jaT^^EBR?HzcFsp6?N2cefg=akZm?|>Y@il>u^$Z
zm3VA=W$l(N{`%-6PYlv6adnXg3{7@-#(Fa@%n~=)z2bL?X<C1CsXA-Kz{W)=sweXh
z+#=E{w6m_(&q?EAJt}}^FNMs)9N8v2=8Wm2%I}X33O}-q+i<wB=*3&FIw^_s5M=(`
znm^?n<G0{ksXl-=88)d(mB^r+P1A|T+e=*=3Mv}lrz^1$siAFZ4LzZ8<%mNvQT5VV
zd(IWdY>XGI&R|r-l!H@Ip&EpV6^uK8bHNr7$_94%qvsQ`a7c{Ggxw(Xp)_W(BLVJl
z?M=B0b7{Su`$j(kItrQfQ-efN#KaDZ8#dR{o9gi>OFytwOF^E$q0)yfN_;!iRn<Rs
z{gjBaMgFW|J?2r|o*^zY6{{CLZo$Zi#RMCDxu&TBAR|)?sNJFJLfm|xe9Oruxhoq7
z9dgK2^rjAK5&zR8ZUp`Q`n7m<s>pt{AtK}AfUFlh3(Ye1j0a&r?REm_FK%D->J#B&
z`z0oNOhc7N3WDO$UcCh~=@S9XkqMJxd*kJewRUcXHJJuc_*G@-yprf!^XUUmsAh{=
zq9)k1E4$toK>SAyonSdyoDc}8x<q}q9kPmv8bAPGch!V4RxX|JzRZL)_VTwLF{NC<
zcmyC%(CtMwzT`?49`j~ng;Fi%^VEJtVs*e@jVB#=JZ!&*MXNJT3*(p=ENvyp-9%6G
zMD^lpfk`TQiXIEF8p*gSC(y8wo<1v2X&=hP0&q1%(eu{mxipR)uE7y1PS!LVwd<!G
zU%uKg$(}=lqx*C<&l8{E*)f=1Y@9b^XEP$OVRcmpTCxVB*?Bltw;!vCXnR6n4r?vJ
z`M)^Hmrq4k(3^$gk)84q_H!?qi_w|36p^f*XEYjGO7SB-r&4F)SMO{@PI6RYt9X6|
zHZ}H1Y+T5@)IRx05ao!vDG#NFB(?&rp!nKf8rV)@z|Q)5Jibw2qQSDg9XHC{%4)w)
z252Jicjc+b&9Dfm3gv7L;L)6%XTmxs%pmzz9JSZKL-RiIj+!!vw+MSrREiJ-aY5X!
zKEC%|D-hXSS6jagPg)T};uMPxnd8?R-eN7<kA@jY6MOubhtZT#@zwSVqvGk7YWnhq
zIy~5I+)NWXK7doU7#*dht{rfhI0Ew5m*C}AdTo_VJW#x@3cg9XC+-kvjfw><qGOro
ziEg*llR@?9HMaYWJv&!-3#-O_SS}+ZVIa~OxEgCq1C4kVN}F!!325+X%MhKdyoz|-
zpbe%ye5{uFc<IBArNmqj0f<XlX*AAXz60lR{+eCFFD_lS<C>cKf7)45KNo+9F9KqO
z1mfAP@LX!ZwBt*0&Lf`cL=7O;=lZi8YMjbxVhAT<On57D5h7k@oksmAp8sH~(L?vR
zx$nxQ6`w!eL08!J9T&xDuM)&vi;G;ufSR|-=sU513oBa7AKwJ9>a19alfFiJie-oJ
zQ5TnsvsOGah|MZYUbVo)Js_UE6KyjP{_dYdqS2CRHt=0>TwD};N}x8o>;WQ`BTkEO
z+FRnU@L^5D>sFdGp|Op*Xj&D78;mtojJ_~0`?@j(ZWf5#x7Xsub@{|3=9*(eXOBuY
zd1!2$w__Ed`x8XmJaFeuDPNr{7H;3ZJ!-Xx6cRhD#Bb)v2qZd(Vm+u$XtNDr;K_r*
zrQlr0?hx)?(J21PlZ<m?{h_8t+&ISBusxLQ*f^gZmzRrfUbRyk8~Aaa9%qMqNZ2F!
zSZ+9k5Wdhpm2bei3tA4wcIV(RX*IoG6x(9i1E{Pax*7S@9jWd#pYh=#@?=j9qmzV=
zIRXe>e2qKhBf&Tq5nVE3Mm<@!6Aug%y^<$<sCum@mNRvVslT_@2Jjd?-gT%*OL#ri
zC+rDATvOyxuJm&%^`}2$*0+#xkDa2XL@~2?@+6!AJIsj|NzcGzyIxVDiJm*!^)i9c
zy!eYo2|_S?)ga@GhS53IwLW@-M^y;6BK|K1AoeU#zFN1XzV@cVV&R|EJu0T07>Z3g
zf|~Q!3|`DZvCP0dh=q8fP31JkHdfrDAhz&P7HDkD%>dec8#n#zmmc7IqQOm~+ZqVQ
zpJwH5^WUtVU$bq5^5ArXy--bX_AIgJR2JN<pg<ZM^tiV|?FvoUdMFpDMgirp4O(<S
z*~413YX8$mwy~8g?iCEaj7)sdRMjK;W<cDORAt+}5sh_XP7tFY7L|#IiYjB-4bit!
zOT>E&xwLI6toGBEm-3@`@0RA!MF!<tmpkjlQ)BLaQF4N1e`5P|qmi>T{^$iST(YB&
z*htgsK(rT-_QwuO)G+GV+mk8!sDRoY%Z-Hzc+t3_aZ}~_=hJ(}d6aBp;|lB$1C`~0
z+J?228yj7&N<8Q($H`=%5umV8Zq{%GFBjD|&^Nt5g?l$u7w^JWwY;*)SC01>>o=AA
zDtGL}Ziw<-x3Mv|lAiV<kNi!w<u?U3;cX_n>ozv#qp)(?nA-1*$Ts1*3~nsF7Dr5!
zXOpiYu*>CIj-T;bOG7#3g%=+-*V341sg~l7hCrf(8yj;f{q=Nmg$Cr6mp4|yBcbR`
z<&}6>25y4Y9_OHb)G3-44aGQYN1^oYO2W=5L9WY0|H;&AOUp~M%L_N=mE$$PW#!e#
zZIe$tINVsfjCSaDAMoyREi1oD^bd-{JHWQ{+E|;rxq2ra#FDDH$vzU$JI;1=7}82P
zn&o1HSYBDR4GqIERc@o7%QyQ1)t0XUafgM`57bzJ2K%=Fpz5prB%3w`wgehwZ(ww>
zuv^>x+p*fv2VS+N8*6t8Rd+Kf>Q&rdS%uEEJ8^RWzX*so$sn7^MCeWmPpzHw#LZ5N
ze9FtI!t!@Ox8tDF!gFZ6sIb{e{KqtSJ8UDf)?B&Pv$A~Y1+L}d$Fj2WWf$aJup&;m
zT-M66vI5WAa@PgR_!Wk6%ZA4CT>C%e#U*R6EhsH4FDPCsf3ekxzro?e-{cUV$#E)n
zWs1BmQpNr|)#mhfJoNufiRMXppCYfTa$+Uw_kH>+Np=aMW=YnRXc;QU6j^4hCMmc>
z)r9ICtBtzHiF{%|$Lc*TO2s{t3ze^Oh?T)}Ri#n6B3G(sEdLmdG4&Irqi<CbaWOjd
z6Wz(nRClRQevQ(qlIS|WrqaiM@;W-LSU<+6QhAC`r9>LhH&ddm<!N|I(ITo*l67jd
zmQ+4ZbqbWQG1a3^{LPp6H1T!&XG-N0YiX>!7~{Fbt}7ZFeIooi{VaZe+=0(4@Nc@{
zpIflf@%=#X{;3w~UJpiJ4)o9y_%|=;x)<Nyxa~arM*peSSLHpvu?L{1S$m{@=||h}
zFC3&;4@%v5-o5x0^;4|Jq`vw0Kf=G@FxC1oG<{L|E%>(~;>(}H%BK{u>z}&|*`qDb
zMelc7g~*Zar>|chd=dX5L$dX}EKj6&M$@amvy_B?_m95P-xHrh^6xMy-ubHFhcsUF
zcfms%Z<BmP<L#1<YP>`8F^zXhZk>mJr~qH8KHZY1XuMDIRE?*;BkGx^@iNKNH9jhN
zmc|dgEAnyc`~p$GB8@lY;~zA@SDD7!mJ06Gc*-S$*J-?8=HI08p%o&1o5nk3{_PsK
zWd5BR@0R&@YrIe9->30IvR(T$-Y?7T*ZA1QqMkz<uao5-(s;KlcSPeMng6K9M`ixj
zl6X65m-(k?yi?|%rt$P;qMqp*ACdWIYrI(IpRe&InSYVS%Vhq=8b2iS_i8*#=3k}p
zI+=fy#@l56%^Dw)`L}C4Mdsh3aj(q3TjL`#|2~Zm%KZB^KJo=I9)lV$lldRgcvg<+
z|B%M_$^1t(J}C1a(|EDWKjr**d+^HqQ#IZ#^H0~g%s)%x*)sopjrYs^-5T$Z`4?-v
zP3B*w@hq8tmCkcT|I}%`P3GUM@hX{ro5s^+{v8@`mic#Tyh-NYr*XH;f1k$FWd4I1
zACmbGX}n72AJTZ5%zs4VsWSgDjc4VF{;@tEKkj8R|5S~SNS&tf6q$dP#ye#G*%~jB
z`MWjVCv}m=Et!9r#z$oSUXAC={OdH{E_IW}$E1I5(|GZ6(Ld@wwVrlL-l3)Mle|;o
zLz1iZseDEx->0Ql`S)vlRHh%)_?YBF8c&h!I;8Pb$wxG<>NBcwRi819tNK{d?o_+7
zWd11{SM^bLs?w|c)3x;ZGM_AsXG@-~ah1QCXL|lcT6$IgVvW0H{$(0h`71x6=U=C#
zSM_hwxXPzZ<EkIpHLmjM(74K{TjMI9K8>sP?$fx+XHerRpCOH_`W(`@%4bC5DxXn}
ztNM&-T;-$ITfLuC<vOgms!y86RX!>%Q0a@5{b=cnCC}G*ndEMbdnH$KjmlrOw@gc~
z+UwQ0s%M?XRX$A`SLvHIuI6vM##KHY8dv#rYh0!8)3{2n;%mLVgNF2nG+rh9ZA9Z^
ztAxKD)p%2(;A0vek=(j4e*LPFJVoQ#lBa6iEqR*8%Ouazc=NTQKKUANle|dd?UI*i
zyhHLTjdx1kr15Ua+ce%MdAr85eWIQn8gJerc&EnOB=6REr{sMa?~{C=#``7j*Z7d+
zgBm|1`H;p(BtN9_G08(3PpuN|8qs*V<f9tTmV8X(MUq?D@pk2vJVoPmlBa6CP4YC2
zcSxSD@jl73G`>&rY>f{}p0Du{$=w>a0-}G4G_KMYYdl@1FVlFw<X(*zOJ1dMmA+2n
zbuxXE#@i)t)_Aw%Z5khxyj|lV$vZSYDtV{IQ?`o!>DG9<<b4{?mwcbb%OvmDc$4IV
z8Xv0^<qm1QS*Aav@pj2W8h4jU``38WO@fbVyjk)wjkif|x#I1=UGfx-cSxS9@%(C0
zZkERT8wAhR_#w%QG(IAEvBs@Nkx!Mz_iY!vPU9&ueVfKr`gV<{$@JYCSLypSo-Wf5
zYFwos(s;H^KcaD!epKW6GJVR@_;D$cJXPbxl4ohWO!91vH%VTk@ixheHSXOZ`(NX#
z{&gDfkomN0yi@XSjdx4lr}2G~4{Cf+@*$0fBp=cEh~%RhACo*~S$scRJ4Jg_HJ&bc
zmd3Lr&(?Up<V6}+{Z_2;BALEQ<0^ff#*1b8HjS4_-mdXF$-6b)Bzd34yXCkKYP?OR
zAJTZY<Rcna^&i!EpG=>U6W{+TeX7o7`YfGGKaj2Qewn^l<AajdY5b7n?HUhB-ly>q
z$%iyPD*33!tzE*dQgRLL)p)8*pQZ6M$+I<{FL{y1-I5n;yifL9mBzg?eVxXeByZDr
zo8;{p-zRyu##Q=0jStH7gBov==kr4vKP1zSXgpP}BcmE0k?B+N;`@J0@>Gqd$n`Eu
z<0^f&#?xf_B8{v16l*+7rmxbtN?)h(e3`yY<0^f-#*1Y7ZjF~o-luV|<bxVl>4!94
zC)1B;T%{k?xLd{vsmtU0KfOlGi!6;>(*I;@+%3}=X<Vf*)_9prU!`%CzE0y_nZ8Zq
zDt)`gQ)NB7HJ&bcpT@J5U)8uuKcsQDOh2OW?v0|~Mm1g})2HOe_jA;*YP?vc&(gR`
zpRMsSnZ8KlDt)oWy)u2B#@%w?+NSX;nZ8})&60O(yiM{xjdw^ssBxA5kjA@Z`Vo!y
zNj|FaeUhiFi0@}LE~y$Hl<BiHJ|uaz#>XTt(s)X}824h0r%PU?@hr*fH13wXP2)w9
zw`;sg@@|c*aqrW3olHNd@n*?~G~O=xh{ii4AJzCi$x|+h@Be<uQ#F1_@+^&qB+u6P
zsN_W&-*<)Ve*>>F@H&l;$^6?iuJUi!xFy%MZjGz-eHu@Z=?68g){7yHr^)mq8qbn^
zRO7{xr(7K0|7DV=YP`)W{k+DjWcqB4cS~NRaTO1gX*_GG$iGVCZprI3UMzL9&Sm;G
zjeDi;(0G&7of<DbUA#Zjt?~Rc!TU6Br3k)H<0+C4YJA_dqP-!F_e(vZ@sV}ng_co`
z*KH6y<&yYu>^?+qEaCkZjrY$I>9aK6xk&JAjd#B-@~P5z@dtv3G#;(L#*1V<M>Sqn
zBI|!?eEo}#%ld0v<)5YTVwr!o#>XTt)40mVtMM|KzDna+vYu@kSNXJS+$;0x(D<O_
zBN|uvjB30}rXSOIhva2f#rNBg8?S5O%d7FuLVB;tvZ^$`Pre6Lr}3isBA+IWw>OIM
zYSZ}GVZqxqo_avciw=#CPQhzv`0CVn->ZW6X?#@vJ(PVKFOvE9YkcTBVLyW!@6QtT
z9MX8(G*Qox#yig!^K?|>L$V*nG~RK(C^uz&{J6BscBSh4dm??B#yd*H{plL-yh7AJ
zOXEL~>9aMSD*aEs#@(lgelF5@)@y<nYrIV6Q>Jn6PEnsKjd#fObsG03i~O53-rq0!
zzggphNg{ol#yj7T_NMU;=_flho|Y=|>D2hBvNw%)%l_P_@qG`8a{D#jeX6McpvK#!
zzdoe#G}&(<jjO-=Gotadh?tL~8s8`9-I&JHrQN1n9dCynQ$;_dYCJ`bOPa=u<vh*O
z_~^N!AF?&>o+k3o*Lc=OQ4hDqt=|j#FVc9sobP2C@Aw~)zgOdjWIs1)yhG;GrtzxZ
ziE`UD-XzDjL*pTtPp8JSrM-1)yi=y{)48%MjeAo>yZSZWA^rBC#`|UdLmE$$^X`zw
z2jzSZX}nXGJEHNXGSNSy8c&t}YE0u}YlS_e6vx|}(kfnaV4B<vzpvis^~!N0J{RAL
ztGG<(YMs>i5X<LWF%|9gWsLD3*hKzE#vzo?4_W$D#?NLvjq&Rl&u9Ds#@&o}v2u$T
zU(3=LGoH<O8ROq)`FI)6X1tE^H7uVd#!s^J&5X-euI;OBjJL4#?Tn|h{5u%m$<lW+
z{s`mUj6cBg>0=y!@-O<ekMRRhYFYh^dl?^OJdfo+#P~2vKgRf#j9W79B0KRhp33;k
zjOR0s7uBO*ZpL4WQp+l0{6bdGI>s+&>6;k8lcn!uTzC?3Q#a$^XX*PGU(NVF#_=b2
zqhI}u-x8&kHOTm_ET199J6ZZejQ^N%>oVatsGqN9`J^!ZA1r+;;~y}d#`qT*FP3qd
z18z!0!s22x<NWV7b~FAtmd_!^@h2UlUn7ju-vEw&$#t2^Es8?Rax;D#<6g%1Fy77h
zON<XOE??yrSEYZZa-FO{(;3fXyqNJq#;X{=j`2FiZ(zKc@p8ti++uv4sE=4#L^bOe
z$EE036XV>Tn;938xwxf`@#x=7#HDt|MGZvy4#rQ7mWurd<M_3c=vO!6GosY8`WWZ)
zeIMg9S^9p)@u!EQUxSRRHIOb2G0y)k^C8B$-G&(F^LK=C{K?Dc*C^xoQ>xLgF~;#H
zvtwTcv2nzoD2;xlFpfVZAN@*Y9Dj;5`jy7`!YIXg1>^YBz|pTP#_=a~qhHyK<4<Zv
zzw#N!pH7Z`xf#cwzKwnrF`gc!mQ~Dn2IFOnXEN?(d@<uyjGxVT9pmRP-o*I1j5jl$
z#dsUz=P};SIQ}GS^s9sM^P?2@&-mvV?`Hf9jQ25)Kbac++Q&GLPx={mMN?xPVH|%7
zHu^Qh__8RqtV4|RI3dJ1{^V=)YlLz9$>!+SDC77wxaijy<M@-Tu`f@|{_$&V(XSN7
zc^s9>_$ATQmX*f%rHrRDei`FgjPrOPn{hWwpU-#!<8H=1j2AJ!lJR23S2143cp>9n
z##b|5#rPV=>lk0lcoXASFy74gI>y@==kZ%R<5#it9gMGMyp!>(8SiGinDIWwH!!}B
z@e;=S8Q;kGAmgQs4>5iX<A)f(mhlkd*D*fAcp2lPjPrPDjPdJPdTV9O{%>GBh4C*j
zp33-_8Bb&UM#j?_FK0Z9aWCW9jQbeRXS{-OH{+Fz7cstx@nXjPjF&OKnQ<@UTNtlm
zyo&KU#siEuF}{`YX2!QM-o|(}<L!)ZXS{>)8pb;ruVuWO@jAx)7~jG8KE~@A?`OP$
z@j=EL86RSt?<)^6zKf*~F@6){BaAmOKFT=X*Nic~o29o_#q9qpjHfXERmM{pzm@Sc
z#(Dgo&UiCRpT&3!<JpY2GM>-)?Tot_{~F^(jDMZ+V#e=ayo~WX8TT^Y#&{Lu-(b9s
z@w*srV*GB#n;HK<jJGj<5995Of0OYJ#@iY1WIV`tH{<s*-pBZTjPGN7FXR1;e~a-!
z#_wl*i17y)Kg4(k;~~bs&G-o84>CT=_;(l|WBeh;t-_f7{~O~ej6ckHD&yZ}JdN>A
z#?u*pgz+rKyBN=A{87g98UG&RZpI&Dyom9~882r1`;3<{-p#m|@gByj81H4gj`4qI
zyovE2Fy74g4;gP`{0YX}8UGRE9gO!e-pTln8SiHNCye(o{v_l37=McKe#W0>e30>H
z7$0K%r;HzBd>`W>#`iNm!uYd{k23x<#>W`{IpfyqnEn5P@f60NV?34dUoxJ?ct7Lm
zj2~b;i}3-*vl)M$@qEUA#kiaC|6sg`@fR2`X8b=HFJpX=aWCV)X1t2=-!NXs_=}7;
zG5%Y|n;HKv#@iVG9pmkc|2N|uj1Mv1$@uRX?`HfU<9&?(f$@Ee|B>;2#$RT9knuk;
zKE(JT#t$+6XU0Q}zry$k<9}g%l<`*?A7lJ~7`N8M?Ef{!Qy71p@l?h`jHfX^%y>HE
zVaBr<Kg@VG<8LsY&-j~+yBU9r@gm0m%6Kv3BaD|Z{x`<GjK9rz72`)3uVei0j5jg<
z4&%*?zsq<V<L@!v&iE+f9gP2j@lM9yXS|#7qm1`4{sH6r7(d2%KjX(4A7uOl<3o&(
zF@A{g2;(8fKV*D_@sAiEW&C5t#~44!xK$Lh|4$fCVSJqNRK_hw>_Qsj^vpwjr8Azy
zcoyTyjAt`Gh4FmGr!wwl{1nEE7?+Qb?J5;BE?<$cc^TvK)d!n<8K2JbuVQ=#<8_RG
zhVdrGXENT*_-Tx{F`mkJJL9t$?_hj3<DHDpVZ591d5rflKA-V@j4xokpK<vrq1|tT
zjLTOKZ9c^KLYB`V#?N3p#Q2$vk1+mO#zz@Hi}5kW7cp+FjoCkc{+q&h21}pH_+rM>
z80XK~(;5F9OP|H~IgDpBp2c`R<L5E%W_$_bMU0=%croLjXS|H@FEH+9oWBoH#dzFv
zUdH)z|0c#=EdOT4monbQ_%g=Z8P8$7gYjI(I~nKC&AS<2&eHcWp3nF`##b=j&-g`*
z4>Eo+<3o&J!uTP^FJ(N$_+^ZbFn&4Xql~*5A7i|LaqEhh{d*WsVSFXysf@2;JdJVw
z{5_p<{{BW5<3%i=Y{vQfB>9YA!P2`KU&nY6<5x0X%=lG|modJcaWCWiIer!6#Vmat
z;~N-nV!VX$X2v%%-o|(-<L!)J!*~bd*D~J8cp2l}jDL~wKF0ZbLHij05=-CD_?H<U
zWc)_PhZy%Veu!}&;~~Z?7$0H0lJQZ-H!(iOxSw%rUCjPBGoHfu7RFN<uVOrn@c`rL
zjBjN;i}7uYXER>Scs}FX8Fw>Y!*~(nwTu@tUdMPD<2xAlGG5Pk72^$z*D>D6coXA0
z8E<BM7vpV=-^6%3<4ufrFn%-Ros8eYcsJv_8Si8KD~#`B{Hu)jGtS=^8f5%7mVSuw
zX2uUO-oki@@m9u17{8tIQO3W<_!#3~XWY6nX8(6Ep2GN@jHfc*#&{az-(WnQ@w*t$
zVtfzd*^J-Kcs}F*hjBOK_b^_>_%|6ZX1ty8GRA|9dl|o%@hZmeW4w;>y^J?8{w>Cv
z8NZ+LHpU-dyq)n5#yc4QHshU)Kgf7D<KJPtkMV~X-^cjBG2YMk!;B9y{$0k081H2K
z5aW+99%8(U@e#%!Wqg$J?=e2c_+yM)@;x_tkLz*9QyBj~<Ee~yGoHqH598^K_cETv
z_`frr&G-)(&u9FHjJp|sg7K5Pf7x>~$qF7h)!KV<_kr&Iq;h^dXN}@|akAAuYpFYu
z+Uf|VI~TpYC_U+q>f64ShihHpnyoK_9$@-1=rGeBXs6T8%TB)<I+N)upgl~lhpu3{
z1iF>!YoWWCz8-pj=^LTLOjkfVlVas>hR$SqE3}8{8t4k9>!Dkj-UZ#o^exZ>Oy3F}
zX1W#HnH($s4(Lp#?}GL)eGha6)AvHRGJQXE7t;?y4>0{ObeQQbXy=qz`Hw?qGTjU9
zVfqQ^3Z{Po-OBVc&|OSF3q8Q}bI@U?2cVr(W97d9oyqiXpgm0g4!VNrgV3!^zYN{Q
z^efN<Ouq&lW;zV*JSA5CThN(IzYXnS`d#P>rr(EdW%@XD7t<d?4>0`+beL&p0m@H_
zl|L0alj&2TJxtGpu3&mLbSu;Ip}Uw~2tB~`S<qpoGohW+V&$I$oyqhPXb;mDKvyum
z6uOn^Jm@Z_FM=Lm`ZDM+(;jH&sj>1`LuWF51+<6h_0Sbemq52NeJyks)7L`}FnuF*
znCS{==k!?lo1rtA-U{tux(2#}>3Zl^rguSiF?|d40MoZZhna4LcFu^Ee+P6X(|198
zn7#+Pg6VsqTbaHex{K)tp$C|L7&^>!7qs&;vGN~>&Sbh5+Qak{&=pMo1iF>!XP~>7
zeinLw>F1!sOb<XiXU58Z0XmcE-#~kq{vC7$(+8njnSL3%i|JRO2bg{hI?Qw!+Id>6
z{I{SpnSLAE!}Pn*6->Vm-OBWF=q{!|gdSk}6X-D0P7lgYjg>zYI+N*Bp*>8`gsxzE
zHgqe~^P#(#UI;zF^jXkhrZb_Pvts3+1D(nA5@-+87eH4qy%f5Y={)EzrZ0jXVEQuX
zFw-7r=j>SdtD!TQz5?3A^m^zDrc0n(nZ6dfi|Om32bjJQI?Qwhv~y0Z{LRprOmBtu
zFkJ&(!E`-zE7QB6yO_QOdVuL$p~FnKLObWi%D)3Tlj*ylJxt#NUBUFd(5+1058cJ|
zgU|y^KMWmax(nJlFIN8J(3wp4LVK8g0=k0fpFp=V{S0&$)6YT=F#Q~KnCSs%=lodt
zFF<E9{TpZx)4zkRVEQ0*E7LDScQO46^Z?VZL5G<RLpvA5%6|(wlj*miJxsp~UBUGG
z(5*}#hwftfL+AmfKY<Q2?OciS(_-aMh0bL9RA>*=GodS(o(<i~^nB<prWZmFFntzu
znCVPt=jpNX&w<WldI_|L=?kDMm|hCq%5)xd7t<F(4={ZhbeL%mv~yvs{MFEzOkV-*
zVR}7u1=A(atxR7F-Np3v&;v~02pwj+0@`^-to+T;nM`km_Ap%oUBPrcbSu-lpu3p9
z1$sc}>||?n)~(QCrdy$%XWHf4*YAMNWcn^>57YNRS1^4qbSu;MLw7O#AoKv!4?~BU
z?t*rHHdg-Q(3wp4LVK8g0=k0fpFp=V{S0&$)6YT=F#Q~KnCSs%=UK7xUx3bJ`Zv%X
zrhf-r!Sq4sR;FKu?qd2C=mDl*gAOwthITHBmH!rWCev?2dzgL~x`OHVp<9_g4&BA{
zhtLB|e*zt5+PMnlr^m{l3Z2RHsn8y#XF^vnJsY}}>G{xIOfQ5UVEQcRFw>dP&Wu?3
z=RjvNy#(6B^aaorOfQ9QWjYVKi|LD?2bjJLI?S{O+L;+Ee>HR_(^o)ym|hQE!E_09
zE7R9PcQJiE^Z?U0LWh~IfOam9mA@G}lj*I{9;R!cE10f_Ze@BGbQjaNKo2l|D|DFY
zR%qwhvGVVL&Sd&7Xb;o(Kvyt*FLW!@_d|Cv{UG!J(+@+3neKvielAx2<ItH*_d<J^
zege9J>7PKiGW`s67t_x|4>0{4beQP@Xy-Yx@?U_?WcoMI9;SZ>UBUE0=vJm*hVEke
z73cw`UxN-a9fo$E8!P`U=uD>HhW0T1E_4Oc??bmTeH^-r=?|d?nEnJh%(Sx*<!8mp
zp9-DH^r_Gure{J|Fg+W(mFfA=T}&^89$@+`=rGfn(9ZK><(~tc$@CIv57QSwS1`R4
zx|QiX=q{!&f*xS{GUzbV9%$#1Soy1=Gnu{u+QamE=nAGwpj(-~7P^b+>!Amjz7aai
zbOp5Y{8;&$p);A@3hiOK2D*ajdgxZBcR_bCeGBve)3-v0nQn!4em++I9nhIf-v#Yq
z`X1;CrtgJrW%_>TE~X!Z9$@-m=rGe=(9SQ!%6}X>lj&Y)57SRTS1|n(=vJnmf$n1Z
zS?B?#pMwrFJpk>zAXfeh(3wpC2HL~)@1QG~J_y~)^vlp)Ouqs>!1Qa-VWz{-&I@DZ
zzXhGi^xM!Lrr(9GVETRNR;G_bcQO4T^Z?VJK!=%ju15LUvGS)vXEJ>%w1?@L&=pM2
zhHhngK6Dq;3!w*?J_|a`bSAXZ6)XQ7=uD=UKzo?J0J?(drO>TR=RtQdeG&8k)0aVq
znf5?Cm&VFp4V}sK70@20*F#q@T>{<8^tI4kOkWQ@!1RsKVWumfoy%h7Z-&lfdMmVt
z=^E$?rt6_wncfB6#q=%E15Dov9cH=}+L;q8{|@L(rtgCGFnten1=IIJw=#V{bQjYP
zLJu(gFm#ydE@)@2U4A<DCk1%EV{KX!vD{WLeTEgGXF%h(&;0!xN!F4#7f%T$wX~Ex
zYIWA1+-=#<ijLjj>^Yv~=*_^r;iUP!$10};Gy2y=j&5}HeDLU$V7ldwg#O!s*HfDh
z4nLU`3?)tJJyDs|bM)}EU}Rfz&xylH!4H#?gC8|a=@~mbHTco<$-!e+Tan1&<lvj-
zR^*NMto<e9;}3+A=HXFT^T7``T9JDqr03fD=*3p#F6fb@IlU*2oZ9o3kLl+Hy&pW9
zjI!qResH-JS@IF3pVND^@|57wl~!ctCzNJkuh-FBvgO0^2R>S7MKY4Cp^S7#FcXZ@
zjv)W=&m8-Q4_lG3*FW2{e5SRR`X`M0hH-7q2dg7*B%R(%^*Wq%M(@$9=k#=*9DiWZ
znO1$vCad%qSP0j@Fx}ew(W5D-%e>wt_?haRh0h%1Mftt4_|)Jq(mIh}_;N?&cITQ%
zYl_tqy4W3Qo#E)Q`mJDifg^G$wRu57#9_Jj7kI6l%abivzh#v=J}z%V-*0ey>}=~A
zAJ6rbTRD_(G*8@1d08PV_<5Gcfg8<v41d|mvB&f9slm`ncVzs&=_@k2S4Rqxt)698
zbID%Rv9uWDTkD7%J?z{+e#E(d-5k+B7TWQ_?WsK<yyxEkUFV!_+XGf<XmN6IIr{e^
zd|!g^6L@xb{qv6CLrKnHXpKd-Q4*=dn8U`#mRpfSuQZGeV+?oR`qleFNol?F(XXNT
zR?aZ`p7d<!ep{bu>zUA<&@_g0J;Ut`P6Kmu*69o;gIO1|bRlPO9QM+mYvt~pYHgtU
zT3@nC|LB~zr(vo!3-&hqsj2P=es}FD8n>V0{$bRSejdS?&467FV@yJ8@Qr>RUgNOG
zXE?>&w+>vRzM*HPR0frK_t<!8<cPI@Y`HrUsl<G_(~W!z&Rb+Twl!a8l@6}~J3J*A
z+G0h%{u$WNeFgiyU$k<<|LKmLcz$~D<I3dVFg*iJvihvf<X{MWIE?;0`n)@Go6~v3
zD#IAiJxRC+WsrUE#av24zmqLLi#b4c>-Y@Hf~M=4$cwIf`jdk{QP*c6pFOapWcU8&
zwN`HU(UmJG?J(@?tEX6dDUar4tCZ@MfqO$JfA~Jfek<JyhMu<~ua1u|ARBf%nhzGB
z{2w4+>Wk;V#~R#`V>evYL*rM6=g*;a?#LT7Z!dR8s!3!1B=2$T^*(O}%b>k0t>7PK
z5TD<BRtTSHe~F!LLGK$!iJ#f~D#k0c#U1$^>hk6`YyZ)e$-yro&70fY`>Ec<3h5s7
z??(EBt^b)m(Vj2U=MC=2rSy57J9067Zp2(bokLf<BPZ#z+#UG~J~7{hC{GK1Z}`6p
zV9)MIx@G;Qv&4ED{%*<1-R_>F8w+}l-QejtQMs}wvTaq*M-7EN@T)=cuj$lRm_uJd
zKiEHGzTJ$UX<prg&lR}76Q9GVGqvksw2S;l`1W-xS}M@Dm@Ap-)`|y5t-Tqj%Lw|=
zwuMk~Fc<Uj*o%(H4{e{B)_W6tAB|H%62|g%va{xrc`5G5JZs*+r#r3EB#iB0hn3^R
z_)Nh+M^=z*&GIB$!P_k7wr{}SbZ)K4A5L;Eal_Y;4{8CUu{nl$B<99Edu|k>oMSXM
z_K3N0Y>${5zD4G_(Q=lRBkJVd?~v(234ENLhSDN$vPCa`K3+N1?uYM;TYLA~eKNmy
z{_ED>W49*<55uNuZ3<z|qP+(_Nshg5fE@-4+kSc;eENdk(z_hCon@d;9CthRQa^sj
zZdV%ao!4uDsrspQnCj<4ojypyoW*$2TH?3YD9UGU@BA_9EBg72-d2>gb%A5=he=ki
z%G+_K=p$3!jx*5qM``S^7MwasTBN~0;gR#~H0vqhJLmOQpuEpx9+3@L3$0Rj66_Z1
zhdasI-+8{3(}MNSwjFC~unhBW1oO|X>+2T$#=PEf+^gz2eD)+|!?uPOqn;1Md|AO6
zRw?xb{K{;yFZk;|l+~W$o*K0JFAY8fyQV%TJ5Ne(E<qZs#dCXWr0u@q#2m!+vT5`=
zxA$85MEy3|dS36x-w^%*|NNfqAAW1Ex55rWmF@^$=fr&rdS88?KF{p^1ICto)gM0@
zU!Z)_oha+s<KvjOuw&#Gx=^gS!*eHTE7A<lL0cDzv=01Cb0gvSQJUFE3)>rg4fS|Y
z+>?PhNB3ACjZaw9DNVtL<GHGiH=>TegFm4D6YE`4@G6Xzd%C^03Fb`-7Lositwhsx
zCIwegy7L(GCI>GAvlhhGz|dl`2GSab`7)c<sZOkeuclaghvEOpZo`<{;XPPqu<m^T
zPJaAK^rP*+?wr12Eq*3nUx0C@db?;0ZGQus9TsiDJUe(kaXF7e;57apf(;`rl|wd=
zfjOR$X3Yv=ybhC3!L?1~vyz+lS6WyV@bl9j-u6-$V}`$^z9*EF)O!{3a9Z>B9Kij;
zo~H!oQoeLQ)gNV2Tr~{8^efb#`f&iC?=o9RM*4Hm&#K=o=;_eow@+U&3+WQta{3h8
zmj8yjCbH$9VeV5|=So|C%r1Lw@1ywSbJ6<ycy0*s&Le-Lx-IN=Oldxteq#KA>t%f$
z&gO%!BCi@&zeCXF&{Qtj_nAn46ziz)HFJ7@a9ot#hO&k+Z>SzSXpX#8u%BY3i_llc
zZum^ku_NyN$1w-T8W8(pEgb$U-dVv~V2U{%$z;!`_gZN4O9#etDE)^oIrfJRBUYfb
z|F9Ja<L7eAaio7X)(ezpjU%1ylTYt$MZZ#CQXc;aTcrA8ESJz6-!jG8JLgPmw(@tw
zAI0XuLuhXp?WJpKj2-~{AJ!-LLBEc%iq3)N<X|hU+4HO%E6KfL(NoqAFU2(|Q`vha
zjme#;JN)aSWNSwct(9xskxcZD!|I#;0%8HOBfL6?b>8-$vnXBBbjs(9-fY}|=Sevi
zU@LdvXNoPzul?E~;-ukc#!LT99Alfs#`yafqwk`=A0Yo`XDsi*Q$!th<N92b`xdnu
zX;izvh;}+DKgLSI5F6WV&+s~e!)G`m6=(y+H?%elBd(!-r~OIzeCPg;u>UxLb#!>8
zBk~d27)Jba3~}d&h<hk5d;`AoFy<K5`RFeZU;eihsYGAe<AZDOBL*bDIck5-?S0q&
zJiYht^a(qBn?7N8Blw)tF`h$l)RVAL%J0Yc{MpCj3s$0kC{Cl8?E%!i`IGWCtWUF=
zKXJ4@f|%o%Xm>jHJjBxFp65|8iXAD2q;U+%@=9S>P3TLC0V&T{h{JzPfj^njH=c7C
z@hgo<82v%x^D*Y+6xbU6O@xvrl>H`ReOjw1E{7kAtyiHWdydmQdvmw7|6SND<xloQ
zakIyr98AXgMe#HI&q1owe$<6*1Hbo*K02fK`&1Y3$ME^)ZukB#(bz3U?2i4=IQ9bA
zmn;Y&KE>}*+VLvozY%FFQP#=b&)IwLqtmU(GQ@!mT~@H6mEyoTy-#91s7>jJ1CLIJ
z&EopW-2>eo%tNbmP2@X~@dfj*u;wnp{^RYP;`8TU5udG(iO;lt@k!-mARo$$-V4n*
zB=+?vbI2N79ibSsp?7s;8SHUyCibbYk=xNux`%$I`!Z(WETMXhorYpys>>~?1C_rR
z*O6w_(SK@?>RE|cHL1)IS$wzEW7pSdwJ*M#_Q2-^7vJsdS$uaAzLW7i1>aM9s$@RV
z{=k_7)eZF;YIt}}Wbg6S5ierF#uBTi@l-2v#bLw+16HtzJ~JJ`)%a{IncCycbRx|u
zJ&hhKQb5<Rm$;lh!_MHP^yx_oUW`wwuj*U7zSt92-ZRs#YvsYy>=>WgXLYQJ6rgVE
zecJ4AI_&pp=^pgWD77u4KQ&0PkLCS*Fb`=z3p+Ur->^BvKki6)u@!s^eNKI7J+(SQ
zWmkS>P2_BRer<Gh<Yvt6e0<y2)7M1Y*rSdeA75baCr}2R-%wc@_`KY*j`Smrrg6#m
z!|I3+X-9EpW8wYXMCmgu>&48EZ+od=M$4Y@Q(BH>d|YrJ-H-YYd7fGWA42y#qxVPq
zU)rPB<6hx*Sh;rHs@6oBk)FmGv3lfo)cFwh&FPpMUXQhcY?S(p>hT)pG1<k*-M<iL
zOLMHqG4uzWB~g2xT3-;DJ7eyiIWy+$p>)_gAE7;q_nz`GiiK4Sg}upy80wKv#&f;S
z*gEkU_#3)E<CAgt?0F~y`?EPzm*=}nj;VV5%(j2q_Pd4clWiS6Yz6lYtic`^XEew&
ze6D5thYGamn5;9+#qXi5!?wSi)4TH+&Hp*QTktu2uA6+j*dtoj)3LJu!|sQzn8T_c
z97!0%^b3Pj2kHmdci#uMW4@z&9)D2VLJRD(l!F%Tp?G=_`Oq4QSkeBxYbvc<?g*t#
z$NscgmQ8J@{=YI>uHEiFyWM|ZZJ*_#-F=_7-J4mvm&<ma_bJ-_`Dpn+7XA(Gwadj>
z5uG#Up$^9$bp+}Ba5;V+gKdN{$LSm~0(<@y`h@zM&d{3a-0>#SA2jE~d#3h;r>FFU
zPn*`W^#k+=d^*`oONNNM`xERlTheh}g8V5@Zy0&tT;&FKuVa#XeV?~-FlYN(U=yvV
z4~<DB{Doy*7Cd~~bkt==Pk0-A{a@hY8<JLxAGY>?44cF`E9O6)E2i0NZ5TH52Fm?e
zwzW46YtsiwX-iby3o^}h&p_SMW?Q*qw>yGlL$p?9q+b@KdL&^@Bl~c|-&{^MvMshp
zdt{DPdV>1268(Ikg|?rLxM&{RkEQjVYR8fDdUugs$$nJ(;Y9sdKzsEIMSuG~Yp!zv
z_PwEHBHi#zbGid)+fJMz(!5<xu^K)PBTn>IAjY9jk0baxKIweM0l$%nan3}%S1!*?
zW&E%~#Sa$tc68RG(mJt!Go=m9vU124F2z`pU0qC{T~_dUDsP>r`vJLEOw<?X-yDi1
z$@UIlA9%T}lYWl-2+E<D#7>twNxIXJ4)KefZjwHG<TF;z%QQc3a!2~*{O?~t=Tmc+
z=x0+WcmKET4{nxyOg8ZEh*QMb;k@3ms)F<GM0?AV(zf*<h5zLCbDFRpvbz(@tO(ih
z6F3V}<LdiIEPnq1e8N5O`DANkV^oe8WnPanh)m3z51+Jdz8(EL3>%}p0qj-m1rhsw
z8F9v8*c4s!V*j@sd%?5uS!r2&PGB!cd%z6r4a0~_e}i%sRxNK*wp!p2{h9u^iR(nm
z2=-mbll-rWty^*bWvC}{#l8xr`-ak^vH4K&daRxGNPCjvP}msdi*>j!V`NR_Ow6P0
zlrQWw##cw?gMW!Q#+BE@i+sLG9CpF^_29P=hh1@A3SLVbcFFmAaM~y8?JNR6O7%p)
z^7J0?g$dGM0)8qujWvxQjS=nLu9M?;;(6=lInnV;iyOaputpp{WpxjYT`n6t+Q-Mn
zZeH&VC}TlYZglLTYy3MC$L<l@GqW+8i+jDY-v36Q@GU-k-ixxSeJ6K6W3Mx`p5$Xp
zPQdrlI&%!M4L#FxJ}=h%qlX>A0<0&)crN9D&uoMrrsqwx?wmZ=+WTl%!3sK8qBBN{
z4<9@oz5rvC1mEMsJRkmCZ2o%1-erULW3itJ;S7!TL@KRslC=Fex9LP#k>?%3&gnR>
znQ!HaJ@lO3Ao`i&ivr9MvWK}i-|L@G`_Toc)4bj%&&2$-=NO$KFX)|BV(tAY<{Hw?
zw(o<@m7Zzkeu%NeUb&r~k7anVXVBJ*C((DEOUd7e=M%nks}!-Fy)M(UAA0sM0y_vV
zcB0R)*F-+Y|CG{mDa{S=ztNez^jD5^V*R4~zhUYZj3xOshdgIY<WGmO1}fj;SZL1A
zu>|SR?te!NMD6us9Z$pf4r32$A>K|$Jd}Q($shj4_J`E2g|a`~&x`fbj?bDe3vNfh
zkWJ8dBt_3IPw%~);sx;S)NYJ3wMY3MuVdo#y91V$OX>LhtDrn&pGECI!M%^ry-25g
zR4MM8``);1GwD;T9I7+5f!2Ro`|Y}iE(=~}sC%lc`(>=|8Cc6rYnB6RyIxOY8(BS<
zpd4y1jnAJKBSy8)h353WYR4JErXQoWz@}TsXJZU9`Y#VsJ5In}sV(%(mtsQ|`%bgl
zL_TRwFSU<sFy1Z~^me>YV{>}%DrS=zSWk`Z!}_Xh@{vi_S|85RlufGf^8S6IzdCRP
z{t7-xjn@d~$QR+C=vf5S>vvdV>De0noQE|R1BW$t{<ePf0iS~fIKR^8AjL#OIFD2H
zRrLt{bz(gV{u=K$UqC%_$zQ^UWzbrcwkEQJY=QZy;aA3U)isKzU%|RT{ZD-?_B?nd
zh51j<^}mGm;NzF9o7>@+M0@7Ntp!`*yAIze)`E-KTCn>gz80L(dkFP9v+Cj|Wn(S!
z*+(M3;KOqdddBuYw4R~ff28)HFUii}m+Uj?yU8a>AM*%{OYQ(~r}VhS=V3GWo0Ol-
zM~&Mp;PebZZ~qtNIv7FQHyGM}K5Kg(Yx~P_>)`y}Z=;OUtMa04SL4|~I&nNRMlqgj
zewE-}dbX(hl`FyLvVKwRSq)BocMr7{eef)$ft@ztlg4uZ^OE}I<nF$>^)pGWmsm%=
zwEwzI?7!^&*`rRp=i#vJn$}p#=LW1jm*V`H)=aYTR@m!&dNxVtsJr1SW$f-uGsolZ
z0?f6WVrg3!nA4`ak+vb0);UR9>vE)}xK`Go6?59SC%DwgNynaifX?(QaSyFoNN@5Z
zk6ePh%SE~t>`RR4@UBASI;>6fj1K7*sr}2ieg3&2eO$y4ofl!RM{C(_v9-*539V)G
zC&czNt|xa7+3T4P`+#A*ACr#yT8OEU|BkE`ct%I(+Ze+T*6@ELAB4DaG3N5I!;atw
zcxNLMeR3ixX-Rr=LE!MC*8Z2LG?%z%SbGX);MvP5(|YK<sd)<CC3w`me-7;6kqfOH
zDvQn{cnn`n{vAGst|cK3r1(7(b6|ee;wJoslsy!`TPar1Gj`ice}=CX?<UN%{mKr^
zr!y&b!Tr?VKI{oi{aAo~{Kx578xaSeKz;2sKON_#>#PXX^}vVYr6<tFkQ4oYXP~N|
zL*ndtLr9)ITXqaFuh&QZ18b1Sas(^?LG`lV0a`-u29X_a#d-oeo=x+O>ZazZH^F}6
z0PQ!BPR+e7v?ejz_uxAGY<ot|nn)_<CAakfbuDX6WEx##w(a?wybsr$bdA~afVwua
zI`R?9Bio(BY`5U;@m%F2S5keXtsVeZ^}G~Z*`^!o*hQxl1aene!DnYK-1GEI$DZ<}
zc}JQTS*4et?#)L;TzKmw&yZTM?s_i}{dGV-|4!uBhw(g<_V<6qa{})<vVSp;jbo2_
z=*^V*PBJHlF~7WLVgA6jZF`y|EzMc)LXjukXDZu4>E?@cbdM?BBRDVc&X#SNWUpU9
zeKb>~E0`?)z+T^bsz~RXVJ^1?&x^fyu1oDbfc4T;KYE|Zi#cld%Vg;=4is-WPHR4R
z>^<x;VFO;A2Rw=M*(b-xpYrC3Jci#J&)tom=^dV%HWmaH%vi98&UMF~bB`QAT)S;D
zJE8LvJlnLNf1(V!CxrFlA(ZiRl+m0d%5dPkSJ~>ln4?E&4TG=X>-pW_UwM68`lfk!
zhY@oXez0{EHV<Dx{>zenA`{Pq!tfpFqaB^EjhB)S`3KfV>OVDCnvkFBr{UwV^6SBA
z4W%(rb=nSw=UEGAJQb?~yO$VjK{4_#w-bY{t8#7xQ#OrwIG27_>93<}%#MfYI`lBs
zaSL-+*{u(AnSNGzuBH2=t<pTFpH-e7Tq~nGV16ogDcD(H^epQRjKeJZ=hJ&{$Io9z
zzo>pw{`PS&^07xfR`9s9Ah2uZ{5=gbtv#>f4Bmk=e2V=Wac?)$ne4Cydl*_n9C#M~
zWu&Eh-8jE*#MnPYV=rx#kNq6f(;j>HRGdRCApiL!eZp7nqfhw7U(jczJMuhz!q@#L
zKFPPeh)=R7)n*HM(fNTqKa4(q%t1ODca`oq?1#>as6O;eV;ACMvO79sPxMJ^t%bGE
ziFxS3*;Kh)=bbn!@ZjAX=f_EHc*dFQv8){Xc@3qN@6i2al=ch%`}<$S{rvgOQOYY-
z&LKS4H;o1MU{PPxf}f4)kcaX`bdNC|uJLC<GzXMzcA-C&-#hSeY;Agoxb$-cC&zQ?
ze(D!`o<#TVMce4U4=@IlZVaE){}b9fL$vpR(_BCJrD!_}CP@cdj&BFbSM8`{^(7nC
z>sv+jMLj=^*7N5*i!AFO>1hQQvFAVS__O1^6*$XXiP-A!A}fM@@Imq1DFv~KRXQ8%
zJ#1nL%@sPAqw@oLUNpQY_UxzMqWF+M_xhC`6TT?!#XrygFW4icmG-z?+2g->f0F&Y
zH1=HEw!>ye@Ets3pmY5r^oe!<Z}ds)KGtbE*YCpGq~?o$uHShI#tgnurNw(4=Cs&L
z(z*T`%yBx`FQiYL>;D&(C)Z}jBx@hN*Q;!l{FKSgTljpKB%N<6@{|6I?lI-(LmqMS
z27Qx3@gicouaUj+_K(S!5NFR{#kF72ykPb@2%j3APk7I!K<<+Vh|9Vh0N3sI+4qnS
zTeF@)`d?7qDEkfigiT`{Z6Em$e4gC>Z1nk_J<ey-yT8sJHBJNQXVaMWQ$Mpdc_v94
z!ZSEp`=a?yGXDLD`|b5l+LdRLw4K-ocw4RDYO)RVpM&Bj*qU*S&O>_TrzT66h38u6
z=T7WH`Z4~C<T}tP_aU8fAL2b1V=mt(KDqk^d)|80xMQC%RU3EbiP&CXoW_#%Nh`ZH
zM%O3?kbU5c+RN(5Kj<3TJdL%v1=p30tf1?%jgCkx_E`q5+SCkAXYJ2;tl&=(1N>>`
zf;}%I1{inFKhl4eRf;qCb~-Ca!+xQ0vKWx!VEBT!@LY-7P5tkfByOfNJ=<oG?h*WK
z8m9w@sd?-~@wO?gkJ8FL0NrOwH%zg(jH~D#Q@R#Pr~J$$=`tvtw7Ey{vnjs=i2K!e
z6ikwi_6KSYFg(d#!9nSy4``VrU5g!`i#@;xf2a5yV~ah&OZpyQlCwJp`Qi)2xYAyM
zepc(tci+XBW9+xEu`j@R7ukWb#rr7@`3M?sx`v<C{okZ(EIxMN+>bOpx5_6QmSfsN
zoW;j2be|l@VY-H&Re872H92+#@8cSNR@WNnni?;<hM(27YPzQ8%u!s!&+3|=u1ytf
z@X<B=tghWi*W_3nz%|vjGH}{c+>+;xxUskTBKB6N&p6%QTV0+s_eeV4WBllREAp91
z=GHLQ8j9&@fAuwtAKmB1p6ojqzn{?_F2VllB9u!p_DAQ_8PCGrR@_JDr}TRc(HKMi
z?gRO&TmCNAhQCnUjJ^-iC;F4lR;hoE&?oxhJ$#bCApb$nC8=!H*3Y8Mmr(}wgJNl5
z6rV@qJG?(~6labZh(#Qhh4(iRFUa`11#uGjQ1$MS9@Fz{v@fKXYX;iYg7W<M&V-Ll
zPb~;Mg3m`&n)kbL{<UgG@}5Oj@{z?elJMR!&e2d8E8PlK;`_UFCid}oX@wmZSr|*P
z*TnqY@i**Y3dHYm%_{hKO50<I_20MK@$;TA%5~t~DLekd`&D!3oi1xlB=o#^2WWT!
z-oZqDR2)b#VFB8D_zWvTzb6uU)Uw~J=doWiVm}cx{K{TC)+5%TxEL|x|0?byTiO2(
z_5085bv+q%uz&v#`5ndYir|cK|Ly3b;iFcN;?!@U&z_!{w1@V)U!%HT-n{=#uvVn;
zS<XG-8O}X#;VkiW%X!2Nn|%{;D*Y~s2mSaMzKMrmlix!*tI*aKtuI?-U$&@y6T8oc
zzD`u;*Jm{E&*)#a=TX#a7-hdXW6GY(ttm%n9Ot0y4CF!MNQ}zfgtE^@*{vuWd$d{Q
zavWR5o^4j^$5Y!L$2ju)sBH2{1(WO_e6Y_J^hpSPLN=CxJ|SDQ@LoH;pGJ0ea<>?_
zJe;2%<Ms~wpm+-Jzddj^&TA`>&r0M`U=;*5EwuLg&@M0T_qAF*JZ7Z#?dV)q?J+2i
z50X-FmYHHd5BJS<_f(?28K`?D=7P_1Oh1Vj!-xF8h3|B{*Vl#lnuqI8JDq#*{0?WK
z^Lq2&K^pk2&KL4<mWwlFdA^&0vt2sV-GuA3M~THU;ypC={vX-UKcBzip2YK4TvPLx
zV$3s+j6cwfI#b_JoHMVuAmGO5wdm*E8T0n!;2i3gI8&NGWB#5_*dE?%{rw!;OFHMh
zI30G7iMBeE;Y(-_o`TP>74$g2=IFT%_jGPuHr9}db7k0vg)@q;psWL18^+*wu(!8p
zzlQ#^X59u``Sr>1(v`3k(knksZu=f=1$&zXdS8hBs+d>QA2k21boYu%?B{S6kKgCP
z`-j*AV*Cy^<9r|^HEs6g){GtLsDr-eb59lT8Y=rCJEJ~14qrmQk3#*Fk!8)g17mym
z42(CPU*UP`kmWrkxD)N&iQlK7aUGC;@aZe)zInYl^10Ps`*$$r+V9=GgEVg3-?=rX
ziSj;z^ZF3-bf6D1VB-|GG^36ap8L}?Y@|~@{ZZsYzc+_{7~b*r^t@<)I(zVp>w%NI
z_eJ*+s$cx*m&eg3Z{fMdR8ybeyxohor{kGFViWuQ%agkYZC^<JLH!DUz2l8#*8bn(
zy?gSd2k?81Ez$l+3C_Y=L+|PxtHe8Ja-SVq=?EstXa8?topqz`)Iao|QwZ<WP}_$m
ziF-0|9vi|MO6h!)oRt*7f2clz?-gTYr3C+u`9$NU>J`3SzL$e~6<~f-oepoD+VjfW
zcwUQsq_W7qR9_d#zWyn$`Bc80rvzzj`6KeCwdjpy_}!4jl<)lB0`x~HDS1g4`BFdp
z7WsaF-^V_Ta|Swhpz?hvm-^-K4O4r5j_cGPRjfZIJrhDZL+8fZjCEq-^G+YmS}C1s
z$9%No32GnuT(MbTv<D@29G^7K?TGip{QCd@edB+?7nt5R&U;&(OZ}(^zGc)Q*Lw@k
z-mU(#gC6`|Db;tr7w_YQJ`)Trp4O9$d6|wl0R1<V(LXI{p9S41&VuZ<_j#xNp6rRk
zPWyN39|~mz=~>_KqfYzx?uRi>1sLPdb$A8_f8@pQ=Gk+-d0Oz;O8icKWm52?N0Wk)
z#Yw@j!%0E%f%LlxcsI-b{o*Spi6JvGFm5<!B|C1xet_nBKh{xwu0KNWh1QC6j!Dwd
z^C0n#A@ZB#oylRm|3km)LFGCoNoVJW^Ip4tc+b*QzXS9<1LwhZev_ngoQ`zx0b`gW
z{qQRdv#sEn)|@?#s)l{kx6P?m>GN0zpPywtRRKn6598g)S7|N6vt4?3<=5~h#7}{p
zF2X&Bm*E}pSyrhR=`Fm+OY?Ua?+T0G+nU=u++anDFrR3iT>v|#{Y%$$nvZx7ZE@0y
z5C1f?=cB)#)`P#BuvhinWc$DZ?CCO;e+x|u{u%WkKVrX&f@cTh*TTuoc<=4>-Z${O
z<<n4i@y_4e-h-$IJp-k8#_0K{otEA)Mw(X<7dY@U{(kCH^xWnM`Ur6*&L+?7?U!YU
z-;<+%FJWQy-KjTjvLd78FD@2)GyHq-dqcO0u_(ZMerjIRdai8k0ORwBOWP`VCzk#+
z;@d<%2N<XJDBCG`H<mt$xU`i6jGv^sN!uvE9#z%n1aXYxPJ=BRcn|N(u5(9T9zY!H
zw2oNQtkPFuGcB+K`*{lLrt*3Nd3^`IiefX$vlw+z_HwDTm)&4wFAn58JiVx=AM@1l
z759^52S5MY_yc=zKYT=AM(4DkN9GeIJA(b}!*v?NhmjZAPbQw@*O8AzdsQ8tM;%@u
z#_IJP*we(&zbf5+uwG)A_li9Q_FZD=C&hjQwvQObQn6kz`@L4oUBw;)!@p;-;26e#
zF8$t$UH5stx1rAW;r(=4M@Ftj95)qfC2Y*+bnIz@Jz-tn4?h+?JM+r3Gp{^5OQ$sj
zd0vP2-r-+|?BChH6VJvFGuZKfL;gO7_PhG_@BHuny&WSoqkL7*-Kgi^QO}bYZ+@<c
zcx31Uyn{^fh#g}grs$$r4e!)rJP#&eOe*1%X@8rBbFULg$#~!N>|jx|75ppiTMgel
z4{d&({0IJBhAFs*_CSxN;`f58{QHRa<Grs%*3@m-^OjC^xFe5Gx1M@|uHoN}IDoyz
zai{fE=dHKh=Rm$zf9{?Uti#sdzw%Nh-jPnP@{SdxxbbgyVC>Hq?}Q(4!oOoJCx1t=
z$mIsV{eQ`O_b|DtD(`=v>RcKK2&9wFg|VwTfJsDD=p=+&suG59^FoNAcu7^amxMU4
zh5!OlQ<cOqm>J)+Mp1MoT^(f7g*qsS+KSMXpoWVI0Rt#XRfkA0I)f%8>4ez7&v&1*
zt52U)7tFjf@AG@!`J<mcweNfFwbov1?X}lVA;TPip7XSAXgfjM=0tCeX+UqGjfN3s
z6MNWWrAc1<3UK=X{Yq!ek=OfK?0eKXVDH1>v&VmpQR6eC&6=^unZKeA_kK3*K$bqX
z#y*qBM*6G2Pagad^AtWj$@=@eWlW)qc}ZUJed)OW&%8dbyLZf0^UH8v<ks+5)==%d
ze58M~<bgPFm+aj8X5Tj@WxR(I!v^Dpv%8k}^|yrAB!@rzX6{SZ7ft&EmzgCw?R(%H
zJaFD^;K|6`f`h-O|IdjA7>mXLZf}1PyuLe>mLlzW(j=!D>ORYV=}W%6;_CxGUitP7
zUsv+=cj+hza7{7+x<|K%Tra)t0CH@bi5(}MqYWKSaA1v>Tw2c<$@lrp=)x>hw>Z(U
zasqQc>FyVNJuiMn&&;ejI3s>Wa;8a-KP!HQnHi^k6ZKnJFWxzypJeTt(&o<wxjsdE
z@&!<vYUiu8qjD<q6#wUwU*><qgDq?3n+Eg>-510coHp4@rgky+GJEE_pHAaGw{!~M
zPh2{ryX!4I@(IeR-5fDnw8tj!7rKZt>KmPP=4^b3R$e#l=7fnolE|i>m<wJg&*@nQ
zke8i46oVeXpTg{$lTR!F1`CPHqI3I-J?S{<*B*DweO*|v<K2$=&CF5vf_u1|DV^9e
zgMF&%Io}TJ+rrDGl(W1F*a(K(Xr}~^SP7i4H}r+eAEnzKH*jYz;BO~6{`T*7y#M|3
z>;=GmD0z0p3r?Q($5Fve^lahmjq_5A#-MA<=R>+SXRGta)}Zs8csBZmhn;Bw@KK#4
zb-s*E@_X1MC36Xvb*AcQdJN;U=l-F!);+iPGB%ZW<&LAA^lqQ7{)@+p4dCq8INld`
zS0C@2BjbIJa^dlM@Y!L=ZDHGu<S*@KvbBvNKXLxtzRsz0`yTu~`Wd*_#{4s^g?Pi3
zz#iHI{RVhexfexRi)>Ce#K1>uEA{Ous;@g5dD>hI{Hm34@T@w%5s~pdeQ{ss^tpXs
z|F0e&ZO-}6j4ukmXBpogIFtIX9v^K^{LhR}x_NkgA7y<f%<a44zj}PMxfgsJdVL4%
zQj*d3VlQ0Dz8Pa|vX4HG-C!8|*c^Dh_LM!)Y|O(h0^T8e`Fw8#Ha6<WKAi=x;<CwL
zr*b^n@#fvws1gn4O5yaG?AK-Z_Q3vvywYG!dK%ttag)3cvImU8E;UqqkiTVKiVu>9
zcOx&}W0G%aA4Qt8QOOPqf3K>yW&*m{4&Mmdst!Wyg4Ls>C$a5mj>+Jj&(BEH*q1WK
z7_h42PqgtN`k#$#Bzvu5ti=p_H1}wR*PHG-;=jd)#kz*|n3>+Hx-Rcj(<lF*uzeIc
z^Q9X)O?&pQ&(%Y()8(^Z;<_uWvkjkKwSUfJY;j_4sBitYc6j6~^}S+*>AQfrGhXhu
z<C{;LvuVR@ySVRvgP-9xH9yyGcpO^$eRbYcwTtXF^-|VI`&^0rQt_hxR_(w?*2m0}
zJ13-WEy8cy8i(5~TOD?E;Uvb(IH#`MrFPVY+8SN>EI3}Rp5r$=*+WBTC6D!f(LX2o
zAh`8BXC=bN&okF@<A4n?TR9K$;dLx)<hSShqX?g^O@%RFOSf^^I>2SwL{u)bC82n6
z?ec$)gLhYOS9b;drADQuAZJ~^+>BmaMjrRq#J}tAxBuO)VZdDD-HB}md4>2JbzQpG
zysBqz<zDk=NZ<7_(<dE3<H#@u-9^TCd9nPgy*mFq>TK-%S8+F9X9Ua9EjzGT9%{o5
zG%05H-TiZ7?dmtp*pT<Q`!rZi*+y&@|L*aG!rOp>?%R}4V4cvjw7+T}9*QP%&`U$i
zOw(9o18-)3iF2l+u{4>{dorAT$z}=6PW}RWz1nnp@Kn}%{$Km;`LgZ>ys|Tfeesk+
z3p6o)8vf_fA1&UVQaFuvPaTz7wC`TiE!^#0VEXRl+^zh@W4iL3yOptL{r*(s{Ckt#
zaoy`3d0E%KPnd3E>Fw#@ZgVf`V}NHT_95Sva!O$x<$LL44s9p#Y480+vb*;Q({0a6
zSkuzTQTSm|A3IL(6Upud>aW1>CJ!9Tmk);FCBQ4EbZlku5TDzPuIB3^V+;GCjfudv
z0~*L4%NaF)TFb+Y>nD`v`mnBLCobaiA{&C%q+G*?sLWaJvf<d%M_$oopl8jigzZLi
z6OXcZfUjQ}7>38X4ShiVq9xYh5yooo2m&AVmk9V`8hb<3o+tZASl8bKtuCRTsQmg7
z(lmaz{sqb%J_K(9cVrjRI;3<K2<(@}yhpBQeU^T14);PQ6h6kc@JRO<;8)m3**iWq
zpud~pcJHwF9$c)wBg=ka^>)El`0x7t2l|zrI6A&BS4oo{C0b5)a*g*g;Tw2Xf$>$q
z82oIr`4bAW$=7&i@>}w+aQx5kLw8>4c#C1)%K!4!sYN<}l8pRZ3_tqu+^I%)Yh=C$
zB!|?JmF1U$e?${!gXz=#HS=otu_RQ!*)Nx`;dfG$-$}@CB2}YoMrECEOby?YvV2Mc
zp9<9(lDDXw^Np!dE}?SH*Mje%+AGTM-P$ENi>*;EqjKn!md<L}Lp+rePZf`>QLap$
z_AU?q_%}T-|7F(p*pPpGr`P^{?mwo_4EmJs3f~T2OYDVO+l`!`xV25m7ln0Bu{WsP
zQ!3-uQ+a&5`j06uw1%GiQLOJvW8oHP!L3<N=^@{jEvgr+Q(1X@yZ(NpJm>o&Kb4U0
z%O>Ty^-vz)uHLtl7p#G|k37Cz-d)NI;GR()-!5;x@&Z^F$#Zl2D(PL&m-KnbH%`Bo
z{P??_gZ)H4PuYK_tn_+cuBflb43cBM#~N4}Bcx}GZ#es&Xml*JSkY^PeR~UXtUZUp
z##g8HfQO}e5^Fs8*fivVP0aBiW6R1$8OXnr6YK%lFdHR@avq|*IQM9q0@>39cfCw-
z*DJ|c$Wz!iJAsLfNixX*8~8Hqf$vKe#<kCQ?W0d)4wHO5D%S9g%Op%okK}J`U50tY
zC4VQX+qxL@J)daChNyeqb;G(!*wpfjBfNK9!a0)qEi*3B!>iFXd*7h?+9!3ES0<*;
zYpM^vh5NVl-$;GN_FC#AvvP*5JMs;MFAHYWRlRZzzL4TRqQ+?3uT@UxN5LA1_J`s}
zIqn8^fYXwf)n;Wax!2N&?qtUks-N=xTdqt6{w*GP2majO(n%ZXnAcA1s6jZfk#i)?
z@AKNHg7M@+XBH2`ixfY?(b7-(9bK12*fpd3UwECw7hL`CseWW#s@4y!ldG@w5UqcM
zHvId3jfJ;_)<wQ>%2!`sr;J;Nawz@FN)P5K{^7>8mh@_HesNz#mO04_VCvu=uAim;
z_kZ8tf?p5&K6e=dpZ8lypGaD@wkJzIxB9PHasc^GYv~0tR7a`e_cgGVrGfE&kal0e
z?=2gNfwzyeqt+rsbGhgHr~M=23Gf7;GXMUF_`>la9LPM^KTYc%$Z?gqKUt-&Jr|;n
zrQ`{=&Q@*XYCsF}JG>7$-sh9PU&dfQ8ACrb1@TDfI0w)blkl4odXHf}<@b9dyr2*L
z6F64*WBqBw9ELxRgFlwwRmw}p2l!(=au=36hb<X+(hrb}ztn5m%V(QG{9)ti@Y`Sy
zgx^{Fbv^QxVwm(Ul`n^4XO1c4*#qPU#d`Ird~@25qh{U!f8uQR8e=S7=4;#&%tO~U
z=FY58%$;e2d8>RRo$rbG>sKoLbp$cs2amnJ+3#C(5+3DiotdNGWFowEGWt&mxxS3<
z_?qfRXxP?2kNS-3wbaj^&Ypry>)^b|>iooa<?QVcu<jGgk?DP%b6nvSV6J#?s+WhC
zHFx+hFX0<*&+G!2r)u1##12%6(NL@vhpCxztfS_Us#Ol0OIP8|+koYmfH&ttdq9*o
z=i$xVg>1>t#+TsDQGA^IH{fG)H8_natOia4@FBi&a|kD?<8U&!r+<E|0lpGXb`xWD
z@pZ@)FE0?E$<CXLT&KQ!?Od@3V^@;jT8eom0-0eOaiDXwXZ3Q*Ilgw$&i>oqDSC$<
zKEzmN@a^(0ATNqvQ;5lP6kiJCTj+fLO{yQkud4OK_!g@FH`HGkjLnT{9BE!?j1BxA
z^L&4ccvH1C+=xE!c=N#sZ|-^aXx^N7c7Qh@=_SrAe7Gav%^kt{vf@ApSH%ZY!9MjD
z%8KrUYphje|N5iS103{1bNfB%)y8|<Kn#%zuT~tVD9oe$ZOSwK^L4%+EvLR6FDd@E
zf11uG!+3NovY5l8&B)BJhDQtWmCL~^o5q1-@XK@z{smsb*G|F~(;eoUnH~MpJ{;-q
zGU^`;@K*ACK7_a9s^INvd?$K=Yi!hDe4dQ`qL(#@oj5ps8@A>gyrpR}<Ab+!M8@|5
zYZu)M74sqrw+7Opd+Qd`w8ny==2>n36^(V1@15Usi)e2j_=(-ATQSna16M)cj{n^s
zD))z=oZFk8O!$02>--hUMaLprb2N>+(MP3yC)CH|l|KA8O@8G1V9b94E<a&CD(9fs
zAhnm9o+M|&{#_*JM~^*vZGyd8W6NzZGh2xd>#+x{c)hV_(J}bpf<U)v_I;(VY!2j;
zX5IUsy!H%BD>Zy2^Vq;Ll+7}}T(jwmQOEMMP@Mn<71=69opAeVV<?%t$o((dKKPP5
zeV~1{;p#-&&rm1azS?kQy+CGn@3fS;2euOYmMs_G?#r9-H~sm`{nn=3ialBKC2>)v
z%C6jsKm2U;#{&NRgX@f5{LP46*%SPU`S2O>kPs}3FZWMVp3;>6De|kr4_`{x#to4+
z@<E<!<D;&P2#h@Ll-V}8i`EutBNyb^HpqW3`NDNyZv2t;=at;Zx#e14zxJ%$m`85p
zys{E&_5Hes2K<iFnUL?sx_$Yy0r*GPDu1eJ89T~MgEy_sj9~w@I&EE73Ee3UpBB$*
zLZ7~b_H@QW+zHFSGc{sU<cLiX-4l09A8w+4(`&3B*%NL3kZk{I{fob4ks%ZCUB=u}
z=G-hMeF}Ouz)$(IWgEsdb~3z&wnb~+L{rg|E-te#F=nObYs@!K`|i9f5$H5=&K#n+
zo~y$K4Gi5reJ1TUV#Cya!Waj^dn2;A_+%DY$<Bc@g|VC&xPFQ?{G!XqbXV6MoUvK<
z40MtX+K*$;Fp~zy!a1_ckF)Dwb5}fo4gCr>x~DUC9I#=`mJe~~+>O1zL~NHM{nNpZ
zns~DtxlZ*pKMO}}21D_JB6fl(-fToB3*$|qhMpmLI4VnB0vxrr6+27~|J5A!p)lSQ
zu@^hoG)C~I#Q8=TZxS_ZOR_sVJd&MxsQG)?bRDcSHOi$ZxBrBL(}fS8g=e@mxq~%{
z!f(;@Rb<f+9hP?vtm)@eKSFm^>xbZ}`l&#^yOsK3_+`+)EzSnCmD<&B=bqkGu`^WO
z>nc)K>y!x1=fkx3Ochz=Vab-v!Oi=9l;ceIDETBzKMCv=7gs40#?9O_{nNfh8I4(f
zX|DZ?X#ZAzt55M~mwqAX>y*y8!|CUczDnufeK`Fr(iPXl)jyNp^FzO<@;k}zoahys
zsp*-%CeFE`Vb2rKit_l~+{<xt`;OT9Yeip)-}*3)SFx$&uyb(!dK8={(`Qt+JG)BS
z38ZOG{Z-cFcjSE<*-7&a%SZklDz9)adv*p{NW3i1-4+9k!{@-VamkJ=9=)o`=R+!Q
z&l}m>4SXnE-tWivQyPZ+<<5?{XGeHI-{<FLY%32Umwo8O)Ra|b_~o<Au*DtlgC_h4
z(!fgob=upGk*$^fn~~T43=fp-X*ipB`|o@|A@OI=4Cc?5aF<v6We%T#IBmfPeLoJR
zV{gbEJ2?FkbgT?^|J(_K)3+%dn#-L$IQ<fAl^M<#a$^UlZ&NyF61fS3(=Xx7TJXvt
zUnY<N!(-Zr9*`q13w)b9k~4dUndupLe6D$L8>_L=W!M)b=Y{Lnqc3D<bBBe$#oSfQ
zoJpB82bY;lnbub9+@1KkwwmrN|IOcUhO<32Gjl!q-u0wy_hxR2`94%(UkAZ{G`Q0V
z4r%NO;0cdh@*?rbp5gqi+E^bVFN(9(#(rs)azC$v+w#SZwx_e<Xj-*3zm3>~N0qCB
z1IJV=R|O|-<4pOe_Nw5>G1bad!I|6stx9`UaOjvS<rV{jUtsf)ye*y}x)XiL7bSyV
z2X`PZe|?aCWZ8GE+#1+5bzgU_?#k#L%o4a^<yQPRMB}B;nr_o{aE4;)>3m)EE8AuR
zf0BFgkFb8<vWFg8$z7c`|NhQN;8baAtX;kkCG2md4ZNL*?X(%ZnM57M;_F|2{FMHc
zrh6j4cXGy`gonx}Mg9x;7wj?6gXSS0hOx|L3;xqZa60M-vJl%=S?Qc(526R_AL8Hf
z_z7}5@%OIJh=*Ji$Vs6yil_{jK`(QDBwmde7-j6XUuRrBz^$pyEItGJDt}hr-s1RU
z$y>RgJRjedCGTR6o5!x7u#Y!V^gb0nGgIZ~z&nm7nYer#u@|=)8{e-NSY+_!b@w$g
zHO|8&f2e)#J9KwUNZzVG*2S_D9*9j`{7w17d@R|GFVU@6@cmw7pYlq4ML0kDc;M3_
z__}@W2KeZ+#JsrbaDU5<@cwCxN#j*pe`GDx7Vm^kRU2w^>6YvS^=o=^6H2V(VfeIg
zV+?<LKgRoob*D^~ZZCL;`?;2WboN<<FU$WWyk?hRQz<L`y@S(t!}H2@bGxqc*YRW<
z{~rF6uMuk|kL+E##$W4-yk8~$sLqyD&cWd<#`g)v7p3jLtCH5L`2hpXzenHi9cU*`
zJEbaheo-ZDtLj24|3ZA#q1N+Tf9{{JwPO#ST7n*@{uLiw{O06e;@)U15$7@LW0K{L
zh<r<&UrDr%_4A=U&S`FciE)U=Mcblj`F>oF{-gDiyda+7{M95gm=4pv13S2ZKD7_Z
z4_vZ9Y2^9|&c@>83~Y7QFU^-V>I<`xG4QXPX2*;^n`O_@9ut-y)V})sai|ZqpGMa3
zh=Y}*P8ffVAw9Zodzh0y{((3?*n?iuIOPASx#}*6<A(>4O)|`<%(=Kn-?HxzP_*xs
z&gj{|_`*bd8w9`Jt8^|qzVJoHxu16Bb5MjAPfG`90{GuKdsyplkVmESafY3xOk6tO
zF_Ci?WL0-(BW&Zm3_2jzo3)jH5;;^dP!DaC`Rf1{-NzdIvj)RN@`7NjH+wsgYf{in
z0y#)~cRl)V8)H>ohV}RrZES9}Z}FUz!3L_bUZ5)*_UNcxA_KpWEyB@G+i(5*SI%bm
z0yNOecm*55>9i1hL<d28l{3HJk``UR$4PsfxgJ?IU~d7&FG+56=W_?~gRs5~oWskP
z!MDYjf@C4Z1$YB@4!t_=Um@qj-<g`S0Q;5CE6wHj=P#a$ZT5i4e&J;JVj5U_nm2rX
zC>>D#Zi)j8|GrZ8(DyKJwd4F7g_Dw534~z%9aScQo##!$W5(fuQ=>;AEC1r`HD`18
z5}(cP1(ctHE-ycf1U5AJk}dt~oG)rDTC3aC7Hz1liJ^83<wp|>;%s~=-PptLFaGse
z;po6v&kV+@II{M<58H!qC=MQ`tv}khia(0aH+=iUw`98m?wp0TFXc{|;tLD~pB%oI
z+S>$^5_9r>327HPdbi@cg5MU#p*s*yGS0oMwdUaP>6fHw{Z-zjJxtn*q+J0{_;mgK
ziaf)<%J}LlZz0f!{I_}Y*r1yccP`*-qU|u>*gek7-$C5D{Tp<qD&O6)h0lRAd)xSp
zom?`@%bfr1BaU!0YiDB#!}AAZmXX%yGS1x@?T_Q>)5C`0pB3^xG4((G9OFd>L7uSZ
zgZrpoo`udBCoTaplK5Hz7^`pm)7RbszuC##4DXpkfBnzZ$6sfruOn?8^jYhkSw{OF
zXJCf@{8-gv3X6c5(k8O@!poHQS$M7dhTyOB@){d<?h<t1!5eg6KFB-y7w{|VUkSew
z+)BZDtcRURX9#XxK1d(EtV=Wat-9iGy01AKoE7eKr|EL|&Xw0`U;OOfc9mBS?-CBA
zYWV49;5|B@5=<SOnhmi{ft_fgV?VeB40Sf3a|}0@6k}0L8r@aaynn?U^#4cdn{lb%
zTn*cthuz%9sAgXjy^1zE>SdQ}97G%bdH6%Vzb5T(Q2XGZwa>y!U0;d=>Bcr8z+X2X
zhX+~B0X}&vV<k>{OP+Np#T3utE$w;M&A!z@+O=(gyvRDp$Mp4fZsQ9#+cnl(>J#J>
zzjiiwWqK~|dziXfC(St#@baE2?~x?9UmRY~muUBcj48^Gr)!+RP<q#5@aD*}qv_A*
zzuY||&bMez`;^ryphNBF!jImVeQ#>}Y~Gmq24lDHJVQSj=)Vl?!t}`-^z)<ZVU9m~
zJ&r8%*Fv&OAGEv=npF&`=Ylwqg6}%+4=V<^&f;{B;ZWVMsdJ!d`BFa*UZv4P<jY$c
zIns{}j_lhD{wX$iEApnsCpkrQWAPe#`4Di>9eCxXu>-l-;5RLd-<;<DYB)CdcHrvM
zp8u|Z=mG!glZC%pqq18g@%!jG40e)bl9@)%wf?)}8;2P44y{QD|8w+l7$5a&uv~~N
zA~-xc&aAU?BYsVi$D`{^jF+R*L{qB!W9p_HerDg&&SUAfySBjDzAsVE%8$Ulm-+d8
z+Sfa+uIS&9c*)_$P0asP^iSc9;+dqNx$r##oy(S(cXA~3$Tu>rFE>W~se9ftAV>MM
z>HAXKeargsn3vK&<ZOn!Zs6EsiH^6l{|@@l+eq3Ua;)Dh;x(~m^K~}@x?iI;?%gRL
z|5!oy7%mizBda%%-(VW<PQOj?gqNxv@Z8$S=wqAcj&fSl;^jlj62;3n+hIN$m&Ozu
z#vR-ATibs?eeJ)x&#t^y#%ITD&ayEw?jb)ZUi%LAHt<*dz+bIgx9y$a>^s=|up_14
zVWubJ@LBFqbkJ8FJh+WF(iQh>7<+gEKCzs=r{_}U430Nx{@l?<ka~<e+4m$^=Yu=F
z_L)oP_U&jstG#sGv0Y{S#o@yZnb)OeYHV)<-(LAO^Mx1NafEzKqBxvDXU*23ucCiz
z&*=fyfzQ~L*}yNMNBZ|w$-aL2`Gxozx_z0u5SI6oCf=V#mq)g=<BjvJ{03yIobF}_
zmh54@!0f}ose^UZxKwXIjv7-qj2$sgUfkMoTPk+kQ-H%heC0Jx156p`5}n7F13Xz@
zhYq4~qwi$v%$nRt#l;v`_&$AUKN9YoXUyF_R`#A~<wGAgCKfcd6y-Af7ragO0|yl^
zYvRqxz8}pon=(6-GgF*@Dz4pUfoUsioWeI|_P8W(5|7`L#s5!vNi%DQ2i>T>KT+=M
zVfY7rgsk26Pm^xpO`81w-9B_P>Hh+5WqqHtld^%&u5|Y3*gWtjVa!=O8MnPh#vIj-
z+W#=^D0ZB+mw<=x`R>>`1Lx)eU#Z;FG&4+#=(xl^jws%)p23<zGs0VQ&H&!Vr&Y&W
z?&<AGwhYEw;cJQa3J-(3Wo#*j_`ht<S?$-ZJgfbcI_?yK-$~hwbT<Zk$s?x?g&#}7
zk2}GSGVm6hS1@PAhHL9-S+f%Qxrucaem;rKVjsLA8ymov)%d?v@Ff=D3--or41B>y
zP<MvjD14cd?3+nDGtKzB<CA>e{Bzp$@r5_$=yx-}^<R5?D`WT$zn`Y9K5)*2aCCLk
zK%dy4ERGs*)PSR&aCB0v{RH)iTq7K1P4CXiUrqd&@&9YkukDNd@pgVkalwG6=`)F$
zP)g49ILq@!`8?nX@Zj(>&?;?<)^fGZ028Lgj+-)$2Sj}%<Fs7@Hfk%+H?(VcMU<c9
z@SzmkRo=BVz)xbUJBd}6#AmJt+idh~W?O@q-vEDCAF}1SJ_5b8;)~&tcZ2RGwZW6X
zsV?}P>~+E+%acf>?vgA#q4y&`Px6qlEdLK^qLcI91;HGmG|>S(qHt~i&MlM7rfhF=
zW|Fh(+zCFM{{oEj{Aq8{J)H|V=MgQYpv9G>@8fQg)=zj+7XR)!tNk?A@k!>tpM5Hf
zqt<rncv>|aofB(cLEZA@$-Z;ImvhXxyVH6T9lSd=z!ljw)ZeHoxH678jQbn2$-vW+
zoQHbBeo<tcALq~A3(MCyM@>MVcFf2{THg}B-915^l%8O}Na9azWwHPcDcY6{QUa%^
zs~>QgwSO!nKKk*w+^bCXt%9GfhZn^E&_6#L;-z;`{!-Nm@K|pWNPZEF#qXw)C)`a2
z?~Vu-$~#qc9KHr`kEs0XNw@f^_p>B724fsYdNrK94gbgh$18qw*N9I?{Hlq=*=PdZ
z?e1I1pD>C?j(6X{`W#;)|D)u~r%dyC@oDb;)=AFwVP=4tzyDyD|BLpYaf9}sw=tJj
zs8d-_?(#Tz{f_jtRmR_1V=R|47TH@%tbuFiQQCo)8wF#R_A}BXyQ*K8wuQ7Cl*T^d
z(tb?ZzwjRUP_TIu{e4MqnzKFy%C3OtSDicO^eW@_-c!^Ma^YrM7rUY0hunn?;W52K
z_731O)L!?{w(vUpe9G;8$!#NNB;gwdz68!MdFW^K3l6`5ID#s3uKMA>>t`DMyhK{K
z&Z2v$(-v!=pgN3cIb$5aE5E-_kaqu5;w5#~)_VZHc4S$1#jgpy?J?OiJF!<vHn%o5
zXi7FVcxIpO`Dwq0uPs>w?~|;2*Xzx?9^iLilGm;~vDVhbo+<m3=*Z1Uwy~mxvmeXx
zD?z;&^Y%t%x$EX}FBtz8WT=cS*H}m-X_GsiJKvDh-ROB~%4X`hU)yH7J<7+ho0X3n
zj-A>xNVk(Luf2^ucfQWU5^>_9GR8^VEx!m|N_T>!)A#GXIpyVxBfT(Be~P1nF6O^?
zt@uiusUKPPGpp;XuI}up?n~6w9b(P-A@Bh`V&1>;|4v}3`8xgB>ZHI@c%{8oc6#YQ
z3HIk0W9toc<MJFMxv(O4UZOpHtJl6C*+sUY-Y2~FC9J9AHK`i!NTw9)ZE3RmT*lO7
zCM+)U#%42gjjlU|y`Qsov*cUILRx=pXOD4qvwhqF{|#-uBP#p<DbziWzhi)@^!826
zS8WhCNIG-S&X~o2;*31MC5|s3Zy>T3E$kOL?62FnJ1V^(hwWAU#i%oX^w%cH9<)B@
zElv|#^dDt63v5mYng2T!FAO@@zU;l4&kk*?P1oL|w5N7u&&9AhKgqa}e{EZd8aCY&
z`%@X2Oyl1LO=!&Fb_wch<KfN{J%YQE^Ho+j|9zcz@>{rm3Nqy@zc_!*`R0_0UH6!f
zUH9vC-XmY{uV&XBUHC?*9Rtmr(nC9=PFYhK|Dgdp(rU)&#@k(Gymw>YJ)d=p2XoiB
zZ)4mZ<CPA7AAKdr>t)<l{~^8vdej=}wb`k@43p)&%(o$qEnLkyYRy-WCp?tg+RIwy
zrkXzDzT7TYyeYtqFkXC=^Y8nRopi3_WERnYJ*R@d!w<lB-@fL~vYZ`9I3OM_+2#u7
z_!;O*uyAQ}Nqc~_U7{)Oi|=Gy@P+N)FpBGu-M)+Q{ggOcvMptqyTvKqro6V!yIgbd
z81MPi5BGBxZR!l&I|)4k`N^2G+l%Z8zC4ayRI&u^8s7W(1~IN2o+g~#hO^tKjGEx>
zfp8z==_3pe`8x+PVdb5kI?}{*9dBNXeBEUEiO-)M&ANAg!@Swqxevi_#HXV?`U2KI
z2^`_=kBP@C=9zG}0i4@`Jh(YFw@<N!YuTCe(309%2k&DIE9V_4(qxwuT}%r4iP5&>
z>Con$G(J&Zg<r<uP1@g5tj(;YoEfi_{arTO(S`l+*O$3FbOkU@ypcBBxPOC<tC{rj
zQ^UKyz+DlQTdV)%i&x}B^wF~e9SIm(yCG|47?<!Y8|LZA(7v6>=j&?6;nqFW-$wnj
zDsUf&x8&?r)nNO3-Y)K7Zou{)!BluNT5$ct#eLcXlOb4XpOIZ!uzH$$`aOv{&Fp{j
zqh20EK81&+NtZ8&`8fMRy}42_JBD=aJFdNr@V#pFb*AvZ7K87Ve^%_`p~Qo6?8X=B
z2HM|u0=fqNK(ianx-9+_miN~1!%V=J<!|&B;Ge}G$-=(|ua=)?w%IS2s!>k<4(?8f
z+AP=bfACZ`xVx`<@VM$aqHIo_bJ{u8C}(X`=t*`iHFT09dqozXAeBqiD3?(=^mIE9
zzK0s0r*ha3R4!MeTpqhxmbFs3M2&Jq%1KW3@Q=IjN$nGQvvf@1&ET}oy*p{+1K@TG
zc-aP>FOAhbasy|L4kxrv2q#tNtN<_11~0WwG+_H!dIEK*FFbMd^8ByB1MuOS+`Xva
z1HKjd7XMbc->6K010L}L^zG_DsXYAOjCcj}%P61Uk_$e?xZOIJl^(k9|5Mcq)>iQa
z^zHh4KzVLGmB+Ws`+@R;HT1X-tZ$e19pwe<mQfzxF0Y`xV6BSE<J;wJP@Y>KbW%6B
ze<J<sf){x%?JK0+PFgrFk@$+_ZRURz&wgy8FIU5_2l1870bfZ0Gw{ovITz_i`<vEq
z3-$DSQiQLRI0yJ3>EbJ^9!t#}#yOn$iEC#!{G?hvbe#Fm)!-)!@!bsblQTz$_{po$
z9{6)g7=LQeR#7z5{Mu+xew7K~FEA=m5B_QSM6l-$*e2Dc<0m!fD<?X1{G>*?gvvSm
z<9jIjFJcRKxR|O@E~9depYT0Yd!EWUeo~_xz9Iwsq(-?SV{-gt>JyHij4ezAhs95}
zfJdAe4B`hR_>TC&M(%}Y;Q^xQyl9YbM=wvQOt6NQ2KjdM@fdmGbxVuZEI$}ixJ7gp
ztW#O(A%3t$Z90Ac4Tkx_kCf-uLwO;7ut|B2A7CpF^Mh|G&+!B0h4{f;$_rqv7$0GN
zuwHq<MsrVK(|2?GD(T+@Ua!u7#}>9v@aZ?of8P+{C#z`F=O_MscFBha;1#`r?yfs<
zRz}1RQ~JAj4dd#=x#1{Yvzb0~j2oTs9>vO^E<FPJIUD}3_pU}G$GE+si@ic+g&*QK
zcLjBuMQ_M4NpuQ)+V*78Ju|i(@(z0ZY{_k$BQutH!zk;a$L~i5%%MB3uzLImtH)0w
ze}R0;q{qXvWV=hmP5UbPIu$*Bj`VosMD10_gKOep8joZ@<@E-6BZP;fYc0elCHLII
z?>^+7_y(_i*vV#HobgyZ<v#jQv{ghViqG-d|AH@c96N-{r)reXsQe_qT)Bok<*8iL
z!2Xx3Q8thK6vrN+zEy9iu_jcmF_=>gnX3q2j*kxJQlp$?toZAKxzyn0lFQ=QH8j3l
zjdHU4#z*?)5;e+6#)>1qtG!~4Jt0G$bX&<iX1n844TV3$v&5%_7xTc2@!+v!^O?Li
zwKO*Vkz1<zS>cO_|BdQ6+8f_96WM3{n(Jxf0CcsUebCwgC=*AwFvo@LMba%;cNZ@~
zxK*Kl#v>fcgmB0s9+~jT@y4|(6W~ood3?M2w<#}#D~e^N-?GJ@1s`y@kwX5`w`+5m
z>N$K+9^WqS2IU1fAlXdcF7NM@7p%MFGJU(e4=XQN>!R}bc6kew=hheAuWy(4Zsi4Q
znj_E6Z64|N{x^9p?QNv#uFo%#16^FBK>xkR>Aw~JhL4itZ?d_8Ge_~aPqD7z1r)r8
zGw!w0e`Daoj@i@NrK@3AEzE?^T~&k6eKf$0X6l9cTn9dtY1;O%qsT@mK52q8<jL^B
zEa&^Z$Yv9Qxc55K+r|9G$Oi=dQ#hWe;n$qNZ%H`0nR|-jb&d~DKHP8laCAI*(xn4i
zTm=UWaE;5}^7;s_+Snfc`-~cgTc>}6j%<Ig^tZUaR%7eCkukgs@9gOG+Bctw&WkQ!
z>9YnuD#KekkO?;6$K4Ug1eqG;b1L8LxBF^*t|O#7h(8X+6N~VfjzD%0e;le@O63AM
zLUo2JSBB?w1TsaYM!B5IIr*YSxrE9EvPPcoq575l+Y!hesT$=nDkppdugW!K)f{=+
zL&ZD4^Vk6I>}35N@4NsSjM}NLAZ;2nBl$ov0GIOi)Qwej$%evu{D#8(bPRFym!2?Y
zjm~<6KaSq7q)*|=_z<3y;c>zlhnJVAOn@8WbNY7mQ_2hDgYvEHIKJ=)<+=5TU+LSm
zdA9O`HP0!JZ<lw5@`80PD=#EFo~FEDZKZ?i+tqu$^4xkVFC;rQDlb?=$-nw`^-fe?
zux=Uh+}w^OT`?b(=hB9g)=t`Ik&B(5big0iI{v6w@K*i{e59QX>+PH+H0fNGJ0kGC
zspy|mg$EzUZtD662bV15U58Hklr162dh6a}GO!m*_WR~9bq9>tzWjCRdp6(v-KFnV
zzWLjr?-hLW*P-uDzWMtnzO!36%i-@1eX~}d;IChDBX+Ld*}h(y2>hEC;t#0(TXxMD
zI?RHh^f~-E%bm%Yx>I*MckWX4+^LIs?Ygg>RsYTW=kHT|r>Ek-H=BEL{Kr4s#%!0b
zv(9*KXP+*!|LR-$idiPR_Y&?#WLjy1zmKX7?g8m;9dqqoF&&+Vzi3;hzRs+xv_-yc
zYr5(CAn9$Kkzntb+R9x#t-%WJ<MjgXmE6g@8at?gkC%}V40~D}9*!M-;Cu>s!`&74
z0^7~jMzijV;DxjQ<o?osyJGJDiI~EQV<0%Q=Jx&NQ^BDytcv?b&e%_xBtD4Rzmh?0
zXw^}Snm;0EG+BG}V7us0_KOb2QUrgnU#u0ckljK0gzOj6CsM4X@J#xI$~pVR7lL||
zwB8}Rr~xl3_6zKy>#3`>unl9|5H^g|tJpB2Hqj#|ATPk5Ud#R_op%qu=~;M{%4c3>
zf6F$%w*4)v3wN+@H4TCDJ?t&ght>D1?QhbJ?VM`tM`iYw>}%ZLvH=hDYP6^QEej7+
zzpu8xWdq*$YWrIjd{KL^zQ6f4(Y{}}{cUXF5A1c$hN1XGL+RwZ1H5#)fU|?%L>=E&
zI=1k_*y_5v_BY{=<JVuMPvJ=>geThHgfou+uT_}<H?+U$+tt5~yg~S&d`rvNYagec
zTYvT`eY-Z7sm)-`wZG}x<=vpX(Eg@xm-lzd3)a@!SowB&A6A}QPxd!`ySxR;3)WEk
zo4#G%yOkHLTX=t)N4oYm<sIgK*dGDjvQ~F~d_Up9o)P#XXulgu-p{cvIod<sU;8q$
zzT)SJ2OVhhtW86*zIc%MSsXlqwk#h~9cS10c+f^O_2MDBMx59r8C%Y`Ym7o>DI-5O
z+gLfV%hgs7xFdeP3qNsZpZGm<OH<FA94gEC_&2Q&pjm705TMK0GSVfmV`yyR#cFfo
zsoJj<|F5xdJiK^9*oXX8V(pdC11!DN;7vt%jK=%}#(XP2Wm%1t{%6tmLhiTU%I`zS
z|H%!=|HpHl7_^zF5uYx_xRSts18pYR$JAc2##qbPRg&zxDwnBIE~j!Keb}o}HlebC
z?L_sMPt`M{Jg`Xyy0YpFRW7A+f!<uK0nak<Orkg2xzs3^Q#o{KmGf$pOQ>9+Tj%*6
zYJAdNlIVPDFIB4?bJV%5mH&V4_+vw%6S>C8|B4AN+!38PUi4w|#RE%c4^B^$u9#^P
z*yAOuojYm*y1|4;ZXLqb@|7`zb%O~#=b{@-Sfe&{PtEGDGY0OemAL=m&NSs$5I)Bh
zF1qnu$T);^BSJWrBYvIm&+(#ZDih#YS$TZB`e!OHgj;%_Prr4y>nY_0xTN>_^zGV=
zE6?E%yj|ZeZ@lsXoXIIKWNSHDc>$hiPtdokcbxJ9+|Zt&Z<jYrc@7_x$G6Kn!hYv)
zz=Q9*xg8*VCGbr=+Po$q9s|D#^Oz~m9(|v7D1L-b>``}bpO#M=xaa!&4gGzD{@#zQ
zd1Tq<t}Wb^(tTpR8Cvl#yJo<C<LfY9L3~}lNQbe@fX7GKbB+Ob()9BRylCH6uU)=N
z!a3od@J{$@!2hOzuV*MLAA0TEhdA$6U6nWR^*B1sf;zJ&jlOd=>GIR=!*BXP;D6P@
zd8o$i-|ZV)u<ttHyY*@L?tl~5k3zn;enjI7Q}jL8zdzWleS<qjJ2!;y4IX3f4H|rl
zdN=rQJ>W0Ul83h{ZfSTeF5w=MyR-KYd%S!fz7IU*+mgrT)OjrO4|<s7<_(<rDgS3G
zcV56tYTS1#<GWHCd8xfq)Qr8obh+v4Wt_T`n8JRfd7aN(bbsJn{$D$Zc!|Kq#?__$
zFh6KzOn+jH{jrSWoz2F=7}De~q_JpTCH!YBe+ztO;`k~>eP(jpEe`w4TtOQ@qur?e
z;YXzP=+2$)0$nqp8<{G89`ctyvg{G-!*?IB(YTK+ySJ+t;9)auWSD;i7e6u>7abnH
z0v`70ZeD3x`wyWz)~t}Do=r2;+k2VgCeju2A}ibi_u$VV|Ep69?~|VedHeCvJRqE%
z6SFuw5u8nonz%+jf>FH9QC@2xyuBi*AI94<{1G3!Jw3$Z5=@@tPj@-x|7UowM|iw0
zMx2kU>bt<LzCVE{<#(_q(46pQ5;)py`_Fdo<6e<`P!4T1_HB#ak;irY=s0j-D>03U
z6<8X1IreSdYN?Cy<}PnIfGZu`EA1s;Z;o{0A0+uH`sT=F-Vks;KEkyE@}6+GjEv;V
zGyZ+qJA-s|9qYGcM4tf-FAC(TJ)G&tmg@A|1;`<?1IOrJxRXkocIn@7#>ITQdoKq+
zke}iP+-5!GyK5Ma)~8s*=8BGN=WF8J)qOAP!dwNHyyA3hh_&A+xBz?c1jg963?3nx
z`Iyofht^28iWS({77U@cWp&0%8@3PDUbvA1x1DcuiZi=4?8}Pb6r};3C5Gb!6qxVf
zuOUC+?|waS)H+P8$CkkSJ!9-!@F~WVaP}0f8{<?gR1cVCW2P_3Jv+fFNgM#x6a1pE
zOL70U7d%M@d4lOicp1KTC;R@K;|t;=Yp@U7`$3e;IX^kpFiP_oo#oM&d?i#~`0w_P
zE10|TtY1H{6@R%=?UE+{axaKe`Y?Q=m$^Hf*aW{4PG}v(D^mWQ%1X?EEu=+l9FM7g
z%8M^3{^W1z`>RTu<<oM$2Cn3VD*?|f*0|eT1P&Fx^^pO-m5d!N*Z6$v=az4&Z3mN)
zj7#<$>#G|0NyY>x(pHInBK*zS{M4`B@7fKXS-v^)n66H6qz>HO8SuO$af7_!rmGD<
z;pONhKSwVSJoba{;)8mtDY5(FKD#fkjJ3Zq$Bz%x08MM()|*1=|0|zP^6qNf+6qS_
zV@Q4wzZA_m{9BC=vWsD#3;90;YgM_2lgCHl8sO&R7I)d8iM{YH;g@0Tx~C%kmp@ay
zM0eP^3muf%aZ*qQyi%FcTj`T{WqHOU+!pSJ{hs!59<01J<--%7=M6#AGsF7Gj@LXw
zIKTQ0ocX|$Ph;+-Nrtc=+);(rY18T!S>J|sWj3&(budS@t2RG$ykFkwb(1HX`JbRI
zwb22d4b=u~*mBJ<Gfi|N7>LIts56UsEYw{^=HH8qBN*Jy+$F;UbMA{Gk3i#sL6UK6
z-EV*&Dqe&0+m-+H<=pe&9qa~&Yae}-dq=`G#_ZBQLRur|LZZRw7`9yqPoaOeR?Vyt
z{s{gUDBm26p>&a%KcD`q&Ev(s{`pUVbHY2l8(F7!z3-pfmw0||-}w*wddW`alVR@S
zuf0=-=C7s6#Qud>>5bHY?^N#BWFqt0g&)FOnA<M=Q{6i4`b&RHc+GcT;IBFFoXty~
z8>~6Dt)bSd1AO?<39J`9eq<c`Cu@;p+=g*e$NH3)>P8k`Kz8^R_U0F$bCuB^b@8Z+
zrtFN>UG{r)>rDMmCtSo`-o!tQnD`ldC2}`s4(gsm5q{didhNol3Lap0=I#V^#a;C7
z<!0F86nA=0#W#JuX|(UV<%2T1&oyI??A+Q%8w<~JKd|?jWS?+ZcP!>GM(|?MF7~@L
zvT=q!OUME-`qCW>?S(s8*PcdV%h9G`Zi@NP9Ne+k$$qJ}@8Ukh25{{G&dhtkp>%L}
zVACJ_XUsAUi@$ja@6HB3;`S~%vYKR*1pUW>QTF@+*arJw#c!+QJb&NtC@VZ@rtE?t
z_Sw?K)%h+G(q{ReYkiI^3wUh^*M$>zKjP!WF5WN6Fc-;98k?hC;e?Ox;|mKPf)4{n
zXs$bd*3kNS{;mGld8A<w4NpF6F#XKqd?4VPeWJGt4WAFcfPSt6hvUc$72axwA2-Vk
zUwp|F-{&8CU$QG2H~!b*m_8#`-^E?Y#IFbRL(O^T7e{veT`=#RU!2?Z5IS8tI1@+*
z{H#dYE^s%6%rMK0So{Zgt7MNC8b@~RTxq(mWKVvfaW3D`C^#bA^Ni_J`MURcQ^4E4
zcpz&KEBUDQ@1y-%y!tlyTb}iJfwdE_4)f{LX)i1rJ^V)QyP#`nd~al2b!li3Jkwc%
z^oL=Lr4d=ltM|tznJ66_7~dww;&{Rr_`XOoOMv4`vFZL1e{o;-7+W|-cWr4?v?M>L
zX5sRQJ}o7orHgnAur%7ICHXlunPGdheo59e70{Ao{Y2pB)Eo5kM5T|3g_pRyR%YzF
zFK>CejWs2{Keq59dChMW4}rEBM=v;*z$alV^`-w7`LDNN#6!i`%kb7t)>?e><IF7$
z?us`pM4w0l*Kuatnzm8n)+}ZJ+l%cl%~{v?>d~LEZ41wHXV<`UXdn%I?xfE&c5anV
z)F_`)`R1V9TZV2o^=8Up`!>K<ZI;;sW({G}^T<mFw((4jayj;jbYLe}ouS%Gs9az(
z&+|Q0x#Alr=j`V-%4Jk8u%(yz9;!W0<pR5UK0b80B6p+H;D+Fms!=X86&%K1Alu(}
zw+VlVF^BE<0eG0?11A?8;=bTdxG%zfY~OLNV?XY^b8g=*_N>H{bNjBLuJ-s|_>=ZF
z^}9<t|1mYjSkHS<*c*7yelY(Ebd!zT(e|K$YWyqx;L-f6xb<lMbpf)1_HyyBvBK*J
z|2l!R0hwU<>TkdY?<FnFH?HHJ{K0^4{0%a848F0Gc|H$(9N*Bp58@jc_?q}eDc~Dv
zbSTL<KVyy=<|5d>4|!+<b)$5(bXWi84ro#^Y(jq4{+|cN_b~^->2BK4zT#xC5u|HB
zi0&U#e$hX_)>{4XXWXN#vQ{2)%8+=6+`5x7TnlW31CrSi_s#A5QZR<f{`+A6H0384
z_vgtwRqze;vsU<vY+X)1|2;apWK*?u2jx<f)0|&u8rdcNK>NqLwEr~u`$tK8M;!kB
z^Zu6B`r?FP$U>=q@G7#9<dGt>P@1-!ETpvTBmMK6k%boUwzFiRW@MoSfh_bc$_6q;
z<^Gl1$8Q2oZXYif`=@oXHc?!8H)(aOxyH4eH*E^|QtS$FMSEy3cA&M$lXc*X?%O@j
zdI=vdW-h{=5r+421Ki04xRWGJdtw&c(f)ot>n@yd_^=b2n*nThLSI@F(U0&z;}dU4
zq4x+!J`D{!9^jP*XyazdCjrfGW{$dVCO#^AWrB7cpDgqCiN0NX*QvdLH>RE<FLZ|3
zraZ?Fl@~fge4p|H9_T$yUg!+*UCImiUPgI*JN$k-c|T!&v=_LvOG#U)H1-{rc9Gg(
ze;LJH=*s@`bJ}9Bab?b<%wp;}Tzr6e4&dS`h0kIu5dRV!hXao}1#}zs+;;+7SLeHt
zI=50sd$#JxmM&QT3;*5SJ!doQVEskU;dfNseUBOVk-#g7IiomPsVRoLu}#Qp#}ki@
z7`xkb&l((Q5YFn2joGH|@&&xp{3q--ziLi)AE+BWRdTP+Di^R{%ZDPzI3znXz-RP5
z3EXepGHFdSHoe*G-?PEh2V$|s8GIyub-LnM4Agge@bFOGG<D<1EQY$~RMj<$KZk8N
zPCfJn8>4#)HfoKb8Cj-xq)*p|SW6!QzqT-jm_eqZd?MiO^^Cu$eQcQND{B4Wokiiu
zDE<qNPBh#xm(9R%KH%=JJ!tJ9N>|@a%y$v@30=RQx##4qp}sF3qVLK0io9Ci)%sOG
zKl!O2^CqxQRBTCqWZjj2DQjKiJDUF!(vB?KRJmWj10K1Rvn~IeBUWey2lPg?wOQC$
zSf(JqtzG!aGtakXiBpLG%v9l27I<oZg;y`B=d40&9JjLXG`miXtWyb?R`h`Y=8AbT
z9=uT9V(89CFxHB#MKLbla~%3A^HB_Tz5kS<y{OK!Z8|YYu?dy%(USdhDzI_<GI3gs
zz2sEcamFBLG+?I~U3fjV+!Flf2L3#FU|H{rjz#aoo|1viqx~*S__56WbC||L2WLR8
z-*OHAlQKHGcu5p43%L*AV!`BV*q{WnP3ZB`QEmLp1p{Z2$#)F4-5pu>sKr&uFPi59
z{D|b+;P_D^^3wR1`&(`Ru7}8HO)I+O#xw90CQeY#Y4inrxtl*v`RP!cn`H2wU^0l^
z#9q<zGVK*d*t3XxOniF#7vOn1&nbf+N5#&@PPSXN)Hc=+`<>)DaBtp^p&4t-UWs3u
z;+?Ta312d2485MIHzGr_hpSv7u<;u9!C<efydjan-lcL520Q5M!|=ACT*W5iaMUAi
z%BB#^9;STDzW$a5>iBvV^oT#(KT$^GbnW&~uG%`kI1mH6($@;=mcfbWSw%fQ7UJuM
z_3J@?ewzE>IrK);c24{G!1a0fwczwJu#-Jha@}t1ZPMig$LG<vz8t2904_;%v?yHi
z#M};#e=XzBXiO0s!^WwyG3ec^36{@pr+xe8d9X&QppSHwK8isf+J_vRB;T|Un@H_l
zz`b;6vQUb7?dSYNcr$oC)4Pv8rz^g|IUVI(d#$u5+OWO?;IvDBAL(Pt{VneS)=j2i
zPr8i1Iy^%>+`yZ}$1l-4G@^fW2kl4A%w++5Pw+a*=A*e#*2<aKq4&{#4qwj_zMlK=
z_00Tk<cxd4-9J~6?fycVU>$}-3-zBRJwtu9aU%8>;Cg+6Gw=*_(PLu)%&;*rehl4~
zkiQN?Q-^1mzI5Hd92R0<NE2(zz`t^_pkBv}_Ip$Zo4CUj#m+BLU$m(>DQk!6+}OvT
z(xd@e{59(<8g;a(`vN7-3!fz2(dbI-3_5T6G4~@J4c77<5q~`Ub!OTP@D`1|G-<%L
zmJWDIy5ElxW5{#o8Rf*#^k0NNoZaq+z_F~o0y{!@eK)dCRog=@A%36TL!cqe=^11!
z-G|s5GxM}g;wk@8yzUX*MfuT=qwzQMEAThOkG@O2yQ<*KT+*U3n7$%>fkwk~)Ltxl
z5HE4#)|#_VzcpUvO&#Uw4Ice>w9?KP^j<?$C(#>@QM~<o%63*6@8?vuF4lgIaDwyM
z>HJ?M9?4w8cz+Z1pWw~Um#g&mwJK>kYm1I+G-=g%mEJ*dyz1B3qTE_)4;DOns+<9q
z(LcqDg!3`@Ec|x+LyS>+l7njro+#LQ0k4Z=$BgpR+%v2zbsS93r;VRgfs@V?qx0EF
zIq`XDeyuU*v=`wG8RS%*=STT*J#vHe6-U>iXT=%(dYxIPy+C_HZd7)j;)Cu4_By}U
zT(mzZ7LjE1M7=pFVd{>1LVGpmj>;d7{MI}y+l}0gzxVJpvkxwRqS3_GP;O0%xol-@
zZOL=kbLx<v8Vf1f+X*ikAy}!Oli{J%KaKjTo1l%e$rEhv<(`1XrF-t;8~@6G>1u-O
z|6<%0)}+s1Y#YhjIV0J34KZBg*J9@cKAlZ}jwgMGz2Yh1TL|7I(moGt#XG|I_G{7|
zpSVXlD|Se?Mo*BptI8UEOzkk<&uF}pV(lyWznyXcuR19m$UmZkK<AvdmvZ8_<*#AG
zzRL8SW7mVd4Oz2Tm!0=X*=Cue*5lAq$98>zeD(2B^+B2I`2S!P+)xY}r_;TW^>XsO
zWca7KPj-NQ{d3k>VL!6FyMM6{nAvkvWQHVizKws0Zr8{9Nj7|v{lSk{-B36le9NPA
z%eS)^eY|r5^I$HI*!62DJWg5JCpub9``fo_ybXm1fn5*#iDZ>HbRnBBYqWg}cp^Dz
zcE>sGms4N97Crb>uy5X@de$z@S|;AYxf<g-m$pY!#&CAz$731Knk#<9*n-Y_SH0MO
z`x*;7bY8}nRBRl^sI#EMb)i_wocpIM=S9AsQ;B_C`nKY$_L_lsOYaAc8dnj0(D@;W
zj%2qvOgoA>puX0}u=BHamM%MHw*Q9t$c81j^=@Fj*%vJxus8Sp=Gd-BfQ`<yI#zh?
zKUB;{#wotx<kMso8Oh3Flyf+FCUAB8->cRG*Im6h_3R#xU!?lX@HSwW4#ttMbNw;M
zu`7?mcJMm0sTceceag2XO-w@8;bhI5y6fa$sdhZ#+YZG$6U3=hn_AbWAMC%~#=b#6
zF`Ns<75nC7#mpW()#=g$ev`hQ;@i9$3gR!|%v7~=z2?E%<cZ^y^5vPeCONbHleUa0
z^Z|46YL%7G(h02P{uhqzs;tQde@zy$7NeP~=AoEPo?FMBbJ`aLZSA*h>D=CL>u^95
zc3iaM_|2D?n_Jh5LhG8U;g^vL`DNt!9twted^U6jC|JAo&hpl2bbl!;o-XCwdf&;I
zWP1~ixwQ49?NnL_FYX{s@p3D896z^x3iFpP;pT7kn$Uco2d?k7bB5-@<&l~*ZEB1f
z?~rp59|-2+)hMTZRJi(~$XGu{pD!sbG*6XVMEbR)iy!;}UM0MCd{Dd(yT(2Eg%K-X
z@w~l4F|ctQ*g3!hk(nwyP&h6=_(j^y20YAI9@ao?39~i<9~1wY2ri0GB*!@Z)oA(G
zZ1Jy+KL0wF@d#ga9zB?UHCX;Nf46XlZ*c9P_6YW$8>yrC&HDZ}edN(A6ywtJUUUiZ
z-j9;5{Oc)uxz5~JFO@OUnF9Vd3B4sw9E0Zr-Y5UL(sAN_u{{QR)6RhR?F{k0*MsAl
zQwBe@(s8~ICiAsEm}S~g-IV2j;|dGB!Tj%QjLGSsyBS+4f-~ZOnwRFQu{-+tiRFvq
zEH2%kv%voZU))U_4hJ2b49QPJ`2TCwi_q7Q^+I^}DD`Ub(+A0~@YB~}6CcD+8$<kb
zT;X`&_*(dBrovAf3#({9YVYZJRembCHx~W`UhBX1rq}Z={7ew%HP8>&n)rF`lUYmQ
z)BrziEC@fvQ@g>reehJ(*LvE$j<p`WMRmp%w1;RuKZYg~j<0r{+devI^B}nH<9B0W
zU(n{Aw5htgg&QHfxsZ7ZU&Lqrge~3SM(V$bx5lgR)?9?QzKt=h7at1o)=Nl>^42+|
ziMLkZnmw<5JMb2bh(4<E)tH^{L_6Q_Xukgqe6>wu57EGQ`mDxRN0Y9zB=OaC><Qwl
z#66kXQ@3D;{`A}Zufv`nL$>E!w9nwjHi`42=6dvP&K*_e)$(JUGpKH}@usLeZFN(}
zwnsZ^k2eRB-LtXHERc;E{#D1DTa&QOhtpRp{Y28S)rZsTvB{gs$fA?|@w9U0s<v8R
z8MgXP&R46o^$=$fN0qD6_N7(Ih5HhmUTr?B(LDt>2d`+q;XJh`+BEE0F~Nkr37A;@
zHRjLj%2@C&{A_r;;HmxX_Ghs5z6xA7B7??&Ycp_7(ssob#`x4uGB~SF2EH~*i;h*e
z6pXJMUTS^N;_!-8&_=VyXv}f$?RvFg$k+dH{4t$1BpA16@gmvX8O$?BJCYeIu>*rK
z#b5DlMBzN?vpUC;9I&{@-_Kjw(>?aaG4D(*O7j0|&MBr5D?l+Oc_V7i*imEGFz@-q
zl6)K<zkMAs1nS{w8DO`Zd=GrgG;?SCy0Z^zj2+;diDkF{lJ>V=xAb5pG-ijdQ`j@@
zyurEV0Oy8kFAqLBnb^(oKeOKd{`BB@ZaUX)Hc9)Qo^(Nvai)RA9M)NIit#7CpV+m>
z39m$Fx1j^oDUbD$9;)-?Oh;})f_dzHfcGG%pFE>yX4V{>kvt<g)1=3rl{~}D6z()p
zU-`oAcR|Y!w3<I7N6k;sp4w8IYNs5uqcTN}hx|C_=o@}IX-y05ybBwHbP@J}sedVQ
zmWAzO!%tg??OSK@qXoNy-ndzJNOpx`lx--S!d_Ho8rEcJPkl9$&%D;~_UI#tZ0d=1
z@HVAK;VeF-vzWG<lTT=_lkxfN0iVO?q_2*b{+VFZj^pE{pBKhU>FN&x1Id~WHyhvW
z<L0};%^9N_*GvZ|`(tDGjKkk4j=Z@8+*Ewz9kIqoP6ao!&8%g!@%02?It$n@#EzLg
zo%GWOr|%|Rv5<8>y^2^bS<bW4XAUl-JC!S1@uBMU+FM)Eo%uh$ADcF@0G^AD*+Udu
z-st7d0d$Zi9>Ct~rX5V9$MX)JeFu3Iw9v5lM(D%n9Lb)Uf^U_x)@|4&v#eu!M5JGh
z8T(cG*um-b#8}9lKss**hTGZ5nRFIgQJS}q!|A%8#Ccs`nzxX{>AUeo&SJ|*W5Woi
z>s><KVNPRf&jjxwLo1d2W;gpshWzG^<jl@}BWEPw8wv6S=PA5_avyewYHM%|dE(at
z=Se<~s<tkRcuOE!PUmw2e4}pl2KFl5xrml~yh_?ntEB19LA35YRnopuCGCzXX^M>$
zZBOy299>DLKeEindBMTOOR9tSNFVzka1?J|3Z8S8To5fBsEbYgBKM!m3ru%;sn`B3
zWTp+^5cjPM<ptSp)k#ynh4+xYf=wq2-{!sBJ!yD$%S)enqK|kO<Dm_`3D^uDi48-p
zfc|615Y4MnU9nYOmsvdX;7sm~t&ff0Q-UWM`~nt0gPH4YImo)RuNuo2+n}Z8tg&Q)
zIqWm~JtyGbdiPJ`(wO=t;j<YUS9(;od)<~9+!^)OtYdsx#)-XXPlx1?xOu#h@r^SL
zkJK7te{9^I>~%8^9)QN&7^mAYe&Rng#-14GwCLOLV=E){MBb~&vafaq^O(aNlE7B$
z7YDxbK~6Jve;tE(OxWI5DP}bD5AWC7XZON;4e-;N+C3)j+bz()r_RPdioK*S^`tj(
zDSq1-e8pu`^VmPD@nX@K?0mPd{?bXy?4e5;r}#;RKjg(dNz&r*Z25oSmpWf#^6_jS
z4v2V=^nQ)YV>~a9=G+T=K#_N@v<Lml@P5px{+W0Iz6JlE+8G1)q>H#cVzm6Qw{DaT
z)|Fi!l->N-{>|0Oc2kypv~Ldn18q7V<h@2;#`#g#Z02U)u7w5!D~J2D;VBEiH~GBa
zbJ=&b^!YakAG6zqYqAO7OnbzFw!V<^4;oD$ip`t?jx)h|x6Z--gI~JOHw<>B4%*OI
z{|FxKjhQ~JyB#0zaLvKD>&xKDKIWX6ZQ2FvvA`$Ix7yD#rm?KWSnPoN$Xh{r4qhE+
z%xT^fOfrrX<CMK=7_iyJ{FA_Y`KavTe}Kl4_|jc;PR}j)6)#5TosS%KrToWc@jKD6
zYQl2%c8yQIYjt&XmkVBl`N&VK|3Vvn7)p0#grh!w`uYC)54_JR*c!&>^A^wAf%XDN
zkFk}}BYDeU05_lZaq|X?n+<zP(5vj^C?@TPnC}SSE4XN!H}Gd^8o0A(u`l{K_!Y`Y
zzm`7xFmi@)Hw~WVT9rP&AbW?>df+L!6-t{>=n2x|q-p#*lc?Zc)%o4$zcY$2RwHxs
zZCk#aEBU0<toN~Fg*b89gyUmk;5h%)=AT)6c<EIAPB)wOKk<7<%v@%FGxitx-HQ*F
zXJVH%o3WR5#zYIUx%=-STX;_tJv_J(AN@wx?r$RPJ{4*AiAcNeIwHEM-tJo36&zyB
z?P&V>;ZgLXy+P|c8(gf=&znu(w>f7lzuBjst*n>$iRgzt&-#Fgesn){J^0;&e~8vv
z{fdvRqrCiFlotnIZv{4A<<FjZvyNA>W}FLOpF>98OWD>H>`TZZ9%CrtM?CAOGew^c
z%Og!oYb#}uXH+&*qbzN=w9;oLpff|+q3AnK*&fCrnC`nD8%@mgZQ*yAzTd??=49Nb
z$t#eB!Zi7Fy(tl)$vdE9wJCfQU7im9XBc~yKiLN~|2X$fQ**F2@^^xtc5)OR`2+sD
zMPVLsm@$UoP^L^cf3NaGb5HVaK{$U8`QpcRY*qP%zhA8!l3)1wT5lKEMe$sHejJ;+
z5*{s_`ZD{W@I*9r6LPq4q|BT0<$JyMzemqFNS^$zcYZ9}{Tb@yDBo(lH9usJ>%iu!
z`}>mFZ$UQE`=1lxk&}R9wi$V|d9WNR--B!wnSEPGX1|@gl+|SR)%fD9h{)_`yh2%I
z^&E1$<aNpFS1ms8;4);NS#=ZlbZ}m5@UxHqm^ZnuTlW8?yuKwOuV0Ex{ut+})!;8#
zUic7|X{)WtZB^uT#XSE1yS(mj_3#^c*EEE$S!C9C5d(3@33Y2WV-M*-?nAEHgCC!j
zSto$E<IR}=BYkr>aR{p6ZasZOaraY)DGT1ts++J!@Aag?-z0dO0f+Cs?%abt;I7^j
z5&nMsKH=}J|4-s?HGMNa1pfX{&^HY}Vm-*RZXYy(kC+MkE=tI-z3}5Q{CE!dJ(ND9
zeZ#$>6{UCG`-`S^$)^OFjynj}uJ7*~KeTdKSfACNA$?YRhTBWR`fMM2s%TLAhIB{K
zpx*K15y~~+;~mcq^hIRJJ=uspJ5qZux(<7Ech7YL`fE0@KmO~F`fqPTf6cImc?Mk<
z*<v>Os^p<dhp<0J+bSY|YHUuY4UbLyVcizRNcGliVvOPsl7D3@HR!bH3fsq^(>hzJ
z>_lq6*o?ez-SmUf2RnkXuCimjsp?pVvXxeAPqtFwLpr42M)5)Vt;GjmT?-$MEOYuT
zXOY;&eEs%*yT01{C0BdEHUV6b?UpQJF3re?^6~#P@}%@%gB|#7%&ip|##n<CWfOrt
zZZa}t=2(CISTkgH*|4`*o#x3O`e!gHYz!)&3Us!i$~$?*$^FuCg=^pAZn|NNPS=q?
zzlXf{LDF<?ulK0($cfeT@iwdT)a~g&E>ui9tM{}Kt18fWvdpQCzvbxNX=KH8NbfF@
z-inPy@F_=Q!yz97hoj;-U1H+`$X8=rAq!2|m~qJJw9)O=IN$T+I}!Mw<ZAd%<Y?ns
zV#SHh?O7@3w~}S!L9EiF^{e3BCB~2fPSRuNv9Gwkis-mXQ{EM%-+G|GMK++Qo%fMJ
zX}-)a8?xHb*@)oUgD&Lr4_{B!I&Na^_M)>ndw}RgYq>I5!&bg~u?ff)fbC;R`q<<l
ztyPgZX}ue<VI%}+>|b$U2whq~=H1YzXLUcX{d&d?-<ev%UL`muYQQgH`RKUI?nQT$
ze%%_A9w>j9F@-evzK(JAVw=d(zuqUzg<^%c*stox!K@#;=#9}HdY{@;T&5`Oc9150
z_4oYOoNlVX>3bnMGzGy*aJ2hBbM|586&$QAzT@vJd@pi$#Kr{)>-m55^?Zl(S?tL2
zOSQ4J==b0pd@;ad`K*?p8%G04e3u*z^nll*f#r3+-v52z@JVQ(j9okGyRZ8kxsjyf
zyAfWSdUQ_T?{8c|?^@ii`Jz+7H|Li)U$$!my~1za+JpTi*pn*v7d+w`Rs7=d4;Zo>
zv@n+U$V%vu(Yq$AiMcSAGZ*!h3&r>gcv0mJPM&yuJB~5aw081s(E7`_GaJxU&uHt<
zRXJ1f_t%Flf72L+?+zC}2`)U#8f%W>^qWY3l=L#=EEAV&5UivF;hR>*?=_sh5nq*Z
z-NjuW19q}aVau53V&kN0-1SYNOUu7i^G>lx2zF`Y|0s-$de4_~;c;HUIKRR;qxk!e
zRnk^yKG+4KIH9wP9CpPhPWZ9ae7<;YFeir#TJNFOxXc<mT*%eHg$(7s_hNsG*3tUJ
zatG9{%UI^6GlJ;6HdaZ~9T!)xo_bf~w>|jG!RLL8C>LGlSJ>}<rSu41>?i%|!~N4v
ztI}V!ap~+rd_wfS7<<5xW&V3J;s=|#&nCN&fj{{BcdW1hoOOGn<)`41_^B6XPY-x1
zXGzu$G!A~+2W}^zTj}l57<hVj;LuiL`&r&Pp)e5`B*0JPfT{A63FGK$-91vd4PN_6
zlv{_rt>SkSy7v~vy#&0g;se6>P-~yZPd!fGQQB5~vxxz1XF|L_O55=6mc#gj#_Ad_
zJ9~uLB-)jJ=<|HNfjG9X{;#~bDV`6$<O811_y)zjbnlBeyja0{E<4iSk`SKb2OEaT
zLineH-J_JVFbVu!96e^a(;0<HS$vFgVR~FheU1I9L;ahT?#8ckF~K>-8f#1+pj-u>
zp*N7;O?ox>O(CXO(0}EAmg1X5>EpI4X}6H3y-YY7Ex&~{jibbW?PJ2PA7O*}zj2;&
z8g%l1>pbOZ;QCt6Q!Wq6);do)vdovqV*yP|=9Wx<75dXs&J6$ZegC~|rKN~%qWC}`
zB(BMN&Y6nrpQDjw6LHQq&`CIVuxEeT&#}i1@)vp$eW_J`D#%c+ulO+-!u8|>u6-jD
z>>Jhg<{Z8^VHw|jf8;TpoB48|<{^Hh@rp<3yx+<4H*?m1Kl70;Azd;_nX8F?B>xnT
zdCf9o_w-;lVO)<hfxc;G>?1n&Jaq`$;%o5-ATB{w`^+Wy->-<+7RMa${Q+jx4fq2j
zu+PZG_yqc?>@$6mVX@ED|3Ll#xBQQ>&-_3(+UBF}yZ;mHGdc?|aps&1>Exy0%(?Ve
zZ*?9YhBR~|dWfFg4e(muPr~{ta+Ve?o89itdHr)R(UJCiM@R1p=t!{&Zp4=P$M4mq
zqYlpbL`U-XYJrYwoy)I}jo#CP@0WN;37y{HJMd2EG>`9BGvkonKL_6MYQ6)4Q3r5n
z3S|2zjCun85k7Cz`LWIxEAR-;;W~cl;L&Yk`08v~I*o51@G3f`FZ;x73}e}8?ttg&
zd{k}T&i8t3HsUosx;NNr+JDGj+2(T(1byhsPJh(-X%lDiItRf9v!CDMJ(9z;|4Lri
z%Nd#W|Cu8V@5LM4m)VozjJ}V)bPh`Fh{tawzmL4-Bg}U)I=`nK)qemO$I)At(Z9||
z_mM6g?0->SJip11FJFqZ#y7Db`!D01sx!)2I$MQ5Yn==>8tM6I>WQz)u9jfD75E_o
zTUh~pCNBAm`IPQW&2)CbS#^!pujG@AV;|$z*^Tsg*0{m%`;@|!^sW6=eJ>mNwLAVc
z7~?F?edM#S4E^~z&Bu=Al)^#ALtM)3;Wm<$HpUg!jaYX_3vI|gsPU?e<#i2vdhkWl
z*s6`)jW?PnTZG{0_8ZZNJ1gZq87mtnz*(K`HS@RJ#1`j}RpplvhkwVAi#>ccws1$1
zz3@um6aTGkNU=NWfWs{A1Z2UNb7%(|BKGdMJ=h0mW89tzbJ!2SL!FuK#m*xe=8<lH
zEw-?)dF*KmuqTz+o3+k=MK<==akO2>JahNYTN`cc%-<aWU#T~qzO?U12altZ?*pG6
z5UglNw5zk*GJjeAG#6-TzM(I*wTnKS{G&B{hVd-N*G6;@w=qM;+4T|Jwv$IJO8g&)
z<H?-VXA;|&@K@&{50if__^rN`zkqd0fw#TnTU#+}T?bxG==b|fgR?!1N$r*R7A`nA
zm60{WbKMZkRd93jRg7PaOXDpPr#jk?3Hm9&;^Vk*+t7cM&k9eJC!CMw32zN;3rD5T
z`S|nWt~~mb;$Awx712{2chL=NA)gxQTZv~c?(5_YotroNblS#TGr%3b*u4c_w;<qk
zfjnG^naKLIyo`=;L(JJlxB9*w)R&)Uo;I71A*z*e;|q^VYb{*Aab9YX-T`aCUM=6=
zBK&%+aCQiLiu54yE)P5I7ny_VB&qY|&o4Omz5f19T06;o-d_i7ftSMjWh)Nb6Xh%P
zzc&*LobpZ=nngL;3pL&iz)JA!6ikUvoY;4<;?Cf|fW3B@*VRTmTyGd}qK>NT@`erT
ziVYjyH7sqqV=bny>EqnPdCZ&X`x0&L$`cD95kKGh6N$h7fHr-;FMq69yWVLMEM8v8
zyMnA$?=`;8yBnT5Tl|bW7*+>?clY+!clCevn66R4TK6pT+_CFWtbyeD?fc<-pMx*?
zJ{w~T%+KBr7CdtEhSp7UR{~S&dfDVmZ=RW!vuir0fN!3?Ppmt{chZ*H?^%(Y*|Eq>
z8`O8l`RyMK^}8h8@3l4heNU+0Yv~ueoNSlje*ZqyZ}LNf`sJ?m1?_JS^?OyQUvI(C
z{dyl5=r{KP`o)$N?RR0Q-%>i#Z~B7vw}kqg7V5Y7{-OIVzHgx4)cffdn^Uyk%R>Do
zqy6?=(0+2L-^Osi7uD!@PN?6D=-1vA9t`I*LjCr<J2Kz+h3)&`qYkh7HVxpF_pYJ)
z_2v)so10I+%}3Aogiycf_eA>5Uf8}P)bDRX{pKzly5HOd1O0jz(l7oRQ8>RuTMnO-
zS4a9SUD*DEP`^J8^_!~EZ;F1^=C7fVUteIR6(=OSMJM~QVL_v76WrS`PB7iituQl9
z>8;i-wI4gwKZW}04E2>iXXrWRXD~<XJfhjeIcAzSJUj1~!iOL&M_P8OzkkO*np!j+
zS>Qb033x7sPsy8+rEhLMsQZ<YE5r0wp#MJFh_6h}OuxfS+tJM4S~qr2mUE2zn8VlS
z%xZ6}!JqTQzjR}Oe@-h}UNX3k_D~-sY+9}l?Y;ip@ly)egXUdRfy?;9`$BL@gwA=k
zhvu9owzS87_m8CYT7EyipthB^nl#NrbJO0N0A7+2R*+uSe1T)>4QAT8Su^w2$!1zJ
zcYUmnAT}}C7@D~!bvxq;@x8SsJ*#~`HljCG#yPfdR%o30nKjmrwY7FGt=~*=6d!-t
zDkWou*W+T^Qy=2H@mUc(?U~hnLa6W2p}tc!Vx=aCmFoH~o<-l-4LZX8oIR+YdrTbJ
zn*F9i|M!OIzec=M{9`Nq<bbJsoc=!4Pl>b;Jnu1C)BfvFKhK5wNu4@0EEAIk`Y96s
zYbCxYo#5(hbACH}?^@17mn2H(wI@zoamVXv)4|iUMEWnGPlft_Ak@FdT!xZK%BMm1
ztkE;9(N|ADitg`8fIk(w=PmOhxZM%z=NqAZQq4p6lS(kpfWC_f=E;4B4Dx>~@_&(Y
z6#BW6zxEWir(w|OY}QS(e+ilSYUGOL*rO!(J35ZnpyRUQssw%IMldIQA)~xvy~gdz
z5c^Fu^=;vxOFLFR)x;G>x7Xbb={4B!_b5N9Gf&D}eixK4b9Pm<d+}g?@frF#Oqn!1
zDLK+#GsWRZ0mrvj;5e~xRTz%=Q98Nqq0pF$eLjy^MVfRkjXB4+;{kDa0GFj^zK3=6
zdBEs`&bb^9_%i(o4(sgy3574{KW7GO?e8&#&-35LQMhIxjzZ6AgKh9mpLK7`=<Ldk
z^`9Bbqt=gQVnKZCT7GNpTN$f<U(N5kgYT>O7A!l1-|yhJY}w)VK1W)SH1R#n)#v%+
z3m1{@=A3?-xRvsqp#2Mjbn(GMPYtA>6QnCvliCON)?R--=}vY`ecOlan@IbZVzq?I
zEew_O?(@q{BJH=4avunlOKtJXjVJAOk$&f^9CNb!-!{M8>s%W19Ob^@uf*fA`@%@l
z&I{Uc@SaVY+q3VWKdV~+hgZNQm#%ofnoARUftz=W+K1-Vf9_eo{eKt!kyffwesZXM
z5x5H0J1H-os5(jY$A9tpw1qo54rP8Fq<=3m{|2=e$n2@R{PuoH**8bvd92C>aLWD8
zFZUD5Dea}uI2}Cx8uTY#_RKQ_@c2O}eOsuWgU3s1)4_vSyBho5q-k$adVNse?qlRT
zIClo=AB@cJ*-(3lVEt|<ZF;2Kc9jd@P|W-N{v&C}Mc}Y4T<&ha+)C2k8!2~xsGPUK
zFLw)RV^mIhC-b_I-@=U<p|p<&Y5QLpD7QFBdm@zf;UMjvP+CT5!07#&ThPb*g0x|w
zv}=O8heLJe1!-r6#`3lx?Q)yu)Ac2!iQXTv?fGeQg0u&1+IXM-NfWPFLEV1%w$8gY
z5}zZiyYH(TG1a_$vDI1k?*w153A|i4yfB45rc7M_MI$&z^g{kE*kfjs*UFv2B)X^x
z{9g3#h}zMe!B*vSM=+ePyMQ*IJAx~e&z-<<zRo8*7+XDUEIgfi?das`&blt$o19K8
zgFLclhI^CoNS~@xK0Dcc6XzfXeO~sJ8(Q(b=3Qm^V9WO6?)Aox`0p9VkN9Uy)#jmh
zN0PxE=VWjeRcl_029*!){s<03%=1NTN(1ft<#j$8*k~#-s2?Ux_h6B`E9<q1Z`pye
zoD0i_5d)6BO}>30jm#<ATUvf^!Tr)q=nOh~uA9U5qP7k8kk;w!$G|KB{4&6;w1HUF
zpN)0h{}S}L)wJKof9rqJG~j<?f;ZOOeM84{%HQq3{SS=2&EngDzm>+#_}8{EPK{r_
z|Ig!JC7+?-j@VRWAKg2jmTvXh+5B$5kulkR-!RZ`dRVakj@F%+pIEz9Gi~Y4tYDD>
zKN8?1^4*e!*nrDBu}#e}-7mh(To}LXCkbq0lK*u7=P0<KkEooR&$pP*bId0d@fFk@
zr!q(FBS)5f-}*~gyASgW>_TgGw{ipXl}$)<vvbBLNptRCjw_h!`<dtWnWvRA@Xs-I
z=r8!pnG^jtN#r+jWZ6S@p6-01OdqnPeqQ}!3(p}Fc6|QggVsk2`Nbo?1GunQw%|kj
zwsAetMRe|6$6EHS1Xi5WpNh;iC~ntE=mtMi|DBhST~@w>ZhKcIyT^)V!KWg081*@v
z3{UX=su~K57?Wb0WU&GF;D6afob|oDJ!1JfurCL&?;$@5`!aUPrNE>#a;|-k(8k$h
zOuB=s`fg1wVNLcD3rqUd80O>btMZ}vHf1~5r_^uefNz)WA}vZ^PpVDo52wEB<utE|
zAIT-?u)d9WOyK~r+}|x60&c>ge2sbJg0m#ahM!YE)DfPz@sHE^1Do)QDr4J8n%3I+
zDy&7X_3><go<vJ~>*@<Dpe64N?j5l{JE14+-vK?D0=yBs+T1>9m3Z>_?E>4Q=xKP!
zk1Rw}oxrdRJq_Zwf(P^@+iNd0)exeoTJXpNk396LdLJVGj_4^&V^4ku{vPDNpZuo=
z!Nlj0vH`rk0*Cu~gDAV*?qkPc!-gIV`rdarBR9Z7cgOeQpCf))8o7Rg^ZTv%Go0dl
zlyq0MzA&4!m>96J@Pe;qWAH%e%ilYEpJBDHKEE33!}43sOuSLTpTV#?hV&@T?O_gD
zN42%m<7{S`@6WEa_Se%`pGxr&!x;VZLyt48SRuo_%G|N@7=!HX@<F(zci;`FMbMLM
zAb;+YZcj|Ss|4@yg}-CG($y5-zX*==K$(62tHeIxzqvT3aQ?pr{2gE1EM+YJIVPg#
zOcKBKeYRu3%ZqdO4<2(FwBL6Pzd5UrKBIG;9?=qi9l)gfSmG8SE5xB0CoAawzhE5$
z)}1E|=Gpb=l5LDtc^UfQQexj`&I85MGu)X?(T*3;p3Y4IzFhH}%%Cgk{cJ~T7l2#V
zPcC?aq6qEvGG4((aO&Sb0H0s5K2bjZ+d;VKpOeea>2Bs4_6yhgX&;hLto4V5mx#~L
zsZUMOyAxSrJlOSY<GoMIzZ>m2vDWdQ{|&wZ?8R5KZ>`4nQolK`SUa1!c$}}x2PJ{O
z>pA$qPN$z{BU}i|6R$yK#()=_xi8?->*4?1tiv;&*%W7AQF^LIeDoCOj)IHMW8Mr-
z`1^+9vyCk@0Y}!gvWB~9TQbK@fvi!kdau%lmnYv(=5uo^v0RWfw6DO6=Ie|^Yan~>
z`+-3(JYL@_(~2CTedeD?SHGM+R?hC@!5x&iyMrRXT-x~pW!?Fj{30x`gZE~EL7Y7`
zS?}YtJHK^s5<Xh^1HUoAQSoU6w_Eo2Z?^FY;hk!K1iVRc8Fa^0zZ0Z`i|bTZu-6)d
z;jjB`FHqj$;vMYu_wzf532;)6^Unyw5kI+ol*w@(`56DDL%8~%qrS!EU_8CX@7oKF
zdpmWs)~?Q{sN>f3hu<cCC;8$p!bRa;A38$#yqa^xwUfXv@g(7CC-{63zn!es+8}%$
zzStnI-$~gK<gH?lc@F=s4$^e@Uu|y%*Or6Jw;`K!@}`CEZJfB*KWEPXTdhem<DSkv
z7mdFW*j<gURTFky#b7D1*I@5`T<4-YV&f|JT-Fnp1$^qxVGA~kTMoiwY@Y_4eVF;}
zyzYjB8OG$9!FO_oy5|yYPj_4-bIJEou>d+4r*MaUHV-~?^kvWGX2hNjcs=um-!>HP
z{u6O6sH5**aIiH79s}n+q>KN53OYInT!mMH(^rAN<oG%8y0-sh+=3epLaU5b`_l&7
zw;#9Q-`Jl!`7Ixl2Kvz5YGnTTS5&nX`ul7Kf92NM19zZH{BAnx968W)$P;{IOTHI=
zv5&c`KRXu};{cga_q!F_Kz;)D?l*f?hCZ_V{g(O5kKEp2ZXLL%?ctZ4WXvh%BwT)k
z_QT^!NAkClFJ7IDgLkhn2Ev7`g~ne8>|J~V?fH&}IQ?SfkawDW9B}c9w2q>!IpDMC
zN3pI%L-LE#UFN&KHP|m|KK_L|EBE~i8|>Y#1b$J9HFS39ZrAeQZdblpce|z?RNS8q
z@Lo87JUGAgx*PvPIA5(j;e81{+ri%I*8Bg&N9w?V{zd~lJoc<Q<K3NPyxzjhIrwQw
zj+&PT*N+De7hunir)OX0otT@zzBw~)nvYeP+=;|28#V0YVfe2#QN}c^pP)1NICb^E
z$?9GAcj50^7?1<K!V2PxB(b5VSc8N3XQWx*(R`;#kC9GVqhv!T6Z-A=@k@L?)W3Uf
zsI%$q{`!o@*Hz`@;}mBeY5WtkcO(KiB#9k9s>|R@GfjOvK0FcpRQ&|JLVKLWGb?Xz
z-I)HC^ZW4q>76`yFZ%f^_>h$wm}eGvDh{~;KMoQbP__|Y=TyAuI_qcVz4BcBp*iS)
zBg}NYN!Z^%ysHnHqrZPdm-br4@J@3!-&;3s>Q450>7=WWU$bV`jxu^s2V>61OkW9I
z(ay1k4IzaMq1@)nQtatV%E;Qqn3;JIIBEA@Y)@I*i%XwH&j{0&bR*}#UZP(Ir^l%)
zJ~`w6W9`l3q$;ld|J&0D2)Muu3|m4sxPitcf`XdRJ*a5VB*Lgflh6%DF(gki!3D*H
zZg7j^^JpuITVz^{GM$(h8N_i3(_j*}Bt{c78e{hiDry!D>!@VD@6Wwe(|4M=O`hNH
z`D0#l``lAir_NTVs?M$AKk?nfbQSj%CzMN(8lw5yV0SzlnG5qC#mcFyOQ)3uam608
zkY6=zMB&|Ilojtr^l>`JBNuW_YL6!_wDSWy_Sti6qVNdaX&uL(VmZf+oxSsFw*M45
zuNpJUKUdIMigj1TZas+q4*3>3Cv7_QC!`bbKFwcweQ9hv!C&z|tnXM;U%HNR{Jq>u
zIj#3;FTk$%-O6`dn(wGTbI~isFVlGLsP*QJMdm<h?zS%ohdpiad@cN0sIjn?H5Mbw
zf}^p}&X2s@p)ug?fRAtCQ`N4<bbq_^s6+ObpuGa^Nr&6XV~Sx%j#)$0xnJ9sX?|Ig
zTR=Vf|4+Vy*rr@VY$XJ49GxRZKBldg^@BJ%um`QIQ&G<ZPd*;4s!RGNU6_O}D4(c&
zO-^eLk3fUxAG~>*Z0$C9sF=v=h|53bWtw+ybLYl2xfkGtXor^{RFTsYP4&yXj(ig2
zYUtaq<Je1=9_aaY?r|1h^}K^~_7m)x>G>S?#&o`kp1Eg}y|<d&*QvveONcj{j4Wcz
z(<1mpYg=}X7Tr(wQj;4@|M-q@!Yj~}r2TfD1s{iQDi>(2=rXiy`nYRiyubF+IUC-T
zdsgLmUtaD(l{0i-hMm%$TW&jJoZ5Rr<#=CS?oO36eH_OAU6K7AwfBxG_mIl*zPwzc
z%2|H!EvU*A_fHM^vnjVy<#=CS?)#Mc1+tuqEVU>7#?QR(0hS?0=4V6vIx5{uB3sox
zk9pTvbk%+Xx)fQ)k#Surl<8Pf)!elt+`M_Z)4Cu2Xeo82`CA6gyrxj5?y*y~w)Rr=
zr>DAgbu?Br7jF$Wr#7P({~J9frW21Nn!BLKR?apqv3e}Jmca+<@jkBod3oB>(dE#k
z7)0wt5&GlmE9*Ma*SW)VS2W+gYc7T@Zr>=|8=5<h@8FWW({uYMd<ARSMPitVd^4k*
zK-ahX)`C;`1JAymcGoFYR|kCAz4*t?;<I=>uMNIVV_d->iLNBH6kpL8!#(b+!WrFt
zru=~^lq+7YK6__czRUb!EN5OS_Lje@!`DXf7faC30(ez!d{Na{&ATO^cN+eVUy$7$
zgw0jWpSvsaf!9a&n(MRd_oR5|M5;2+Q(mz{aburMVGeS>8=r)1f6kdYg}XgpldmxL
z<?%yZ>zr265K=5q0XGD03O+dSp!kZ$1W%@kuj89uu5)vYcQ1b3<(=BLW8wbDRP#r*
zF^2fV`mFxIb>E!M*%LqKB%BYG&#Jj)5+9r5kMa2ZG<yvT+m7X2IdU_HIDc^GeER;0
z+{3Hz&nwBVZJ*5<IM8+{e+BXpx51B(SM|w^WKOqpS)WW~CpyepMqyr`%y9gS&K>xO
zJQ{rqtXQNUG2F`gLk&&%?v=Bv8WLaNKlRQfPP#fAo06&}maC3EwvzZD+Q03*cGiLw
zE7TFs)sZhWIu>nQ8LobR3p%*6f2cumsA3zfS*e~5eoOC%FZ}*31^C@oHN3IFx5jE$
z_eAL2Greo~y~7?nIk#11&XS%ihW=^D34U=Wh^t$U8FNlMnRT#bVRy`Fzcrj0!CsS<
zf3YrjtSQDh=YaM4Vn;aBfef_PQ|R~A@g4J=&Qsu>=3;LxaXJs?%p$GPs}F@W=!@3r
zmPlvf;~gh7gIK$vp!IRRqdxq~lqvAM^P&UEC7#~d86NE3g|6?9A|pIm6_HCPGTJq+
zPsZ7DD)X-ajPrdmJD1Q8$!Z!pjf@H#`F)Yo`7(FO>D$kR1KQ53cB+|MSLcS-#3rvF
zN$edVPm8;^*6;5$#G+39!eQiB4}&J+)b)Lxh9vLh507FlS-eT>PVw>ESA|;Ldn%#*
zA?}CXerw+;g^lQ_*?-dBq}Cix<J-653h%j{_w6h2BO95Q>-z!f68{Rbh?VGP`*nkx
z^?nrZRCa`Ljz^b?iE45@>)Zn3oWXi#e>Js~^RIZ8Ty@6YwBL5E_~iG%IiDiNU3GR2
zlQL^XDYI4-(Oq@F@oY9eAy~dqa-mYhh&#z&FRb_QLx%<97Z0J{Ck!6XK`}~*{G!4-
z@UXwJ_>HmTLe1G@e(kNBIpe@x<JB1*TcOS<ct1CIkqUU+30?S!!Q+myKpH;<-h&2j
zbOpRo;H~oTvcrS%(zW2NH1$=$3#q@x_hu;*L|+nK=q@Ye1CGHiLhmxCS~6{lb0l#R
zx_5(Q)@a&;zd`jx)!ua;Uc3T-<Kpi!4-b0?tS>44&Wm+^Q|&MI@bmC8sQo;=wQCJF
zkLX+4zhA@Mmv0dpT|{i|-jg}pJ-_)rVwo}Mifo5_!|KQ3`__LNyJh`%{aB|Vgb%)S
zNbE7$a62}#7JHYivyMAqVcn$04(5LseFAMh`;Qj7y2}VI9F=2!=$1Ple3fOttyXb_
z?$lds+Hhkq$}Aq(cHZ12=MSvADpdV7XlzG@%)!}%V?2hYIDWT-J&e)#M2%y2eZ1u5
zlbw-`>G{b;lSU7pl^q)&IO!y3NE~~BR}I(WBa@Vw%DCn*E-<FGsx7S>XzV|_nRPze
z5YCm<a{=$~;k%G_=D=q!h%Q>`j9&0J@<OEx@(l|&oY>gPd6!nVG*574^2(m`_9%B3
z3r}>~arlUzbgj^x;N85%FInD-UzWcI!mDP<51UYV#vym@YBc4$^?yq#mu;Bfw59kV
z>w_N%{4``M8}!pL0Qf<IW5a%UAK*2D;{*Kgf8!rnKaoE5fbRmnO?2XigkL<DGrp-q
z_ixFE*?#{6ygvzs|MS<o1-R~ImLK)Q+kuNu^237PHqFW08jfGQX8-EOwfj4bT6fAL
z&r08f#H+9&=J_Gkw)RKPDifp3<E*(n&Nm^ku*Wa|Hz7~cuJ=vI=-hskxgHvXXZ!Ia
z@3p2N8CcjlV0=SVEB;&9Bf#EMzZREZ4*@H;(PhfTSysZiADk-Hg)gyntpp~Uksq?K
zyMS#L%-7~^!2Usf<$Hy%1CtHw?uz!CoX)A(mA<``9o)}zVTJKW70xM0l1Hk&=fbUC
zyyWe*)a1^9N8U5viE$Q?>ijt|rQ(zV<9^39%E-rX|AOMk1pN2*!O6>HTz21!E@%+W
z+yfcc8M}|*dxpZTMm`nJ#0ar&tTuD2)%M8Trzy9P{zkp{{6(iwmFYkq-S`|le|-KM
z(F^}%Gf`v5(vM!(e0+R95k4zkUnKrRqm{`d;955pKLv|ovquAaM6h|pQN*~4-4quq
z_9ae!v1`e`&5A`+JnNph3!q&wwm-gJ1wZ|HA-998bz9wsr1=kP8o3Db0F`&BS7#9w
zSf|sPi|S!h;NfEXF`2XBLzX#Uk-dHJyVpuqA57fFI$v>|x9@Px$M9ttzbT_Src+M)
zRD0w!j6;@(11CQ8*S94K{8->_e@pFLPyDC#ePX^$(_Ge>G`4{!{)Z}!<r?#8M|c|l
zgT}xR<7wegQ(q-Kjji;@t#4R``iN_m?$7u`yNs0${f9aAvlu6I_OZ?ZUo*mK(Y|Ja
zzVv}-ZvG7VBY%}(orC+-bCZ!bI@O}_&f<1{RI(4PUuZ7mbakzLg>~g3b!o2rfx&Uu
z8%;q&2X$>`ofW;B$==}13Fw4kTGbmG)RX^*vFEF}Hc8%`UoQQ1-VWnfk~z2^zM6S)
zmUa^xoXmeAlO>#^FZs;i8v>1cE}tsdAa_Z-Ii8YZB|PqxwmC0p>^4x2)tpy^ZtFg*
zHnV2Y#2H0)UCN)w)MaRm_-N((%1N?4+2EJ)PnNbg`#cu@1;OE;`j!W7?e%2&Gwik8
zhd$N|tT$dh%RNLN_J-SwJeoO&)E!H(0ZZ3GqRZ%do^jm5KP|Y??fAQ0lj5d-!v#0G
zoCj|EF$B0@cTaz>tNs*xr1VAb&FF9pUB(}y!_~R_20AS7pc`YIjNZ@d6T2lb!0F`P
z4fL*x^Ygs*)fD^V*n+!en(}fR&q|p)Wm3rgR&p>D`~45&it3TA$Yxx7dAn=vtca75
zO`OpSk2>+E<$V7~FR+eYU@yuS!?zad6`v$8@#RVVM~AP{e`Ju-f8>5O|1EvT4sw=T
zx)X+O?R}rZv%Qbb^`rP*<<D$3epkFq$?wkb{I1scSyyuR?cAIi_9Bbyee|%kNty%e
z+X3#<nitAUz|Pb7fbu-J)fNvwyaj(55gu!j<-YcrV_E0k7|QIJr#t8rpVzQ2Gb~pF
zzU#BgeDE_9@d5N--!Ay+nom7C6RiA9tNxz_PW-;T!}Hk}K90VD=lX;SbJO&}KA%tt
zZ<5a^P$tMHq$h%B$BGJgaec#N>>*uYz7{_QJY#2}N_a<eAGQ0viaTc*lGZo7>}M>+
zzGVO9cT>-w0KbTNinDt1cZ=ZYU-`Yiy60QIw~fC8#9MI0+jxcXE6$jez_u7SUaG;i
zmJgE+56h*fV=g&c8i%5+@9aVsmNO1bWNeu|lyl_gX>1vm`-;KIat4js{R7`O7tZzC
z4Sgn92I%rct+9x{5YIufDze^TbtJ@d5T4dR=F*QC_2E+*P8;sj*V7;Q48=#=MtS3_
z`gMe%Ic>(*6#d#k|Lpjx7)ax*aH9rS@n_06zHVZC&GTO4>u`e;QSK2mXl(7EK0Ch7
zRLp~XdmCR@E51R-<>TvVif<UR%E#9&pDvBBx3`wY*M;Ic_~K_4-x<WGsQ6BM!i!eG
zOR@%K$Lnl`@wEuwcWQi{1Fy~a+IDo$@l`obyBB-+xxQ(}*y(<HePit957G}ypKpw9
z5F8%5{qv2n3j{a**p62h0-FI$vT%$(9CnZ=n-NCO>klvK`D*f1{PC9bf#eHUA5z1e
z7Ed2MoA{Bzl|Crel1}WTt>yf$XH1$RTJULhteqzMtR22q8f!l%xQ!WrTm0h%H@+$U
zdI|p+!HqA<1Go5x3vPT*{4b?B{K3FAZ$AG4?+ganM$d7&CimFB-Z-5ei>>os<8-RG
zahlvbY^v9BIzevUCGI%Q{EzvG>XFUK_GEXLZ0=giLb*Fmp8#*l$K)^fGXBo#1=bth
zw|l{x+Y9X6USPfX)r<eMXKrk7e)ioz?ulpp?l1T@&&oUb$F51|OCOM@d&VO2yG6f|
z*X{a`UbwLYdZ1XMoHu=YfqmRdU)*o3&^fFB4<PfWz>|L+!~DU*n}9zgIR4oWzYF+}
zfJ=6QOMamN&T=c)BaK{@GyZ4%Uex&h*T~^@=jO~2dh>hk`Z#p;=JyWMnWxZK?)P-Z
zf!2M>{oZ`m66J3-ub2&wHLuWkGl{%@JKp43R|xWZS><}tp8Q9?!da?$Vp2Qa#LYb3
zK`+YZ@sh3Z{Cqsk@KJu){k{@^wMqQOpZ$*ii+&tzi+}3>pV?vrpB-e25&X23S)Q0e
z-&{={<8&&IM18k<@M-A$jbLSZFdX>0UUcrhUSKPFf!zqq+J6JSMe7$e#`bj%;?>Y3
ze(heI>+xL*>lF`sXY+<8RJD2Q5NnWgoOrnSa|fBRhebT9xOrQLcTUM$%s)Ch`ef?x
z!QMCH<bANt+QHu2?eJOn+54Q#Z#B-W)Y*RIB5;>b75f|Pab4UoE7YoQm}7ibLY&*Y
zFZ*`wv*NAfX}N1aXDcQP*EdI@pF5AWHp04b$UTQidsZvR`ESBr9M*Uf<bfoJqvQh$
z%c?SK#*$}8to$@GRebO`v^Ldw=U<7g9qbdXb=R1N<<{_D{ST$4cdEWDzEnCIsu1T!
ziCI;~p^R|j{0`FlB=M+lx6TW@-`j{^Vakb)j&q&P8RC`f0)L(C@3ahM-OQoSI?JfQ
z-gIFVa{=wyDb5j3z~#H3jP_YI{)s>0OA|4oa*q$iC$L94A%>4Qi03!C4=GP9roNp6
ze*Az~=M?@c&*&ij<~V&8Bq%GrQ2AQQ6c=(%fqRaZclT%Xq!{yyshd8bO>%K2yp7(r
znQ{GD*5u_!KUv_k-Vk+`Z&?s))%%U~XC84XYfdjEIcH%`m^&-Aem|P{Fcex)T(NRw
zmROuMd~!3wIr1WArUy7J+A~$2v%ifWstx$?J?a;H6Mb%@{usV+6Z|T$*Q)q#J2>KR
z;dpWu?(bSL0G)dE>(j<7PJR|SYwuWNK69W6BN(4q>zq)_|2^7**XNqHeob3%R`q>9
z&wlfgeojN1_)Hz?Ri2J7;lC~Kpo7*ow3+#Io0(5LT33;r;Tzv81nUdyC0YZ$n0j3u
z!yb!2cjG8zK)%OmWw9Okaykck_u@@%o<I`5u;)B8zrAbihJDF-bb0T%ypO^Am7J4Z
zIFx;5a);)yKAR=?NBb}1+<oWp4DHQ)hCO=eLsGm%Py3>ytH8S;Mji~gt5IikqxMzO
z*zW@Psya&LM=v;o*z9BMn4Ike!&cos^34HGLld$7o9rdGA<Gc!UaI#4WF#N)J?hV!
zw%!+PsgwCOu%dyz4NU9O^MOSTtO!gtF^l$P6Z*cy+Ct<XUM}Ss=H0IFhzZtaEKc_A
zuKMGsi+FTq9s0HrIZFpUJLv1p9mqkNMja!+8y-IfUabYM5B#kohwotiJLK<0oqZb5
z0Vncy*Q6%q^p{abygJtT75@8eEc#YgeQ#x_Q#Q7lvgFm=uCld!Utr4Gyux@#SAB1}
zgOe#Mc`2{zKFUm~PLJF)Wa-HLq4UFj&T_wx3K6r~-|zA6b&ZSg?H!&kF!uH<`t%LX
z$!oef*4*?N=9o9en)BFL1RISa`?s;H@$C1%jsCAX!f8qJUU{>Ha9`$Y`?x$4&Jg4z
z9KjdzEdI9BmTkXqzSB94wu;DX-abytx!7<W{O=+Uy})-qyEay3B!?aNIXi#2SU!NY
ziw`6C^z+?2!Co3c9jzn1c|-(%cgKDB`4PL0-%g&ulzzy7x$<qS>$>9tKHz5FJG^fi
z8*5#QjydcZHdT>dfo|pT1ImY&E?FH(s7=~Z&R>!L@S%0g=y1cgMqwX+!%hz2+nvv+
zX70d`jQT<9rB}bt*^7LaxU<n|jX+!MAg4urR(+GmrPX**2={AVUxmNcw@&o$scl^=
zM)%(|@}6bGM#+!b{;nQP+xWB*l+}O9KOAvd64<kBco6oKKrYf*hjqUWXt(dqB=0x@
zzWhK89;jYokC`F#`6l|AWh@xYSvMhcI)XnEAMjfZ^U3#+P5nT=k^cH^D$6%jMZWjk
z!QRJq;x6HFX*YK1o?nJN56j)*`o!V6-|0VVQrasHLBk>Zmai3#JHNVBvLD61Epk6u
zethaC;pzQRYMcIwe{Ex&mJ`v9$?)K8-Y*Fce?KzDslR*_`RG3g&C(nq^6K%6bPkFG
zU-WHflyk!q)v?Zz$V&D$=i_igoP#Pq36GpG0(;e1^3fR1e&9E44pEz;x1HbKx2nT(
z_k@QIycAuzt)DZv0G%g5)5q{vX9VWiKVIuN$K5ti?>H*}x_+tt(x*6n)ZZue`1Eb%
zM6H)fpWS)&qRSVl+)mCj+(x`79MOFQGSmA*scZexSi|-1cs?xmP8J-a7qKDU_)?$`
znirY*O85DFG42hJzG{rIdtgn^?HN0Vo+EY!@4^F|<!9mtrVM1h{Z`l7NwQ^Ao_NN+
z|57$b4C&gO?CsA(O7^Dj5uSj)L}=IX>R$w#lkJ@dPa^0f$%OcYVL936FTiuUx{iy`
z7Uy@)jL0_eHR6Trvsv$}b{#LfjPRcLr*#DMj2U!j!wbwk#<UD<7{r`q=aZ?KqpnQ9
zB%6EnigdTVx%=PHzBxRKwVx5){`+NkTtwfc%jJ73&B(HR&R3w#p?~k!L%ydX6P<xO
zADvL#CH<6LD$lNtermp^eb8-VoaJ8`=VZd@b!?#H&gaJw+k{zf@0KC?fQk_UWoY)f
zKU&bQ`C;jYvHfX<uC?ly?0pcll+!%~*wZg}wWRRf8Tod~eKO2huKPW@{Vu-e0DkM;
zcHUje^Ufjg^N^Is&x1?;OKb4$#j9tI;VjZ`<7@B{1FKFNGi3NlOKz#-jI&{}_{+7i
z_^s{uyYm?jcd%c%kuvM*ubX*y^Z&T@&E~)LhfnhE@`j}|M|E87wbg!g_dCuSuN6O~
zH#dvE09#5CQ^*fsE462dH`vSh$mBScVNNiY9L_q<V4Q|trgauuiX6PI>gKM-n&wu;
z3;3;dj7Jl|m%i>^yt;WA->NAO)%#w8Jpg_e@m+n0yYxH{pPkk`XuakId}B-gZyLC_
zS6h`E>v-Q`WLbZ*=QkGFS0{#RE*vnlnf$#@au7QUPxSP)*MAusUKP&lSk}i~$8BE|
z&N$jbrSG!e?9|{GG0XXMqI;|I`1*Zqd^@q!H=qlD|B~`|cZT=LytUZr)cKKGAIQ((
zTRYYUV|~2u|08G6wqj<+>f*FM8J)K*o9yb^e|*;x&Jt#RR1EjYXx+Q(3BLW`5OL>e
zqtW*}7BXH8bk5RvF`hlt)FbgJv1(`1W8_RNmcLYNJS~*bIYoEyE(Lzur<_T%IcrI4
zbq;>HaIiD!4t(@3=86t^d3OAH=JV)TzgX)OXepfFOwzjuxn$k;f{e?3USuTsmb8g&
z;J-(c2T_~5mi1uKu|MBJsNbA%oKfGSjx%GbQ@tRqGkh<n-NDWzaynXLHO?f(obp9c
z=$6k?JuQsQf_*~nbXsTl06T_U9*sMCc6iU)$^`K^flp4|7oU=-bL(_v80V}&{HVKb
zSH6A`Jqcg^geU7f&p~*}8Q|ULWL}2`oAVbsJ{Z5KJs9Q-(xLQm74S|2?<b~x$^^Ba
zJr%qMJ-m1&yi>qiW$I&pC$PSg-TCm%ZqD<1H{Kxz;XBF%InUv0_j`=;yqevMUv=j;
zsj%jX_;HPI#4NPY@C<niBhV?q;=c8#xOXl`>HBZipE}=T+(Yit3F%zna;H^#A^otr
zLB5r%8!_%t>7Xs`ziAGe#-Akk1|}NmlW{nsGm9T__i2`fGKXo+(b%mWcVmCwbKK4T
zjrPIQI*?+8do;GAf04g+O_V?CwY@g4y=#2!$*#-WbJ!Cu*Rdpf$o}?Hw0A1L&$fRR
zzjdFB#&`?69GLv8Y<E|C*Tg#+(?4R|iTLdFu(3`(V|}ZGZ3-S?%o=0#JZAE0V<xXQ
zM*JiD91|vYn7+zJoj$3N<X*e>^f}fWhPpJkW46nebD*J8nWHJwpEAo1cjpv0hwy#h
z;Cp)Iyw^GV%$UQR=%>)A`Ipv6=JK7_Qu<TH+<Gi}vXuXG487)_(6h#xyWZ|2#u|=4
zOFa;u68S6qTjKer0)FvX#;M{Gd=PEb;Y-xc-^s7vMNB*bdFpI*z0+Ci-un>?eoGEP
zWMiZ;!aA3O|8)Hy-+QG8GNzEf<&VF$_L{~=YW(oSwf5?r$uKO}#dzoCiO1ZWNcW5t
zXzD<(#>R-9n4de&h{pJ$#I9+JBD-u|F%x&R;it-dD0)3nd0n!hq*-$n-X8kI_^bZA
zYnR}=@h-ajUK6$eTxZbv^=&h7orhBeT_d3@B;SuNoHuA><Gc4FW6Dh9o&Syy-3OAV
zZF@(^dBjsIS>GxUgG|Hz#}P}-h0Z$c7a2CZ%UVNkcZAq-N#3hpA=9s>(p@s8`@42@
zO}gg8t`#~XraZ0+T6;CT>AsKVO>|=^va6$y(u-Z>?n~D;VDr|tn&8Lmzw?dK6Fwir
z_^PsgzTFO9e_$!b$Z~(Dy?ya<s@mYY${u}VouJ(Bg*r;@r>Ix?pebxR4PTXGR=93J
zvjd&z%)l|uhy|-TH?}a{TO*XNI>Q;y_${0WJd~ZsHZm7Hch9jnwE=qp*Y@`U+S8eS
zj^`5wJH{vU0~Rr`h=Ki0JXqtc=SQ(6)lpA*JC^02?V9vtn0bg9v(n6AEZ!G{_n@c0
zq328RlLa?pQX07GRGH5M*B%%C$lX7%^-LDN8I#i+OZcA!J_h`GFC5&cd9~Ips^Ev!
z!Ds){RbRz;qu*7=j}*c8*2P)3`j;1n*!YVWqu!0T@F|L~ioN7{UIFYQd`~Cw*%tio
zc6`jV@Th@{7=tt(IU7Hh(U=r%+b8pH<|oS;hxC0!a!Kq~ohjajoXKg-`N5re3qC{R
znC9$p-uvG*^3IEQYI2upF9$y&ok~Z8$MAHd<S+J$*XY%kB~Nc^KrECcH%~SZd$cs>
zs(<RI*T=q@U(rWP=NUda?RcAjr{(@CzozH-*S4~2#hvg~I@BOvh0bUWBpuQIh-AM^
z|B0WX=-M}U{s_K{Z~8v^Amw!6_Z0shOx)iW-&Mu8`fuUKJ5LO?Zs7doJZqwbfkT>=
zzgoQ8=^UeTKu(OeMn=%b>t;5$kK_BCFAZwmK5M_`U0>o(v-M7E=Pdp+hun64%*(5-
z<!mj=R5S0WV!tV=F`;a%=+9jb?ikY8bF5h1Jywj&-3ZTgH+){_m>4+}E9DX}M%Zy6
z%9s!&FZt57I**I~I1zoXLcG3$c@8{q&nAIKif61Jm<!*T<4x@3dxMYHD~=wP+x4Y0
z;K7;AuW(k$7TF^7S^RUr*P2_BJb>bLJ^QD;$29R<aam8e@*chQn^CzhntsRC?`39O
ztI+Sb`hA^;XZ0!7%Q#Ww3>JSb_Yu&UgU<3Xqp26zZNNl}pD&{+-ws^gua^7yXIKZd
zettV+iEPr2VF~6h<$gZDtK{eVQtyUdXy`5P@gdQL&vtExF(CAb_l?mKWMb^8dyJdg
z3+xq@$7fjCy~DV!+&{lO+kq)wlWtkOHw>QD1FILrQ8T&BV);Dkn2m1|zvOQjfB1F|
zpNsA>?z?j;<8#llK9`tlqRxPb2-o=fjrZ!iUUPpiYckpkcM?wKI==r)U{@|*E9gcD
z-AJH^!o%)^ZGt)y=%rg<B|P5w&zTSncKo>mp4hfnXY3x|ZV}wn9pBwGN#)f)omHW-
zH_%6w)4rMTv?edU*>l9SwlNf*WI4wp3ID8JXSok5%6Tl=e|s`7;@36zvfqkpzxUBP
zC$p|9e(@{&*K#Ml)7Zs1I}U5Gi})^7Yaqkl=bJ>n9leCu*VbF^htuS*=v;*f;`t$l
zN8Do?gdY|DSPw5-;asXbxi31u%)t+f@9_$_N#U|jB|Mc2YP-mp*a`Mxgr_n=cxmBb
zx30V^;6;VU`lIl&JO|a69|WG!$9M(2r0|SB7I_Y;kG0NjeN0!ti!<NRUR;R#;U?e1
zw-CrzcgDTUcQtGHt|oDuM|-it_aq_SC5|+B|KuzSo~@mC{0NyN`=5~GZe<_;037rn
zj_wNYHQ`u!>mARw{L6ahlX2)n-t$}Yp{ryUMy6@OdA4=_O680ki+abiefLYfGqQ{S
zi+4QRckA@d%1iHfw(lO+JL@yJk5<q2U9;X9xg_<DXZ!9xy~8eD-Q%6@+daVbt<jb6
zI5y46d}UVr;t_*JxcB5t<qo3=-^l4~PMwDnB<C#tM0*q=zKeS1?yeOo7h|q;H}Yd{
z-;xM>?S`0h+ID|HyZSCl=UXaH`8DOV?y8)8eQ&6E$F9N17yR;W?@TKBkWcW-s?*lB
zfV#A1uKrorg}@d7(|I4-gVLI$Jx@WoeBiOy!+mJg4(sxqQ_MFI?-FCnH>bt>K|ROz
z!^ne3BctSyp77OzBiHg=rNf8?(i^;7rO$BwLkik-Hhq$ur6kXZKF;ycT}y6BA){m!
zc}(m>Xdmm3U0o}XQD>sBqcc!$NmfCd<8-Ewvtw|cw>Sf!y&B)`!;>9(=N)+GiKrZR
zs&&Tx-L-ZJ`1ZZZ*|UeEPV5oII^{7$Z~bMn)z00!&jaqQ|KoeXQ|^5CIB32z+6wPA
zR!T3kW?aZ>9TT2-{qWAXEX4udI3Zap=kg%@h4?AC-AWnl+0j>cS)EJ6r={XG{Z?Jm
zh!eF>QU^|)HpMs28Og=rug0-Un|$<{aay@%KO%2`F6*Dxmh-)i)!w;d#0eAUE(O=v
zcCrGl#`3vy!8NuXs(>2>SN0rZFPwO1#X{tI?8jYe{o{B{eKP*+0r=vlqe#B2|NXss
z?`u2GSnq#-JMTBU@+zI{Djq98y#5XLls9<$73aX4l<{#kZk6qqkH5%tlJI1oqVWgR
zpE5j({-weg@;Ym^hCk8Qg7Kn%b|&5ie}>K_cL3THHyj0RO@_8~g|bP?HW^yd6=+F9
zOOurqWrF-+@fGgXhL%SsIxTI`vLAG`SvuYfE|>f(v7@EqjS6_s*k<TRLsJkPN&5T>
zbgZj!S_;tdJ~`-G$3Js7=lspZ7M41hFYv6j*V6<8_tkz*i?h+Y*Y8d6omH%j@ovOC
zC*v%0GM{(xN90ZttRH)jVRAEgr}8K8`vmqPWBfju-!XnmUk^uLW5kPkK8$DW^?n6B
zl{*1E)^Xi;QQm29HUZwJc~<;5oZpN73{Bv2=YZSh6jSzaUs?7Z-Lh(f{lyh3_t-05
zxhQy!X@fby3Ws-Xo1B(?c-B~>c6MS<mk;##lr?+`Q_k|q;aPn8_a`2ohWq$*oA^}g
z`LOh>!SYC>7Y=?`zApVv1-!SxJHW$>zaNYjf6tjH8CZV218tU<<eGN#gR}TueoX#@
z$B#F_v-}`G)a6I)MZRU=+0T!i+8akt{$Tn%8NN#nzx9=GvE||WFL)Loj|WfXHiB0`
zrzDdc?+U!r^MgEZ;`vd&$B=!T0{`0Xb21Nt{|e>WmO7dHRhIp&`vjwo+5<e<oM2>g
z4{$4+J6+u2xfOzeyNi3vtqvdQlTGNwU|xoPUy@C}f(-MLp_R>Vg6oU_x~FVX&}L<G
z5&f5*ix(I0EM1+w(c|r9;91#lPlGF)#0ID3Jf0;R@pm2llRfVwC%a($O8(hkTJp~j
zpIKj90WT^%<5!9sg6k{hor&VJ)rZr4G#_nfR^L9uvtJ*kf@k&N5Z+mR7{{~p;W+G1
z`jDqz(uZ;2TYZSAEc)<i!K4rP9qHHve*0-Tgx{8b`}t@YU}!nl=;mnEM?Io5Y-maF
z?C>mq;OZxQ7Ck=_J%-Qmr-Jzsf3oDilTQTWB_A*O@AzZEc=2_f|F-t@&yPzqZ<0SU
z_VhB(F8}CT8$5Xnyf)Lf7kJlZ@Sf#)EzfK3^Tx=F=vVjnxH_1Q<b$R0G4zvQykfI&
zeB?Q3Tq;tZ#>e9rm&D&wjJzL&ZY%Hm)mPcSVBoI6-%96C09Rw!J;1x|-^IoL1p{|7
zx*<QMH360P`^bCwZSC+H_+jmkdq`Y6eDwjZ>~ip|9xdjb#*D&`ot8yBTRXJ=@rSlu
z;~(|CyDj@IQ&xI*G0%Q`SPY)k!MVJ%@|?r7-yU|8b1i$A1HR?YS5+4NoF^E4e#Q8N
ze}QX#Li`uOGKfE1@(Ed<gJhNcdC4b4e-?}veW<5TI2pPu4>V4Tf8xPmh6mOTPf$Og
zU+*+diwCm9PxEZ;a0la%^!g~%S8ET4`^pY6WmV4sJp1h-3ZAux{=BpHun*6&he<bh
z_OJ@xHNoe7z<-qXnwGM*t~OXJb_9b?&OUT?_6{SHkN7Uu%48?clF4?#z_t1jqO9LX
z?dHAZ&1U&4!<!<{e*M_0`V4PglfN={{0h(NpXJNDrajA-w|wPZ@RfVklsnG&iPyoi
zeA&P|%a`>$i!Ya^J-&R+@MS&tmM>4L4fyi7V9+=Wo0E)w&2RPH(y~E#rVr%0b@$-`
zL(4gamdC)ew5&9=NDnm5OAkcP_N$<WHXbr<+I}?q%HC|sN)P^<XIH+9y>ctTYcjN4
z%eyA=^Gc^>8P7TcK<(%ozLrb9`OO&mowDQW<-xk2y^J}E8DH~PRKQzQn#<((QlI8B
z+b4Vc-%XBnx1YW;xc($<+j&fUNibgY2PHop|9%C$t2{q_&S+2PHK%$FTI7pPf|pkB
zr|>MjKVC4&-o$FZ2UouO7~s}dAL-%_&mAEcxc)eLBltFs&fgSFSN?xWv0AhOUQ~D{
zR!d$RTwn5<p0V0cXp5Nn!YA0S9V0q<cIOqBd1J&t@T?vGi+8f)Hgrehv_Fov@miz!
zVdIE&Fg@{9$u}n}$T5i=ZM>GQAjdRv^!uMT$W60!KW*riz2tfJ`=6JU!)EN|ao$<~
zvyNx^pUX_VcDB)pb>Lf_Xi-^o;t|29!^UgB<hP%e$N6n($@*x~I4xT2IPtLRGqh-&
z7cKG+8mGI*2@|g!BYF&<lM90Rocv}fUMqet7_Zn+iq}Fs2aT1X@Aiz>micJ@rlDDU
zzKCa+f5!J+0iN}J3Es&Mr@;Ff&+<!Eti9^LeA(H2i`=w<^TWvp*I0EPWvx#>SMA}G
z&lU_`J!-}(+3nxJm)(AmcUDF-T>RSH>4Jf8$19ch%jhhATNzD;COckD5`EBQef@OR
zXJm9F@2tLPoOb(rzBfjE&a`LCP4ShB_{x3Clza3mUb&;dvwRxHJMoD-q+6<aw*K4o
z_xK<2=;ww<gDGcuw7=SdM}q`|)?q##trCxn-V`qmmUD4_NpC_t2kOH`CB4a3z{`T?
zA2YY_D)I3z@|W~edh=(VT|UnA`0+k?mLD(i&efZ<oR;77?B~Z?>_Ys|ck<oi$X9~t
zPR}llBSoHr`p4N5-Roi5uLk2~&o}YD(f6l(bl-32R{!|E!yB)`(>T8dye6Yhck!;t
z@L>hd8mBK|d`!`=N%Sja$LUxFI;Q%@>Cacd`<!o_KB)rUiQbyyTIMn0Z?)04OQGB9
z+xK{uzI|6P`f|JRnX<`#(zpAZ%*DL3HhH0oUz@u?Fz{_$|A}(VO&`-0c%6pVcCKIK
zIZ$@zmBx<j*}-_(`krIQ7op4gf=S51`hw5$?Dy9vs~<*ohx1N4oIu8h@ofF|aVL6u
zJjL|Y`h!WnvZGB|>Bk73UHzZpl{*|ftN%lI=juN?aRARf^dB3Se0~BC<umuAoR!Z2
zwS|283kJRCm^fDQsRrh^%L9aK`m{rS#OUKzo?W^od35aqo~7$=ymRSdEtvZod(gF=
zd5!d(jSRPK8_#a%w=Mq{Q{J_Io?ZWD?Bjj#nhZTJ@vh0x^Lw6M`{3Ip*~ho(cZz=h
z9{k&AFSXRkyuh>e*q#%NI))mbIoI&$Y2cPec^7wBZoOdO?l9x5cytc<)@O!J57wj5
zX(gXoBu_g~FHbJ{%n;8(c%f-MedcP>Xn1iG{kO8Yk!Q)~_VJ!<?gh{C_8Q(vHcf{)
zElYW}W32U;W5f&VSL%Xk$;V6nGFkyIDm=Sx|JmUB(#Q1lmkmCeXB(QO4;rWa`fw3=
zRv$FZTYb<tFMZgyzo!rHlE*E5m;t`khtqhLKAb8TeEgFcGyV#$<w3Sm?mhYTcJ5Ie
z8{D^Iw8VoD&w=tK4@A0VZ9@6hR&KRE9@H2foNa945b!Jy_A@+?-x<Jj_xz5&$u1rg
zAB=pHM+MW8JhC)y6pskTD;{1NH$t_+cp<*g7LO+xnmf7Y&C*=JcUZZ-!L#Hx5xf+3
z`%myvM#netF2y_P!OJ`=KTmtR+Si_SyLT?A-Rsqv{EysD&MmrU_uuZlt!u@^PGHPi
z#TN^|1NcFL!xumN7U0vl4_Lb3hu;YN81Q8~e3w!y{r11Vn)k$eZrgtN4@`aK?Joj;
zyy_{V>wCbXz0~t9;L3|FujfMG%KI(vM*?^k`IqJWI1ji>e_8+Pfph*}ZChEtz6g9g
z^t6@Hc^dE$f|u1(2Yg@P<@`Ab_*2wh-rwVZv(B*x{?Wik^}?SCzy|`?yz@-jkvu*}
zKlOhqd=UI)>eK&!n)h>n>;2{634XRIpEmDxevIbNRyPLI#`C=M>(L-!eCzA>*W&d9
zmZL7s<t?lVSe&v2pAPO`&iS&y#9NEE3)nQ%ZwuQBY&W!sM;7)El?5jLTiCn6IRCB(
zEt`Rj0_LaXO<?%`+5$4NWnTlv{I#~=tM5<1o&+Xcv3M^6n<D-3;XMzGebFBM_%*Qa
z!vjBkd0_tq%+G@-fsGK%SKm5d0|fK6`v|a)Kkg}yhk(5VtjWi})xa9WD<5nXFzyrX
z(eAy#mcti+8+QU*ESQg$<-k(nAN!V;2R8wmD!KXaZUFWx_18!9HNYMP<}aH9_Ux{n
zyjl#bO?W<ixeVBK>aVZe24FV=^Yiapz-H68l#iB+fZZz|_-L6cJYXpw>}$Yo0Or^6
z*}#5MM&B%8Z%MwsHogdqJ(wQ+I~^En*gg1nGO$Bb*4OS-U{3+_({}=}e+uSnV-m1!
zz~nc(^JYw5ia&QFRMp#9<K?3$CnI6TjDND<?dFY;3lx+$GF)v2<bC|{Ij2Q=oGElm
zd)Rx;_weap74^Dt#XP4)aijFp-3NcRH`=`%pX4)M4DjfY#BK(^(mrPve8ubQIP*n1
zqWa_XUol3amz<Qm?%o2=KQ6s`tGD*?D(9AH|H!T%#{UpZXOw+q?J@DKc}v8sH)dZ6
z#?NkYCi-(F-rZKpmADoe#ms&H-vPL}5_W(8P4FUSU6M1yy4NN7Zou2$-^jY8X+K>d
z&m>KriGNS*Szo;u`s(F-bGP0_ZQgq4dhqPr@2kAi+%L7>Y2l2E6&gRpN6i7(!8^<U
zbUv65$u={$?9-FiMe<gH;=&?%H-6gh^3i_0kM@a%_E&%7(SEa!_RkpF3%_<+_zv5p
zU37EyMmOD2WE4b0^iMtK#8>$09%kxRTvpAqe|_vb;1!H5^8I}G9A#gg-T7l}NzeDD
zx3UMn-cCSo-Sq;_FS5KZwgmSfzsBps>@wa*UkWZ0#RmMmKhekgSJ^j@7`^3Oes7)p
zNssr(`1qr|6zNUd6HbfrQv7<e6Iv|o>E8v@k^ZgWKlA5qegAz0eCo1#`!mzN<nt4r
z{qpJOlh6IUE138?%d;yVcq_iUe&wgZ?M2xmmn{7K;oJQ{eJcKP&;AsjtALNswEel#
z*PqMF`t$PElD>V{*Pm~j{%{smsXyc-1nGOcwdY*>DPO(HOR;?7j767EcFwj2yf&ln
zU*=t#;V0*Pc=Oh~SpTs6yeqi<=$+m;aM}M4`<Q!+u@9ebirydGW@uIK_7PtlTqaIl
zgWo<D(tqo(52Vl5K9rZDeWc0cVJJ`GV(_dy`|?iq5zBgcDLw4N=by6JZ;-sQj~IPo
z-l+P|^3~6M4&7^Z@AK@}|LNda|FoHRR<1>!UH#YErIA<u?h5TA%RTh}N5S~Td-l}-
z?4!Z>*|jD8f85ufb!Gjj_VwpsUw<Al{n>%PvHgkP5!_yUMNj?T&9{`6Pj~t1U191y
zPWcLkPoZA~*Bc`5!rI66l(qJuycBm`C+)M3y~HuHBma2tK*n3EyM0iJmgIj2(-ObY
z>tiivVHFJR#R@iA#3ucFM32D}tHWnQzpKOe*qJ;_$IgW(-Sz%Bn2sVgX?Z)1veH4V
z-^6%U|D=c9McK{Y<n6(AC2uow^R=D5FBm_YEwz1+X<Orj@>0~UU#`&#ypg}Ma#dc6
zm8<enB-cy7SCVV!@?d(3mwJBBuct}m6lC|w#y$HRs-V{)^xE=z3po(h-rwTc?JxeL
zjddr!PwDpKf90L+&+9y^Kie0S`jcH2OkZ|s&o#Znef2)$tCxACr~en1>fKvEn#?%E
zeA8P$yU1x-!?V^mq&Mz5+6AnmS-bp3FrA?by!E;5$CTPnvqu-m_Y1v#ZDMa$bDK8P
z#@^;f!n1Sg$8X*<eyg;19cS-a_P0m;hRy`h8NH<E`1CyI4cPH%KD@Hy(>Hi_^BlhI
zjURdNtZjdtce3raZ#gaJ^W0;6^2cut!E~hACwF}Zc4_0c_zl7M@gJ7_{pU^lvda^B
z_K#mHpwsH}MBZ6_)_FP7=SO|xS3DWqUNqs^kw1Qme=8V2PL6@!7hdY)*AO4Q2UvQ2
z{-~G^uD6&f*{9>{&u+6Xew@z_W-Ih3Yx;A%uien%;C4e-mfCHnEz8F@O}m#Fzi=Y`
zw0`bY-pMbdkjtNVmfiXD7H%VUYx)oELU`6Lw%z27W1Enj-?q|U3Z_5##XaShtiYcn
z{3+MRC^{NwN8c&w<6ZRCj&;gQ@$2K(4@&xYGw&=P|C?v&<7KCm#<6ULefI3Rd;0ag
z<r7#t_@1xb@0fNUjeCCmdFZq9o6kGRuPx@Ze1m7}H|5{g5;I%b#VhRHMcJ=&_iXS3
zep!XS7R<{Kd)bN=?cVPLKAuhU(H=9j-+sDB`#nC|rx@CsPIFq0Gqk(o67jO7JAZaC
z4SDvs{d-N<`05^O>XyG5!?WtO`!<WgYck``aNafXPIyCk)_Bu$bZNZFvp*K3PuXKl
z9s%QrrFU=hf8qJ#y$Jz!5~uE<cBAY;mdELN_GyFg^V55=lUc#|(U~PXd67MNYbU?e
z{yhA#G9T}gx$;M?oowXU_1m2D+Gc!5x-PiAbbL=cNuOB(|BRBKTkUK2$EMvK><cUY
z3HkKlUf#)09Nyi{a}PUVeZa~uRAE1{_!*;b_;0_RWGmQK7Ta>|#OK44UkL77lD&BA
z0~&mN`!CbC+mG`4_S`>9KHwtLw<gwGFED*8x1%^YG(q|iC#S}5M{9g_f7#S6`#6(l
zza2G$XYJ@z-dQ_hAIQsN;69p^k^kQ8LU?|=xZr=xy0g!RWyb~gAwAaX!#QO>EI&TD
zO#ZN*KI~HZV|lN<6syn5OL6sitjGHWKK}IQo%E_L%6Dlz`}K-*L%a1VUV)A{bolu{
z%UAygzCH85n>};u$4>Y0|828pE;)7ZEI)P$dTsfyz3U+P7i&!14DYNRBo7M4Pa+4G
zUUa(6$TvDU7(aS^X<o&?oXaoK*;>}0p}zho|Fnrd2=C{nKYah)-Jk5i!R=+C-M>%Y
z^^cOC-s7wHPE)Vlr{4}<%8U!Q@GfQAS6+&LpZ;QWQ{TAz_vxScpPu`xE&t6OknD|#
zpMJgm8F2btD?K5ve~<SM@Sg93YsFW8xhCM+=S-Es?*gv<;PQ5s16TcOXE%FMiue1m
zAE@6tYqh-o>%m{pOFc`0pGiH1vUaZm{&np+mccIr-l;vtGWd6a{}4LL;ok(lih7#L
z@Gk(a`$|(~@UH_un|-cA8GJTy?Om7GKNI-Jz3}-A;Qwv*5dC~U75HN4FQ+F4+&yck
ztlblUZ-)Nzb|(TS#@qvbB=AFlOCH?+=*nX|bm;ewpi}>~S1&nfuTlR+r{D*hc5IA2
zin?~0K3mu@V8mZ8e=KY;F!FAD?3WG##yDLY@#P8h19qB`oh@4hY@Okgh3&qvYsFV-
zS2D1$UBIp=qh%{F)_;27{R7x4@WfwR_FZ6GpwAE64D1Qo^~2r-)())ASN1hvAC|T8
zCtx3y(f1;-_2Bu-J`arV%zD6n4eVI>Qt-8r2iCU?_9QTJrF)cJ2W)0pKOO;gF72j#
z^*scPeU~2cSPe{hCjNF;0jme5xwhriy}*tvlhK{PK1CZ%zBZNv8%P`e`fdU?zf6a2
z0QM?n{cT(W?2<BCQou50?Jfp3k^cJIxD1%iN%Pm&0F3YHdceK~?1yD-Tm(${1pfNw
z0y~8^{Plee*w4z!&Ia~KSsSx}U0qh+7lCamljZ5axM#ITyC(zt3}yZ8P6b9h)I;Vc
z0Q-I!Y!a}O%XIf>VCsjzZ-)chQP#IZfUN<xN8Z5F(%BTDs@}%F|8IE%188rrc?0A&
zXzy%q>tg;~j%|%5eq%jPv9j_bR7d*R-e@n&8({rTIUB<NkMah%r=ei*_ZDXg&+qS_
zgHEj>yvjO-n>S#-^WR&$+Ar!PUW!=!&B6W3cbL2Z;-#3u&;BhKKl{EjF=p}we!w1c
zO#4d2L5q3T84Occ$B8U+GSB|4v<`R)?;-||^9jBE{|&6unf9U;@(Q9huK@aNf8tw$
z>5IR^*}aCobA0X2GVMP0OWK7#&MfX;e>{VCj@BQaa#~L3S>u`Hp!wuFcyHww`b}`V
z#b23uEb}kFtfJ2cmx;0;>+bFO`j&qy7(b63ZQsWD`Zn71ZTQn(-@fVV+fdWD$VR6{
z=UJ$4>X*9?Y4x%~zjWq6_c|neo8_zf-*#US`E!4qH~*$DmS6F|1otKWdTB1n8L8d#
z8P2`+*0GqMwORT?UOhqiHp27U%_leb_GL{S(F%Kip|xHgXJa#d*(sMKXkL<J@4b6p
z7QXD~)Az^dgVlG=hxGJ)ohO^HkAF6AAoZx1H{jPhH*dtyo?jPCN1lH9<@5ggCB43#
zwx!py&s%x!ULV0<7s0dh$s2iBF!PBY^6ai7DlfsbuRX;eJ`{iETkkRWoKY2suiPD%
zUi8G;f3br8712M(*fZxecK3&QMUVbG<m(SPdENav+w{lHOEB~m9}1?g_*37!8$PY@
z)m!JQm;6_kPi|fUc>fJvo0*?Y=3SfN=Omupb%_<sUrqbk`wik}l)XpIUoYeSAItx}
zjT`0qf0EUIpYO`93~n=huhD;U*!}un{Bdv@?Wvagt`IpVLH!CnRq|aQuxDxQ<L^AX
z`$G4Y^g+0R^*mY9hrd$R_1pJ2EzHMy_-()aq_e^GrJH)%&nV<*_3hWDe%a4Pp8fVS
z*ryjy^3K{%E6=X|Xph|5!}8$vleg|^Kluu>${Sft_S+A+8A1Fik}F{QbBnJ(H<k70
zjrU6aKzReUKgt_Wf870X)1STVQ+KZ^8vNt~!Sp53G3$rE>1+2Q)2_QeZuz(>xSsTV
zrF9%~cf0LRc>}Kf>3e-s&))1wc>eKZ{tr#w1NLNP8ofT4me6&cOx?T((`Nq0VEjCL
z?BzZ&T7hR#cxGkF+^X9rj^tT7dM+_o0iQJAC(~-)Nu~*O`9Pl4KUc1ddEI@gpr=uz
zr|y2A?Nfz(g*^ERR<7H8`-~s*tah#6oC=NBZ@$Mn>o;}ol;n0P`^8pn`9;Az%wF#K
zO~0StTi$@Hr-oOb^6^S}16Kc)H{hqY+DGp%ee^zI=-tko!qTg6?t|=7XDM{At0Jr2
z@0R$m+E?$7O}&%8QK~mzA?HSV)?~(^+bP=w4`cHf|9RGWjpXj;EhJd4G;$0jgXs*h
zkE!*_?X2zFex>IH<0t2O{o2Idth*0k+SuFttPMQ7j&S4kzPtrn{u{w<Dz`%RGrKH)
zi(e63CXO!o<F_Bd|A>h*PJ>r=d^&|^H?QuSUi@||c-Hp1^9IN%QQkn0_zhYLhW2cQ
z{E6%(d)ofq&RwwWf0{OJd^d_`|M+w<bXxnX;hojz!8}W!AN9p|>8}LyDajtP?8HBw
z?(Mt+*Oy^enrBV-@yniPq48AbS@`MwoR41C+q&s}i)YvVm{&<hH1AG+s{*~`O_Yy6
z*@eOQ+3%J7)N{Uee`DHp^AfPnq0ndjR2%Q)r&9FeDV}9lJ@OKmyI5P<o8Al0>izGo
zGkFQf#&0_zau0(1Nb!t4<A*pl8-yR9(=*<Ab4y8|Z=f$$pZHG3laFscSG+K|-XivC
z^=%Plt-f8#v*dSKT}giV3VZi?|K2@(Uk81*-nqVdb#9fb$5W{nyobQE@|n#$$*1k}
ze9y|W^?Mpm+`I#$N0q(>F4h_Uj2-uo#W}$|2$2uqA5*UP(ayd}H&2c>w4XEGqx}ay
z+Q%E(6Q?>YhZx#Lx4U0w>HcyB8pvVsk1H4X>K<b1mi-;Tvl|y-r%mwhYv47Raic%)
znrKsa`|#}M9k73!GVSNt;}6oW>@g<qfbV6j4g7E8twGif*kASYKF(fUP`lCNdht`!
zg7HJh*YBr3MgOf|eTKbKYX`s5zA3zL^9tZoHF#DZf5|(m=TGqL>iOX%Jx^9>KS}$3
zUD^Fksovi51|C)30PSxD&+56&8)!SUm%IV(O<Q?Y*x$|C{oQgsKcxciPVPzj?|igh
z;p53=h9|d^vm)A`_R;<w-pNLrh%3Iuvuw0n&-b=(>(}##e09$@bxVKG=Gm|3tH85*
z{zcwdJ)gm|yDv@LV)cA)dMiBtJmKrt`tkw{@1vipz{k;^t)5fH`}~yPGI{p0{d)5q
zAMZ!f2dj^@JWC&U9OUu-8$SLV$UE`g;oW{b`~9Qe&uA|_$lj7;d-|C(ef95RPg?bh
z|J!-?^M9I;|9q$0&Hwj#cKOd7%kn=zIJo`nfxf%|!|UwP74XTOarK4qtj*%%GlKf3
za|x`SJ?-mHzN|k7`1+%Br>s7)AMW;N8?v?ii60T%Ui@%hUI4bz`F2T9@AuW4HT6!U
zAGTik+`xXola%r6mGTD8M|aEf1|Gkby+L?o<C6!j;hSmpotl98^}Y$X%^P^Pm-lz@
zeg^wSZDr+d0q*7vl)-NV{vGX6mBFtCuKJ~~eDC7^{}ulgcXPg)ORJx*E5W~<{dlc2
z`r((DcFXJkFW{`D@6qmj;nPkz{d0lqyX`_5onHn17w9a<KL_}2;Fq`iW#IN(U_YH-
z06v3u%j-WGcs>0sujli?IS+Ra{K>!>)Ayj~v%r(U%j-V^_;0nJTGp>afM28i#4>mU
zIA^}Oa(I_=lE;_8(|^v}a^>`U`mNusMt;{A`E~GL{jfT=A9cNF`fOqSflW8<T38s^
z?Z6~k3;XxgT`PV{`+is_Fn3SY*Tyzr%41N!ZP|YUTWNS<VebJ`9)!QXw}4dv^Or3E
zV;$4wi!J*)FgI_&*TyDbVWSro?+?J-eQF=x3&8q8i=QvQ0p{-8`tUXYV|}hiyH5do
z51606$AEF}cn`caz*rmW(YK!gV;<Y1Y%{RgWi;OpthTJamB2VxyGPl(fa$yfKmTq6
z#yM%V5ue;{2KJ`DkN5Sh5!eM~^0*e*hm`f>rGdRsM$1*ejxW=z%YmhUrF?CC57??Q
zUHdk$-<9=uJ}}Nh?a{Y+z&IbRN8i2<to+=CuK?pah#s=62S#3ZkFs9^_Ukg8`~t9}
zz>E2KbqcU1c;)9`4A{mp{+$Sn?<0HAd>pWGwBhH$F~Amq=dbSwVDhJquiZm|k>}Y1
zHWt{YfceXQ3fL>q;x9WK*dM|BkMB*{CpGi#>%4nYQrxwnyHmKcs56c1lH8S|yEzg8
zcb&Y$9w%!A74JIXUJ?(7J3Rg`?>bTc+&j13`(GUHObIm)Ugq_q1)4j;HMtaV5&M|#
zT_R6Hhv39g+zIHt*S#X#wRub2F?Y0Zw^f1t&oSn1umtxpI^1oQ_#|{ackE0mIL^d1
zRZgeP_p^7foO@kYt?Isp_D&&IXyX3#2<?V$j5Vi;%OZWa*Ms||7W|Pr;Q5^d{t;u}
z1w5y~-Oh6{ybpIP)_CXtAVWQ`<$rJOok)BC8~Khi^6m9r9PYPESH+s=LjN@Gk*VWO
zo2gFhU+J;jljbbDYcBnTXRU4YOZVGw*W6xZ{%4Exe<btrdu{#*zq<2c%sn)>EH!uk
z(2vc!lZJavtnAl94}I*Mi|oV5UhgIQdB}dQQ^h@;-km^gKG~;?>{CYeZOC5t(^%Q-
zzL`H0v#DO)Lv#>1tL5+i!27+)saWfDhOj~6zZFYI##-I`i{v+lJFTGuJ-X1r!RTbe
zYVPw}imZ~fIR_byMP9mtDC#V|D+z5)k`ZUHbXflPat9Im?c%&<ap1#$a{o}G?EWEp
z_fWZPUPU&Ft9r9f2ODVlV*KKoK{bulgQ^>ax3a4G{YaHlpWv=3tv7bB;dSkK7boBG
zPfE~tjpuRhpm_tCt9+FEd3E-g?g+9rIW}$Sc(l2WyEfze$zM!so6cQAp=R+p!ky0_
zFWjd&iB9Og`Ve(GA?~1j;l`O8Uij(vJ_+~FiP!L_HQFaMFnY<SXN|pT?A>*r%)K>!
zReA<~q;(E*xp=Ts9|niJM!Az}bZ&_gT99l?kBlO>ds4`iyRKqKv`tAlyN-_?5u4&9
zMtnAQgfm5bsiDmfWwU*`7kOM&=6vpBT|BLSM(4C>Jw|)P=K(u!T>nh*M5l8IXUVR=
z-f3v!p6B&<I1O>`scNE*I&g+x6<bqR=$G;Cc^;kne%iY;OnhF>{p4zAs#CL|0KY@n
zM^&Gi##81e7p=d?X+X#7Pv6~Dzy1U2=6U@try<&xdz?(&wW`~J2F?UlA1|bC)u}$%
zdXtp5cYZ1UjKT97_+9)G>$l)VxT8HX*x`=$(XOmMUU&-k1U|P~_bs;3PCIvy4W%8u
zm#;a~(EkT?N_4by&)Bf;_rr3hnD@`}e*INW!~J)hd1Z>br?Lk*XE8@>cn12@@E$vH
z<+O!<jk`HEz8!l__ICzfy(soFcSSE4&)G6+Q+JTQwZLgT%E;`k1+iB3ZyJ0%8Ga?N
zT5{_=WIC;ngKzB9IL!&czv!YReVi*+LxcJtIgAjm+9Zb&F0V!zI#+@d?jLK_J)QGt
zTY7TZKfCI6k8G4S{4_+NZ@*sX&^=#Urd4IK&>EvHC(%E%<#?y_E$#t+i1F`T>VAtm
zf43|<wK;oI>=yq$z3*~Y^E24YmgD8K#N+<CPbgEE;jQ&&t18TG@r{M)9$vHpUJ*R;
z>;mXiy|Po;>%ZVZcX{7Ea(^?tnJs+k*SP4{ea#1@zq=Pd(L4=(N>ZP_2W}R>x3TY$
z*f70Qe4mFs_mO`;)Zu^XCH{ugrTTMcSWT{DNmX;#l5q3p=}znMjH}bY$M4@fuc?2g
zuI(u9espe*#wK~VjaALXu5j~D9)o7$GWn%=g+9mW^FnAS9?F<w^gI@F)<%$#cL&<9
zTpd?k;)QtfGy1Lj^N#NB-_N{w2D|4B)0?f2+P17J(?;F$1v`<u{J~vyoF9!2%XdMW
zd#`VZI$eE;49IX#9CxHU?mS%M)lZhdL+<d6qW}7RksDuB=ZgFvb0D^_J8pr$q2I%u
z2JWtNfB)J1PI6yvVnD1_V^Gs*r+!R-ry=$!{tt2*LfHHk_^a|?p-)Ag6RfGsl)Qo6
zXxff_(p4`xZW5nvV!y!fsc>Y8Pk!Iw`G%KVzN!Ad&_C68+mhItMz?Na5#Y$>=4fQ!
z%(dvX`j{Hx)Qj(o@2z?GYiau|WwyA!t0uP?nsm1LmU&f~1pF`HpGISUl5?~=*aqT5
zumNK$@e1o@QP#`8x{W*9q4#>jLx;P7)qla3308xD-CE+^IpW<^_(DI`uaN8KLb)Qg
z`X$r1rVqR7$I-W?)v1~Bzg;~uG1tj_Lb<P^FVgWho@I>z-OzoEfBgY-u<-QG0^^!P
zza+aK9_Z9}&}aF%LO9I5gbxqtU`&~HE9Hp$u>pK^tkp5`M#qV<&cnE;HLZH!S37(X
z{^rHlSigOn)o%M@r}I}gcdZbv>fFF{68We2dkPw)54v~jUs+<Xou_h_AL~O-==}sf
z7rk<AD>N#Y=h2bQM7JFDb(dp)B3b1}1eYrgcP8GW_K2m%IHTS6u3|o;a-rJba?xSP
z7@A+Ja+V+C)1N!hyT9X)bw7Hy-o^IKY=QsMJBKkfX7p|x<)kN)x3%|2DEnkb*F<u6
zYo%`%{!`$(=hEuwANd`_N2rZa=z#QFcXLJ)`(}P?+ro|$rY-J6>n?i*WnKG22foL1
z$oEda-FI`Dhw%In^H9m$FYozAKO|$xvN(;HQZk(8>4s$ded?5dvGlH1z4&eD>7lox
zJDM7hX)-joy)Io>>`<LMiZMre=+#l13(;Ts@4BXaGip1GeR}#-!=35j+)dD+-_A60
zDfxXUzr{nzQt;%!V0ofr6Ky+r+fKo2=Ur2;<gIotwe8IF+S$+7PITYkHW;g2zfgc*
zvNd$uokK?c*i|pynHc%3h`AR#@iKEs^h5X^yssLNnwiA^B#1Gta-7D9GxqKT{|oS9
zW!QPYKun|Y`d#@g`g_l`P)0hPBt|Z%JpBp{NWC-ySzL`=t!@qFx6byozX$W1v(vhN
zE56{&wLR_)?b8eFN??Aym7I1PIVtw>zuO6%`F8CU$l2Z>t?|qquZd6QG6qD@-)W3p
z9Y-N=bVv8NrqHYH8|A--<_1u<4*%l$kD<9b#`gAseVW_3%T{@wd;>V4aJZ)f(S0h&
zrVp}VT$Zk6c_uDArVW0EnBOrTo@MVU4^c;9oT;x8p6Y|XU*nVAG5@I2n4btMwyl{^
znuq+_8~33zP9G(Qhb2Qx4|jT6cusKJK6iOqncWXu_jsy|)(M2u$^WtNNB(8^;ube<
zaOVl|t8U};PQ_2#$5mxq{?76EEB@==T+yz$;WF&fwb4W<^D(x_++~RT%!}xR{%=6{
zw+i3bS(I;{gLoHZuSNH@s_s92U*(5-<8o|3<_vzP@%csK5x=i_=5TbHvCTp6nF~!y
zm;0h4z4t07*@X_N(Eh>5#MG5K*qP+^%Ndl}8m@A6>2Q}O*?4vC={r4tb~3y=#2p8#
za|bgo9oIj8@!M;h)~lWAotv@CRfEEf#hdnR&JL<-<er4iUl!=s8pcM({X)MlxO20w
z;In4)H)Y<y%+8KbX85XsnW>KB-hJH;?lAQGzWv1;%>#z!_Js~_ZZ<U6muJZ%FWyY;
z$(zH7u|%uJ+%J<u<ngv9_hZVqeJc#i?6?Yguzm3+Sz#QEGY%GrD}<*pF-V3<#@THf
zLzz7HY|BS~z&I|ysrg=*yOq6|p*q*G)w$wLS4XOIzv25=#UpjZBJ!bW;*wXT$5#H4
zL75kzQ+@fw)xDaW?(OsXGdkBmf1*{+2hqf!%m!b7io{Prbmk9WuaGglo%+-#Y<MuZ
z4H~;@ObnOpS1KPjb{_x4`z|WaJbPk4XOi1)Y(G~&R;g|Ls_KgmDwQqw5mCk&$==}}
zVwWGYSSvthB=htKUG>^4lkFUfu6Xqibn9<a{phFaPgjU9(~2+Q-5B_C9(G)u!@5CO
zW3=;JYFN)WS@UZzMt;HdG1gz)f!%U0xLc1)L(`zl0@}~RGwEBouJtFjx4O2L{1dBd
z1FUSE{W9nKWD{bn3zAI;zFS?3GX}bN+xA??iEd;3Lnr<5(Kn&{ZuvLl;D=uTe3jtn
zx*z^^;JxX=yUeGJ+y;k?%-ylel(+u&i<GytCf_Of+tYx5p7zSuwX|1h$6D3#dGLPK
z3*JM*qi<Fo6T#z*((W<$Xtis6RoiP_6SuAkWfc3!=IT<P&P1tuCpd~J^MCf%wOlzC
z24p%Hd-9RKx-jOg+kic-y$2Ihs(dZw?-7i4EFD9DUEB-3mKNuaz0>kXLrdsoA1zG-
zGMfx7DIYC=09NkD-~Gd$_l@h!X3b|C7=v~%e$pMk?0mOoqPteq8pBtOF=KV=-`+ZW
z>fhcvd>iwH#F56H@UKDonA{IM{MnEAb~$l~haakdpT>_S#+rI58&q!^+7jFaA7b1X
zi%nO7JIBzvN36$OBQes{S;4m?nRg^OV_H5UR0(e=c-XS=(v{*~&T>dFrn>c2!oweF
zPUhA}tQ^#5_JZ7VsNMQ1;W0iYnA^McRfw6B_;_z^<Z0J`NuGZDz7YQ-+37oZD?84y
z>yDScuJ=Y(dEi#hXAAC=P2JY6N!-2uL3GQhogsAD$|4UuZep?-Dr0yb$2VE{DS{hb
z=Y8<0f*an(x0mpz2yS?p_rZ@9oV*b6B)+4B{~5szukygf5A|dB;-^=OhJ(Lv*1|?P
zohz#17vILbZr%R1jcfOJ8oR27zMp3fJ&g6>Aep5V({eXXs4Df+Ol(tSSeL4Ql(qIp
zySiH1Oxq#fdR%{K(z=w!^Rp=9uE~swbshvvapfh)k)I4bf8n>}a*zHahbH}p??2Xm
z^u1aC;i>$gc=!wbhiB}?)QU%~`VUW@(tqgCT8-$ja(o-VqIF-pk5EM{B_A<yv@=9>
z>|pIOeqen3)lO)}O2=u~Z(pbWYT|jttdXl?w@yoN-+Any#`p`-M(w>3-_A@7avH~7
z9owaK1onPd!wnBiGlz<xA6Gk7hdazM+Nzw+ygT0-=ItkNzK7lGko@3v!w;E%hbZsG
zM8k4gLyktS9vOA227Unl=F*R$$S>~1$2-tB2Ks(Vo$u2hjW2p1?@#;CmE90+l#IBu
zCKDeNYJ8gbX&&#H_e>D{g8uRGtToS=;|yJJguBnt3tiN;lsG8Ln(`dhln?uuF_3+R
zDEkZ{_8BBA^-=nzJ~|=I?}z0iTiZA7r$rTurS{9X>#OFR`aZ`0r=Z_|=Dfx$;R_aR
zqYV3DEDm(bOY=GM+u&iS`Tug?CkkKZpc_H^KKEZ~_kH%<AO63jL-zT(3Un;>(INlS
zhkIS@y0vsP+$S}YwF36Una|2Uoix4kz6sMiM_=j93#0={GrnvfmI@kQ+Sr%Wp4TPl
zt>;fSy8cw<wT6?W&W+I78;<;~?CU?G?=Poz-uK?Ao!hSXKc<g5@2*H6dWp@Kc-KEC
z{ly=&)}iz8rQsQLlX!EIbkgI&1}`Qi_7_f-i33>=n^=$Bgs1hjgYXIY15z``p~v$I
z`(-YM_k!!a-lgq3XaCGx-j&zy@z0B2<dY=FENdHXEW<hmu|a417}1(~X&e4ZarT$7
zZ_Sxp8V06jX4(7I{D5z%*oPLpCYMKcQT$8vFlX=u;NQycIQkQTPA38__|Jt^RgLY`
z*MyH2eqyHPu<Uj9Nwr3ua3lNpFaMTz1$?*sR<gqWMH2m5t9AJ?_;KorFyBb9e<51L
zPtQ+y<Fx9tKKlFA|1W$?7d}G!Ggd|u;e+R+o!oZzDN@ue8s)>=*_#nRv=%T1**(kr
zV=Q~4@<-}(-Bn{|MUmOP@T840`_QL-oP8Sm^KMMYY4|Psohr|o(adVrEcRvmTlqn#
zp(EUP!ond-N8Uew?BpWl>-spEF`@8+Ga2vhe`em~cfwT@E(E@ESEwP49~~3wyWkA`
zcpTXM&y1bCq_1;~!@kE@r+S9Qx1C|)a>f&_Stk2BgGJwm=sxo!*Dt>YeMMlJugM>I
z`=Y~gU*)+l&f|IB&VkU+^0_2q%*37WQuN>d%!QNZvEQfhPG!a4D1AH_{t9QgWW)MT
z%E+b-*_7ns?Jb2|-5Hi^q5W;tb1-~UUc&l>^I>RvSN+d{sb9<G&t1EJym_4b5<K+F
zZ7X`4rakGW_S0M)W{plfAB+CQ`CpgVKO?`@!G4-_zH3RJ=FR6itx3i{`4ZvPrS{K^
zbJ|{tesZc?*V@abcecM0ZZ6)`r}<C6@N6mR)%jwbb3kS$WhwV!)S+zT0Omo1G9612
zkGOVX%Kb*={zH9sdB)nD<(c$ZYmP48@Rz$6o3%NgK0k|%OP^=B`ute)*s$}Wc%!+>
z@jUOE7s_<N8#`Cgn&buO^k&v?;NwfudF^%7W2;(^>%``V;^(XISNGfq?a(t88g`(I
zA$<EtCw_7JLZ|hFK_eR@#3mnw`!<h2AHr8_kD54!@jQuMu)eV1S#(Hcwf}J4B6t<{
z_N9p<IumAJ`lDk7bBJp~jd9kG>*q%nX?{n{a>aS$oXkhZI-NUcZw_n9ZS46K7ZQ)+
z6TLbAh};$EPK<iBCI`PJ71>8pdkcX_fXk0iSHr%FFXW$~?REGS<(;+X)$D_ey)iak
zx)<lY_PM7zVV8c@r9PYs{i?5uI@k~Ij6;7Nc31`N4!)}j`iHWwj&Hx>P1SGO`haKg
zcl-_5g=~U(cEQ+$<NB)+-Tq2zF<K+pz4#e-EZBs8S-tn^`-@Ad$NH)mvMiwMj%11K
zWG_YhmHOsDpZwK)e8kRiA+v{8o0DIzhCiCGhv4bfX(99;nY*%Lj}bc(&RBfM7JP-r
z>tVV1U7ii>_#ywzdT_dek51!D%5}P_N<P};y%5XES9I$&by`1Njb4A~@~$?AUzs@&
zS~l^!e2wEdU^jO2sipZ~qyIl9hoj)_ZFG8i9m-|lRgtx2{LV|8SM^m4@!~$C<KxF;
z6YsL;ct|+b`i`^Dj4r3|f^UD$ssD&r#Iu{K3ES}1vZ-CHJ4a>nsRP}77p+Sd$x-+*
z@%vEhqor+P<GTH88k?@XWS4ZZaDvuSrIWR}Yw44C-Zt5(Z{hvoAH;6GjdAhzs-bRP
z(O<r~c=Fcps0oYvX+L4~gfGzN1UY;w8`*a~-l@N*Z>)78etk*R=mkw9ocg;dS6Ie+
zF}A#8RaNE!-X))3IC(0$Hf>?2e(HBa4N=ytS308?M20){mpp&L<b?wmPwomeq>f?@
z?bE#bUZ^29%&8y0KhM{O8k&yg{|%vrB)_G%A@txheEK$YR_&|pwxLeF=vI58!M2%Z
zzg%s#p>N-y9p(prxQ+Ku!W-%F6W_dw{*9h+kK4ad6NZ@nEunwh6;_`ou86=}r|p2u
zp|pvOw!Wo!d?S6Ne^K;Vy6MjkiBk7ltaaC-&+;46RVNk7gjfqMoNvao3g4;Z$1>kM
z*Taifz)Md6ZyI)w55SLM^Rdo)=s6Y{zs<ad_@Q;5KJoEU^k-#NXh9=udUm{%U2EO*
zUDmsp)4Yg}ZVjPx%HPu3A>*lQuZh9VB=O0=E_N0?QW-}%NptXXv>PGTX*$eVD_^1V
zyBB-wsVi@A8Vdc$f7;-j<q&_OYYqD%tHN|*v%aaB+u`FM(80~{RO@|Phy^rf3(MbQ
zW1D9=oj<zV<Gbu$@q>6RzE49Bgd=`GiEKPx4|RF{z)e10S6J82YhB;+x)NRlyjeze
z71sarW57d4)5N4J>6bVE9G<&}XTQE?-}CYql2*SGgEKdQ^S{xrCEb1Y^y^|@pS8Be
z7}M(>U6Qpl+vhavWkGmp*2pC1cI2t~Zn^Hn&=KXNMda82+2yV?#?Z0ywY#Q&bWQp$
zK5^wsp@y~toceu<Rad@-jg#-UvOUyrDL$u(aanu%n!m3M4_y%3*;SudaOvc2;h_`m
zMBifg9O=r^s_GfW|4)$r`Z~HH-&s|aVoV>Jdz{}z?P(%|sqoX<TeiYpNS3{jt>~QO
z^EcL16VTI#_<^wsTAT%ie|6O-7bNf#&V*>2bC%{&Q>DkOd2EBGD%KUeJ)S-;O;apQ
z=%-@;+k7;Q^wAVGajke(9@l2!nP|5$>?Mr#qEBnoD<6lC__LMIg&Oj2X+3#(E=yZs
zqhmVfacfw#4A1==-l^Q9z*Jvcydo}6P@mO-&>N+7zw>~<Uxs_OAD1<LTgR6KH#U*>
zt^J=axUqr1(*9KBs^3v)e9h2vi`ozlus<1?&gB#=4(vq(yWYT(z@9g-Wd>Hn_J3_)
zKM)K%wqx~S&~TR8rO)zT7Csg@v6>6Fy!{lglwiK{!+|wZr~In)zK%JJ&8xD0^AXeL
zlPU`z+W5Z#ya$2ne~$kes}&b%oYuH}EjH`LPp$rW-iunx5Z?B1Rc;3{pW-R$v&!vc
z%#SNhaQARiFLjP{Iu%3z1bKV9J~Wqt4;|Fu?TZd`<3r^Hd=}l)_?}|E*SSo4lEaCm
zM&u6q#9K4fS`Pl(okL!X4Qih7+mBT*`8l(^J<MM{<;|-T=#l21lM;@*Kbt@Yz4_YE
z-11A2IdOA{y0R7a{nKH55AnN;_n*XR$Cu_F&cM=q&5cXPX`K0u8<(n1znoXoZ#T|`
zCO`Z>;04Lc9cPB;Mzi<&IKQiE*e{5X-^#k*7l=Q1oy%`@?gn_g9lo~F?;>?IRXLrH
zkzbJ=;Ej(qp1qzj@|9KiN%pF-v(lbwf9A(pN7B0_?fi*4){;LIWeiK!IIY4B8DEfM
zju|i8Yb~;7F8^zFxPd<02hE|A+OAL?+tJl_==Ju;t8>Tt<n=r7Onrmx-t8N}%41f|
znct+ZyB9yyt(V)-JLa}8cE|Pjy?KoJo=*19eFL3*YlXwQLh2>qT}>Yq*UodMyZPYP
z5QlVp$LZ8N>F#>gZ#5S#Jm|D`EOa{0{33Ay^Omji!WnnYN}N@f8j^{|sx!;xCl-B$
zdbcvy8jhW}uj-E-jL2<Y7S8M-M%fV_K0)~eyTbi)o#B0RTf=>Gn-qs0K~5#Im_O2~
zUvdz6mgL<nIgI>nV$B%!sh!cvD~=4w6v+jWjqP)pr@P9PzJq-d$x*RTVIjI>a_oxG
zE1iwj1&^2UxHC~aNYU>x&aee%GKW+D(oSvTIQp}5fRnK_hM4=c69b7R<vEKE*XFPz
ze;tEZW7&EB>CIcwy$<L}P<PvjtkHc3eImA->QpUoh?!Y4pV9uHH?OQ4=}bz+oci{S
z;mr0`VRBrn%zTMlPx$%#^^6G}@I351jBFnEd`69%8?<X&pUjoWZ`X<J$uBsdxgLJV
zXB26#cpb1MtUV#qkCr%{ck-=;#<vyvzu2?s=;UDjFkhIsL3Tu66(c^rFF6nN=e%&$
zj0d2paGf`=*POnO=Jex2ty2c|ap&}%;la&goDuIQ*q<nli?=eLCpPis*v!KhJa?Q^
z|4De{gi+|q2*z%W$5r7`Gm6YzG+*w6jJ+JF>f9LhiGE0)>50MgCXe;n7#$ut(1A|H
z0$)I;AESFq`#EQ+Ud>TM#G^I%-{IKenDD3tQRW=&;n8lp_WhPi-1o=Ck^3%a^5TWz
zE)Fs5kiQ^zOW#hdaTxkS74n7HlbF~UKC5{OYZ6iD=xlU4i||Z*Dv~EF9v|(>XlU+8
z{^Q?kmJqiTu#Y7Xry)=7vGVGST|8XZHYDTa%MQ)Oj2<fQZ3%NXY@+^$tN|`z{+2wb
z+m;@#c5SH|Tk`UjK5NQp%wKXeb3T0El8MX}u}9mE@-gdTvcFNT{T)o1&w^isUW-%b
zRCm+zDO0ER|LuGC8;vH_G2E@A#^6MKI3v|gLO7c14$TcTIK$Nza}8TpU7^(PDuZ(X
zIA_vlJ2sv^!5bULO5Xg<Mqin$KODtRgq)sZL4W4A@atjuZ0T71&<Z+6K9+2>fUOp=
zO^vUjl`mX6&!!!%*`OaYPpEPpK5todCOXI&yrbiQ<|+K%J`np@Rh{_=x&Kt-|K+Z2
zxjJ<Te&-UWhPCaQ+`IHi^)4HtIea)bk+toEc)$FkB`-(${z5o4*hh!r2kMBS&x!dH
z7bzClg5Mbn4O$b|diW!ZJsyp<xjxvRXzRfCuLei7YCn)V2ZB2=dZ07-TG2(@DsusK
zL}*)Us`F^KhP8Fk!~E2xVJmc^qKzTy)%v^I)cU*Ht#PUv-{-w@vPCaGWWpML7ioLB
z+pn73ai+{Bw_joE9G3g5aKM$VF0C5Y_<-u5jO)uQ<Of8RqXaL6m#whxA5|V3e%Y<B
z5+3sp@$(Gw<Xzp++<8T5?(B@z8dU8b>uz3d(#vj)vxIMRt|yLTtao)+bMKCg%-hZQ
zF$*8lv5{|9@ZllmLtExCmk)<0bS`AgY@VlA`c~yE#X$I4(VVQ1pOJ(=b}V|c3LpD?
zSNC|f`69-3#x%9BHjbA5(Dvqwh=ZSDE%bb!eI-h^JOLV2r@nQT9O8_Bifc}iTr9tR
zIReKCZuv_tfQ^BU2L4moG4CSuLu-oHv(7N~p3<7>JMNlkKl5GEP%kEi-hJVR>J+`A
zMeC>i(6yfHr~TaZ)38}T)!FaGW!NY(yr~fxihg{wrDqWI{K)jl!ukO_Supzb0<@~l
z7yln??*blGb@l(BGl_tAB_V-8WhSADKx-`tO6^-_f)%Z8Rlr&=Ei=Ij)K*KWx6)T8
zV7-*Sl~b_TY9#}<lF=%Cy{5J`0bB7>wOB8$ww;-vMd?+pBVc}??>=W|PKG4?{ht5-
z;o+Igp1s#zd+oK>UTf{O_vX|7-V@M5Z<`C&*pQ#Hhu>1PmF;ttU@%{{-M{(mhrp4%
zNmocGX&w|u-u$%#$EI^#`IE?7W4*1%W|J&x-BtUQk;s`VBkq|i4<UyaIuZ+5(2gJA
z8raDH&w<C<?+#0MIP9xC(8;WY@WbK1?3w*LaFhM^N5&w&?naMEp9xp#Kh1A9dhJPY
zeww;ry%=M?RDW9ozvC(B71pT_P(SdC$wBk)G~dNo%5B#lQ|}|#z@lHz^h16pn`R3(
z54vgi{zZ<lXJxngaZ^|O?dxOY>l%NHGlID@9rEsxj~OnpEbVLhe%BUkAn6Z%e-WPH
zKDlh}(1ekj)=#<v$4yRku}z%yJC+Xdc0rq6CgzJjhuxHd_Tr(~>EhdIuMiXaT7vbM
zHD$AG0{zy6Ecvmn>g@B(r?HpNWuF}7tnBTdJfeZ(HYw?(mwfq7*cbyg$pJA2@}^bK
z@?8uZE)d`KgQJ7pB6~6S6!MPEAe{VMa<@1(gjedn2Bu5u<8GtoSF|a>Q$4Rb9S!SF
zE2>Pq!r0qm*q+#w?a-Y6HT<t_&ux?*(>@6N{*+UU9~STEX{fla`vph#`Q_;a?(8UY
z>NumlJxeRi*{=7NBCEvJna|<f8!J8e-re{hJ)G~$Eps|3pV@OOGDGYz+8JFIXWz($
zw`J!`pE$DR;LUZ|Ek^$!4=LhdT7PcZ%{s-r<rX;|d1BKlOR;87W3H+w=U;Cd@%M*_
zYYR3xEX$CqsnZ_AFZru8`|Z)h!`XA~?B-MZsrV>@W%#r01Ku_8o_zP5<Idg=FNvQG
z?}&dptGtu=eak6|nPN{fC*AN)ein8;erur!-#p>#`~o~%cmmt-P`7y0%i`y%>=ArI
zglh3qc>ezgpD#ehipYfKsi(X0x-Dzjo2znJ>t~p<!bxtint3xkKFuwfxba%%=*U^^
z-AB5`?iI7!yKCLzmeKnA-1hFVd_D?ohgP-cZ>r}1i1z%W)CV8ovZaCFkK_O2)Op+~
zc2DGQaObV?;+CiIH<<InM!v%bTVCS#6Wn59vRj;7>#QtHOB8p2L+%CY!4KWtr(P%j
zp&R}{*L6hT|2f1#qu8$XejdX)^+6uP5{LX{#;BaOPs8_;^GU$WE%jw5W@U%A2gnX>
zRZn_Oa`PRnDcG||s6FeNa8UpCLH}`J1bVCY{7Rc(P}ks)JFPfTI0S3pf9#ujw(qZ~
z??uQ4{48G8e44d=kn<d^#AqagxmU4I4<o+{e$OF~b4{LA#pQ{=;y>Jq987W>71Jk2
zV5V%59P3DT4P%@hFTTX5c);uf%t*lB(rL~!&SfsPOx1+_i{kC!m@&H9(;4M*{XHIj
z6W(?_QyC9;AJk6U>MUsenJ*LKaq)i&Jn{<|FL+dS>U@#*1gf&9qcb&spZ~o+{k_5`
zL{G*ic{ei5e6;TFX?jbr)A%&MMDEse_L8%XTk#_VKLLEn;3oA!*(b1-B!g}Fl1-mm
z#l0TXGdd?;=Vj<e`xlbY3gJip!ez(YO0&Nyo*jd3*tNFOoYfM}^`@Vitm1R3yYH($
z-VbpeMzN{?HJ>B1;}}oI_LZ#jZlte*>~z}5_bwnqC!l|8h|LJj-L$)!oQSC4&loZ_
zhAsfl<xaZJyQZJE+*Q5Y=x^HIM%&H}b)Mp0U#70)Gml)w;AQDV>BC#JRzrKI&Gk0!
zq7Hux7ihP6G-Z;3j>oiSu~t$(6`okEu>i*b4m=WyHIB~yFEG>xyjGls-`a+p*g9{I
zceO4CXC|t%dpYkZxX~jGpA{#r2QKYg@&mOFB=Ohs*q?@1lsgfh=EcFww~wo{W8o`}
zO=D~fXyM~e9usq<F@0^Mv(m?%GaBed*-H%$`UhHk#>~lx?3w1XI(t5!>_6A0?nI8E
zLju@N4qqJDE#hfkmvesaaIcawvu4}@FH(0eHWGS%x%7Aywuqygq}+){$H$IJ|4?+?
zdm-m#z<C!seg}HJh|IaHGlgrQ7qDf+{h8n4hY8)(*SNQsxTfrgQQ6cU(aV>QDbh<<
zGFQk$1bL4k?{kS6DW_lpK6*3jpynsh8Cxbh@A;iR-^Zb8H|^A4fwn2?%*7ULrhNf@
z(b8GJEXLWMuY!lQO|0%}d+$J-!+j5%1G-vS{{(XJtY}4<be4PTz;=!MUDjXL1=*k2
z1Rd#*J5A`H<qm5RYq8d&<&NwJVpHaC*%V8iVvaRLu(cNV+P2Jr1Kt0Z`7ZFgWY^{x
z#2I6=v3DcO-eZlGjf9R~-T>@Mek1NSzZ-tB>(>&--wMqNtbLN}JZoiPVx(i)2xvaB
zxuf$qw{hQ*iDC}<pURx??XK{qZmjlpG*n_6R(d<P9ZcMxSS0bxeP=R9RS9CMPW8j}
zk~{WDftv%~G-t%N-2KQOFr(y~v|*=-7M<_==TwlvnTet4nddVX@4*voWA~f{FB5C>
z_0cSig}-HIo-BRCxI~xyAi4Zq_=kz1<dhiOV+3uhvaNxx(q8ScVK{^Mzj<=q{rJ}C
z><ZQmKUQ6xT>?(RHGL2=1iS*@rEinm%h5ZB&{{e*J>BuXab*eb1ZR+#(|-3jW7^|f
z=8vyykae(2e)&y)y~H5(h-EbHWDYeq^1Y;cjr=+zymNvvM1wK>EEq$YSmgm@nCp0F
zgvKCwkSrw7Q;W3b1UR<_<uS^yQh9(Qabr_o<yTU!ydlk_m8UOJ_LHDYc7QFvnDXyZ
zE}RYS$q`-yc(!qdOLTY9Ke5~?-Z8?RIDM{mbscilp?o*tr2L{0PQ|@(;-8i9TqS!q
z@Wf{EX&hb9ti4iV(OMreUuroyM{XATY)zV5){PTejgL1X`+mTi#N;MueK7ti^Lz9E
z&;4vE>*q1_Opbn5hiT9@!YgQ<GdWtyL9FzokG>Y*Vre%5+O?^SIk06%QTEL+tX!4%
z0<e;QlPm_jksIMXLmB%=6Os#jIvbve)_7_9(Rv{I#BXzE@0?p{biZ_XtJ%x0$=)MA
z;rofmn0(LlaQ7j7AG^6{)fvJkn0N8c->4(IUF$=XId-De-Xi+&*E04NRyak)KaFgC
zA;g#1GWqkgW=cnlH2KuhBX>)#S$Ayi%1rLQvihQH?!a=_)q*^&3iL{9;ClHa^;Y=x
zT>c(Nj$Q8l?w0OE=Uo+bJn2H$ac1Vxhw#+`x7wY(bK4p67qcf+qi?avr4!q3gx<td
zDop-M1?!x%;47bUW{-ka5p;ON#)f5@i)!|I_7Mk)F@G!9oZ`hfuR4V~$iqXDANj*p
z9$2HB{&I}-?_?YuEZF#?t>3tMk6;NVdpo8*ahr$Z*UmM$R<><iI+`}*869nLT3z8@
z{>&$x*@D?gZWnhWtoWPe)!Gf6W4&GQnehQ<`g11#&iZ`DXNISZ?<fBd`{QESQ>>-A
zwalG-GVB&t>*`Mirg7}Y%tf#kWcYiaxk&wmdfbWA_G8Av`sp$s4&#1lN6)J9ieWJa
zM|8j^{ASlv)lpnCeua3EJZsjpgZbO`mwI53{_dy02e}V;ZKY?{{QJqJ1h&tswb_XQ
zO!d3tD<zn*`v!&?yBC-N3^yu!wKhA-;>Nk4LI{q#ZeTd>Js~)8AI?w<hrQhwLvTdj
zfoK}LI}FFC)lS+PS}k$BUxnawQFkCXU28*dl0KYn3ulev-4}wB&kPJF-xh-7_~ZJW
zg%feTABNzhzCSRW)NLU+IUk=VES!4RyEz1>b;ZDNTEB;%I{mb%8{{ivr^(hgXMvFY
z!mF$6w7wRq4w)*xknN|qUJhL+JLfa9zu;@_!LgS;K{87F`Q4AZ_`I%(`Q(?@wWAxh
z<*;)l?}f(`9R=1l**4;h?}4Y<FX2qK)=AwLvjE-b=d6#+9;W@ZRlXjJk^42!{J6(p
z|17<rJ%&8wUv=<xoNYV6L-~oq)u{qk^kIH-!u+Oqfxov^m7T-+&OGB#y#l`%koi3E
zkExt#*f-;}sr$r3cVGvidz0Ww{$<CG7pQ++qPRNZY-?l9UIK3?&;v2nYH(bz6+6<#
zD3&Z4_*_i7)oDzxiBH`@d?x8QC$$wE?~~gZ^O;&3Mr1#`obzxMmDgz=wh;f>a%3Iv
zN|-ni-)HlEbbAmh;`_OLAH)C8@&5zuCT>JbNOa8)B`!3SxX{p=_Ck+S+%Ys1586&#
zhq>=&t=fY9uecDgdlL^*Y-r1FzVCI44-ChaA4)ukw!QJ7ic|Z<gPQ-lG}iKXP|G)=
zBQ(AjIA+hA{PngquJ`7BjQ1qpKZ(KD1I=-aw}{#}YxxrGawqupGdB!eKeLqnCI<EB
zdmy-(Mbu+1?R?c!cTQmUmdBJj*HgD4fJwW7V798>SifFuuzKj{+~@$_HwK2+rFyji
zyus>8r(;8FP0Cz1Fg#a!nss0GVuRJoQZMiwGuI9bFM%#EkF6!IJkUSwx&r_7nv$LO
zeRTQ)-RX;rOFzi|lfAW^^21oGWv|IsZzYfOo_~{DrWk;H`S>Vrv}`D?&p|ve##nY>
z$1x`h*4@B;P{-oO!f!h^R(LN0uZS%uy>H?=6{99xg-+0UCTL(_d>p+lz0r9Kx`8pL
zE66RW06uHHT~Dp=E&b7N%o06f$1sOJE$#keJNmP>?>TC>%*1g{Y-8^tf=)4O@^tCJ
z^vomCyFOj~I9v+4#IR`%UDBhxm$7S242yML``!iQI>}fyPQ|Jt#9I`r?$xVb9C%)1
zyvt(8kQwBSmdr!cgSJ08+F7}S`Dm?=cceKtn?Jp$5uJDr|2>yAp%Q<_K}U<u&gngz
z3yz~hYqllH^(><E4(Im)WeWdSy6j-)UGpa0+xbb|*EAxFU2JTP_b+Gv99^vVOo8%d
z^ryu?vA^UC?qS{eJN(s#k1v{9|0^2!Ut5SPJMf|WFBked#{Y7R|Fz~z$&=;xH{*W^
zSL=JN1}~M%Ui!Lx3+V0|yRFXm|D33I0p-TtB*(+y43g})e(g<YDO+>{xIM*s(BEFe
z&gbcadfWLV7Gz>PmWMhS-~ULiSo17DK2F&|!UtKiWsgv{OLugK`1WU%@zz=|yaaTR
zeUpJ+UHCtS&zui<r!W@9yZpH8fqCOO>;&!qNY_t-HbupXiFHZmNJht>!CpJxwU6iT
z&2dfz8$z+6?Zn#8@0?2PYt*t^m{ZMh1%1nR^5Yye*;(M^`%r#Px=Z|0v_FNjA(C;O
za~HpyWIjh`oA}fn`7Zjy_>gV2-p8>2JI6asei>)`q9eT~%A(i7x9A*S*NpUbBTMpw
z-bXg&^JyQ<zbA~fm2v*!D9L112uIx^HZnV*7e_yb{59@F(wq%9IMrs43UE8ZeAZ;s
zW=^ZK*PBoLci_rz{)YKJI{Uo72l|fKX-7SN$D9Gys;K;q3yI@HvoD$Ub=i4*+B;d^
z)ZOCHzwm0hLu;R-m>hW^v1^li^61ql@Zo#2Pj~Zt;*{`699~Eft7u`b4VnHO`x(m;
z+H)h`&pL-q<xG&Qw9HGMJcqJ0axEU$m><1@vD2Sy$zAY5V-B5Q&W*dA8z-M{B{{Tn
zSO<_f*<-$rt1<fqF?`O);R73&9|u2Kx#qsv0oUO?XK}P<Xuekj{dd#1`n{U5?IOn7
z%$|(;KOEVAh1_)cT(5B6U28?nVKwI5`%30fa;y9@V^5)9?ga<VurvzZTy&hq*bTfR
zp)v1%)XL8kU&Y!+dl%8S+NY6w(E~mnuKMQp+-PqMzgs;J-e;8W`P93Ndn0QUylwUx
zH~RW}=Wl&p+Ro=);r^ndJ^6#`udNzi8azZx_1Oh2=8KN2L-1Dn@bbX<P9Hc?@52`F
z5BmB_vMxNkfoJ?<ts~$lT_u}-4e;*(U*Y;&;fJn~?otj&1OMj`4^Ph1evtApeILO4
z68QA4>&JK>q))A1hHu~%%|iix)c!#Wwxi_F(3-Uj8R*?V&^dP_|9r;ac{5MbhfKW}
zJU-93OdNwfH|;B{-rggTrKLeU19>-hW@?X`F@<@5*jIgfKy4Z|4&XOl+tbu)aVE~C
z^~CTicnY_>{}u2m>u)P-VjdY@OdY|{IXu-ln$HK&(LGBe9e+dLrmSvF*LYi~>yOjd
zFJFh(G@tp;FrUN=Yr(VDsWtJ!3UI2xr*eYzDiW+$i#d;}cwwIP3VND&A^GnUq%Zt6
zt2X;Cv{w8KxnkX_&HhF>vTl7o!n$Ymq%+F<7rH)uc2DEZ^Tap0qijTWG4%6e1tYTa
z%y_Y_81E;|cx$rL&3LP_uj(8P^<U<5q1GuY7s=7y_o*XT8k_htJ<I3U7_@ytd~rvJ
zPw#Nd+?@1V_=EQZw6?j-a}~6xa;ol)BEO<VH}<img<D38mVVdns_c5`Al;>T`Bp#!
zy+6^5YwiQy<&+E0C~+>0NBA1~WshkRzlCKZEE5rIvsbXu)MgmC_a_r=U+yat&&>xP
z%U|(hyd>}kl8GM~diO6A*9Nq|n$NIIy!BkqDla@fXN)&F7+>xa=IlE9X+*Dn+VSPm
z_$23&f62VYrm@}?jPFI@n(?8p!ZP1>Y2Wd!WPB-WvnI!Q;|CevC4-DF9*pl3=CdZd
zp8hXnT&|U+WYjwv*#Eb7N(4UGQD&#CBOWO`MfwOoxkEfJJ4Ny$TcsOYWj1F(W84@2
zMaCt5F4-#bH)^uu(Yaw;<rQKMqVG`#Z}LR~{0}pqBeRF_Inj&*eFc4U(BNU&Zt_#H
z8<kVB8<_tNe5VAmFPpAe{h$|J*6z%j(q6{LRSw?2I>K2w5;zvdTa@!osIm3n4+G;w
z)n)xPFfJ&;n5c5aC!L<g*UIe8ar|~Hd17HZax7)@g&(l2y;(=uOqEUa{T<;wLU6<W
z_YFNw7QbKVH|uXxZpS%H<<`IcR;fIqa_dir%J-p5dj01cOZ9iD-1^I*@_(t^`o}kw
z>c69MOJB<ExVBKv-O;s*OW3l%sBYQ#|47*zqFsn4FH^>wf_=(fq-<AN*|U`WrL62X
zl-*rc)<s!3uA4lkr!hhte#dnDLDo~*+R80+JAEE5+~gE_WWtmFx_=(;{h(8!vuxiN
zo!lrdf$S^)!q2_X9g!nVe#Mqs**`b@u60~F!+!b8$dGgZbNFJPJzdt7y~O0~es1p2
zIzKk`x>NijXJZ8Sd-N~g?NjD^b@p_95;N@lsMENQ_@4H3_pWtxR$yEFqpWTG*2UVV
z7$W-E?9b{B+AYA5zprwAm#$8*cN;+$OyiuvxI+^k%N&ayXV1xH&B#yGJpwwfQk_jP
zUiEb+dH?yf@s543vhIL4?^V<)PG#r!GU$Af<`;fYndGO1vOnzXTlNLY>UQ<i*67>|
z|0~h!(hnO7<mT;|Q9J`&6}Kp0*GsR+_K3zx_sW&WprTRkz+^vu6MYxq-5t;?T2Zpq
z*L~QT9UY2Iz}Pz{Xb+#eOQF%&z)vW@r!I-FJN<m(GQ>FBhy&mGcu!MQbi*$B4ZIZ(
z{@y4)qc1!DZtSRI85{ZO9XbmZ37zqJXA<!d#yK2%Z@|ZvJ+HXKs9_Gaw<Ei)_g<W>
z<o=5;W0K@{h%XQ8`}^s~qko}IX9OEiG^9?Pz8u!}IOn@WFNZN`eDSaKb3S$f=euZU
z=SX(z9{85`Y|Z;)ChrQH)=euOKO*}&y4URS@OOQ12539`wGWePe>?LSC(q6FZQt7o
z>8=fD_cYzEJlvp;y-WFL=mz0nY-Z#@c2wA36z|KoxeL7fb;9=-Kg}Jc<ltkk5)WXV
zxd9x6;}Y{Z(ws}g26-_St?l(G4weq2{$BXX<ka%_JJ0m2sxGbfFUC5@cqdU$_Dr(X
z_t7LHYG>f#lk8@0w?G%IXVxcaVNSIkt@$T--4n9S?(uE27wJbZp4TU9h4aGurM)cX
zH~J53Kxi1)Rotm?j3@msJkp#cEAx%Ov&xfxw0NlRFfM7~u{MOqS|5-513c~v@aTLd
zga<PA{@*#j8sL$FzsE`Mpc|{$lbKHW)FTCRRQ8>pXgt-~Yr$a@{HuJZU+}whhH!Zg
z8@L#(%d@opp$iu26S@3~K3PK+=#w?<9DTB8ovTmeVFI6uJ2ev{(RmTwDWdZt`_Vtn
z4|^IP)q28Oc9!ZB`xSh2%*;uYOCHDp$abMacEU5#2TvlOvdv=bfm)q+7vu8xIcl=a
z%-y?}^{m<}J6HM{xgqytK;Jn*{zq=<sZ(>W^fU@CIVBSWcPjH`?-b%KlnFB)fkpv5
z8|QRhIWYE{dKn!<J*z)z!TTqSDFPn&Bn#%TN2EPp-aVP1T>H6w?qsPpYtFlu(ib{g
zwq+$Wo6emq3G{$#?qsQ47D2DN&@nQv;o523%d$+g3-$RP^iV#O;Om|{ttaBwUy<J~
zxY`Ge4`VNkId7-z7syPxEbINc4Eqpj_af_)blV4+7wOx2>F=Ww^WS8>coVr*-t(!P
zvCFN{zKv7eU2)Kau}<YS+451&QzY<Tov6;L5{D<}Xu89G9P5o>|A77lb2(#(_V_v{
z+T-6XYR+xr%PQAN{_IHb4E9@&w)wXY(yqKr^mc=Dt<&J?0&{9(;y*jwkB2M1<WVmJ
zzc{i1oH{Q~UB%i>-IKr>UwkpPq+)Sj(VT$q7r^&_wMK4~o#7Pk1%}2$-fMARpu;Yv
zPWK)0jtlv%R|j++<5dG+Iv|4&*IOPP>m3o4r^#3H_0x!~>=dJ;oUz{X@KD$vsmG^~
zu6SLtgDl38%>#4_?K(}nl3tT+sNLPH2^)tv=O}jCpKR73o1M4yG~NdM{(e6~zu(c*
z_-lUe^8K3^op`PHFZ#=yxCLh)&SO1X;h<M*v-cm`f8214^bz=o-n!f58SQ!TcO~?b
z-w`pNBeM>lh87|He+zx7?jmGeyy>q2F7gxaXknd1)=W-Uz}LO`(n;p(J=U0MyP=)d
z>%gY@5V)v(D&;Qxc#>%A`|#-RvEGmA&-le>^|OvZ>r2XLy(FOZ72*MSO>2LQ{OpbN
zqc;I{##!eHR%jg)-_W=6!bYNZ_b>X1Id7sf(tDt%)>NH4*}?gRJh(+VXB2&&jhXW&
z(~&QoV?d5J7a9&SXBTt_fZ*$_?zh2BvgpT@iLYJh6#t;Ixd-_?mUO)x)YqC@xX>xq
z@mmx9XuXyleE~VD`3ImCct~e_lD*k+=m6c*{^kR$^DEqrrRI+I+V)o6(awJAxlc2$
z6^V{$qubcSS?%1=&$k~D+V@D5oli$58gm<YgR24?^(kLp=*)&-YagXkIi$ctj~2Vf
zxs7q&@za=G<~xRNL=P_5O8m~=JKhz#xBn4%M6hQQ$IJsmx=66=9cN}i@M+ujVRv?n
zG3UWm{i{#ytH0NMkhf#0&TQ3XcU<Na$1<*%<$3m@CX0@Swu(P0XLe*(=OiA#Mf_Rk
zpOah2c+h=qQMV~K8D229OpJJYg?HH{tb?_zbJsXU2bvE3G3~CQP8)ZI9^+0)Sp5_q
z<&6yb(q7-r3uUwDOzOz&jycj<%pG&_Bl_K2agf<-Xka`Aau!;N@e7xWjSj2JP73nH
zC-9k~4!p!(W5jcSFCVCzy5f}xcs7&MBw5_Tm@dW+5u7n<&p2j7SLhEOyoti6&LUYm
zMShCnh%0A0M+0lZf5Z0$cu0J^_AvS+f9-}N(lbwEeLKw=!a2(!_+C!+7Vss$HTBeL
z=Va_pZz=mv%0qIgSIODTgA|j;e$Y9XCzvB_;@J*-pCJ~Xm=`r|R%`Bv$?ILPW@pH=
zb2=NhrIkAf&GN(sp9gQ@;(}uwxN*n17yn@PbntCJcTjHj#OmRz7&t5@FMR$7+}V+N
zsgqm4=MlytI_)5iFIxF@8o@aN&A(5pQ30)fcQv%4-|3q~yV2PMpRGR4Uv$`qSsTDo
z+g@1g*;qJ312|6r$2k-}VIHo(8+jz&tho@4ALF-`!`&w5NdNb%%YI+a@6|`adz|gh
z9qu;ya?Biq|321M`N{j{lApfVDOPhXXk|;x`y4dbjNUyL{!_kmJvi@Sz1ze1T=;Z1
z_>R)~dgNyZ<D1GJRuns+STVA_j(HsT-Z}qmw~mXU$70{c(HdjVO%{>Uh_Q1@ch4zj
z2Yr6sRC`7p+0E0h&Zu`Df`5!m%dU9o`uKx>PVks)J9ITMb?}uv_ao#?wyt<}*E{@;
zj5+vM$svyXCjaah^5f6pnCuT|pEEqd+eVcG+m9LDMI!!04|So#&?Wum5@+D6JmZa0
zZ!G%eVD2U|_7FDO<Jc3yK6~#y`Oj<J0PfgOzQ7I0?>}XGfLFNuddhV-pMMtKoI%+<
z|33Hynandz-9M4rgROcP-x;HDkZ&hEZlS!~_IpBoz*{;$exmpe`gAe>x_boq<*d%(
zUSTcyHOP_C7ju37*xsv?MrXGeT2^KE;|obw==}U^nsYu61E$vQL(J#s>@Ys9E_*`0
zApE92^(Khk0~vQ%V!rTJPLSGXur>1!I>n6EoJXDFTMOL|>D<Sj0`5ZMD304GJYAh}
z!>$|E7V~tM-M+c#@dv@>QJ*Hsv+%j8KLR>6f0lU!&$-~(#$DRwYs;pmo!M2$n&vqc
z$|WdY#}ecZJop8tsjdD%7{e|u!N|-i@k%+2u9;5b<XONVrcjQ@y7Nmg5}z3uM(Wc}
z<4d2$#-AY=m3n{0-0xIChHsSq3)U>H`SQ_4zmGly{h+<Zn97u32fW$)K2M^}X>8+;
z_;TE~wh`liMw6Mh3^A7cQqDZ^owanq_Mxlm1h;ER32yng^Q}(fuI@^2))HSPGhc&G
znRB(z-Q*M%pP0rwcMEG)*HyJRjlO?Um(@Kz;+X^d6LdtcZ&Ecf@J*_EeG}*P0elnm
zi}>to<T_^<i{W|BO`R;dHB_SKImdDeb)cF2(=leRt1kOF>MI`P%SfF!iTdU~1nMj2
zjWuy|H*J>O%RAzdO>mA%78jJ_R^|38=Y1R7xXZnVw=l;#wc9f6)3qu0V><7FaaUmu
zIn>^FagF9w_u-B<_laci5#N}L>{fDq13iLHJvz!<%wfOmOW0CTbguJc{jw<M@5eso
zF3|c%tn{2|<Iqj~J$9eFpq;x53!F827hPDupRsQY#_Sk554IiM)5}Yzz!Qw`H51>j
z%MOPg!sjS`-Xy;A&sfQpldSpjS??VSp1QlLo7|WLG?GssebB(21gx#gbp}gsjdh~K
z{d+j7vcIN{Y@;6Olz?Z^1q15e{3Fm&{4~rtM|yAG+2l^yxy63(VjLOn$Zw>KvwrZl
zn>BM2=t<Sroro&Son4x*xE}*MCmx&!b@*-1^h$5V*~l+<?3c^P_>lZ&&M)CxE(=|s
zcNz&Ate<?o)0Fb<&Gim@NUOk8G}t~@xf$%c7#<vvo&I2n4z1rR!7Z2F6uE?o@5ml?
zzU4HLU$nr`m~&%Q^tW(BmB-!9oE>9-SNuCox|_JI`oh-KoM<l2;I}q%pAHybrlg-@
z|5d`He0+(IqbK>Fw{sA!_mYe)x7sN_2;A*wk<S$Y$AJFp?vu~Vxudm}UW_(>+R7W^
zdPj$P=}^5*S@z&ID&E2Q3F^H>z5J~+iNTLne0=6y#%<PJ;Oc&nE8*>K<RiZ-Uc3aE
zIF|o&xl1I9tr^2EjRg0L6zJy-c&%`jY(9LcJGi5XJIRyt>aR_bPXb>ZaOd}ns=qcd
zRlKaTbvEDkWa4t-f6ZeRd~Er*>&_Cr%IB@?j*^{`7^Gg}G3tSv(Y3T0&>lfnM7KC~
zkOyP4lw#)oJqgJl0t>nbR-V5Hf|Y;R(K{m@s&8Q>gLh(*@B6UQKLFNhAC@}^teA4_
zn(Ms`bM=O7HuRffkl;|v!y93ly!kt<-@Wuz>`r$9ahK2EO7wlar9|J>Zx1|%)Ga0a
zT5let-c8hlUqq8u^!7kBNqrT4vpF#p-QJX$Ap1x;=MnS%#B<=?YjZLt`Dy;UT{Y(2
zu6N*@F3KF_QMT3(p@YWh`(`z)*S_DU@os@WcZbHiI5b`tTnEB0kB+e8a0k&BdF2<|
zdE@Va;JK{p{yAD~q<I6^%U?=8ayvvnm%j&ucM0`a2RzPT<(B&O6S0Bo$D-69`nl43
zVAzKR>_XYT`Ss*8UC2FFzXsOac=5}EIVWEHhCZ)B7h+@X9OA50d?$W4dgd~8fPO<p
z$BLf#4|Di#=8V`&{sr2=k5S!M`_s@}=DPPexa-=#bLWribXHw4rUdKSN@RV-gXG`<
zmo=38MxFJ|<cAdKV~uP*ba?{0#L!L9Wx>1^_%_V-A^fhj?$nU3=#4@Dte+V4dVJ<5
zSo4E^ucqDg#0c&8ukn5IPkS1{$>*_j%yR=-dkDLgdrY&^4OaJVx>b1%eoR1mbokpo
zZG>BQiofa0%qKE5;Cv!ef*FM;#|HYQq$B)zZ~R8)Fpw=fzT7<rjxTYK9}}?S`2^!>
z>&I4p`X~PVxPdP1^{qY<qQwcceQ*tVkd_wCXzy3DDUhp&@B_+eG5*HBw0ME_#p?35
z5G`VZ$Vv=Z5iR1_y93c8nLdyf$sZj^i>^ES(qb>X(x2~f#+|)wd+G2eVw{$Sf2ZAp
z8+)4CSX0Z_^mz+PYkKCO(j1qs>0S8AlQ$D%^J%%<VNJh0przpE?r@4{wXq(rXl6}h
zKb>`I+gsr^vZTYW+*YFNr$kqH?Rw54D$nGb`ecp&hWS1^do7;}<u9Wr!hZ2%jA<|B
zc8m}4ee!R~>yUrjfQ^6+Ukxv$EWYdqP6J=rfz_1tX9vFhK-gdQ-!ZgyVe$dy0=v=n
zCp(Zs{HtDipf6314QTQx{cKl!A|z{Dp>;2P_)Rd@l+j3QoOJ)OAsV?M-s}2OX^sxC
zBj&?bfj&<RQm>VB5C*Ty2IkSIba|P)CfD`yS+Bp?RVJ@9p-F$X@fpav=C52{t>2yb
zNhucv+jx0g^LY>YG_V(5M3yDD8SL(ITVc~>{o4vJD;5;kV(XLq9q6*e+<|GB!1uH?
z><YyK4xqKp6_nAZEps4!+)Q5?mcFlmFZ19cdW3nZg5Tr|$|saR*mf&-y^2>|#c-#2
zw?YHi35s(`Kg+g|-Mc$DJD@o3JB-utH@~-&2kzTVb=g-~<J70xY$py|&$<}ZJq3Xu
zt@CcVp(FjXZup3byQR)`8tbXAypr|sb%ZsvYdUM_MtGZc;aEO?{5H<Dn!T?()bDxd
z1lC1^qx`%a>k$5h)|gSON1SaQo@1<Q<nLk&=$_!hbnb34`$D6$-v-9)|LJM^cu0>a
ze(-Z-q3ZgcM%L@)qC=I58}T*+`%&!=&@Xc`4xH6b17oZwzfI@CVuz(WTG+qX4i9Ys
z_mu8qV7ynahA$XvI>~&pkFkAYrMG)&rMG8orGJ*@;NaXJb*ixomJFjFvBnI2Ok_S<
z4@q|zUu_k(EV4@+d#1g2ek?R=W$h~G*Li1Xov}VcDd+wy#^%pgZT5Y|;RF6k%@~AV
zPb=|j>XU=iJC%CqWUb|?>4Vg3re5F|q!NSFi&GDJIZ@qX1id$6lR;PUK}L6r!hd5$
z+oirgnmdR0f~kkyyWHuFd2hh$;^hkHC0<rcTyR9oE!fS!=PtVL?UCz_fyRZQv)VP^
z=KLl;p7cPR&sOfG)4eW-lXEMc-}(9w-m9ygz*|VXec?_B?@5)*Zyx_u^r#`%;I>GO
zxxe)Z?yUQEr89dC`=|0p#k(%}{TLkBt0T5lbNM022Iq1ngnz$oj{kdGWY0;mr6LtI
z+$&pS>Rf?5`r{j&y+w0sbx?3m12oxuko0>$xI9a){tn>meEl@yTj}9}oo3*EJ_L86
z;L`6;$+7n9$XBY#9?#k$Ie3(Es|T+DSJhpkGRD|uK5Mdfna|qneSD5&?^t+-*V{Mf
zufMq9{5ickuh;f4d4FZ?pQF8vO_1~2*y_ibmOIIM?|gVcK9KTadhutDB~KTJ?9pk$
zJ)mD#)4;sh#htxYcC4-0c1<syy=#|yO<&!-791bc*zsZPI)4{sFKfS;xJsBFw^Ob?
za`h7~{~qP?4db_B7cfTY62tT4K+E5d{iS_#pC{PYLpMEpzdtAcr8!vP%S#(~3x{cR
zR6rwN|10Jo7`{&|Kd~;LQvtmt*op~DpT7G=AGW!Nh59;oVsk&v!M0LtB+6NmvE0qk
zd4w~21o9~z`0$!~51HD$o7l+i%gG@mw!DwEbW&)aw_K(Yqf2ye9pp{YOda)B2Y$tW
zsu$?2R`l*b{zunHVoi)=CHE_6EX|I?d6??UiQDk5NYw0IX^%0FjT%M&_4+=HS2FJV
z=iFPv8SaQ=k+^w+xqDE5ql=`|eSNJxz?!Vp@Aoh#;#cu)p`vzzosUNqm!e$0<@ZGY
zfM*lDJ!<)C7<^)Rv@28|QF%a{1b30y`uoKD0WG>h<+~{FZ|n*7e)gS2?gTL{#aJG>
zlJ@Y--FzM{zNL>a-);d;S3h$9XUcy@dHFul4=5|Q<sRUSN_p81<y_L29mg}k`@8xn
zlba_g|5HEx|B7<n8>rR!p&hKjQPvx+HLVe6ruGR}4{;WxdB>d`hY7Mr{)}x^j_XbM
z1hMCchr<J!&kz2H`%#0wq<@9m-SlJU!@amf_q$YXc`#IdJLU58oJ;)NYQ-c4=X<Je
z*H3=4<NgliN$Tf%>sOijH>$p!?@LSd)08&_I9eEsC_7E`e4<3pt0}ueJ`eP?^%hWe
zrOLqDmVKGBt5p`7i_0jxoU$M`cyu~=_xT?B2>kb>lR??-l$Foz*ThGRHOxmdf%zVD
zpuWT9pQijBmD7K?{4~mSH*7gS#3_HKpSk>B)eVh*3iVFJ50o7uzOZ)bMXCqC+wo7L
z-g5!p+p^;*J2HT0`JkRMJ0I@%OY<>?@(0yEm}k|mrHnPY4?e>w`(;_#;goGt+YsKv
zC_7JnZ3tckW$%@>eINbtH<kG@*Q0a6d|Uy%az1~8vhulnj<yLuAE)<yhZf4p>n&Cv
z=m`fKSNjeZ-HBddEt0KJ0Ph0!we0AX<i=kB-qRg)IP}gpC>~Gz2!H!W{B}}s{_cnT
zZGC`lY_bAAOxOn)iS8W82bdP@E!_f)`M}Gg$26ByDZf(l72@?rppWir5A*uZC>y0R
zc+<}HeUwGZ`2QZtE-KScYbcuv9jzbmS^AT0*~X{kG3707CYMXGMd)Sr{FU!>Oa6WA
z-rDT93O%dH0jM=L7xBiUzu?FC&II;u+U0dF?Hb~QoPiPlz77tp^nstpd4*HF5v&2q
z-|%C?&|kFUJ}$wQk9VE1>*}&6LZ2Jx$L5Co^A5kAa!pJd$8YnMpuWx}Uak5;u1Pob
z$$!n}yZt$Q*6i8WWk*vlcS=I}_nY(6m6yfaa~HBVf)A-UYLXns9S>;zPS0HFI1h=3
zk21cC&Yx9h-(*Y&;LjODi~kt`J}&)OT*x^zZF+I<tTy#O5!BtKa}VII9G_Z!lFPLm
zS}OnSyL@W@|9a^72zW@p>|gYV$+I(eI74r}nWH>A?M3craJ@F(&+*?W(LK=cH+GK3
zX>&=>hX0d?;45h#b{2VKC-k))wnm-VDa9ft_btDf9PsoK$4l|Q$Xc5u4y0I=ctyTf
zEQtTE<81}`y~+ja8tqI;ZHP}z;`isf-Kjb3w(|Nna~H7WQ}x}E&Xgpv+#Goi<@Gk{
zj^G)7y;L>zh;!=x>hgN0>y0(`WDUHdoGF^OKitS1VBcWNV7pXjU*5_78Fir9gcSJK
zgMWm(0Ot&lf0^Sxc++=Kw*{MRpt|v))YW)`x&^)uR5!{SWQJB2?jUuY5yW4i{Wstj
z$)9MRA2NvTSOx48{CcUu>J6tJG^u%_XVt@c6BE0t4c|V>K0$7{?&hzW5WdTH|DtEi
z{($Hqew56|#?L5z3>^?2cgvohCi~lD{U)BUG_k*-CnoWm#&v3FT&ZH|T-VppF?Jkz
z%B|kJg7VGiJ<X%V!@Q}`IHOn#%$5A6{$kJx`+C9C|K$A<a1~CK*uWLM!52A+dy`%}
zt$5ajrM-O14=slbJa0*C`|a@FeEJaoSzS4Q8}9@}T(2sRd<?*!$5Ti6mTV4xuW?ox
ztf#q$I9&j?U=1J>w@{}X&Pio(4&DNsHI7#UoDYa5!J29Bl_v-7fU=_~D_?`%e#&-f
zorl+N<TuUlGJV3Eo<8Bd+xXP{XkJ`s{WIoFbQ?|i64nCILGQ+!_f!wX#zBWU<a@cy
zSyyBb-geo$MSrPYVvu?+zlGnNPomdi=tA+(pD!|c(7<rt?`cv!mFpe)1a)4y2wRap
z-UC<R8R7hca{h<|73(=G)iBKAu7%QBsddCpBH&(s7%?2mtuJ;uIh@*0i~BhjN5_M+
zNh)ihtQo!8vaj;yyUEeiSuN!)h@Z%9G5ai0t)IXM=A$<!e5~?|$WIa+hdTP~Lr;@?
zJq&-@$v!Juv%Wdtn1lay)+rrvm>2(jZjD*(vE!jfKj*f=MQe!eTuFd0IFn!M-+7tj
z&P%Ob@jiF1RArmBR_Z(pKBVNazy5@8Fy10-RYx=ZSX~+MX>*Q!d%YREOgKha({}$w
z`Q~MO(^%3kOO7nTDW_W+J)dlGy+RN3Kf&iAm-^_4esdrb=;$P}EM9A+?SS>r&yrKs
za|f$eO+D5_18<NwND}DpWL*GnuzKikt;Gf&>(qew@isz|{VapuVD*lo9&%#f4RWt-
z0-9MFbO);^dJhTUp;HIMk1_iE2mJ=C2kw1jdJ49M)*#lBA4sN|TYSIXxlR1LrzsZ5
zd>%b-=dvqQ{<_M8xl6oTs{gXegSqMomA|0!U~UrIOZA^tc`z4Uq4JF?4``p@jTej0
zFI67Ux+_%vsLHK=<Lwt)|7R)>XxSAizgOi(cF~8#T*A6cZP#9iE`!&9g?`caH|Ue`
z{zjjSPwzHsJbE)v_-kDizOU#L{Qjs<@cFYo=^xptRex{sxqs0wjQ*}fE@g-6yeu)g
z3HfPG$5QQ4Y$s2l$|>H)I{EMs70W)3Ubum_-P6(?H&M2PIw^9I3hZIL#oonVoXEB~
zxpr?7tCGHHjym3t`LA;Ph}n13&#8{?p)c8-Z?iws8mw!rK~7t^o%V0~>+@Ueoy0mP
zFIx*<dHR0yu!ELOa}L_pg}$w#?->2g<-f|*_r>%*j=q;jSD^>zU{|Q`C4nAavTw-E
zKS2+M+o^BKQeu#GDuv!_g(f*@QXj`=fhMxKbY5U*6}kT8sPA9&q|woj{h50~4Bf-}
z&()a{);8bPX$RMO^tkJ+AAUQskOH;~-ssNWb!iyBPFRi<zg<W@=C!xZCao95TTeKj
zy(!v<>zCUH;op*hPoE5YdgXubU-V0Vo$uw5YOQm@+v(sRWj>*U?m=lD)>X%OielpT
z?&yWgOX}Lx9_7Ti<_sG5YC#*lNxFa0MnjVrG*kTY->frQ=km~8V@dO0W7pnIoHF8M
z9oh@Q=9#@6oc#6D=U?kXS)ABw@y`s5W{(ZJ_1<3x4z1??x)IqJatGark8*Y_SnH4}
za|ar9H17>HCjC3r(#jtV)?4$Q>S(>;>Cfpd&X?r*Z|qWHviAIW`{(`h=W{g<#wb69
z_xF0&$OG0k?EJ4s$Yo`0;WOXg=DkuEoA);CFO8!Ucp3husk`bBr=#_dzPz!O`Z@4X
z?);LnH$CTZ@15|`Z+g@7_rO@$qH~h{yy;1-HsQ<VIra_CJTYF`AF{Qio4$Dg_Wb~K
zQ9rUBb(XdsT5D_>#%9k+?lkmQeA>V3|FRJ6pQK*UcW-=1daayqr2~CF2;|B5(!7=A
z_%b7!uL<muR`h~+&)Q4nu)@D7UsJR`n>lP{9GCFFo;lPR)C`|%k#Whj&Y<etX#?j1
zx`4kGe4MDScUHr<Y0h)CfJ?;bn`b4xQySkvH~$#D^Db@oFM7NrXUw7OKfS5z#{_&m
zVb0zi=byb(93cii;&ImI1!sW6q39U1Z(Ze|rLAb|%hOHCfTz(9E9EmD=gV4DZ=f73
zpOJm*Kt`2YwtvyDjhu#g(!4c0gS8&M{3q-7&VVoT(5a1i9_X!E%a{LO-kMGFK0`TQ
zcHvuEzD&TEub}guhMtz!E)cJQumA3ERrdDPC7S%dyfu3&G8oo75$0C9$G$Z?i#IBg
zPL;{I{1CdPnYr1G4x07c<YnhR*RX71z4N=>=%z~6r-y-6jlRn;50tY%ruarx_K8T<
zHtD$C=orQLkgr}J-s+q#=o|%hJvz~04`E@%d3NFZ(^o7W;+!a5IjdsNNm1ULije=g
zI1;)18E}chBV*x_@#wM!@eDky^)rcnW*i;$6(!wNvfq8*rk?eW7!>|MP4)$3Lb%DU
z2;-(Qi=X62b#H{u!gULEO+V-j&CeCgkM0b&et@N;WNtdR%>uWDhgB{6>Ulk@me5{h
z31m<C5f>wKt65LFLhHQfHw`(|IxoG`;PmzHByS~u&6l@W)bVUPyUuGZAIQdS#fJ&&
z2>bWOH%fAA;(Cn1*iuG*hh^7-PhsfL<I~7mp__Terjot21sSe{7D>Z1&Y6cpSIy7C
z%+=Uoy#33k)s36pCni!RtDQzx!|SOpr;;({BqWhTt&?VbIwjt*AwvHRj@Hu!_d&ZB
zekaezyLDgBs<)}9+y#ESd=hKKo7fHdZ5_DZ1MSx^A8$PuTUMFijVkP%VF#x>GKUd=
z#O|Bx48!hox7`rv!0N#Ex&iu5bB35XS;~0-Z|B6e)1187Al>T}Ujg@B;C?Z<$_|bP
zyeu4Z$k)@1=PRrqdB&N857ka@L%#u^h0C6!Y!>=T_KbT-dZvk8Aip}pD?3+u%pp$j
zV8mIrG7`Jvp-A<z#gXc5Ip9m~C7%nqqu@s7YBh4&ikwPcYCRM`0CTf!KG`-8f4*cl
zS=izW2YNpA*~I*6?zO6d#|2lgqRe;lyL0xqj7_$b_z=I`#)x|J12V)rlFW<xlq}s5
z;1Yvgy}CQVA@@1EK9=k^6Q=<O@#<AG6Z1zLHe#7@d4h3vAwM<D-+(fJ9*|tSk@V(Y
zey(Sg+Qez|eeiyyr{|$g@DlzmI9mJ`f}i+Mw6p7q=+gmis&DJfr=Ivw^ss)3kt60r
zJZ*HWJ~ujEEA2KQ58KhD()(sj9P6)%tcAtojbr!Z;ftY+rG>gt%IY1R?{JDM_%A)|
z$JDtu5FU};DVWe!da_u6hg4s@W#(fL`#-^4y&~Bh8!u`+QPxpt@^ERazMUw(v}65n
zK$G>XOa6EtX)iFgJpaX$)5-bP*fm#C#;0@jDe%g(AK)_Qj_VW)&wXd+hUf14+CJV!
zP0_D(ZmiNhH1_plX4QYQ{*LB-Eh`e=Y&{d*YVHAf`Y8V%KVm_wDPyvW$x%wRwbsS3
z{oXwnJzIgVGO2TF+Tj%Dr1(@PIqIYFNzPQ!PdOLT4{g|}x#<z_b-rspWS8h(f%n)W
zx<GGIo&wDpBIZrtqoKXtU?!$Md-3hgf>bT%$Y@ufu6YMJH<UF`?;wxKZibiCk8&l{
z&sg##nDg0jWHC`$ZQdbYd?zOx$b*{C8L`FxVt*YywRjJ3v3Jt}+*)$^nw??6S~@2C
z3*ZW-U|YB;+8Y}_$eX917ps+HPwYHRJ<VVGXxTwy48Qt$^?uy^s>SgK3))vSHtU$|
z-2vXRO|RoOwK4CZGsfo5q28Ur@AA<tjy1wDDjapc*O=^zpiUQc7IOw}9ph?cF5pA6
zUT<Q(9v8e1OTNj`ecy-m&o+0Hv)IZUrfJtrUW~@8_ipq)Y%6!U+`t@HnlsKrxhvXT
zR>AwQt2y6H+*0>#bjW|4%e^q-iLJ!iwI}bd;U)Mn`kvQMAAhB;&Uh}ajx2DhdCTLd
z_%~YRgP488danz96MhFFXTt5T^riQiQy-6iPjTl;d?xW^1!vCwN_=@Y^~@d+<L|;I
z8Aum($tD4gX!t3$(f$%`QiH7FDb{e&=2CE0eJhWj!p=~6Qsu<FZTYE`YkYbuxSMx{
z(t)n%<_;#e$XP}9fE6bX%fjRMM0)dh>%V(uC&&3`|8C)L(IcgEbxwo#3)=W{|7g2%
zee61<J29jOBv*UTZMtKm8QzqSr9KkU0qn0y2ec|Lh_=!V*E27<!}pwozL=1wAMI(z
zk`3No{@&Hio3RxUZ_&mEb5F-#XS1JA`32p4=W`4&q7CEB-7+@M^Uu_gY`$SW>#~33
zvn4Wy{J}93ikd&eyVco?;9cEgW$Z$16kjezWxoMF+8=+8cDd>Pyd(xW)1F|SbJP5K
zgUxvi{UaH5;O)i40u*cd<`Cy-(MNCBi<Y9x$LL?QNEdsisJ`;K<qrs#1hmuq{ubPA
zpWM6AyIws-dAJYm8fRT4uZ@6AEFSY#1+=-1Pu=;9{#ZXo`U8HF{7HW}2bJ`{d?;Us
zJZ=0a^=bL*KKgnSybSElMxB{9`^(n@TegVF;bm;s8rteS<cMs8=GxLU;Po6inQq{#
z+r1&~RBlo|@tN&!IsN^f{-m>yhEMk|dd&En!P>fh=UUgZ>yGYz>118g{32IHVuFV6
z;A76X!^i1y#<#f!`tCw5{JF2q?$w+#_eK^6iKVA(%s3sNnm^oWY9%(gRrcIm?uNPP
zpmtAmZjgLeabFzwWT4CRruw0bUw!75#HYrOcAA8r@DW~4+c@u~5H7EUaET3qODu#-
zMz|1H6|J{6xZcVQ4)_dd|BCRzS1!j#^7M7^NrO-HFsEtfbQgbIxp~~>ti0mnDDVDW
zoT{@A3a5#IObn7g$bDmeOda}k>Af@h7ESY^^DyOe-i3_ipqZ)nA9Sa&S>VM^a2L;}
zhnoH3UK`E#=QjB~%X}sRx#@xaN!qyJm3p_Q(M5m%oU-MTFZvGi+YZX#QaQMX%l|>S
z;?tso$}Q}zA=s^ZeAsI#)7mJWvi1HPs+S3H_yJ|#Q$6HGINio~&C8vpj5|aqTTYpH
zXCY<hFef%2!`PX~vFxo@c)ngXV32!JOFitv1-$iu9^k%pzPBmQh`%4wZ}@6y-eOG=
z3o$&{InLPDyEeL>^!N<c5bcwxex7x5_geIEx9fccSyZ`nsn$T7zbRca1^ZC-*8^XC
zq<X3&J!|WIh&p@bx?T#oF}#YtuAojVY0mx6Ofgog-(uFEz*aBknT*~j3hAVq)Q)vo
zJk-TL)<ElTM!5%poF@jUmpIm^)vv*K>^NsZC$t*I9V%mwVh@zR$Bx9;9i_7eejIRy
z`j_lMhvl>Qn?9uP$6o6!c#fRPOogTM2fcqmL$%ZS=z{D{=mU?;?8Xk=-94;5M|<l-
z|5P*$))<#u-+{)JCvVq|pPZI~>nZ;u7=PCwa@@rmO1U7HBQZ$5#0Q9<2j@ABuOGHY
zKj5z?Hh*L6cxOT8NbE%Mg!EqLvEEOig`bBlevw^W(|cd?7U=OO>92ssUkcIU|AjZ4
z5O3IaQS6{{o<eq;L_;gD?@H$dG;sONu19~P+>Uvp<dimHeXvFC0vfx2FSV0>BKi18
zz*DV%H}=)~6ujZYk0rk1R2#Y^Kj?K~b6wgiYd()DKdJ}}|E&q`zMDx*3x1I-8a`U;
zdg7zA4gbhaugZQvGz;Vc`*uLSNTHuC&aH#kJgu^MuwRXw?dtL2{o_Dd#{K~<srOUp
zlVB`nT+Ro*6MM(x<0suRi81YYUE?5!-^c@Re=v?uh_=wt(*3*C%ZKP~%WtM!aT7Za
zwtNZYpHw;W6V~J3q`Zl8-yW>Zc0qpvJ;fV^8?=%f%SMeMzp-lPXw6sd$QkVyvzCvl
zOn1!XzAWXyPu;utCGJeb&fvTkdj@v_H{y(1mZ2@<UGBs`;$1>np8hosjWuWN5$y0m
zXdDxbgE>q62fv`m+C`kujNOj=RQgnTx60|)_y_Ru*`fvCPY-Bf>z_=0#X5Wa0ci0k
z`hWkTN89tPFS7Gv*oxN1!pHOT<yc#7n?3mR#;3*)m<=DwzE8jZmtpBDXUe&Jf2i5<
z^u29_Gi5I@FQDwA25gjW*Guj`tytu{>^P?a8o{>{;cdk?V))bg{#WKkpDFMfTg|%0
znxOAr(06okTTt(OeMd(F$Nb)e4JupLe>WYS4DPZU+NxwXj4as=ea@r%Hm`qA9rt<~
zdGhb9dz!zs*JXbjq4{O)mOobmj>4I{zgZV_H+EGvLz&*VOw4u6U2{6`b}cacb)!1_
zDtB>JGFHXWyUjT#WB}dR+;*IIDX^PapG};H^B3Yv7g&?1pTxFGK{u_}$``hGW;`6y
zbzOtlTp8J1@Pd)!L2Ry!VrPN8yMx4&T=-Pu{qJC&c8eCwQyV_yUE()jy!amaN`KRD
zSRQYO9>!k{^r+>_?@|6L_01T~UT01A9LD}@$_fFkpvTN7p;H7M^O#^W7k?9dcpJ9W
zmqYG@InJwsF0x0^f$&##Ry_F+;EOj}iNni(6^}Z}8O3JBfT?fz^_`(7ss5|LjK9;<
zn6WU^$9eCYxp%S|_A6EAj{&?)iw{q51aA_srVD4$#KZ|7HU5k7m+5~uvg2+XSiTes
ze|d>({NRU{_;S=)<4jT6LmT|>4*99(d&D(zhL162C%o|o>S$iXZ<4kB;NtTx{ztdt
zz0A18ztINQyOiHX=`5+$J%jijDSVF({<BHA{uTOoWsT##x7PKd@T6pa?^60@z0!Eq
z|4HZgvSH<UJAJ8K_GDO|=j%K293^I^-!IX3<eAu(`JUKMJ9vqCD^8W(ppPhbnn$rw
z#@bw3|9;$a?ESdPkCiVw5*o|jbt-%v5U-IAs69Xj>|azS|Io<F>nO(I+j(`__rXoP
zJce~ba+DfGj#?#00bN`FgHFGbb=CL|W%BSmc>H2#Pvg(U=k#mkWE16zL5nW7Y$IhF
zv$aqDUF=!aK|Ybs3$@u>(2I)ah;O6RZTm-0W2$%E8t=`pynU?C+YLT%FVEDI$Htsn
z-oA=@CN2e>BY>0JhX3RH6r3>~?=@LC$M|rLwr~nYMtb4QrJh-zfU^%8N8d))ES%2c
zyao%W#)s3RzVK5s@Ld?6bEx+*#%1;MPpRkY=bG&O{3c!6DZ5KLjd{!S&aka}s)<)f
zmyga0A8U6f?0mi5kDc>2G%d3)E~Zb(djy`C!`|2?)+Rq*+238(qs>{}X=l@)<`0}I
zu`SB)veuiZ;k&F~0={CK%HNc{J&QbPAHEx!us=84#^$#3eaBLA=<yFV*K>)>*UL|2
z9}gR6^9IgCB=~Gjf5huv9BJ=aT+zN|hSPBe<A<)xq0jPeY?-;q@m}*DA4Y80jAHk)
zNPE7gqW#EQz`M#{M-qdq52E2h?Kj|4%MaHY9B02F3eWj_lEFS8uq+P`hmP8VS;^RZ
zy;;he(VnXl><4}SbBXzSn@f8_e~FCPmc}pB{`GEf-~G;M#jg*xH>6y_X4mWDtV5DK
zHJ3RXEH_i}m}I?Q54}I2J>8|)4DlG@D42;s>PnZ|+&;A%(8nVW(dPQ8%|P{9RnO*K
z4pJ|sdO<E=hQ9}b*F~;nZ*Jfq^-`*bU$61z2g%P=?xuJ^^;!q1Cm7OK?vd%uFPz2Q
zotj&G@CVtqdysv*<QmsI|5oPh!$F__Vvmu(E&nV*k7#anFN&R8<!0({@x1C?r#f~%
z^&5ZN_FvO)p*eKXpZYFaZ8W@T=d4xb<T6^A7pq;6lbP3V{B3{xf_}4kndEEgZ~NQl
z^qZXz{l?$+x3lzHke}(2x2eDFZ>Q_GfbJ>%#^3h0gnkQX-NkQqY^PA(j%+DjCcO~e
z_e-Be-UDrH-H%XLHr)P2>)W>=Q_?N6`*nA=bi}tpzQNtJ`w9Bxt;J4pi1doX{yqC6
zOQOn6Vs9YWdrOmRw}HIm1aIZ-!gq?1-|dnoAs^VmZW_zpd?&H1I$+JIs5Eba?nV#o
z-f)VSL+8tn%FT^<#pw~_YvklxbrVa$7S{f$&e26!Yck;T9=byLcn&tih131KJ?$BM
zB3KW!f12MI@$%RbivQ>5@X6XMU-U`diP^d|;%UD!KG*TKG(@JpMw!lX@10A%%h=Pr
z+$sKY59<v2drJdvtj>xT_cB)9N0K1N|1@;E{7Kyr*nJ+keSF`t{qXiK?R%c;9DTdi
znhT*B^G(iwaZ4e=etKltka_icjy+lU4#|#7I(r1G9{+P3buQw*J@yWWAy+PQn4h;8
zW1fC1oiWQ^oA>c+Z{VIi-ijm!o$k<GeWm(CmhE7zQOqSLA2of7cLQyRRkf!pTi2<N
z@^-r4Pkp^bJJD?<@a4yh=WavcZRB_my&xISo#)qc2dU?xt8$FtKk0>-;1Oq1y;!g|
zr~h@}+MNF<Ycut%EL^WO7QXl<vMZhtZ-_5a>>X--k-Zdwcf?Z~UyM0}U%j)@J!UV3
zvhz4=nY&W^?CF`i$QyOh?;~`-^LD4BiS>tA`m&uBN3`qh+WdCb67ciwkE-mH&x(G;
za`;@q|D6?|ZGX5PSz726chR0a(cs>f+Uy57KOr1O>k}C>{_EnB{~E9CyH}$<o&Aem
z^yA*li5+u7V-9Ga2+P0916qgmLKEfE3;L~B{wdR*tKitOiIiE}<38lfU!U&@@5?OT
ziJfTj9momLdL2iWb5A+=;OWf|F7e~c$}77T9j(}b)AN^M(Q}<C`t4f&>w9u$@O^{-
zz3r^vdxU$~`91gP;Cr+GJ^Crz-v6GQVcYxP+fKFZEBy8e+ur{koo3tn-;*D=?fvg<
zQ*HZ7zx@>3-v1tLwC(-x$rEjR|9jhqZTo}#_7iP;|9kX!+ur}4Jl3}Nzqd8m_Cx&k
zQQO}C9zDjk_rE7O4{7MR!T;XIc}Md-GSqKRJjQ%)_P<Ao*ZB1Jzb84*=(qR3w;gWV
z5A)j}V%z)Q@xy}l{`cfT&Xk9l%Z~bkydlWMRmh&!n}71DJ&0Blx2euP@EP*GvCZ{c
z4t=}~o^ob5O=iF6snUK=+ZpoN`koK;dH)YS@6-M@!RG#B-uu93tj_*k-=oCviOcBw
zi~25~a)x}$>g;{^M!FYV@t{8;m+ANLzmRXEA3HzfRia-NJ4n^=zNuo=(g(<7YR#}d
zzQ;$Yr`Uw*JPVx8-F<zkcaa$b=LjFp^A=7^UpP_VJP^R?0FHyt*XvWIKjh^soFP7(
zUsyQxec>DdoF4>m?g36*drsD;ihsy^-okmGwG*7P7EWPkpK<M@-qHZhZKBUVxf9XC
zaX#ez!ou0*!@1qUS<@HJJJciJ&CqA5=o607v<>&N7S2C>I5%22Eq&p<M!oX_I15A{
z;xgzvf4*{)yxT3Dw|qEXw{YtF!ubvL5&@h!qR(Hs-_Va$vo22ZZnSXz?89jRPABJn
zQiUO+&vNSnKSaHW0i4f>K3kY~=+kNL8k^*O-NJdrhokkxz**B5&Kl~C2;iI|`sCq5
z3nzE5*J9y3@5A|oh11d(&T{JYDE7;o9xwX*#ph>(PxN5#YzyZ%KAcGwPJLfES}#p(
z8923~&l}Lk;^R#6K4Ibf%7;^D;S>()L!U2G@1+2rgG8S{`21t=>73|IvTz>p;S95I
z*7SvQ0rh?vz}b$z=;SRb*W#0&=+#*`_xo^miH4f5mcDRKr`|mQoIG%x--qXGqBqRK
z`H2r_i-m&@3(xx$>gjDH(fI}7#DC}CU+B|$qPL527<s?ThqKwjDOC1>GY&Y50yw_}
zPWpL2c4^=^6TK}K&i8#dofgiTzHo*E=aK-<y`s;vA$)QZyv-KQcYQebTR1I!;W)rC
z?~F07ABa9rhv?ik!RxeeZuH^YY2noOh4T;UO%3q5N%Z+mXk6(D-u)KN^*)?$TQ~)5
z=#YH9LA{0m&Q+q%#xOnydv{tmSNm|TwQ$z-h4T#c4iDhW6@5B=y<zB_oZx-i!nwkS
zbE$>X(ihHS)Z4AQGoa5oqR+2F_(Ugo*IGE2`fz4jIQ4zu{6zHvIMYO*$Njs!3_iKz
zy-O{eFZytrEu2E64}Dfr@7Vy(heV&pLh{viyf@pz`J4~uBNon@zHpXM&%7(kxJHXU
z4~Otc9`7|<IG^?59An|M^o8?P>a7m&Iau`JF5gxwr_tlRk61XT`EU-iaO(TQ`6Bgh
z3E=GhH1t^?;%Dc0?-&c`6F!{xgtO7lCPvw-pFd5#g#ny5fs^J=-#qJuPv`O8VHVC5
zAI??_XH8!?AEVwE0yr-Lr!yOZ(>dOIk8v1z|F93|6$_`OFP!nfnE{;b(<|{a^nP|#
zb|pUhJHS+aZyI~)cifX_?|)9&_#^q;<$KmCays;`!6U+JS;;<ESu_2wr(E&DjmY$S
zz5Uf?FXK1etJTJuI1hXj7j1jAXLc9#+rWPl!>`bLPX7C_y0a^`j@bT9hmhlkoZ}<E
zL%R$zrhB^-Gu;6G^1-*lKe{JFzSd{XWG&*2R<pO??09c}O7`E#?91e{XIQsv+XrcD
z+R-LX8&ki<@%|9hf13Kj<%9etToc5B^gRy_`n-_wX&)iY9h3Tgp1x~e(Ch<NXJ_d<
zHea;f|NX4sd#;Au4ER@Vj^fQb!FIXJEK|_FNp<$npe%3p-?%G(H+%?fA5{LyTIKw*
z7s+?0dUainb8XtM^2bzd=wZinD0pk!Te~Z~f6=$z^chVYKt60@kbQ%c_6?T$zOG`Z
z1I6gX2N&+;tvT5b)VF?G7j(S?d)B;FL!Y+%amwFOU3|LPj8XZcUlon<9c|2Vuso7j
zt-q&oH2fu*)7yjj2L2NlQEq#VxQOW2!Tg!|(j6&$zbcroe~RZcU)6s3HhpKllH`YE
zSl3kdzQg?a=nQBty1LMMz4+s@xZ$q?JYS%%{4(x90RL{rBz*R5tnh?W1|6q!C1&q^
zk&n|#i<9nmp&!{}`qcVha3beh-+!a;@JtGS#Lnpt#N#IsBLbHnBJUbo5<f%op*A0+
zO$K?le7zrBEf0K~e*GMmG1)&TjsQPYfwLd4s?L5mz++v2M;r1knDYXB<rhiLwn7)3
z|H`m#>-Uy`PF*I~i@eKS;K1(|=P!q3Yd)|t_$`WGsQ*8q2S#hpkH7y#UjO6Rz@nRN
z`vuchW2?(vKwIKi!{r<KW8xl8Gd{_Gb#@1`;pdqvkEb?!=@l9ydAPt8{MXFq=<F+e
zo)E%sPl!ed`cPfb^VmR6?EYHoAo~j$WW&lyevrH_m)|a8kBW1fwUR+A54*uZ@eIX_
z?gzi2{M`i~Ngj09%xdVM_|UoBXJu(qLz%BbBcAMI@j~=Z#GwprrPu4S2LadW@z@|a
zAJPFX@6Y*b(uce|SPw2`Zj|G$K9cOG7U1zS#W(Q0^oASggY@hD#J>JW>?^b$JOLh?
zW&4E6eomR>B~J`mZ!anq7ALR5fBU*Fdnaf8%y0B><ZQSvXIGnf9FzSzpR&hAC&`=M
z3W!P8Dh_WSt9>EbU9wXA@4uz}MQ9|x$zV?@Ut$XV=ckL;{JS@m$Ix|#Xd3XF{+_G4
z+^aR+DV`qmJ05=5xrcaz<DEmDnBhlX{_;!Rj#F(v1<A+g>=@0#Qgjo2o4D~>U=lBG
z!|!f~#<{8?Q&n#`a1S-H<Ld00zz|RWTJwsY>I~MAdwHW%^PD#MC)L?j`ZqcN*&MC5
zA>G?Tzx!V8X?zYEW$>*8@0y@}j<|;}L)F=1ksIL_CpP^7;EDeaXRJDx>*piYWsm=%
z>PXINv!DL5>eOYw_**`w!^5J>Dcrw%OV6sc>I?r%eO(mvr8%{I9cud`mK_QDdY7E)
z-_lnGe@pE?+fTdw=oEwFT5@(y_i@}pJFP33g1>&o`)T)2+pfa(-U`~iLc5=tc0Nr$
z+E2T@ZP(y>uLbQk(Qd8U;b#cXakO)o3+|uq$Z>XKD|%VwPijv2JA=Kgao^diQ^sVE
z*O=jT<z_nQg52ejCI7u8hrCYFQ~dw9`V@?U4`W#`4C3E{f$k8DTqSk@@N!EzyLq!u
zBjTIGbBDSenv)~HOI>jI0l1qvSVkM{A>p}>G3vMP@tgQ>x%nKE{jNUg`wGS<J(XGG
z+ag;J@p&&vZiJoBRhCXm9q+pVovx?-`Lr{6XTWX7_Pz$3^Gl~s%?+(Sp1VmK)t}aY
z6guY(+KGo#hR6N#4CSu`<r&53f-xS?7-jc}7oIY6IMmEVm&Gl_*I%``ZFIcL0^H66
zw~q=p>4c3D?+c7kx~y>4?Bf%Td#LMRD?%UTqh;3k{E-b{JBKpvY5p9asX69v(IG>8
zsDb$rPHk(3dJmzOjf`S9^q>!NRi{mjGf$R3qR0R?F6T|qE6~~OQO#f<hdrz9#M=wx
zh)6%>nd9yU`G4q<?RrP=WHUdbvr~fk8K+NhsALTLrCZPRd1n%1)jgtlcu8=^^L;z>
z{$<LrP0Tr0-f1?xx`5vd?HQYRLjIdR@8MH=r!BB^|0ke<Y!UzM#_H_FL0KG|*V-R%
z8=6ZOj>&eKJ%rKO_sGY7)6g9H5F?a5V00FGA+EIw8a>MI>h~7)tJr9u-!9qFv+6gD
z&Cr%OitGW?b|>eAg0|~uYx(gU=E3Uo&oZ`>t$}}lK6H((0o{?=--A~ky6^^VqiwJC
z-(N3AW<NpulD*-N=_~NDt^3+et&jd257LKUy<M~$nf(=THMhSopJTE==kqqr592$L
z@ral6%xmBE4*2L%&AHkZ_+9*<c~^VU^D#beV65T$4!Dcr#qHe==PhQKdquP-x`cft
zn_sbu^;>(`70`8O1MtYz)%S;s;#X&a{^mUBgug&n<wm4w8zncQ)9D-Mw)Yt*-mrhs
zkJ~rWul8Z*viDk;1>fr2C3jD@D7WKP$K-a{+)SOvQa{>bkzaQ=^U%c^su=GX=Ng9S
zy}jYupUJT|x!>qH;`7knlo5NEd?s!h*!M`>SlZ)qX{Wvn{I(B!*Ubp}N}qt9sLEc&
z_Z)lIxrL5_i%n$S@VPnW&dx0ibm}o~lh*4TK4y+RQSBKC2V3`a-k6o&lBa$F{0hL*
zTgq|GQvk#Hpxd-V>%7IqIn3L^KJB^cA3n%0alDJQZeHW-e|X_?_ZZ;L`c(T;-YeU=
z_8?;;Yrk$M`@G#RMXuYmvBG;Dx+`DEfp(vQj=Rts+TY`T&zaJv%3uGcp+R+ajNu#l
zqO6Mf<?hyOVU6P%+H_7exJ_i=SooX=Ua5Oe<6Mj2kH}VIN0~jxmyT?Il32hvVCNqd
zZ*rE3J;!>^wrk9>;4Ow7k2=LIYwcSMquQUy0(UKUJRk2iz6{KL4Xo|Y#<|0KX#1XS
z{37yV@{@%-cbs2{-K9F0u@5;H8}1E$!#>jcO=cgSb&)&e&6^EtxYH}m`+z@eW<M@?
zBk+t<Im?Q@n!BfLo=!ujAy3*PjWK^ZgNOgRU=!uB<5&lgDakW7?gXs|{Ej>z_vkh8
zEOTB|`^icF?vLE(fp?GQ3tl*VV1A6vaQyrd?k}Ii+0Zujc^uk|rSIcERl280yb=30
zxzhCIkYjQ^bD*;{lEGx8?^rhR9-+pV9MZS^^b075pOc65E#IVacsF@O-}2Khq#S!Y
zi7jo$5%B*em6Ioutm#{R`bCtJTav8nTfRx<<f0^x!QY0yVOXbsfiwC1=5oJj*B6{A
z>3Ztb_iexK)3iU9@?-m!kN=G9fBX&R_fFQg^oOZKJSz-;EAW@Jkh_Cj($eB|C=cgE
z?mH#Rd1@=Xk@^~Co876CE1Y6(==r60EuM9X1$b0ErLzya&zjLLIj$D3&O-LrC8oyr
zI8A?q7k90#^yVTD&E$A?FFUF|e<8eZS-g0S)?9eN$WZh|FMlPtG5*5zO0OE3aFB<>
znU2|?Z{&V}!d$mQd-6LfMznK2ds}oo<D1Jn$j70x*vA(SoPC;qZgCH|NEWreobfN|
zXZf+@&GNhHFMXo-N&eP5%c4i>uLJX7>Md-`5bx_;q<DYpTf{faT~5_m$>C4Y75oPO
z`}yU1599iSot5HA`Y`-|O2GeZe}(^%Px(iSpttlvCwhET+ebZ}A+3iF<{cW=^Sz8E
z&bSlg)Z~WNGIn=c+cC)TQeTdDAp0$x-6`qEk9tQiHu1iE&hUKCyQlPCyo;{4F{nh@
zJxj4~IgKlMD>FBlxqOkiyv1n}elEIK{p|WAv^#`6ppBKDWU=cO**w8ok)G`RgWvPC
z6|G|AtdzeoFz@b?okMO1^CO#JMD{y&esYI;e^MX8{J5)2xR%FF-Mbk39sWGF^0ysR
zdA-(Gsi*NAb|77b-NhRZK@2Z*RS8BpUAn&RG&Wro(B-HD;cWUw2~OfO1H;i<#V_lv
zV&PMLAe@_Lmf*Ov28I*k-Q?S525_PW!Z{s1YsaPcRV{7G$CW?NX*~Dy0i1CM!Ws6(
z5}el1`%mR?GQ9sZ;)}qsypTM}yIk|Aaeg)4(K(mgZgK^3Pjc=~`})5|hWV{APQE#O
z#_#0tiWfLTi5v_W=B)fZeAin4F~fJdmwOiS+{+g$N@FUY@4Oe1iR8z;GsKfKq!;ju
zu#E&$Z<Ow!f8o2N;CLT1e%$EnrPP(KE|;HS-z~{c9vK;ko-V(AUGih;5I@B`UUV3G
zUP*^O?i35ix8ymKCmx7Ccyb+eY@5y#y)m@eQE_hj%6hH4>6tt3Wi3Y!O8>=Pqs?XU
z;z8$y+BheAN2(wEmw$ea&zq17bV)rruKC&0{Yt^zW4-sm#-D*!=;e3SCeU?i6M1^z
zHqIv6K+n<Y58u06ZRc?BjXoK}|4?pxB<$M!tIR(-Fp52#+)~OFwrB5@_o0~F{zb0`
zxgT}tZti(u%-<SHOdI_;Dv-~vLC(VDiOc=rnV!b}Y?y<8-WyxvO&<T=WINUvW0js}
zJ{R25(KGuc@}0W)Z|~G=`3-kHx6LU2{#4(_u<b;n4V=TAW6vv~M;-DYqXGO*?sYBV
zdpxQ=9mZf|l+UB*e(>v_Mso)Fo>KWH%9H4AH?Vgyk8%I9>@jS@upYlThQ4LKWRFfI
zwkO!;_h^YH%jF?9*0-gs{WSg&#h|OQPX%L=-SiRWY#_U7EBh_NrQB{3F8$d}<D-=K
zV>fML?ds2Nn#bMm{n<^!ICI;d-L$Tb@&W9o@#KwLyD9a^(350W*>S)9F!yE*J*{1H
zt2z~&Vf`XBkgS_F)NNp1r<2pV_<(u!-#=_)y=}o>>(3r*fABy)OZQ`+9p6vAmGDUg
z_aeGc?w7#c{Wkj=;==}f2<1m~!v~YGv%A4H51+_>N;$lJFbq3wSYI9)#(vnsr0#X|
z{nYO1PBD1{@dM;rzD+kVjSPKp&VW2t=jcqe({cAbJ*(=(tJF!s^S_55#lJ%-3;3y5
zcKYLmgL!}SfO`Gd)VKV&pL+f9%EA5B>&NE4<?epq^<#q{++V$ZZ1P*y_5*JKUOTv-
zx|a7^*YxGRgV*%T?hN$G8vHi#o{NvB`oElhAP-jjt*1%;U4gk<z+4oVGx1#uv5Rs#
zA5o@b9!8d>ODg-R`)^_><?S2$sW-l#vi|OYAKp(r?Yorsv9F(g`@`j}e(HTj@IKyo
zop^N!{vGFajjt&`^KRZUHn9=-R^yO;AYB_HKXoB=(0eqZqv$MJ9uv?~XPT`}o=?5o
z^j5LI{;rRu8@-P+C%two_FlOiJ8Wsmjy>V;B|G+yw8PI>AImj*6ZzZPE3t13qMxs0
zJq_&GSg;@DJkZOBz4x!B?q@%UdKT|fz<VG&^6j6NzZc-^FKZJfep)(5Ap7KH@+o@9
zA8qpXHHXHJomxKrP1lvi|Ifdb#{WY*{&bVK4H$O(F7~svnF8ME9hbZC!12f14;+7H
zUElHVMR%L=_hbJa&)ckH$p<g-Vc+q$@=mLz<J-U)u`V?J&L-~{;qe2%eEjPcmd5`;
zX#5x0@kgh4_lCxwx_sdAr@nOH_|qlb(o3iOn!e+I+>XB=yL~?TX0Y*h@eZpUe>-r_
zT@xCAdW!eW@c4mWKK^-MDvkfj(D>`@_#N#3(D*YK4?O-1zCk(vcmC+W`H%gm@AwyK
z{8nc1H_lRjfxpqlThSVS@9&)_c{74BS)U_)XK2jafiz9O8y|jj_Or5O(Iwhf;y!J2
zuj)_PTX_xHewqLHChJEwOyym`sou)MRFAu?Hmg5B-cXgD1gvh_+j}oA#<pl7w$aQv
zjXQ^Oe>wM8jx~BiF@vgXRDDyw-t-rtzcH8JM^1vTOHMXEP%U-j!>I2eoHu!jeQZ02
zCqs*-WufupCVPhpCiF1AIKFTB91bI1Wqq#qx0PhLopz?*c%%1T!qOq$k(oWn9OA2%
z&tcn*2hO2;W8XPE#PV=IKJ_i%>TQqh;mhxFp)v1;*M9$v(3s;N^_~Y`jT!r#xU$0;
zicriM-&*m81$KO$CwLn|<FmRqdTnpNy|UM;w=sjYCBa<3LEnbg@Lip2LO3Kp>ira$
z#7x%Pm`S_(2*pg&SF``KjQP0L!7nP^o4)QGY<qB5Y(??uCVZgBJjR30-+=8P-}qGQ
z!4Jw#9hR8C<qqx*UF&wN<^I$Bts~nr@KpW<r}(W_`Xknx=Dea}cRRTQZ!bAL;@y#R
zCwqHm`THix!~K}>2x!&JnVvP+3`zDu3ak3kZTyGDCw>h4=g_Y8P{qir&3mu~_86~Y
z4)H;X`4xS~vuPsZ3D&hPa*YPk{~6t9v&#2l5`)ysf5>T!6HELBw9J8{XsVb(C-&~@
zq0Whp_BboXOc1UKZ04chn!9Ocdw%KgcKJw&i38)1nxOp;|GtO+(tNGJZ^iFSkHwb<
zH~rlfb(*YvH>ys6bBwny1{#~rp$eAzj}3Bu)SR2@C(f$<EzTd#-b=28Wd8`w?X3Yk
zYb#uQAit*O!mre``r#w+YYn!L{XU8BJHoQl_A##~9>~tf17&B}R9|-1Fm9t8oKw8*
z)VJ%ql^x!zwthgb>}1Mh=WzOdOz-O<Pm(3!G)(ejc_md^n<6SlCi;urozc?USFe6J
z9Ju9c{)T?uYWyGS1+kE$t<U~Py?qBx(&Ls+1$gKy!j(A;m%l-|-ii_rgv(!{T>Fa}
zi^}czUKB3|{Ni%n+`@l`^8R?bm2>JlmsWa)uaysZ6LXH-$KWFyhd!M*&@#lK3k{W?
z>K0BxCWxgT49)OqCn$G8>rY{k({bz)-*=Rp3KnM(y}}}M@A9^|{BPhcsc<fT(&Vev
zWK+ns+8qIYs>gc{y>fLTJm9aBHQ8@Ve+ToHVP9z=ImjR*;W5bPrtX6Aoaao86Z{d`
z*VR`U-h1G8`Mmw%&AFu6cam$cZ?1AlbobPl?Dg39+S`taX59Ii8zGt1-AiM#dP{za
zcs!8v>Eho&&U3k*M$K1XFD#Ealf6?^7rMU5Cp^DA#(JUlz50MN8NK!6lf4sEAOHFf
zq53><v}!v(O=aNQug15ZKpv&>>6tIl_`k5fyO}G|c?<ZYm?Ib8K7wywiErO3-4X0D
zjVG@$&-{^R*-^<H{vX=TJwD3f-v9ILhJb*eBoJ;jy8(-&w%!0mt?X{BSZ(VOsF!LF
zy9rv9Ru9Dsf|Xs+7LBcJp~c#s7YWoJv%PVuw8macKwEEZ5nFrvwPph<mR^-hg3$cl
zpLw3yY?dTFm*4M?eeLc%^UQqbJKy_!XC_I#2yGjlNATly9z-c!Z=(OWALlRJX>h;F
zkfp+jrEOx7hPa|+IJj<&2ePGYfP7`W_ZV$BIv&s5sqEX7i5^_}7|L@hgZ5q7@s!mC
zJmSiRQPv-QOlM!`kJ(4i&Zi8SF28v@xqPq9A$D>8-0r{3u{4w04Nj8qhhTqg4rkBy
z3%_qe5I338`5E7r)_eZEb6*7QcGB(_fTfc*R7W{D{r1n?ssEqRzxc6F|IB6o{rj;;
z^?!i2Po(YA{%@miJsU3k5X%+q-b){s@xPdcILP0pA>i#?V_LrfAMO^+YyLS6E#}?9
zXh?Z5^0!5sqPyvmC(x$lBTJ{IbxgpQRyKgc4**~BJCpl)XGqCAJ9#G)&}Alwo9b-;
z(y|LFE4IBph5VU;9avnpoHBBF`;;xCELT$RCd#fWDZ7EP4wd=7#JXtYob37F{MYvG
zR=c*fE}A|kdp2b+QC7-JOX#<>j5Di_;lq=uSIV2G(Qj#)U@k3twI6+z?5Ezp2?s^|
zcP3*yUHtcxUjBQx#!I}URG-{1p=ZIbOL#5x6F>f48PK_VPx0@1;_(ZQiIe&?o+KWB
zfcW8eyO0rq>|2QJ`y;d`Uakq^nzGT4LMvVHP&Dl4&Umajj~!uJ%?Mu>IoY=u`)>c0
ztUEMlUp)Co*m<?9piRaido)fz=kTuT$B~6MZ|>RnF#TJY8OJ8ZEts;Dc>&$I^#JA3
zyBO0a#Q&_}y7k-<A%87b?btKw_|_PrPtEPVk2ZfOI)Mjl88YM^%D%3$HIn20{V0mb
z+W*KXt#NBz+dbP$zWmsc=~m5$_Mhu)dsE)C;Jcy9=R0+-9b<l(J2u+Jw0%T5DqRiA
zcQc%cJRzr?k;L-q`HF=d0GIy&)>jf{>AQ&^r$d~FK)Ldl$Pb#QwFK=)-%q_0sP|-O
z+`hIDYXP)>kg}IqYl`jF+4|%5r8xh8bU%2i;I3Ka^>F6Q)+n}HB7Kt0@mb86rFWY<
zbmwotGfl&@H(r2FTu6QZ^wS>b(Ca9Bn>%Vt=iu*@72fSQEqe|11e@mJW!}Z_Uib3q
z)3e(;PtRV@{$J6w@^!j`J^Yp0!;e2C-1_+f6Iw=T4?n(86n)_0;qMbnwE0*2&E58V
z?+;&X*V^`z-_S)HT4#$ZSD*g1Prd+G<n-)J>c1{n8CNkLrUf`i{k8}P9mBKJ)em)F
z;@jb1D!-o<4)7}u0*lsk=2IqJl80_;patatxb=Un6}F>`D;ST7n5^bXzCi~$e%tZe
zLf8Ry&{_kuzY4pGJ)aBepmF`L3+{<5eor}wvY9@)+n=|lp}q7eT6A=n=ibrJGUuUy
zZUwJkT>y@!{Wsv%I;Mkn^?w6i_nw3Iq5$6JSAF;|dc9|3t@ML(qdq43#umKBbYCMn
zW$r}xdHCf3v@g2n0HzIB^X%V{IU4^g-WOkPrw!Qw#d(3O1+LS1Cpve@#uKI)KPRsO
zznghFjW(*uv-IdA$vo(6q|RyBA&f7^dMEzqHqH;Jwdb-_=x&au?HXquA6tEM=5$W?
zg&lx5d>gegcMuv<e&wHmXD;m@UHL@eUM3$N_OLs6PV?cBKV|pb0E6!Bv1c@$=ED)u
z8BOJa!@tYt=*l1aFp!finJF0ZRp17gJ_8&bRm#U@fBk!fANxGJO}LtZEMxAO!=?MH
zHcgc5$`7)a!_%IpYG3||_v9DE`Z+7S`7nMe^_(5}X<(3Dp#EH0hBDzJ3>@v;5fR2d
zt`Fj5z_a9e_@a%u(w-&bi3Wz{bmwRE&e-~BTTP?x?olp^$Fm4<%T}(2N1lZTO7-mD
z13DnD)7~=|qJ9GSou2ExpUAf*k;60G{i652ro7VP`}JreX|g|U!Zu+oOgPK*YnS>u
zGecW_?!)69;Xq|^WUcNGyI_u^(~^5tz=?mJkAMGMl)jYv3Er1VZ)SqK=T?JD`B<Vi
z^g^xV+NQhwI|x)C7`r3DJcoM|W5hdq&lK|S%zGI;xAQ63;<eZZ*uf*A7royA?Wd3x
zvJX130UX`}JQvo-JJ>6ud)Z{~NpHs@mbRAs(dMs*a`KN3!3&y)G;MC?11)#Y!YAS$
z-9C5aKEgZoJfDM4B-k^wE4bCJ@(i3kpu1l*SAx;r4+rcIfe*o<b0_22yt=ng^*@f^
zrt>L%zO2Yy0gg02^`o;xW5`y~Q7ni{c2MTakKTDv{kPyD15PzJx^vxQoZ<&^jQ_{?
z6+Vr9B3+w@ewP7{@RQ;r`5F^VbFW6}eTAL$&6#xeE@BTHEi|V4LU36JE|bia<B7%a
zQjF)nxU;7!8H_O*=ns|ujB<aRzFg9{zRTVr$uWDDIb+t@{Tbkace*<R8PycPXV5ce
zMYso;b8?#4@1e7#9_Rf-b^iG=6Yxoov-@{A)A3!Vd-7|XYsk9`!{|C}N45Kw-9uB6
zTY*kVFn_{DnsMvdg=-deHH5t9uU=E#)o_G+$&gonW=w{58-6zB`FhSBBhRyCRVciV
z{dM-vovFrH-b6lFIhE#&k-#=7#IW+*Y2f71N6~u@rVKJo_|RPo%4M-<ogjPLfF*+L
zZ8E)Q{5aX`&d>Te^zH6JP#JbiZnJO+PR9<_eQo|79NYf!;YQ(B^b-T89r%0(d0@h^
z&nq8%PT3ds?GBf>yhWeSvDaYRKjQ2Cy}urIpQ(JCb{Dbcuz~ZYzVfF#UwWwAyqFA4
zZoK-fPrZ~1O=$c(<1ye+@82E%(nHnYY(wawhZ;g<jj0<Kb#3Czw&aSHU8xo4btP|{
z+SLh7<MS-g{ubr#U^_h4c@{YZ!2Si=-h}-aMHUNg!5as^9r(+F>l46tXor^_30%zo
zi#iW3wc^$;b0pSSzv349n9)_gVkZCN>&f@bT>_0r*DfD5w$Z<*ZhY=(;B6RH*=TtH
zIO>HH{L&=-C<aEKtucHPWc(RzqGz9uFOLOxXeW_NO~5*#jr^oJ%v0E(E8Z#Go#f{8
z=t}<{f`(CEqwpOGn{E4v@r)l~UL4<ZRpX}e2lqw0dKPRryy_+0_mc#cl*R!pf-%W>
zT9FNcZ#TBM;1isJ(deEG${k((1Q{xM=x`|<Qm=r&`W3fzX}^x<HU{lz+&c<#r|3Qn
z=tOj(ye5rPw4<}9^xiK*Ru2{K)Hsi^uMbV~@9>k~z`kkGqU4kA3+Q655<|&(xy!3q
zHbr(zMeZv#=EW61uW8&?ZZ21zaf<m+>`n6#v3p=9=B}m8{%4ILP9I4=DSR_@O7{`y
z$Itt$$nB@S%Y(Wedg`Gm=0)+7zfW#b?g;I_pXVP@Iqk>c*;S#*`#PD|jM`;9sSx=%
zw7U#>AV2OY%6$LL-@_`O>8<tUE$olksPSS)buTL#^CzIOvE1YM1h`suS8V-t!_A9V
zBQLf=g9q`Kj_|pD<*i-P1$V5R*(G0VH+%Rxft_<Y=e_pV@|IDwEq?HrSI+btFb*08
zm)qbMaQ9+c2pT}<h)xZ3+~(hZdwE-M|1JLgOvNo7eawMA{=oP&2W0`ylIXtV&{zw&
zZOQRWbgMa^7|?c%@kWqC9V2^byEo^~r)|5Bi#GpC`@(S=STd`Tlfj&&S66qfr)|I9
z#N4Yvy%^_0m)5&i@PP*h^BC%G>+0F27`JefV*J=7mM=?XY^I!CRO(^#zxbB5Pqc?(
z;5*@(;c@1_H3C07UQY%%Oa?fF-e#!1IYXiCLp=-bfi}Lt{I6#IvD<fPjA{Pg3jJuW
z#?|Ny@o8dh-FnUK+Z)SUHvWUTg-->4bCDkS-T5}prZr;cX<T8Reo49Z<Z8?g4?8J)
zR=6qR_vb0oer5672e3DMz51gTFTxqmVUvA}_=j@x%w*O-V%X>B(jR#&Dec=p7q8)e
zM6`{4=<b$v_a*=Ty!Y?lfm`<mM$x(QV|x9Y9glRL>+FMGJIIa!_@&qWH~0QM$$0-O
z_x{}qd^&Shd{S(`ejnK2xx$<*q23$R^YQ+}mM!p24Y3r9dt~OL{Fe=v#GdhpJL}wC
zdw(YW611_4{i503_<|p0?qsLRU-~UDcHrw-IWUNSBpcBBY4}^vu;tN6aCe`xQ`L^6
zpBS+22iEPfcdVcK!<J^?lO68h6`sSuX$<xzaBbtca#uH#&o>pgO6_xE7X#YoZHiIT
zzieaS(81IItg@Y(X;bvuU!DIJeB{6>AMVKP|Htsr=9WR>d(6(a>@Bwk&)KgD<~f27
zE_ywHFWGT3IhNp5d)Z`ng*@~Pc#uDwM`oQx-fw<QD7y^(FCF`R&J6njpJmttU*T>-
z@wfD`?y*Wu8J3+y8``&ZBC<{Q6n3C9bx&b4ws8~BHuLU;JGrZ`L-!PFO?qtZ5#~>L
zT{%Lw^CaSSithmfeyuT+xK}T=T=x{Vp%2_Wg)!`9-BXC1WPLBaOYiFbL$$BCpzbSF
z+gaLHn;GQ3vwN&v2X5?{mBg+@QxU}yB8nyS-qU<^<qOuQYNLIfFRD8R^<1&Gm9+Z{
zXjb-&`mZWHtIFNNv!C)z_th<W@PjMT=<{T7XPxdLY_>e%@Aulvm}=I=rrWbvIWPNe
z?hEA3-6h8n?@(Wg0q$OAS{Fh?O}w{z8TsqXjn3eXa|dApKP_bMAS`PP1$PiG<PJjR
z019s5W1{fgCVXpu{@C0HfbU_RM-}fX>I2<=;`>Va(LGc3lg;IvDcTx8-;5C~_@YaV
zG4t{pH%$a@wdCl|*t;c^Z3osS`ZFCh*}Zk9`w!5l)<Old$GLTT>nwlO?yd`Eb(c`*
zHKzNQ^k>U=gtFrA5N+h4%f0B5^7D{4SNig%9X&XZZf!>oDsE?W@F4579?$&q3b>yX
z-K{k!y%P_7BlD+YeWTPq>=f#WKApU(1g;N*7aM~kh7kwPqbbuFjZNgTnDqJC(9RlS
z;M_k|7SkP>vyrE*JB)cu@<n5RlKzpawOSih+4=xi?cl)TF!J84?#lWs<sI`)_fLpR
z2*-9mH+Ays60LQ}N8xMlTz_34zb@4JI(U4Y_7xvmK_9Qv{vPnXcP_E!hF%;ij<h#C
zG`EMkuk-%bp$XN|9OT1^*=pC;;r$<+0}KIvCEGO*G3c|@#%b1>L)3G4dX6^T{QcAS
zm}mFi5A@!Ae{TNid(?C9eM|3M*7v=^&fRtIHSyjG%_p$G&9{?jl6UXG7CpMMwGgM&
zU6ROE|K40^`$B9{$-mX`<~_)fSI;)xL!gIPB-VN%a~~OQW*B7X0p^%*D=)c&vNp}$
zH=QM|dzp3DeGK1mJ?}3x74|IYC)gi!XpNWsNcaLLcXzJb@!qU|77zC&Ll+tPlwMS9
zMDd0@6MpPfw(Pf=d)d3q*fGdMVqxQQ|2Qg|(>|nex$~G))q9oicFv2g1_!#gNq$w7
zxlh)c>`mB)zF#^a_d8pEV(#6+d%xnl85pDNojZl!9mqlPlAEs%?vpR2kGSHY)Dyo5
z_X*7xc8v7D#-Z_OEbZKVC4Q5<4rKLC>(63)N3dy;InSA*yMX=kRexe-wce2}p*ht2
zeG@#m`BT~Vm^;NHUd8V5bs&DE^dIwPfQz%fYp0U0Cw<AjcVvB8u6qhPk+Cs<Hnuv9
z+^;VoJ5|QK73}lUIAHQPGh;t<NYKZgu`XF?aYQ@t(9&V#hq(PenIgFr$ES}%Gw~q)
zru>o#+{x(YXK^kE_^R*3KC`~&IOcY2j`K!sO#9DgV@KD>N9^0zGgHli@xW~5-Q-?b
zTH04?l9}=ANx;kAj?y-U)%3QJsu;M940qUdjWIJ1fn%Lt(ZRfG&SKMg{WPnKr^vSV
z=S^pNJAM?-zK>qGgL_8MwRU`$LAx5KrMcJz*+#}`e|KDvUF-k;8|Q#$@8P#-IK_U7
zJn^|m@w@@Q+SXl|S_kl;bIucl#+9c!Ay?yQIyNV}jCLGNx3e#1Al=gpE<1>cS-b|a
zv8kW4zCF(VSG{6AvYIg_+0Rjm=Np3az61U#<bOF@Y3J@ThpVNuaW&`NIy?<2!BgDf
zscla7f+9Sf=kP@TrFdFP9**!MJPAi1FT&ApTzlZCmfsFXDfWa7gd^6g3pjG}p{bv{
zN|ZY$9J#Tb%h;4l<NnX$|MEZgj`g`C1)BI<l)aYaz>|V*B}<MO6TIfe6lF|j7sgbP
z`>H=C=!ZMLX7!FK{!i|vD4qB8-eYB6{`F($y^L|pE*h8N|AU;#>*jDnpK+P&PGCyG
z(_Q_HYuL!X<MImQ8lStVXk1SgjjNs5!a#G?j-6FHuBKOx9hdjYvE%v~{FCfQZrt#P
z{`2+!tXv#l))i>{SCplL*nB$3n|W9{9_S562anN@&M{P3F+Y8a@-O#O{s`q&{giK}
z{3DbHa=VZ#NgVE&vZei$3I5V||DAd#AfE-7i&yx%#N-|;*bQ164dw2l-fb_371P@J
zFrTmTF<a+$zcZ4acek0_J)F40!<=b(T&yg+;owEx!(v0SLp#c|;p8xTCW;p+&))b>
z(_-z#HZQxl+-pf;zkO^}sO6SjWqgLTEc$#o-$VHfYq|bR?~X<DhPTvz$F$z^`4KJG
z?Hbu~%T270LVw9mn(k(2dnQBKzpCuEqB0ZC{*f}RIVI<fZYlPgy*rWb=$1D8>Kgo#
z#0lob*fWvF$l~PVT9ZPr&eOMB?{#|E*T0_4;mD&agr^#Gv0GOm-np^*RQBPM@3<Kq
zB0Gz7LwEf)5zex%vJShNTn6qh#a|S@Wd~TDgA8#xr;XTPg#KNuM0&@qRUr4#EfaJ1
z!zXHAKCa(p#gcF0FJ8!4>dGp(J8@!8dEqs*bIamI%l`x(WLp_*tMo}`%%*>Ym)@Xt
z7@lj5I<)5e?39t|d2!}s5C6m1c^8`4Y<z*))h4{e;PWMzTXKf>DdyXDqrVS$_E2-V
zL0?s48^o}4*3zbY;5kY2ckG=7^2vR>e4<^)`|V8fYpJI?v!9yXSh;xia-F-l0Y7aY
z-_49E&pK1F4%B+$TXps><z2*%cfE=&DjQ6G;#bLgNi>DCcXynT{Rv~#S+8y2`Wb$A
zysNK$*S7yynGogv2Gw(X`W$%GJ;9|s(m|Q#@*;dD&084yNisIWxbJ41^^C{hzciQ-
zKCP+jU|qa^dGc|dzo<N`j9uIEX-YU3ZTbB6eZ@U?62B_kFGZYd=V13sY1}FBkZ23{
zxnC-bZ7Mszna>vLG<1Zsi4DY>Oxv#L9?lO%KiWH{)`weey9xYM1UA4Raj`h|fsKm=
zc@z=ZME~TDsXM@-;(c!ekGoe{{Bwvkj9x!Pc4}2^0$;?*nmYJsH~ypMShzm0!@u)V
ze#Mc)(wp4<$he}(vg|p~QG0!?^)7Toylzf*hW>MAitMf3w?GH@fRat`1lKBado*5K
zZ(1d%_6!}`qJ0|Lqp=&mKaW2-=~nt!&%Od;106#zZo%;U+v9v@uNjhkdyAJHA0Em&
zJbnvtp-$>m0`F?#O&W(_dkGj_F7pY%lMyZBs}|Gp#jL-ybN-9Y0xB-wOU%igy>SLK
zHko*rTffL)uMedAGT7@b7M>p@-hkge<4&IY_BeMJ&H%pQvDWtl_}jyOjoIMaNoI6_
zlTL7@@iw!b*0I~mz64&Iz^T3C{xV`nfnU?Xec{Ejs&_r(IqTmP$JpPbzazx#tsRUm
z5Z<1q@73T+YjJU8Ni^^^))Ft%8qW>j($;S)&pshInOoVe(ZF_1_H*xWdvNct<Lh70
zZ#y(uycY6v%Koz-Ue~=$rTnk;mcZ{Q<ZS<jGWml(AOH96QNyR(`d__A?PhZ5Wus`!
z+P^XoEoeVWvc|91JjmXbc5FngTNvcI+KdlUH>JAl%T_(TH&EYs_AALRP(8gfP`!-m
z;pf<~3{o$udhA12y=Hz7)L#1t>XDbDdhtQ(rBtunub1cdK<#;|2Q8|-%pmpDhG^I0
ztcFiPll|SJHWYqI!s}`)UviJy>Cm3egX&_hft%aXd(@_>j+@Vtd(<L&Ry2oR(LHL<
z>RB*nnUZ_d#^_lvPwZprbC22xJqzY0UUH9GnVz}%D7i=NDE#T>z|&o6%tss<F5Ww+
zX93<*dd6?}?5}zj;JUr&9;G)Z*L_L--J|xN8RWt6j^pb;P}jdl?THq2%T~Acg5A1R
zv5+-E%tSf2T1QaKI)&VpujK)w^wNPToC8d}q>eF?<6&j_`RFj68HfL3|7-p8QJx>D
zlaBH4e%(i%Jhp@6cr|vw4aCE0PHmeleWN&a;?C;%QDoVlc~3Tm;@?(|H4V)I8+VhJ
zHL|u@+Zp!t$Hyew0-Gf>h`*DOzk@y&U3r7mLpQZSKeCBT+RL8Ed3hbgFDz{jqAS#<
zy>}j)G!3pJ==>(`#xm%IVma?@Qo$Sz=6eP6;b4mwt<By-c`+=1;haAQOM6kh8>yFP
z?x%t)&DAFC$Q0*deupx(`zL)f2F1&E;|rOHc@f*H>gdXE+IXkzhHl<#*8JOe7_mWY
z4B73>Q@8dhG7dZMGtgg(x4ljL>;Se=C$<OU?TwiwS*Iz-9=O!Zh)|bxCyP7H=|T1(
zAw!m~U1-;RT01_}8&hiv*1Vg7HE+W+<!DDmI}O+woSA?g-D=Ntza2YZ1Z}VHZQHiX
zUSQS>w`$#{V~2lk<K__gtSe3TCgE<qKabI?2bN_~&Y8*+Z*RgzHnEek{{bD^^GaxQ
z2KlAf<-4p+NZ&_R;BSJTbIAR4Z8v{-;I_5*xF<AzUmAN~dDnSjuXg}fWOR&mPMue6
za?0%wL8A%qwGdogyud%Z%9eps%52_24ZbsVF0Tn<hxM0$FV1o6xRSM&OSqGpbr?H_
z<mBvaMPm@`8pCeje*ySqkIgKC-@9yJ_&w&t=JjjMYL#&5pI01<^PjkWhVi^lcwXt_
zS#xr)d>i;$<K0Dn_8B^~iv0s;kE|-}A80A6_e@c}@#Jx<uX9F@FVroxNuNJdUBN<|
zWwd$z$g)DcLYvfkw5XnP!#kESZuTjNulvB+5bJ(Kb$PBfL$n#yo@DGSSGUkEb^kr6
zE4v`nw(0TeaMeDo^@x`Y?=^+4J*>E2$Iwj^l?%1dg!h@UO%t_8tK;XUHNS>$=8n1A
zY0}5pyzh<%=J8U>r;rDZO{sivD+6OZ$L8*+qa0f}&w5eM^QKjOMOb@N`}xnD(Bg3(
zrpB~)npqHiDL&hq2A{FVI5OS$pRt*(eAYSn>eq`5xAOV)Gm#^g#=3vYcZB!Msb;2V
z$Yal-<o79hUdMX+P;=t@k-NaORqFyZDz`p%MeY^a6b_n1<E%4jUExrT$sR`?+gIA}
zYb^hD_o2?oQaxnhybpA#9i8_xG1tm-+dgOM4d-`(zorgMpP4CU#^IrJ6=(6~!~=$P
zhKc(+qGrL{4V*7(*F`7gUOR*KSRa`}pNT)+JukzZ#vHt|F{a!w=J`o-vjl${`DLKp
zruQ0q4uc!x*BGPl;m^s)Y$xq0{$1v9!Z{4Tr>rnO`qKC+i^i96<4car?h-tKY)XwE
zczh}Lm2V1<-PcB(#K9K9o+oGTa=|0`Rsoyf(*J1N$n5uN`zwq~a;JTkS)j4C;fv}0
ziNK`snI6R?6(gz0-OT&6cVc0DW<)lp@deL6)@SS^vRm|QOE~*M#?#LF(r3<+4KObE
zHgl^nEBEVV-tp&kQm)R8n|a+(Jno`(kswxB$XkuGE~5FHh`r<BcwaFbZ6mT7+OqQz
z8JWGy|IPU|r)O94TR6)c>{;+-@T4(|wwpXNGtyvfkTW#b<b&2aKa^akjh*;vth*G-
zZs^t+e7?~+`Mkf=Gsj!LsMk0i@MT_pka4tY|8QeaZxElP9p6HGu_SNugV_7+*zWo8
z+!peRmv)4%I&4h*a5FJnyGM(6n+I9XXxDlMa`9yCi$FF{(f93spYcK7i`VcTa<5AD
zZ}#h}E#ytV`EXto*(QF(p2%;6pU^iEY@?2vf&AZ>eE%1IaQ5n%&{RS;3}w~CkzDzy
zl-u=OWRjhGb6oZ^be&|Ohi<fT9bKi^VFz+ys)-$rus>KZi0<3C6G6VM&UB6Q-V=&H
z(^h^y>s9>!F8{?Z$-fZ)gI}yHc(rGSXlO=1@C*Z<4z<DDIXK~gT_MW9sQS!(arqH=
z;nOOIc3gR!`Ufe$P369f;Vh@A*=J9O{+^Gu)?gQOBJ+>;`G~mAgzR>neUX0KfeX4M
zFJV~r4rCFr=B*FMhG%sruWT=^2k%9<G&A-xV!$r1AWECf<d(dKO`v>&>t&Ay@+ca_
z3)0^?HV&BoPvU?@^YjcbrLhH*DwmxR<V<X*{IlBAY3+jebbA&J`pB?WBbcy9=H;<h
zmV<L*MBReTbM{NquxuT6?T1ac@xsMZmTw+zvfrV-&G&JBwLji<Ce3*zl;wF>G@Qpi
zbhe=vz;C{PEc~e_`ojMpZTt*49o!rE?`*0sa0i*}G}o?hCi=P<|HaC-!1fx#`F5qa
zYwA5KuOQRBNBj1D2Ysy<j@I<j{VnSM%2@aL?3ECYo~v)hC%NG5?p+(aQS};P-Dm1~
zz>}Gx=k+|V4(Qd5?W2_0IVqaIt0=olFcg)|r|f*;#J4w33<dV)HI((P>G*qpqLih5
zJO0FUV8<V2e{X3$)~>2F4!cJRcy*3sX`QcAhTK>u+=j4gh^uuA7dofd;a9$YmU`k*
z$@at8SogvQIq3KB&tt8ZiWl)~bT^Fnt7lEwi$_;_El2B=#~E(HS6J7*WJrtj^xMnI
zTh1qb*lgD)LM>)SaQ+T9gzV)|nSX{i`|=jV8xpe*HI%hvYPsv`V~N>Ugu~gl){qzV
z9y6n^!OLE?h1^!=s2cis1Kkoo8@f@xHMT_*-aBEre^vti_PQ9)^5l%%%eqep8`5BJ
zUP)W%&(?18c#cdlvz6Dw**1-@V@pXUyviDO-EP)FiGM4v=Z$H{wcLCcc)2W)-?Imn
z$I)|;-`IGfq4?Q@)SJbf=xcnx{h`yG{;tTiq=_AeL)qkJ_F_;TpTh5um(A)oa3*WK
z?C1EMU|ex`?i6_V#`)M_*kARd=XS-wB{9+^?I)WBSAPuLKm&8w8<S*xr-r$S1DoTo
zM>q#uc6beC+l&04Al6vei`9e;9oZ6_-HpF#>ddTIweVVz+cJ-sEx3)Hg^Xn#CW$_X
zpJjX=dfy=9zYshzXWy2d!+!gw{jSP=op0OToTB!y<t<Ov4boo1%&_mFUkY$w+uM2I
z*+BX;6%XFSMlQUE51{ulJR9h}<`{ON#?4%7AF#%~0G~qdwexJC_sH*@Vd;{2S)C)_
z9o#2AX0&&-wI17h;Q;>UYHaT`^<8{4g`F@^ADO6dJ1+N^F=j&~lAaek%ezBow-37+
zT(62*7@Og(f!=SPZe}PBc#xcBCl3efFRuQU`R(TUJy5%uGpQ%}8PHojb=`PN=`DE%
zb(aKfMh0#(bvpIHrSP5_tlnwVLx!tfp0jQTf-!}RkuI?94OZ{n)Wfc^?VU78d#6$l
zxoX=Rtlqn*H{Y+<PM*g=@U@dKbg1D%;zs1$AWJ(RkS{D*;60bAGuw`?jI*YkXgP3=
z_L{wq+^vgRkjq)E?bR{<MVuX+FlCp5_odNa_AF?4VQOO%{SSQB-;IDDgYK>7`QG=k
z#<?bxO@$Pbv1^-K6OmEb+pxzgwH6e>>jC>f@Osdh<o7Lx@j;XChbAT8CD$dJGcWec
zT!nr8Hv5IiJw9<Qx+De+>R)kyIPzTb;mfxn^YHuQ>`#on5N$NTEPF9|ikTT33Cucw
zk9R(c{psF+R`2tU-j`muFKFXhbilPEIb*MZb?Tt6(z>f$f8tN-%g<7r;%4kVyT=IJ
zffw0>>kKiV1K{M^DZ~{nWB(F;YQDkA(q~ThVTeJaHMA9_E%7k&H`_UMSc}f>SI)Ny
z;MmJKYMs3A`%05@=K+V}W5lPr)y6{BzB-6AXir)!X|f~UQ>2$Xe;$%MkF~|xe~vwb
z{;Dpr?`L4wE(hPu=t;?z=-!LEU!hEAuBuG`f5-n${%fwCZSzjb7Rug{>?>+7Lb<gG
zO8S{d`FU#NcE5gH`X1Z0l5!_EQh(^Rw??VFNKSO}%)#?LJqzSQirg93mZ$PS4&;l<
z-$qwDzE5@Z)<2-~fY0+q<$qQAH37fod+WcU@_>)?lsjDPrhJTWfn0TEf1qqD<8`#v
zOUL7LZ`|tZ?rWffYer6LTv<wk@PzcD==Bdl-FSfpp<`(9XZSm!!Au)DseUYVonomA
zifNE`91Y$JA9$9J#^;`;P1#G19?uKtaV2{{<G_<|916HT|J}fQqWdqt1q~F@<QHi}
zF}H9)ldGV~B)*1dG6_vy|88&v4XA(T-$eTH4>Ix(sORvu4!r#w+cnuq+?GC_jd9<<
z^tCa(ANDNxyKG!^&NAU1T3N1d=;BU&LkDSnBk%6kH}kw!-^}a%`eq*2@$LHkB>n!L
z_8cwU#Q$PjqMiP9543xJy?Z_vddB9-{HSNaQJ%Z@{*~v&wn6;Ko&{m(!9Bl%=RJZS
zxWzw?whc5~u(7rcJ^M$3wTSO7=Dlx<u7bR-Sg==B?L0txj^3Uvk$WEy9Wj57j+B!u
zIy!P{uT0gMT=DY2zl|NAoj-;B$-tv|*1nbGYSyEOhd!+Hgaf(n<~D}yQyNohRt|d+
z>=S^UHI8}n=_eeV^|Oi`luNj~?Fe}b9(1gjZ5V&36FS-rUBsa;&#=FnJ?LTfpr=Gn
zfnWFxF}8diah2sOyTT*;K3mJPI5ZIB-3Wb2pG7$9=Nip<(Dy?6zK?p{LErKn_P{@i
zEh{!fU$*ZF^vxM-f~C;+F!ep+;+C4_^<5$QE`Ih5`Qz$4S<*NA1M!t6=XSi=vr#(E
z=f_F8S8wrUusc`iO5q%sR98CS3q02xh+n@8{3+&MI7kKi?Vs$YOgROCJypoX8>K#j
z^RX`o`fxhtPWq6JQ6D-RE*|s|5Bktu!=+`~V=NzS8uL{+&mvgc;yjdEL!M8=UEq;D
zIf|*=!+xCW!Qm_D#Oe4U3(b%v7xTTEa&l|tef<QpLG>3&r=#1;o|)Qs%i^hzYi%z{
zndUG_48`qX)cbqrr-j_HFtnpRk}f}8Yit|Xm!$kvt+fVuKDm14w3E2L{LS8+xw4#>
zMsKq|x}32{u13i5ki9ecpnvD6a_1s~l{S+%l9z|ST+P`RY3RQGMq}k%X5zp$Q1b*c
zBgz=He%XoaO=GV?o6p5AEjs&!d_X^^&d=jcZT4YOd_XX@!_%qle%Xg8<NO!92Uq)1
zw=o{_ukhu^<`U^q*-`MC-f6P(n|uKJ-bfDM^WaGJA1u^oe^=9}Y{=Co59omPNr_|8
z7CdR&O|*^5PN&cOS<v+r=qLQU)D`}?UHoT28NfSE?v0nNf(@v)(OZ7oW^{H;(Dv>4
zwn=hIQtvdj4-b0z@3e1dUuzB;V<&lr&74p9JId6b`YrSs8*S}1jptVUoMbJ1*8b1>
z+>NeNpRPaA(U0sn$0`?aT^w8|(xbC2lxa?4+=rDB9nq)OlcYbI*e|92i^n_A9x8{+
zr|Fly3RV8uBUQGqL}X0%fuNrzorzF1m*kAC%L7Yj%joQPk#m`_Y<eHYMBC_WhWDyu
z(}NSi(L6}rigHkd(_c}?;x(YBMC^p@Cfc@iLXHW(RAC<52k{H@_-*31cKDcF;Ehqn
zCA?{@jf^u2e$NPK*W#4&MC8Qm0ykFn0_uGadt77w(E%UVX>5|@ER83)_tnNj{d(Ji
zI!&Bw>gc0D@97h>pI{s*U=WU0lW&)ZosvC={>B#JC_YHOLX_OL52FKDT_2h)*ci_|
z;@ulp-4vS5xm%VGHI}Hx(sp7t>c+x3Z>k?<ES!nC@eiuYoXAdabAJ&yX%aq4%43vk
zPr2sU&C7X=gSL9-I(b62ykxH9gY37Dldo|*KBvR)J;3C6m@)0LxJlM#qi){M4CKR^
zK0Rj!S#N7*z0KiXco04kZ6{<$(U#gS(5E>u`y0kqjQeQFm$x0rxKi6gc#&;#;KiO9
ztLj6uKO5lC;qM@Jk7S|y|0e$r@V`G;_Mt0FVfikw6!S_Z@VnajfhB|Ad;6b!I8wo!
zxqg2^zuhWBUj35sikFou@+Ii4X3BBduh5TVhJhxEc^NwQaYgKY2k@mz==5{Em%I_W
z3wXJG5ISv#PL&&ZVG&I>izdyO?43dX9VhhdKTm&lu3}@dTj<~Mi1;VbRGYmic(2Xg
zQ(r-D6X!H(KTQCS&PUL1hlkG#55O?R!T{}4e;@U$OXh7Y^$yxPz7B~4hoip?a7gal
zj-8q;p~3j@fpv3AxvJn_<B=RsBu~s{Xx9tI5MjN~%4^zm@;c2vj8s71PCs@0{#c(o
z{`+1(@oHe#y(PutUO-ul`FAqhj)feAlY+j}Z|Qtz#fbg!9t`lVn0=yYboN4xncoFI
zVQqFa?-uh(`yjNLhc;(wKNa#OkL>*%IM+P1%Qq>SpIYI)gmzD+%;rDw?k;>a-PhKJ
zEw8qIrvJKI*q-xJm3ycF_rzQxIVSrW?~1O|<j@~z=pElVfef(w&SMqXk&I7#pz*cS
z#;=3-ShJ-c^ej2a>JNIIw=jVH^T6)!)2zsSgt7+U7EgT&8^_JF=qAxtk$oy?&#>R9
z7>@51;H}CfIx4b%<XwONrmrt8otVn(^5FeA@T7o2u)LQ(1=~ho6E1HOE}<{YZC?GF
z>DjLZ?=`VzUOc}UCj--CvOlHIEBLRrG{>UPMBA9`#^7CSVT)_poEM=_$^FuP?hopA
zl+aOeKaX0x_&QE{BEdeuyMp&TYzXx)*yGp>3HH9-?%E{(I?kAPSo$rZK~s^vDX7!N
zSt`N_b2sl0YyMAA_Ym}~JQ3}Y6<sr~oe4A4u5b8x;DIfZuE<{N`l4<#vNd7ndu%So
z_iEa@Aozd2{jSI{u6e(wAL0E3i+5xRWxu9O`<V{fzLnRga~18n=$Myk@voqD!IHX(
zGXvSjlgGZDMw^YiBfabPABEUoA>Ts&O&p&Dm}VNrCLhI}eIcJi=W2|_|8f5Kbml5S
z+;ZXa*qa`|<$u)ip2z&A`Mq5*@Luw+-Z<b5_!cqVspg$Hd{X+(wxV~4iE3|rYn1&$
z5%vqk*e}GI#F8XFi_YG#d%V~urE^RY%dznof0+J1biCP+#OG4qojlW+R2~ZIT*UKw
zp6}(E8;k0{AJ{^{c#w??G#0_<#`8H~(^$N<vFU0rO0Gb{p2rYc@(JdVbLML0vk8uO
z(?^6lg7aJS;{ii4j3);$>TE~n-^q9TA~v+n{Ms>qe;3SC;M=iB6*{j#=Aa7}G+W=Q
zGIu1fx!QqA>*>w-SBEH5J^6Oxr^gwW<z1bHfp7J_clpmd>~nl1U?=vpQRms^@$C#g
zW(42PoGah1!avuu#J3ChbY~)RTvoE_H}oN2yot7ntAEk}qi_?&2K-(koE?rl6-*KC
z#%sDUG5fLYUN(Z>ZaTNuwr%$P)1BP^h`g+{dBxiQHJdZQI!;r)-dJ3JzMAS}pl7F(
zzsVe`9m%~@XhU<<gzYNcQanKL#VHf~op1JRYz0oqbZj9Dy9ez5hjNwW!Ee(^qO%FM
zz2APo=g~)Lr|J4w_Y*bYtYYHe&c^+9mWTS~PG80{F}LF1{Ij1`*9&up7coZGH}@G^
zPiLQ0=H7pb-=^}e{kVpexjPf+(@Vgs;D`{n5!`ubZv=BDoJP6x`Ybz+3tJwr<C>WJ
z$X^&czl&o<!?9%!U*pHAK7x+bIXMPc^7!)Ukm-JCxM|G{C*H&u46zEWMO@4~Jlm=D
z_0^+F;zal&TNsa?rHDyYhE4Yd#pQT6MXV}LI|bW9veu8u6!x;m*-N5aT{mBG=Ie(R
z{;J#)$Q7Sv(YIzyc6dNnkwBiO81M7g@fyEuyXJq5bvK2=*&6X4G|-HXuUzyk-yt6c
zI1<3Lknudiodlw<-3_L7{wI3rs(FxHEA9C}M(k{&4`)9mp^@f)MLy7WbJ70yQaiq#
z{qKe~c+p%Fdo8C0<9o~J$(>q%mOkCZ*fqaN><`MUd|w}oFNO`WADEk<PwiWNlDW$-
z40r@O_&Ri>whKH$pRC)Q(XU?tk3`8o>sT0{9ecaS+RY(gdW^QGfYa6FImXF%6g~bB
zn8>BeHLVV1uVNilV>pEUC%SIh?2&6<SvxN%w|CqHvAHXmt4`=lbg#N!xVe}1ll0Xa
zhx5;ty_vGoSf6YjXA5M&m29qi0~|q{mIpG7{gMDj2D~*hhNhZO_V#H$tS?wQdu)#P
z=Lyz1)YTY%ta9++=x)n&;+gaZ&sn^4roE*r#UE^&ouO=f(B}7Sn^n051(}MR!Vaqk
zHql}m?^s$v5BH%Jbh2nAMchGi)7Q`P@c{455O1d#S7iX}m+3Fa<36z_h-Ll@usYap
z0rtff_K6nu@&NWUHot{E5z3wwz^<6BmC3Y!1bfTMV{qw@(aTN`>fJ>>*Z#G%e{0cP
z#NkWDE#B$q)ygmBg^ta=PMb|PC1x9Zas8M4y#Mb$U3<Ut&rtK2i)rLW(zoS_h5#no
zo%gE%rl#Knu!lm~vH+&5Z9U%xjS2?h4MPH)OBdL2(ch10Lv#GWqA|RSG3d-dXPZf`
zD9&_%a*KnP1K4=~yS#7t5M5;31YXW?FTi^??Gi)X`4;>r-fcpUDV8cd^}rnIn~L1C
z?4M|(Kk1cq*neuLo$+m=Z3B%o0k3FeGw~(S2yy&<W*1{7)`aa<tFso=-uGxnW0@G>
zC<-jjzZpxJZ`ZZh{TYEhu~U0)bT+Hv#X8$$JF>m=d&b6#?fsF!V)t**M+!dOzeRGS
zBDY;Ui+$kq<$}NYysu}!<5{N0KNIs}e*3;&Med{EFK_qpRC2zhSNl8evR3`k$RmyU
zWacOTz1}lokw@4Q{`uVQUgV=Ie`RwyFOr>X?bJtF)_|M7XO)Hgxc8I(INqAVJwVt`
z{up&0T?M&WLt4H>f9UR=(IjJP7@~a`V`N`-U<<zqtb%C|^kmDv?b{RiLGDw}|2y}m
zupaKlt9|-9r|PYD(oencHa2(Hx#ToMH)&|fL@KjWHD+va*`s>i`EApEoaiFxFXegt
z@V~n+#bbX4Ihf?&fY;ob(b$))_th}(`)PCcvd|p|>U<q=h5A7@s}I?ys&g-6bNytF
z_9th8^S6)q`b>0uko9l7R?FD}@+TIshd2M3<6HKVANeA=g85C{p+wvAEv8`K)Uei?
zXG~G{N7S?awto|APRqPjoju+;bX>~|_X5MRcx%&PzmJYB?4@4g=M+SD&h6gK{@{EA
zIAsl^vw^Wb${Bu_4Py^8x%bdY=au4tkUhufZD31sze6YOiI*y|OGCul((nyuX!-Ua
zdL4PX^qD2_>l#0wB8~n}e-b-P{`_5(-^^SCdldPr{c5WJ$j8_({7&hps@(0+EAv&`
z%}4sG0~`2H$C(YH6J)l{J)0HSYmr-Z20Q&|O>P;ml=J+7zOXFj&dhe|MCjAdXEpt4
z{aQGDVV~$lILEJ>8f(2O=v%Uc9K%}Gnf``Pqv~6I%?|obYK#x~bn9I=@cep<$aBN4
zb9Zc~7wJ5L01oz5+4F6fQ__IPjJ$!k2;(&Dx4Z$m1_$;Wa%}TH_&w#L*nx}{`?F8^
zGvqp^hf_YHZ~5YnP(F(C(S6H@T}?TAAtU&gjIXdB`N)-&vwt#D)wlfOD=25rWn@y{
z^1bYN%3zO2b~CTl&?C4mw(~BY&%Tywc&8~gyJnu5m9C-gl)h~|^DnghPRghCEnj>Y
zZ71+g>b&fyIqyL97CEhN9pxOZW}kcpJE#U*GJ+hPbRBhf#b;-ry(nknMPBk|{|39-
z<=SU19eB<%m!LC;UeRJA!9MXv;ScyqK7w=rXU8l!aM{Hzk^_>_Z?2U*^W%)GkOlgU
z?E70ZU74MGa?$^e%4}Wn|Jc~<9RAz7CY(Lr{canZon83tWoNnHk#X6x`0dNU%G^l$
z(pgiXE#fCXUiAGxslUqH<<v8yfp2ABTrK`JG`G^{&B)8Fsqa7@%m**?$sbf)M)sZ7
zmypqB1n;lv`~E2}m<6&;H?tO|T<g5<Wn4&n0^Z4A7VF+f8y#21x)0S%$WGMx6v!8y
z9WGvxT;yEvTJe8a_okfXwbpPxK_~JjLcXkWhUN2W|Dtdmn~D8>mM?EIXKC+*zn|kf
ze=NdjdR+D|Q|X)c9`y0FQ+KAlL7ByC$GGfk{MJ69gEzy&iC#JI$m71;*{?pq*;UAF
z$sTyHwu77j$@HJ1N0o2vWY0MP|EF77CxEYyl`G?O-vvHB)7j~fi1q;B(-AktR=%81
zHWr*Qmw>*s?%RYs(zy_G*lUJOzThDF#clX*+u_+bd}(FsL%=E?M&=7wh8T@G6}XZA
z#k{-sLFN~_+>5+E!kjoA)Vy(EdT;(Bx)t3L!(Xdr@5N_7ZR{B<9{bXy&kUctfm?eG
z$n|R+&e<Q=|Jys}Hz4m<A=h91)uxGeM}9o<;XC8C#+21YIS=F><o<<=Q|D}YoU=e#
zQ;&Z0bMsi6T+;ERSupG#;+r48-~Kn)U-zyCm!I(eqc0YC$A8v7i&GBX*s}%<$#C{`
zjR#%R0jwG`&j-}s(MRE7axb9itsI`1y#kt$A3xgi53xC)K6XYss<QveZ=K<^U-}n5
zkYD#SWxh@ypId<}R?KvPdnYzNd%1f@GGL+q&f`Vzd?I*fu6w6xeD*?qyZMM`28KPJ
z2KHc#?fho`OMDdHc4+<v_0Y2x7lYLkE|&TG084f6Gpl?a=voub9=3ciG51Aa7Y`_|
zs{1Hplblh^2eefa@If*Sy@9tpcEW?$d*d5U$WF#q7X0FO^*2$xKHqCScjQESN7CVN
zrS?GWixJPr&yTmp@sVTji-G<kA3-L;r^mqgVIR(e7RGTo;a9wB*DK~=t03b$hnfw_
zI{_aBJE4=kMK-om&-(+|0nef1^-Mmp?0_o@ZR=dtaXGa;?R7t=MeV75*#f%HQf&jX
z<vE>6IAsyE@@>oSTgO3jl9e^!K=&%`Mu&*^m802#eP-9{*&8UEY7%X(=1i6(d)>(6
zK-T&D`)&s|YX_lI9-E@y<8$A!-{W#y`A&j2*|(wr_|Dp2!!9ukCWA|rwO`mvKcz9B
ze4Uwb?S*D$k}=`4UoP9|5%>?e>F-Bmf7V9&2=tlVJGx$dvJdYo>^Y?V8IoO`!OJ}8
z{7Tj<h;{AeKWE|RT-m3wvr5Z8==(I#Rz>at##rdHZ9;a1`s_#l3SZ5vaY(+6{S0ee
z0nN14nVE;f3tB!h#n*#}x1dL$H_@0!euU^#`%SKxDg605BubybxR3$kvmaHT>!AU3
zQO8E;89I}$k4DI=MUG2HNe<=FS$Za2rMdT>r~NCD-L#$JoG7(9JQz<jHqQEU7pd)4
zKA$#cd*`DxKGnPqK1Da%d3#{sdhMU1-evF?eTuKeE3&s%e|F&f_w@a|6Y!O-+c-$w
z`>4zO#RNA#&oK29&>!(fe{bNE@GCSMQQpym$DZY-^FfcU{I$O~5E<oS81F*<wy>5G
zjGgo4d|9@xpR(2cl-*8Ql<`Ixuk>QeH+vR@z_;#0?2XO%F`R~e-oK)svP=6Zi}h1B
zv!Alse#)x*DXXMRw*F9XI+WjE0*@I!?oOkc9_}<cVQ%-YYJ4A{&s>qezcA1NL2RzD
zk0xDVW*ofPbZ_lv-_|C|WOq5-zkvRUz%$MlY5y{`8_<vNiOjeD*v0sH?SVg5!F)NJ
z$jTvf>bJ^^Y$D#Dk__Y^vG25euuaC&u#-p65EJ%gK{z*EYisBR(RgZ*IB$wLuVCHA
z7{Wo0<tprl+6gvZvvmr-u}2(dH+|iQ-6px;EE&#tQ^s_!AkUKcZ67!u;XcGWfYpa(
zLT)#9@Av9^Ha=x#|0MpiW<g(DLhw4WG(+6{?R(hsDLle&8h<x220O+F`nLVX{e|`V
z0!`PKz<wY73+8_XUcoB6Qu;fNe|I%^PZC@11MlKW@Cl80!~<gFb!&d&qkaEs3iz}3
z7d)^QyvIi~5BOINCz@HiZ?<a)TMh4}7!P-hbQ|#uV@fe5;ob|@@y(|Ta2NJErtayP
zDcV%ux^GhL{2AIgS$LrBD6}g3T68ytvLx%g*jYO#>pb(wDDXQOT|izSdbCXMFyD>_
z-xbi{9Lh^&!0p88iq}YLSzi$xQN=+-Q{ZkixQjy<(s>ql%=Hz_b*yx*iKW&R=9;s;
znd{DlruzW0Y!5W6Jsh12{rOISe>dMhJqucb4n71d>RbG&{NXTrT%#Ay?fz>t;7{6c
za+mi9<j)v+MF*Fe?o(;6cf7uQ(w$x|hxQZjne0{n{x9-(hWI=t{!~t`zAY|@+uSGI
z(`HqlHhnpIaZ#IBS>Bz9ZmzI)%)vc=ETawDJB@n9a`XoFOs{>tXQR&3ER~}-^wW>d
z=X9`NAlRi7iP?)s(!g%xdeF*+)RWDt`H$jTejWKYihE@pJ^Tm%C;y;l2Ks+%G<K%d
zmn*<=z2+EOKMt*GZY1mdb-W3=laP_J`~Ho3&i;)C^xV{XEIoUz<fOo7uFw1Ea|be5
zazJMW$X1blI|bXNvybfd=ZP~Xk69=A1LG<_$KiNzSFk6rVcrjHzvI1opdm*`qM^-4
z=61h|FDhAoZ9q$%;3*D&Mi}d>&_I&0$hK<3wknnPNpft&cjSds={?;Y*G!v30)9N3
za%Vg4eXZAaJej`0F~0HWY>oeWtNi3@SDv1bogBdP_E~BdTNrz1FF2aV*nF8eF88FX
zPb}gDemj3A72sbmm)bSRW1V?%;&5Pdv=E0DR5p#dD5JbAknx+4@i(F`gfr#P>z?VU
zfvn&2ZPPs(ner;UZ}aN8cRCK8B(X!9kOP~M1I@?*;n6@d;Be_;a%sMb9MHa7e_Um`
zS4R(P(Rj{D^=wp3Ub5iT(HFPGfkCu(9c{&tlXu>YtYAKlD}k>To89W30KPv$|M>?l
zYS{x^x(i$IMERs?2b;b%Qv%ak)}_+yhmu@R1DoV}W+XHL4HU=C9zlj>Mq=k7*F#}5
zOY^PwB##B_BHDLyUGREEa=q!ne)!-)E7#Yl4JX%c2menXi`6$UTbt@x?xM5%7wSy+
z8fZwk-ctvjp!r_eFk~%vRm_wOD_t*qmNLnPPW&d}a~8BIzscIolqt4ydztU6sa!hc
z8~wEN`I2^~x^|#V=a;qb_I1D7X=5%w$vf5edrM<?akg=jx76^RmTW<eo2II4HEk5f
z5WKtmoH}TI*WJjKw~$S#>+YH79pCgx{Ea0M;uGGe&&_MmcTmQ>E{H}VC+azS=xzHc
zc*R7jvO|ORf2DRt`fV6uI<9^bu@JTIo<;ay4BsK<L+}Z&;uXOqx%E+Cb9Pf^RWHm}
zsvOy7=RVz=A9%US(HT1X#|!3GbS61^Z@Oo}gU~>RkF!5RFJXV8-_DL4tKVwaJG*cI
zc@$y4taQ;|CDQ{QUI<=>pJ{n`UE$7ccsBx{D9$2XA-*;6h==YS*WbO{r;!tc&7<=&
z4_bK?!k-+M8^V6c-Hc1~FWcrS-WQF@uK5FbzMatO{{fa_IWr1eTufQ7{`Ga`EXv~e
z$#vi-L0nC1D4p!p9t92*dsn=zhG*vzzqppzg?#r-+V@W0g5gZI@yv}elb`Q^PfjK#
z7MlWp)?lZ=M}kSXUduV)v1ydE2cfup7;-62Ogl|%dnYzW>@@1I=2%>3Ejb+teC;^#
z?A7(AHBEf`x`ot**5kwp(w{V~2A?;x%bVQ^e{NWEPFHm}v@ePL6rQz?a3y2O&*dyR
z{-3*ec~=a)!~cEyc?4KuLn$xsTYj-%A3-^JD8+E?C7&oZn(|S7%hw_oV-=K->05pZ
z`2evh%E$FB*WRYsB+4iDEniIjeY~3TPR4f9v2yVl*15IbAh}q-f9To8vg-|U6YqKz
z9Q897&+@F42Kt+u_xDrp3-DvF?DOq{S0tZ;y-m)K-PKQ-_BNH))4r(EGM&>}TK2Vm
z%9MLpT2K2AOUq=-MZ)O9z@9K4;_lHNdxz}hksfbtGx9t6LFMaC$lXiKdhy|&Dkm4j
zUy=<WZ2hooU+k6Bs{`49yp~LnuBvCx#z3+mIl{M9rqOPwNH$yoy-9ygMplZ?iseBR
zex8LqC|$!EM&6C|mULzWxgh$Ejy{$)PJsra(5BUy!;aONSJVDLIx`(F&_}@+%Eyk?
znK|qpk1;vFMl$*Ue72~h>~EBPN%;ccD<hqYo%UtkZIOIJhS@Ug`7cuTC6%r0wNdlD
z`x%w3>Mi>}lr5*Mbe_M`?f2m^S8HfX_Th7s74yZj<j$_!)3Z@@S4zi^^+P-8_JVzX
z5%SaOZpDJp-D^XEZ^F1fM?H<jLw_t%-{^vm3lD30;r<qIe-u2V(ZhMx=S{3C`(CTJ
zO!x8BEgjEl>N?+IT5;dRJ|A#>)8}I0mi4O{;9qfm#p@I4lk9p{3Rsjo5}!_tW4?bj
z*k;zO@~l_g$g}r@pVEHM6&}Cc3wIj0Cv^2KTS?hr-SfW1Uq|oIy7`r+`zZCaE-w9D
z*uRKBul!wu4d?h}JO1E6{L%)WCWliOzKRF?QQG>kr#+q(-@lkdPgz>RR}V8b*M|3x
zo|&pA`$790<KXGi2>v>K9A@5>a~ozIi8y9=4R-1j?9_VtPN2Jhap_+2ZUj5)O_pau
zMb8#v57p>dl6~ID;kYrgbS6Xsxe%wGbl<($J#X!%A7rH3bY~I0N#FHBS$&X4rTff|
z!5eLBpS&ASW)L4EgOAY%CyY_!R++}F@sDKe)#SA(p36D4|K)qB_nraHfLA_6@x9cX
zBN*iU{HR6vSDs9CD`&k2^Zrh7aWZ#AOyz!vDVzgd(@~y{az})@GuD0mIMcFdl-E*U
z9>TOFPCsstcrSOjBv%A<F-X1U8tUEV*J~f--k0Vm^*$N2H(0$0^==B<8{`a;X3jOy
zK30tbKV;zbD$XlOUQa#nBHgi_*yTXHkmgLgBsruvf0X$r*VDF5edwy+wXis6+G#JT
z#buCl*&px3xko9vI+UF+y1FE2caZwtMCxA@v`en$K>d5{$xSAL_6DoR{<Y)<L3^Ap
zIAD9^)+D!+2PinP`=;reJwp}`gS?j!t-L2_e~|cUhIvZX2JH=251c2-%dmJQCOZ(k
z8E~lhhvUKbR>L!QA(!Ai@!`9%9UKjNf9yR6W17kXn#~lIM^zrssK;G@;$gKjN#y}e
zW{S$ksyv`U?@zsc&}fwx(cEgDWu%MuUex`#o<U<TU(0tuW2_ey`Z9VR&{T$U^)EOM
zpF}w{w4L03M?)TWKRFoR)boI5GDYQoQh7il-d}s`zoznlCNh+}emYbR4LqWLpn<RH
zJD>sGTjlzDS@nWB&lHvKRCzGR9%rw)`p>C6n9~g9uD_=!FP_5}PGSy`JF<N>M_<x6
zbE3O+GzZv^Rl>P!1>snEox<Z*eS<gI6~d49=?EV>e?sHmu5ZTsV|_Co-HjsnWjhOA
zoi8W&e#^JywS2ArK-Xipy{J2fOwzo#Mc--jBDn=srpdgxiSJVV@z6i~@putm4@d_*
zKe=zc3f|S2ALyrU8+Fxxak~}tsrqaBssC7i^<#eh+xw~iNPqQ{e*Go=)c;C<^&@`$
zh5giDSE&DkmQL)D6nk8xqokjf@mq2AjvXfJ-wDj!@geM_YX5E$<)fg}yLV5*ABI0V
zwwUZlzVrBHN$N#d_e&ej1Vz6dUHOz<=X+c>m&I4_J<Reu$@k95*H@mXa$>v){xP~-
z_q`{EwNDI_9~1wDH)$E`;;H4SF5)WtJZuk3i|mC`eyZCK6-9T*H;G~w%D&4JKUoGm
zX+9}FT9b`Y7D2y188S<vvOxkma{I3Qy*&Sa;Cef-JO4Lu2~P*e;jI8?jESu<W@eK4
z+5_EHkfXdRRA$eIOQS=Zz+-iw6Vtwpa(Oy9$E6LMXg$8ZJI~(XP`DD$XOLw-c?aiM
zQs<C(Zg{L!eHivuk(acjW>|d1z4+n@@_z8wcBQHRF6yu0ec81`upO`Gb8ES29b$$w
z>a2~FDQ|rFnVH<pG$gmlj9qe@8Q1s}XKyr+H}vx6H4nWU@}6gnBbTS0yJ<(U+%)f1
zQ+FS>Zu->N?9_W=v(4nWFL`FdS*iD!*-rsm!*IoT$2HcME3Y9vul|{u#`;jGF=5Q}
zzn$#2^>>Yd=W1&SZ3(Vz!MmI9B6q1R^1R+nvZpPv|E`z7X(RH$!lAm7Uq1bAYpHj<
z!u~w*N&|V^$}L~Sob18g=PsjN=tN>z>0NWk;Y!jUG$+1jj540RYfScTe1&`k>lpA3
z_2y0CdDMg(e}rCvFKRn@MjOPi2iB``Y<<03$@$0m^Ej)F-_enkW9FO?TdF?iL}E)j
zIO|M2+({mSctB^j!C&^inxiY9_t)U*OLHCt-b=v!KF0b2@HzR0|FmujZA(5RB9pM;
zB{O~hWf%3uYfbbgSe%ZRy)PcEp)8MYb=4%BQ$NNS)2GhSl|N`v+aYqmt^5gax}Upl
z1-D@43_WmxA6-H225o8m=n?Rg2TxJ#Zsj8=FY8MBD3(EO$ROqJSsG`IP8NNEvHef`
zy|15s1$$ESStS1k>if0=UcX<spH?)a@dmtY?^cUKKlO}10=-Dy?k4v&3=Z%EEx&6&
zmhq6))X5V=OoFF~<nFMdF<aUAv_Hq-=(9ckTt$ejZJ|DJ&uizqfj&f+hmhxo!rU`v
zaazS1Pk6+qfp<6YGS#aW4VR@`bvK3X`5M=?>LuNS9EE?yw{O8Og|&9(DY<yo@+5p|
zhGEn5o@hM5JEHTw)YUq$=Ixgg`Ar|9_xvD!TppRFJ5jU`*v<KmdDpIi^1icGzC_!q
z*GfH&X+kjHrSxUMYYP0~Z*+G;W8h<#2OfZ7W*VA@&WT4%%1$^*XCVi;E}G-y@LpUy
z+UlS`jYBxZ9$tD1GIBStBx%?1e-XNC5qP+V_VM-BKWrvv7lA*~w)icxJh^<%5pU@;
z@Kep5;rY>FX3XYi>d%Rv(moM-KbtmQ?D$8|EbU=MM*VFKaM^n_f_}XKe@*?|<x5;@
zW(Tl1JY5E!bT&n4tfLs-hiOOt_kkTIy9SsWl9RIjJ_Gh@gReaCzuz+loqTIfJaG07
zctpSTY%@G5IMt?uQ?Lte;i(yzey8>s|F?PX=*q_nd~pl!y#-%ro-%Hp=JcJXq@R~e
z4roR8+sGpN>b7^c5Q|C&Jkc~+^MwCl_f9|K^TTO<=V>qVwC6PXvAkfGP9=`KhIvw6
ztN8K@jC~Ds`*3Koy$@RP9L-m9d1`qz^EHf^N9g>zm!S1Ao8gT_EH*oKO54OLW5z_v
z%-PU`?9o|nKaKLogcs<+$4dZ@o4<~J?(~XxGk?J7=I<47`*c6^S3HhaX-D(d&b)}G
zP1~gGb>K<skzK4EAXDbm@abNoeKO-&N12e@bC&7uU``M3@Un&XIwobW<UR4X@(d3)
zu=gogYtwq*DVp>1d>+mW<_mHLzWUiZf%<3p^@-IE=sS9}Re&KqDLX5G-NEheza4L3
zeiWE9Zk$b%va&}Uyv48{g`W$s{?qe1#^>%Sf;CPa=0JX~&bG-jKaWErV}V1myPBNo
zcSB3k|C?FUHc!pe9h=Lm*Rtn@HQXzaHI9D50sVx-;l_q^Y<3d*X$zUNMQ5^y{r1K#
z`3CEX8_A)Tt=mq_@>#~M-*Na&@=(7M{Puw1T*g{VbE1uU=z)C#wW_zB_s^itw&CVP
z!TvhW4uuRlHdMQZ-@=olw>s!8t1{-zm0duYmB-W*oUZ&F%C%;py2a&ZQm%6m#Z%fB
zCO-O4`j`Ekf*-W5;N-OI$Z!}L4F5|$+{*Ll4=(E7{GPepmCT9!2l*u_7c)ZkEgWDi
zvJKrKxr0oxHm|dH^}cjiGi`n!*!rs@_{FQHlDx7&wtL33%EpoZC%7%lflU<E+C98R
zdADhsoXs;2Ymv1{t)VeK%ZDA4vujj#7k8FhKWY0T!hL`TyRR-vfAUAL4|ZBxfWECQ
zQ03bK=z`19`K=Mg?fYrHb^z-ufsMDrmv`8lJyXa7IP%I`#<J5~#aNDPS__Oj!O70(
zujkq`q9fqC#sFu4(*$QSIh+P-1HJbYaZgt9InnL>ABZ>doC~DBbPjcNBz8?nKlQvj
zP(Q1Ax40iCBa`e^4|G>yO{V=&5BDXRo%W2`Q|ESH#GJ|wP+9a8>~#JYx0ONv6zcQ*
zT%HdGXJ=49O53MVS8)i>((jLay%o>^YafN!bQJgp!V7C!g?ss$2eb8QBMGg#d8rvB
zuT1APIGPfT;=9>6w|H|N@*!F7%iZQ9z44t7sJyuSqds0-I~wm>6Ri)`EuUF+yDYu_
zh<q876a5?JG>9MUtY@B!>1aE?%0Tnm3H>IE&Kr+YcOZPFsOw<T*zCLl+Y5rfs11+x
z4gJ@1S6^e;&KShc-bmB!^KWlFLVO^5W5XzH>eE<LXN;`eYmHPk_fFX_d?PQME#dQ4
z{!zsp{JXe5N$yHU?|}=&Dq_SNJY+v`h~^8qM{gj*OLJrXXz|%vZ2tg{$=!qPBY7F7
z&0xQ9E&DKYoB6NYbJ?v8@N0gd!N>O3SKg2P`1OC_lPp6|ua|DG$XyC-%Jb0Nwey+D
zJ2obQP3rF>7@K?CJ7HEUbZu=YaxsL12!2Hywr&JD=Hdm#=SSXCg)9bkw~pIA#b~ee
zlHu4?-5*mvX?h;<EY3oRwaRxBE_cxG7I307DO$_D>6?ceXtdXEegq#yve}(k@k{D%
zV}BOBWb-*xHx4a0I*AkC;923!iWKs`8=v4g;L^M~z4UqXhRPK;&^qEl@S-*=8ME+W
z;f)ZhINUR%W<(Hw+T%^SttkGK#-`fMScZ_-p_o;adC*+9A&+W^EzJpsmc)rIu?E(<
zidc!_J@Qck7z_8OK0}#s^>=XN?%8(oo_*T6WH9gOy`3I?=$s6Xx&H2N=XSRNYa$$(
z<w2kD#7x87SU(>fp5mGOd=I<V&6m5Y&|_@S%e?k7Gjkj5`1_c~=C)tu=N&t`O+%k%
ze5_Tm0LdJytAUlV+V#7|*fgT0cAE=cnOg^5i6hpw25tKHNKVLogLYL<@JGVj{gw>Q
zQ(-OMkbjUyu8Ed3Cp*>GRPFVx%-tEZ_bbY7XZ$HXE+470mVBi1=XO^>ccNpp9|1=C
z5H1QdQK}m<&_omPjWfo^ll41KTN?8ZL>KfW+Vpkf!nHNfg<F>t3=#fw4oqtY@<HQ?
z(q}Zlhxm>2q&Id;c3|JKrwN{$kh>||yFXdupT#@kIfL!z<9=Lj+c;t);KJcS>*kJ^
z#7EDO>ntAn6*Q{xuIA%0hAP%&L&Hk=hPs;9>hY#^Jh*PAZd(Z1BRK~AI-7WNN&7i?
z?ckL@pZ<tG^p4v1fT@9TkE5S@cnFz!On(=XzjKH&k7Hb&ycegRCi)XkvEJ93)O+B_
z3+81YovnI~M_b1GI@_)DzZ==EJ3@VYO~_RRG$nj${h*Yu+9=bz2f)AJcn9yRt{r29
z_0+DO8QX^ky!~r$(yc|j-OfB}ErJ+pfv;oaM~JUq3H9=I7~F`r+u`l+^nsyl?N`a2
z`95WiXS%^@F@O7d#y>CE#e8h+5dK!|@L-*nJ%a4UcVWyr@2tYV=W)Ji{Vh2TDex?s
z6&*pZ3sUHFgN{*rCB#SZ6@w3|=Lfh)r}Qq<$SC>4V+-d+IoTkeT`>RTuxub?8u5yH
zWbW-X+_6I(@z9vn4~fs{+wPUW0bB{T6QO&->C=2g?mvOC%gTA^sEFp<sPF5Uak;Ls
z#Ax9A-+(7a>rQW60&jE&^f(dR<>&kRPZ;Y?@ZP-x`jTGw4SHkyKhYcG$mw~xL~kJb
z3NoTpZ(z$<y`gm`(NI^QAMQs!Sp6WlprI&d@)YZb<wZ0UBWAK2n57@Ois(psV<7z?
zKfYK`?M1dpCTg9ml)j}m9BtKuAK5c*{UQWiNQcCkC;3d$w@yZBzP@&Z`?i?d7-NXD
zwi3a<M=sdC$K-M}hJo4A6}tN@+KNU@cA=@Tdyf;e8S69mV{@OUy~k*8Q>bEJp7tm3
zzG&ic@Fm-2Rj6`b8XDaKjcTt!J+`Rm>^kW5LOu<w4QSu6?$Q)}Y~i`$V_FkXSu=X5
z4tjEJabDzt-gvHWf9V_w(UFgb?;c}6-Hjd<z79R=+4D#aQvU!x-)hF!c^R~%IM&Uk
zRkRtRuX@IV%!0o{``U=>ECP1<?}`VBzwQqBtJ;+9YpUT~ZeXsXJVALi?__i~)Xmak
z750qP?r@0npeE$Hri8MKEU)MsvGKWS$fb@t+gGc{*`UsrDb-tfdrlAcG@!R%gDw<r
zS08HQL$sm)9(kRI=`Z$~SeNOCM^9m%G(Me+Cb*vQ%m$q^Bbv_hDd;7}<KL}0E;kw;
zjpBbNiLsf;JF>q*E;m!RDTF?O4w9_@BO}hxyal#w@7^=k{B_pZ70`q9q+$&f{6Ab7
z*p`>|+Llf4vhlfsJo0VJ=X}2v{AgaCZm41W8n<w<CBTKwe)R7#uE-^a#`}z4d8ftW
zzK?Mq4#pivmYfZ2mfkt{*5Aj#9jCj=y9G}F+{p2{KSRrkRj0s1wCNq$40sUEQ{?(8
zzpAa=Jf=Q0#|L>Y56o@gsU19Z)S*YgmCk-0XnvW?8Ny8mF-u!_keF1QcC>#|IQSlR
zgW`zFkJo?oUoLq`|4sDYT-1L%d_GYBd3^8r^e<aawDIq6_iWU8c^dOy0{V(VUp{>4
zc@@xlg{k;@1iof{wskkUT|6Xt7f0VFI1fO&@m}a6d1L)K?EkKfp%c}AhBEc>ad3*P
ztrg7r{{#9F+|s4u2{+$gV~q0Ob@!Vq6J0e?ZsYz%bv1^ETzzoq=muKZwSjWsP3=2<
zBirge=KaVT-}YH0nBZHVFU;1uFzYVhP`c&_x~6k@Ut8-Ga<Ch~v-44|MAsZD(KXKQ
ziLlqWRM%w4Hz}6+OMr19@C7`#Q#^MV8ZYKK1Fpq$G2~Jy&o$YYU@xAoq&?wkDs5)S
zt%Q$vnznajUoB~~DQL4lKBmml#?`cu(tbN|@qT_6&xi1SK7HBq&anSHbc?lHkx|_N
zZchntD_cFO{X5`oFg?DQJn~}P9%LR$^|-@r`nSj8HvgNxxUB@f=g0$*PM4gFLZ=(S
zLlQXb`~!3TuRSwXJD=}w-lP>pI^Fygoeph?#t#?i^cZ{Nq|-O`<MS;6Po=v17Rm&}
zp#X;40vIfwfPp>iee8<c0~jQu+PDYa!N59Q!9F#V4`f#~_XC60vK4og%$&!(h)>E!
z#-~fS(NFi(k>2zg{E8TIOFjeiw)A57R`HTpkn8B~gHf5@R}9D)cma7@$9r|q)T%%?
z1n*oP3+|hYK~s7!LVZh9#NDnP=j-qPRXfCYE-7w@@n8?NCV*vO085Z>db#uK5)KyC
zB|a8MR@^(5J!imn5A$&{zICTDkDW|AYw%66S1zd|=Bj5;!*3eLI}6XsFRAJ2*_Isk
z^u*QJRzvO|GAT9^`)2udU7K{43%<hplzU>rcJGkzragKI`m)clZQOIk57h4ah#|aU
zhFCvCeK|W%Hr`v%0Q!PCtJoKVUuwX;?@ySV<^cRJeFHyz3a~CBe<KP^UmUh$;>({8
zPkNc0hv@R#y7X=m9a#wv`|x-<?Y+Agy3|~(3YmQ=U}=I+Jlc=a?i|qrex{+l3fl1B
ztI&IwpUZo))ixmSCD&*1e+%y_R*#+3ngW(2@70mp)3DZ?6yl5@Z+S!4s*q>Tx>5cu
zeb_NUy9<)M3%ztJhRIk9cRWe{mD)+o%!lf^d91>I5!|vn_n?<I^INe6t%t}@l^uy3
zxLkg!TMv+2Q+e<IvAN%L`|T)Z6c5Hf9b5jTpxog>&yTM3*Y!0Il66`~5npJ&WP^4Q
zU#vi9g4d;=1&89fW#CQg9A)cF_I;-lYXOFa;ak3Ju#G+DMZ79|Sa=TI9e+G(LL*io
z4}_mo`PfO){rkfewdmk^%t3bBU8~klfQ~m}r)(&%Y^*?!ZFuujF9|oSC0HB3!i;Sk
z3VzxxPRP>$j+$_&adw0DG=&<Yi|f1UM!-9x{q=sW+pl?QN~3(sZg3f+d{bz`KL0F_
zs$8<%G^U_m*&~9-#hrXx&d))>enR&Tvv&k*TsH&XKy`%^S2uOn*h!11>&Hj^c&+no
zgjd<Sk9{b9L*+=uI<mszN&ZL#`y~0fg<XB<2Amy3H;NU52S+#eGCsW@g<s{X6#E-L
z8{_;8yIy7YfcIIiBJV--E%=DrZH-<#w|nz*bGsLh`G34#MVqqE2U@Qp7ROnZX2ulx
zcHp`Jo2;%Z+!&u4TQ0u}du~MJ&Z_xl<Ro%(yi3f-&6p^-k&ID&eT&{wjDh8?T_N;=
zbia3}Y0<MOj4^Eb?g?0nj;Ogi))KnguTz@GU;M1U_xJMt6l4QkvZsg~{4#9kVWH{j
zue7a!>J8Lx6nG2cfd8t?ynfpqs9p{4BU6tV^CKEFFyk8R8gSet&xO}Q-l&!1oKHbc
z7CgaRq<4Lac}<2GJM&;@chzvyni@qcZMa*z+-`j%#fT-ZzJzTfTUxU1rr=%u)_b21
zo~fPw+L+3i%9zKDWGlK}vRz}c<G~K_n0Mhn<Hy%e%pCFe_Le>`9*^L%{`!fm$HP}f
z^C_8!4V@fktlV{XYq|Hrz@fDx-Oa3blgK0UR83=&oVgEbEluwQ>!gCm#=T9~*^Iwd
z|NnyQ6<+(B|7RGF=2b9g-m6dGJSggy(o|_3#S|QTzP@EIcF{al6wQ;JqknkQrSp9K
zvHcP4b#`-fdeIyWDVd|`!LwA!`|^AGo1e9eC&b)n9LlFIog4S8g=g3;-Po+%%|-Lu
z`@YXx&B5F@A1Pn^HT1UszW=Ov{BB;43+7d0b@S@RthIfgzI)fz&^cROKA+B)X@Dkn
z2W!}$LoVjo|0($!VV$YTC>G%7>^U9W0)8aVMC%ta9%3!63GAW_G!jK8WsKLj^F-IL
zpFbr1dmH^KSJutl{&2WfXXi@~d$gmwP~ov%>RYi#;xx6CTl;41D65-W!|-5g6#fi%
zBQ%G+5lL{LAP2S%xjF|s?i1+nE^=X{d!@^s0M_KF_;lSpk)quLtj9Dgub!`*xq5Pm
z6yHie6=~cS3ZqL+W7CgkH=bM}{?(bjRk@wSeINVrj7G&1gx_zSz_T?MwWL;?7Ufb1
zzSJN&C@IB?=u`C+H-evSe5O?AsSSIN0DiLcm2huLatGad#L<<0&J^`*+*kN|gZQ8a
zKl$UX&^fS6qfMJ8N`^E8v+8)Kw$0AKqaJy?(d2|Py;IHXhVuCIDsZvNOjuH7sv0}M
zXASu201x>ePia&>aVzf&=fbyShVZZ-oLqxmmMoDhco8}iKH|)u^!8VvBRB38=hZu1
z{zb}vOkLNW_A9U++d4=0W4zt7;OA-wd};l1G;`<ZU2AuaZfek@Vg8H$@oQ$jANbY`
zk5A8p64M)od(%^)P#?aRJW|X<v~w-8OEOUPMFR=ODmzN!lr8l&;7g9d&%y>t^PL>S
z`cjb$QCr3Q<m~%q>+6rTwyfh5!N_`~rFWlKL)O+h4;VIKZyqn38GNa|`WsW{gqBB_
zGhf+PLf#Viw%67v%BdGVG{>@W)V^>++qF^3B&UfjSU*89&oJf=CkKv!+s2|pIfqyI
z10iDVwoUN5hTpg1XEldnv(aTUgg?mv^*w?<QsA&*033cez+r^BQ5zB7X$qOyPL9Y%
zayUZ6wkn_f*Q2?whxSs;;Tq;J!yGC{JP!S;&%eNjo^q(Bn&o-Qon7ybpK-u5ZZ77-
z2g}&c?A!NVu5y%lEX_C?I6HkDZ5d<cVXxnqVQ=#m=z0fp_X_h7)3eG=6RS<dk_fRR
z$)Hz46-!c~ahLv)H95t{ufq<0*o?c>;2(Sj-{9f4S&bLrCp=s>q_OR!$d~WNzr5R&
zH^z`9npfu^Yzq8?4I_M5=znP^Ye9l#p<rRpG;@!QJ=Ws*JB(L-D_`zLo`vukCeWvH
zqXfrOV`hK(W&FY`@k8Q^7j^9ccP9t*{MDzX2J~Fk_$InRZFG!E<Kv85(okj^mH%eI
zWfEM<hTrgZ&o=e#%Z{-*-Jf9SPd<?RA<2~ldtIW#rr-m4jRsrLgv?AQj|w(<QGT=D
zFMfCSu-Uvj!M+P_W;8MHT2EOJ^64XO=_9c1X{Xpv(VTq|IAg#fyc*~}_9l0Smz$-t
zc$WWrUtTGGw-~4FYqq%fCT%%9Ulo)I*Gq_7|FdzkmNZjvzeF2x;Hj{4GB)>8`B`6{
zZz|9e6}gj(Xn6~?+zc&C=J|5t2X;L~w2D8n?jZixW^|x0+wip+o9tS*x2GMQA>P!O
zo8Tw$_3^;0```1`eq1@Ce2{YKX>z^`dvKnzHfhwD5q4g8;Kw4bmG_&0chk_zBH$Oz
z$d{EIY(fwEa?r3RB%EsqXy-cWFQR@kb<@z1>P7<^Yla?@(9~7b&C_<0F|~(GA-7n1
z&qH2I?<M=mfo@k0E$=z~Fp73$r~QI;nV<0eIbinj7WkP3Ki=69!|=63tjp@2bn(Zq
z+)r6s*#Tb*SAu&LdrVS0zc4YuJ@MEkBNlQ$(uUQmCo1lcn&(aTWu(7$CAs3-D)uAQ
zuI9|e3?8G8+rZ1M=+8E6h#6+=h$lmpOJ2sGuSFL>N<2sMV?w1L$7x%!Y&kK;+5>#>
zrL)y(vlLl&d1U;BEAC}|RXL|`pnIz;Lrcp}xOzngJURk9#I7yzdp+&FJlwokMSE&X
z@des>vA7-Lz$NWmxk53nZsf7riR(ACn+c7*RAU}HRJwe;)mg<na{#%5zrBRB0TxIP
zJGxaY$l(MVa-HZ>IWF@3QsBbv3(0RG_uzq0%TU=-&}fopqS2;4wxmy=<4WdNeBih3
z?>CXXUC;ZS*r&|zt|{27#dhXe)<*uBy?PWlisN*}?MF-6$9J^*B4i6J{V%lrn&t>O
zul*}E&|hEt_+!Y=H+Kjp*3M>M19r%+kErc`f}5Wg!94^xoqlTq#%lD(2ca9*P7C%$
z1??&x{xJCR>r^Z`9@=SwZ?7+}Xk1OXXs>)^dE*|=hiFDmeFodOY4P=4C*$XpQ}1Fv
zPd{}s`3gfChdw=xwcw$R8RS`#{KE+2>y<CTS}$~DC>Jj|o$l}<TnKJoN1L33``zf$
zUilZQ-FEOI*00jLg8eSJ(TqVdP_T9qqm-OljqfR#>xqT!hPST;rVjEF?<pFq^qR)n
zz*sve4-?C5W*)aJZs_7nUn}oq>nG76p`$(9)Q<Yt4F9U_1Tnaa`WdVCuDJaqHg}u<
z8nZ7qd^&daNLkT5rGt6;Eb_q36LH=DOWeE1M_t|d|K~FkE&_^}aHnP_0fg9#7eLWg
zW)hVuTFb@S)^3?3xMJB}Sk!{JW(L&S#_!gtC|0^<0@|9fwYG{HyRC_+TZ`=?wAO9w
zGLwL!l%jHxcp=~C>+|`X%!e@<{qAFbkKZ3WhMdp2ywCf*@8_KN*=Fq$#Syh$_W-L`
zw_?ffn1ks1cH)HM%>j&aIx)1{(JkNnN_^^a?5Py|%w4=1@l_jn9JPn6I3xSSHJZl&
z+IP|R(WlN}9Y;6sMW*IBTN+$HS9cQ|d~fB`uAb0bY*}GFy>H%n{<5_Zp11TZTNAnK
z%0%fgofk?BG~M?g4>XQq=r{3i7x$!?13n#RmWCMgcVQ3XKK7#;X{Y*)<R=pU)K{4{
zM|YJjG%I8;K5(ojyJFbNuFm6bRfc&-kSDo8!Si$;tkv{^oHzlyn>}vcFrzOAeCdr2
z8<V+7x{ALKbb04Qf6jN+-M!hQzi0Ir`^fdcWbY5j2JX*ybNHtAKUP1;SLwX?2kAWO
z39nY~eHOaYIg-MDj(2Y9G0KAaQS`ZsvfnV4w=PGYb2jApaCL6rOii(`DR>ooR=rfI
zdFhNZXD!_RO4Z|AFczde_&95>xs4M)`D1lJgSNav<$m9BWQ*FXzRi6yY&d8CXea%n
zdOF+e&9@N8(0&W+;?khv8H(>uyft=Mx>~aKCitL%yKdK**oqsGXAL34nUJzAU7WS5
zO~$uRLI$gz)~=%pTws%4GjVz|^o-0p`Yv-&f7o#~j&#!`##}Hsw&L7HvB!SIn2I%P
ztb=^N7a6O(m9=KT7LA$g9TQ(s_a7!sYrfha?`Zk?%hp=|9)o11<|esu8D+KH1@~m?
z;A{?l`y(*0M%+6z{3f@>kUK5htqnOw`-e;ZiM^-{xC~*diZ33*Mv0oLb(=y?^An1z
zBXdqc4haw9LDKV_a6tDbU0OEqT7hS$AiFJ%x0IlXDCZlNHJG&e=lnaqY&qv4MrFUu
z{FA_I=(Cd8=3?>}9%dZu?%uu4``r5Q)3BbkV+=g#!oi#Z=i_fYu4k?7KgvGGTe63d
z4LSOjY=|9Gh+DZbo3m|J)<yh1(}<tX`Z;LJc)7Ml7(drmjxvpF`ExPj?W9cdOK>B&
z7t9}wEzDkr=wLoFdI|7K$JS96KR$ky-u78Etc-JiWqUfX?aIM%G{PNz&hM=^&Ym1H
zP4rjI92@Aj7GHNEee*{6f<i3Ri|+>8)$`ruNnge!6-V%5hQ0SL^7yphXFp7|AzDak
zKEQbnd}qs6QuYY)&f}{>oK9!dEUk&YL~9%9$BW5%dz>~_Ct529=851#_a_}_%*0OL
zqWfseZiueaoi>AiQ1SY|Y+v)Fd0zUCb$cHBa!-<VR=<+PI<F;tH<8?Sjl|+~c1vgJ
zyE%hdi+!m(aLO-u9kCwSvN_hgg|-dQn0&cv+N+J)R$(J(4B2p}ao$&BA$vR;A-<NQ
zT}1i=d(`r|tNU1Q8(aHEFJ6AtD!#FLZyJ1-f|u-mR}$Rb4j-Aas&#AND~;8{TFZtJ
zeY*2xeFUpwvr*Peu`l*^h^Z*o@5rp`W!#t$aI&^8Oo13lQ0|2pU+Ym%U#Eljd%&T4
zClZ+x1@Brr#U`R<PV=%GBI~C0fp^i}M&S;e#jz{u@!=-oUzQPTUgYC*m5)Q&TY1jl
zX&$0G$t=NVWtDxG)!KNHRi8sf*|@IGTZ$)K`NVo!`6QaTv5004`ZOat6U~eU_O}8w
z(*q3c%vb#x<dkT}(n=f}>HOA!*5%koqN6jRld-OCq<q18dvr{8BRnkH$v`_P&EK7C
zMS*s}MUZwjGH;EUf_CIL>3ulmR%@rN=%>Aie%@R8AFeGW_;aFD*Dv^=(GMF>F8%1d
zrq)X|lM2v`<a9SasOBS@3DVN<fLrafUd6PebI(?<)M9&S-K5W=(3RFsv3%L#(la~V
zbD1W)i+MK^WB(C#UWOkBqGRMQgp6#q0dv^DT=En2LeiIwQ;ESRz!7oDw1X@x|9t!^
z*|0N)jcVQ@d@>&bUlsk?Q_?Gvk*aIhGxp|Ik==V(cANKh8@#s0>IKfA_QscwAcJk&
zIP-V)0`cUWzh?N=1)g{9`e)oV3(ESv^sx`wn1aU?GyVi;6kQwLpWhVD8azyYb$r9t
zbl*OP=eAu!JL0-~BHTL>zek9(8{+H{;_S-hcR4g+?^9cy9s|$v1HQ<was^B7cF?wV
zGx=Q^U-*+R)WzP2{6@Wv6!GD>3OSS8?4)@Q*1bR5Lku(j%zEynJ9Ey3*7f&SClJS^
z4)<TTkpmT<#o;|T-ge@w(J<D)!!7;;_%w`@KO4Ig-DKc1ojchCkE{=kUSc?tvK_dX
z?>yZ>tw#oiBkrC+^D^WgIl8A!nCQh^$gjsbm1kFl&4uE<e<|u4dvAeZUX17JQg<HI
z8?JWrEnDGi`r707v(oRUllMTrLSOG9<0MZ62lmaL81z;du2>QS=Dz}C5?ew#`YPyb
z6=x>gy&`;#;`Qnp+Ot-DwTDc1QuZfuQ*fJb)w&;q6$6`)J#9!JE<KdEbT~9sco{>k
zUW=PJaYON$&NKFe#w=maXMteT+Ep>f+7fv;+qqBuMb<ixUW$c1xnhQ!P1a`7`3<X+
zf^RDfVXnG^G6Q|C_^#l-k@mvtB4fH&az~^Kc}xDowO!vjzg725i0MnNx_3?<7JUx_
zHut^nQCZRXHO8zF{`8ix&csEj`wRRp;oZ{75Fh`VpKPRd>a!N^9^D1to0zZn);TyR
z#`m|tw{We!LkHQd`0|)R)$7KXG5D#4H6zaJzJ2a6NAZ{XVXoW6W7pD$+N+;B_+tQl
zC?4+Z*Nw_H9zSWF?0{+TY;X-i2k<@MvFLARci#)2ZUlC8Mw{jx@^LVo`9H~g)TixF
zW2k@I?}_xQn7KoF5O<UPwmLti_@&0u_!{rqjQ1_d#DB~A6%UI4E@SQT%*D`uNOXd2
zfc@w04~DSkY88|B&*;_maV~E2(4Ns+d&T8MYcc*c3jeHs9qYf6+?T<7E|M)eOUwJF
zHIg~y@X*yE&PozT?_Rrp+y-L$F5J-4>F9<gWLbhW)%td@pVFVa&T~F`KkFeLurUOC
zheh*zm;EW^MVn;atgu-s{*IzgBBu5_Zg7c?w<+$d^*sW=DYh`4HIU2}om@ZAaP}nD
zHV!+b$xK)>hg`?kAb-{kI(wa9A8*FvvyE)NfbypBI9GNZ!mc_%J_LKGYYlSj40xd_
zT(Rc`{vRh+S|1*_rQy;$wnf?7sJ(R4o3)qz@y+PFb=zw%&A+L!qt}PlMPHA7Ph-Oi
z+;w!CHy!7YS311pV)RlywqFHsHULX>@U(UHu0Q3tIFnsBlJQhWazegr)D-GC+TYXs
z&=C#fP>Pa6sfrv*4dhS~?@N|o6T0{EE5TW0eC)bI)K9__f22>@+3ocC2W-wwq3F6l
zGXM3Vk$dV{FZmh$tyK%Mh&c7081<4j#}8|5TiENge$L0?FMY>8T_F2KdkXr-c-v0m
zn_$yg-vn%0gOz1RufgC0JquQXSIyshlWcr;F6}mj#y4xe!ll-5FK1*&v9_8=<L9I6
zQkO^9Rlv8SSmPbCU9b&x-r{QJI+8llH|s+amaG{#ecc^{rmwp?RN=1qQ0fWZJo6E}
zf=~1!{OSC2e|U&<#$N5P2Nq=dz{B65L&Y5WYmaQ2CO8w&L3<zV|LV8b7zy^Z<y(se
zZ#yI#VdNfcId}d4z!=F@Up}n0w)k1h|Jy0s%WsBX<zrENnKRsbtRJE~HtpzS`2*Tp
z7H{oj&!!%niqEm_+pYzd;`cj4qqax~I^ZZm{+}fAPuDI4SK?P2+pLEcnD5eOu`B9X
zC&@R-$9>u(W9^oODz;oh|Dv^Ph?PDTDsMi(Iu9v9Zw@gebn~7_KlJuJ@TBjeH+PI9
zb+_-_@BHFPeivPO$D5MFjb+I;(bLs8l&xzt6<ca=En8PxMot&}gYON-_5n8KPYD6D
z<i!G0F{h%;wCN6)aBFG%n~bH{nPjx)Z|5z#3Cc;y9~944;WUZu+aS6H&t2HQ;A30t
z*4R|p$Q()@agENNfVU>_b_=xF6B@Zh_OBOz9F-l%dMDH#T`iqaMH|UK<vVPoybRiw
z|J%T~1hB`<#B~YQXBh2dlZro)J^jkwD0Em)Ke|&Gp^q+X-BtXJ-}YNq*Mo<Ker#R~
z;~NKMD~??98}@r#Sfy`oiA~kHnm-C(z+rJX85}AOBHv4}n_&~z#eg?QA9`nHgW|O=
zJ_~t+v`-|Q3ZM9fTha9{jp|(OX5e-rdLM%|#Kv`VwK3nm@(nh+`3A$Td{<mSepYv*
zlO72DEo06}{t2f|*o5uS8~E(aE4T>VsN6K2#1iEnHWDY@`P~7nZ#55Wy#oDgV+y@~
z9`;x}eMS5@f!6G3p7GA$2!<<|vyBhhxPWxLVa)%{bFlw$jATdO=U|5ow(-$lx7LB<
z^Z0iz|70skW+=|C^L#hrV?<crdx;^kZZqp{HLdd_p6yU~tJ4}El$>|o8vMXp!~84b
z-vIs%<lmsyy4wb~o_mq${-byfeB_C(+qm!6-tqsvRs5wfwceKk!$#Iv_>i1J#`NwJ
zD!0SqgS@_~feBmB%}w_PWtG@L^{iorw%R8X&1fxRWs2(+*241eA!7HkQ59p9tiAPb
z>UUK3T7PXF<aBPl&rg2bEP@|W95=()KWabvE8u(wbS)m$xE}{Loo(E$ev9PBeCDb>
z5#=A$+;wM}b2HfnVAs3!%x|0GxRPaG^7l1T$l4@yX5d|P@^m+E3_P6hX)iIZ;ICSn
zO1`CJd>-11ARol%;A`pN(d?^*c~==cy84&(IRV`(+K%vkXNq=tV#G(a;hnPs)wYed
zUoyaNvx|6Yl5=<W0NYw@(U*|}?ff5^zI5lf*mW6n=TpdmPR_(^<X1M_jqI;YVf;qo
z?l(Sl#+G~0>CbS!z)&VV(e&@M#r`w{k~*8Vw2Lz^*sDt$k6%BomYiH+&cQvkykYrl
z=CqODCR4T~fgc~`9K&ccXz1ZO?dvGN;FxSVaOO`2rdoLVWYgVIYg~C5FLAdHyJ8w=
z`D#QX>LX<PIN$H%e6Np=5;7N?eOeCONH#n4htBNtOdoifW@WhSg?{U?k10KjO)y&X
z<WSvEofpY5H!F941J7+MD%(t%WNuJC|C%!O^);0Pqiz2f<u6f|0cO#P?u$H{j7`OM
zAE6wg_|Z$G_w63Qnt|v_+CR#Ax3IQ3?l7><BQ~H<bmpTA+NwhCS1*n%Usz^VtnlFw
zPMD|r{#OV+86Rv$D0ZZ?nO^@R-93iu>EDH${=@VizrN{q)_+8Z{tYyv{zHrtUL1A%
zpG*J6ar^W7DC2Ch>zhRxSGvB1{`LRg@_+Hn+oElkZwvVzJ^kdJ?~r~H-<lY?kKtqS
zCHlQL-(v(HDazlDb2J|<2A_&~Y7fHjU9zg(J-->0RZqLICeF6GG+YHw974Xhx`(~|
z4E&jbmSx98`8Ugimb9}b_|)CCPeq%};)dmw@J|Z96A$?N<vQzng6_tyM>eIP<NDCi
zu<fS4J-;gbZD}%9BCk&h8L55mE#NH%PINCaLBBeaQ@jpOQs%BDenK1>_Yu(`Z58t>
zt}A*K+;{b{4w9b<Uv_F8!r;;7+0<UzlbjPkj*u5sai2c&xOSPeVvZx|JBQ9tE=$>i
zI<vOG)iV{@6McOU0pBms-y_V);v-)|Zp3wtmp&cnyS_xd7VUfabYNw8%srb`INN6T
zp}cX)7YmFPrs6~0-%a*;f0z6$tSfTKmun-l&j|;<{aDW#E6IT<xO+r+@aK^als`zh
zD_?wDPj&C7?4Z_``iJ;EnLg!*6nqfRPBs&vTc1~|SR0$WGYJhPs(jrBUSvxjrOS`?
zbeq-TacpFC;Oi!GVmbm}$ac}W8R=c^&Fc)%)jHn_Z6zinlc1ye$)3DM&h#r^>$P^A
zY1i7tecd0!Co9(dEu8IBJ;?_vH@^Z7>>Lc=qZY=*iRrhXa~DQnb72J5PGFiN7<Go8
zx#xhnzRH8Kql6B~!;98FsV`Aa-!ym0rQ|{71as1fDknX7K+oFyv{vB8!hSZeySxc3
zan@7iGbpp;<OBPur)ZvjzwMl@RE$gY<OBZ{+OqpRlA)i6H|1A`h+E38i?QZ8VvXWW
z**%Iab;GaXQ>REy-p5(iL#xUA(CDNUhwgOW&K{eU{g>iQ>OV6Ne1)3W;KOG`!?Esh
z$nFSpT^Ke?vdGwKc;#yJP~%h6$lJ(C{tPj1>^SmCLi=7nQFKRwej)=8pHX4T=jdF_
zsv%~sXB&>qUW)GV>^bEK7@6IHFJ{m3M@#T_6kWfHu{l40U03do_ki$;y;cE?#3Y7_
z#+b89ixKt-ifJsxS$NgAYqSkmig9qNj{|eKXT})ChR<NV!G&}RvKae!>`}gm7bEue
zo-_~J_b=&N@r7a;tXRXDtf{953+F0FUF7X8N*{J`9-@69F)QdTitWe0w8MUO7#mLe
z1Ly+cOu&WjpnaNzA1}IQ6tn<-Hn9))Umqm~%l{qd?!_|j1RviC&&U_tL2Qw@(}Fuc
z!@gRrNw*V+%mngRv>)-_zG^?>y?xbA{)*&<&=WotGN!GTy4W4A-Q~}(H`fJnVOsKh
zkKa3Jhdt7#eU|6FkR<xnl?$cn@m|R7olg3W26!#x_e<W?{`&18#<r}=JpTlENioOd
z$GtW!CEkNc@fJw3#;;f6U6vH{PQs^xxupcmDc&_nB7fX^rQRSR*K6`buO7Bw|8pYG
zMe<3Lex18g$qgp`cm1B=wW}}DF3#9V&I1XKe2JVJalt{1Pxb0c)nmUT30=DVm5}*y
z*2ntmcCT7%XL;iQJhm1-h;t_?2@OWio!z}2ehJc8NbigAJ^Ix7-FNAmPg8ndB<{=8
zPWrJlq<2MZ|9_=?8T|{lL4ERq>VwB0`gr_70FQa(x$XBk)${RIf2dIYjLLmH<pbsI
zD);eHPtHxvU9cz~sy>B-M+X28G!ca77iuRsp{Zc`PbmL}%Av_%`Hv`v*GG${gXI~@
z6>k;(l&eIzdQ`u)v2Nww60K-oM05I`ewl;r3<+k%nBH6YaPPTz;!;`RUApElvZ5W>
zq-Ub-v%95RTpMGdas6rSFE}PXRsKtgoG1rYhtdb@Lh0?$=oiVa@dCQ>i{Z-jXmrj5
z^h-A~C^G2F#J%HFkz-4eI?u#DfozX3viu#!b9K2Z<Gu4x@1Wb>t#ek)*7y0QI}tdm
zq<0s|-AkK_>?M4+Inn++9(gz4qtliW{E>pzb8~!pE^$9Bk6zNa3F=h(@+{%M518oj
z-pFJw)9RRqcizFv!C!@5?W%TGj1g?WlY<BHA=8~>9uB;gDq(B1V3Q!n(r@vPyCZv|
zhuF83e}k?|z}M)a2gkA|<dJl92}Y!!Mik-|b}vY=`1e*m=k2otgXNKOXl6HSuld`u
z<3wM~GbcUCTfeqk_KoOAI1SQWh;rSz^l>pF;h*1HM_HU4D>3C*$()$J75>fDnQqaN
zbV&G1@vEviAAH8J(ak*}Vv5)$Y)EF`CO4F5Xn%Dm{caa_3bZsHx*1s_#_igd{#xft
z;8Q-t%xd!fa!)_u`ee$rQ;~hA%bEGe>pG*V^FS5Ze@L*$eaSK0Ll9k!%bq+GJv!T`
zk#`C*X0vpvKW=@%miraub{uRx=yP1Qz1F0size&5e&W83(*E-MZItNC;GTLxJl{v3
zCky|;Vb^4%#;42)bH=OMNnaW2S*tT;g2~pon>va+SiB0Kf93Bn*a7Nac4aMeRPZSr
z_U(Fo@du;W7>W@`p*fv<bmPSEqvFIm-&jw~toU3`F7OV3<exp4BYE;x9cv1Y%U{+#
zQN?eMfj7kSvO!zGQz!RQ6&q>{W1C^CX-(qXJBS-+PKDNjGSN`^BJW(w%wc1jXNAl6
zC?0ljwUZuNidKjTiKkRQf(<46)7x7gon82f<cB9qeydz$r+aJF5;)&-KKQilqu3UT
zWe?>Jg<?hG=XeR9KFXTAJX!6@=%B553jMk^Km7#Py@qnz=0~iXa44MJ2hP0pEBJ%>
z?++fp7gBC)Fa9}Lc~5%pGAZ^cpFHg5KGQj#QT#nJ+l0SleUkbT@UzyQZ;d}HT`qZ(
z;QqI4%!01>&f^FDpl;UjO<-RM%<rxIMX&#=SnYmzUOMFqz<wir3U0w!h28Da3%V%D
zStoZMU-$NZ8n9KP#>`QCX741<IUr-mUzcu-Ri+Quh12lX)@Y(KE#1`ht%2kT<~%&H
zQQov^Ud6k`aeSD3V^NHTIBV1KW@&=_S5uHhO@q0Qcmlt}%+i+LoN1yB;cQHH^4mRY
z1xFH?weHxW?!KJ^pNL*Nn@rp9E`WZUknz-MM-Ns*vr*2h?pi`_k@l+QdSF?!yy5T_
z%c~CWTw=Pv>97ubQ-7uQ`#aEQxkjJfO2kR!J815LQ@E`qzSj^k<d}_575>=ITr!8V
zGaIqjr6W$K?o9bRUoYsB#93P3@*2CoR;RqT^7o!T0gfQO-oRRSvDQuCBgMJr+`MF)
zc*<1ZqaSCQ50GC;c1P0~_SD(0Ynot|!ZW@Omp?cr`!6qlFmA8)aogU>yT{C}Ree_A
zi(*e`ymowrYVi38<;DJ&);a&W<TCYYo%C4hxjEy&y_K66F^?b9){_SwT$g<axISy)
zYVhD%?e?KOg9X|lvF-=b&N;T9kmJs8DgB7gWKXo<Uw;~y6}L3Zw-f&~hCCj}c}vxi
zzWE#Q>w60}S?Af%AK%CKejlIR>3>hj{^A>FU$#!*du_6keVhr<`N-^F{5tLU{Sn3$
zE#>B!Hm!Fr{rP$<_qX@!u{inMR4+&$UGT+0^i&so@kM`5lKUaei@mRTniuv})b(!}
z&!=;zgkH}BgXmW=YQfk8j4!HhXitA@4K=R8hZYUahXysid)K`PzTX3z`Z`DL>&RK?
z;pV~GOl3L(ey}fG+^q3&BRKVDc*fRiuS`2Wo}2wTN$rIKhsEE|>04vWr;PjJqho<@
zS&cgf`DFXc9X;-~exEJ$DZ9_$W3YA))|yD~xL>v7VjF8reEpeg=(n2xe~;gK<iWw}
zFgZ9qT^Ci{pBVP+W6T<O@wOZ?v=ci`Z{BrXiT)tQmv0`{I@i6YGctP#zd^b8ZDQnB
z?%noj@7uMZWSew!2zmDcZ;$EhspHGZ)<FFm{rVy5jvSV3yL8yd-g;BmGkXHN_uJrj
zKXSK}UeEh_T|WOY!nZG%@&9{$!pm4&-F5E|_IhBEEZM+$4ax9oV5+^PZo6c*?h<r_
zoGnrQ{yF^w`&i6;w3e6BxA36<tNq3FC!b8PXb&@Yd4Qf`k)!Cz_-mHuPJHgN!1^bS
zu6KyB#n*Y(Ry?Y;kBSD8k@P<QTRiZsMRe32N$>W*)uY>NJAAHfwYf+-?|(zD^nUA5
zyGS(sXFDD`Q0?5YL~pTZdb{m2&@Qfa$!PjH{~P{QZ=X(xZ<%QNY1_`t+3L-qUhPa(
z`q#D{GDmi-3x~#wR2_w{hy8jj=#bnc+_6x57p|l0W&L`Ym&oOW-Iqsp4nW3;FaA^c
z4_VtdYpb{RHu3KT&b@5npQY6xZU5J7f8C)AL%Rt1fk!<zqj}_W)0;oX`fjGr$LX_+
z-^ci^<M$DM8~J^hU)dvP;V%h}6z|M*84r%1@@*q^c%NYOYJOY!eQ)KaUVogunA;9w
z-^&h{AFlJ_o^3>4And!`WyX#DYJIfd{VndT!sFd}_GBaQ9CFXypWe+{be@E+pucLy
z>6xv)KKjHaKNp)Iw|YQpZuP)c-Y>(p;+){>LHs?qHFt^W?%HVDj)e~olsjqF_wt;T
zXSrL2JRF_<4)?`((l@fOEs3ojWz0PN*ZOu^Gq$p|vv+X^>1y<v+AUvY(p%7ni7F>O
zlRF>cn>EDlX7K;@p)u|`t*fbH%TIC3iR<b7*2$g?)KbD`MNUo=UaDy4`YG^MJGhBp
zyBcD-LA$2+{XhD(cEE+u%ImCcu?_J6W&eR~{@%(51NN*NH@R&${;TZRDtvQzY@Tbo
zHhH$|IM(0w8KI$3gX338E=I8f^Y~P=%&0w)$;i6ZVfTH3w>E~-hc}1PvX9?JUgICT
zHtoAzp>&7Vmvs-W@8XlhYvgQZZR6<DW@sN@t0opzUZ~OJ)Jo1f(aM=m%J<<6iTm!+
zXl!iZp8SNsC;8Go#Vin=<hb{vy~o_;#4MKiw&}_J$0_S?G1FRz(eK8FkWSIKtvyHR
zdqTF-_FV;>_*QPe*x{bvJvOU&ghwOevfFfi#2+s@t^e_y(+jq6%PIZWOMQZR=u7c+
zzNY_r9aE_XY<cva;DZnLBx+<+Dj!jK_M>|XG9XG{@?~ZF-|`9W$4>Un-+zQUn?mM7
z%>_QG5$$drWY%b}Dh$6$cQnzj0S~g(5*d^30?*$(a%626W6K9fi~--+;fV<ayw^|c
zAMW_S5TEj8pzOTbL=|@2cwipm`qdxx?ZpIsjx7_NNFE+!T-jX7kMRwg=MKLg$%xuy
zRXTHnwR^^7uSI5wK05w^y0h^qkhyNX%+dA!$*)H&Kz24b7?WKF9pq;*C*Njq+qGBu
zcFUM-*oQIm@3cWzDvl-?qv+J=@n*zH&}bL-n)K)*e7KQiN%D`DH9P!&)7wqkC6gTX
znw2|a4daJ6BblN-F{lSkY-0Ly%Dnf{%CnC{Us?y*D8Y4{k|?a>{nRO5$1nG>j)^ZE
zy^aGuU>!Ry?|&VmYYX%oFIDeO>OrHT=N9%ypus-(SW>*9E_|t8v_!r966zrv-Tq4W
zlqu}+9R9`&=&(xURmWer<HLCu?SaXrb!D4iTGT&G9gS}6@-~Bf%s0Vj@Py=X;wJ@p
z{NBo~o_`5U)_;gXmoH0}^dXO*L}z;ZO{`F~VMcza{rpUy`}rfYw;(&Q^`TqEamQv~
zL~g#IF<hC1EzcNX6TUxzPAr2yC!&L()uVELuO~hs`ysLT=$zjjl!->W;Q6ol<B0Ex
z!`-IxPRe8OLQv+W{@~fM!oj`ZKyQ2>bsyzi?>>s!rs>nYmmoQY3^LHT#?t-GbHTOl
zr(DDRg!y}@=hpFL&?Wqxf+yrJ>b{D;$#$rtzTQc(@;LvOf=#^&SUP>&Yn=q2bm#S2
zC-ohWqxnB7UdG)6&KN{<r>0jko|X4!zDNCU!rR0_ax3{I)?>$`zDwV^?S1%|+wn1%
z74-F&8TSssQ{>lup7Ny1fk$x0eK_X{PRk#!6y|ji<)4Jk)VHNSwK<>iMfAh@&fDVr
zE7QKkVBYm)k7^e<jxL|weJXR2URVV#W8hvqwM)40=h4pk7w=2wxnFWe$aH^QFrqWT
z<GkUFHJZQGkIr<qFvbg%sooWomy)FqQcrR^iJq72b^Qd{-=;df%l`&m-ERkdc`QG<
zHc_2^$^Ra^#*@Rmqji*>am%+j%V_0lWMcXb<f_hp*HhNT`byV#^8cO74DZ&1UvTKk
zmFxSL2`wviE>LlY@~r5xFWJ01S&+@=Qm0rpzct|fIySTLXxaS3cT4M7r=bLlHvuCy
zM6q5<!Ed?m&T0K1owN_V5YS1t8Fc0&lv$lLvY&Z>`r5+02lg><lCZzewrHPs^t=-v
zFz@K4{m(mk12P|ea@TM{iF()|ec@;3hs4j1i}8cb{#pP(zk983x>)>`0)Bo?onpFJ
z+6R7O^N+^Qm=C~DO9}k6TvNbLDLl4ZO+DWRZ7G4rmSx}(nN&<?ub>k?to^f~7?;>_
z;{&+7t{+_9@}&YUm-K<l6Z^vDSx4jY>32%=Sj#8-r=j>)0=O(uuVb;9*3)R(`ohz{
z72zoquoEvOZ+Fm698!#@#KiRT$ZyM&r}TrTDfma$-jDWyr$6wvpmcB<`c|@Rz5Ix%
zho>a={!Vo9O7OH3T`PM(>D&9sfW6;Q-9MgEi2|PDCF(f~-Fj`A2YRM2VPDMJ;<rKX
z0sY~|18M`dcm%vie>f)t^Bn8|Pe*w5k`sGv_EFUP@_WQl{QIf{k@xa>JiT6#{T_Ib
z-y<BnNWGxVlKoV{W?6&|`7k!i<X4ZjS*rN^!`LjTdkSYbE|sm}%QNTRg3iB$@{@sa
zlJ2SUuP@zx7Hig*ZclOMs6QK=n47EHUwapwT>_Vz8DBV$wGb=mi~ohA59$9bps!+G
zGoCU_*Vlo!zI5z;V+wS=ggV8t^hAF>gMKWzB#-iApMJYE|2v$u>JL}WMFqOHc3<YZ
z@3;G$?|OR+vNdIw<)G(f;8(Vi>@{mIeTO;AUTWss!TH4LYmdGYr29Pe*g+?h*fZ`p
z$xKtdh~mnA{(R2Pxp8Iev~3-Xt?#-+Cx77>XyiAHXYEqed5k)bzf&j^%nwmku6nGs
zoyP-|{gARU>~AN+-C*|Uve<AAc4ikc<8Js%wpJH%Lp&xq(nWkOAvt4A_Z`^vNo>w9
z?Zzf^>x|1v-h7_F#V1|FN@d&Yn{0de0zun8_16NQGy_X7pS)Dylba~tgZ<ejp8$_+
z;BP<!@8c83OjY*3_Vp)ve3GT_pqv;|S&$Q7Wd0vUPE26FLEmPKKmSf(DCOJ4_Y~$i
zhk5=3K0u%I^lkkaea#bFzk{=l{n2;_ez<6Iviw-=<Q#hJGevX0aC~9TANi1T-og2W
z;GF-$-ycRcwrnn}`Eh|Yk3Lnv#bC-O7Qy)1*aD0P&;uW4T^=cd@fRNw#_0V87<a*6
zmM&W;x4g51@<fr2`3`$X;vM<LTRtR=|ECDXZ+}P_<3B9G^6%0U@NtliUt@2_!gAk-
zgykzmu>9kPgry~0z}NQ!_zL3jc9mOuG=Rtd<Kr=bybx|Bziy%IKUjaO=Z7IzgL?ih
z@={nmKa_gKa(D{#BbtAR^^sis2z9iEoT2IM^DXKG`&=F9)4(h0)5`S<zrRaqFTd6I
zac`^5RHr}2H|f#ncf39R-fy|;^kn~A{M$VXP68G?pBIb9UKAMnM8>xDeqU6NyfMA=
z{&t|=Q$_VY8>siCK)uI{>YX2`H<fy&WY6gCK4dJir<5&{@@<hp{yJFRIiB^6K(D37
zd*^W9<HhN-KUo*&tcuqCt`F#YXFq-COWX&@b00u`&-D7<ip}P|iCh$q`CUJKca(^8
zb`a-O-#gLS#d|*;lv#SXuxR~WAU}!ZplqvhpARg}UI~uX=Y7B%q~&_Qd{9yO<$n2Q
z#tYWJ)Gx22zIbSycnO|5LBIS>{&4qi_T1dxzxclo`row|srrZgzj<5Njh%|eR377R
z_naB~PTI3P7FlKO)+%Cm-o8M=2N(%F;<x(Ro&}e`ZSO(1wN|kn_FN&s(XIO%Im_ao
zP16}K<-dv;c$&R0gN#w^$KhA^)3o2&$vL;T(XZ;K13iiT^}1=FnASPOPVUj_Ea4%>
zmfZ2~*Nx0}vgi31@;r68dxq}*OSX}=FTyK!zmPrYe(5#EnReN5qlS3<Va|{Kb>1eA
zerjBQ$i4eVZhvr+tM+0d^(F40vKKb3`0e<ZcOR{ArfR(M-ud@Oz=6(2R>)RA8Qd^N
z9z5ijm*Ov}57_JMsMXy@C;eyTq@pkRw-(Mk_ou8puK=%q)_OCBEgMdmZU0-^Yv0p;
zkFzd=_^zBF>Q8sDzXgo;eF*P<x$+Enxo{HL*{jGoLk^qnh9Rcyv0d0A8_2`LKkd0H
z&*($Dw9j3XKefWcX-A29b`VER_-F9rCF(hRv-jim{z8JgF`9?w`v>U3_Tga57w12H
zuKS3a|MYF<DSzU9aQb;(|386~Gx`?J><7TPp+7kN`~JG?!~U7O$5I8aIqX#^r&1%f
zf1`1RI?xodd+Dp31JgI{w~20aUpSgs?Y>{K^sOWAd4dS<mn3<=B$!tX{&nv&FGAkw
z9i1fmB9#gAhQU`#(VzNKpHaqJNI$BlI;#i9T32a2@=8a6>mN;Q=4uma*1h#<#A~z<
zGKqROFRog?hP}P08PLo<t?UoMN7z&}*SofW_f8w{zbS{}mMHmMM<EY1rlm2hJNI`v
zgNVH09<*}h{f2vC%1xqm4KcRx(WJAGz_0qX%xNJwxq!dFG^=Oy+_#TFr;qoZ$B<tm
zdUs_SXQej+OXr|trs{rWCvq!)x|3GiXXhupbJ7Xkl1y+8VmxxBl75e2&#02~rEz{e
z+oe1^Zm9nb@F%=@QAFnx-gkf5%as>F9_rjiB1Fz7<}ri6k<V@JePm?flOf<hUg!+R
zbIhTEdfHRS5BBZ_zf2qb-NCtE7j|U8KjJg)qK`(-wZ!=U&PzBK!~gZR^LfKe+kodL
zHS7M_Q{+>9!Z>a|)e3y(XoNfi{F`M4xOoy+Gw*5x&x6BSt+{B6vmXgR=WD{x`5J6j
z&-YGX5S%Xn`ypW0y*bV2Yv@<4lg-;#kTYIB6V2T)raddHGcr!(|KEHjr~3LZ$Gyn^
zNj{TPnX~elM46jnP*#VEmzA?k^HrXc>3okqcz*YW&e`2-4joymdxMS8Vm<3u1^%Bz
zPJ(}TU)Z-{dhh79v)|O$TX||P-fN-Hv*ESA>Uir>B)8A><hH~8xLN(|MLXP=OU&@<
zk?XntdK0L3n%`fkdYoHMa1Tl{EX94he#gZZPjHV)^_)`m@XHgrpQ8Rs+}U&3Q%_X+
z{gtXWntJ}-z7+TC`h|~siHUK3f2HaXH<J!?;o}}&zx`EE&%Yb!l&Z&CCD1i)e<kiy
zy6fiaTc=b#aGMzD_g5kw>VUHZbmp!{se0hzDE)m_K`-t^msncr2;2w!Z<YJB6X!ml
z)uS(}+^3a}K>0S6`?L|?SE&D-%6(es2$Vmga)0gPuNUgKtK47fjzIb2D)-km{zjqx
z!z%aJvLjIbfXe-~i*pa$!hfI2{k7@{ly6YEwT1Q<>i<CH{#tYd%I{RUkNY?|8H??n
ze|-zP2OiaVc;V5#+Xdbp*5BaiG5vxU<(3d0+V#u4pVBY$R1SU3OF6wYkFELzZpm}O
zsdL$aOLve2M~+{~lc;1Fxse=Wy07}H?83smX!!~wk$D@cI9Ed3Rrqb_mbuae{HCio
zKNm(9ai77>X?;3%qv#}^1x^r?)wyAv!5T>nP`}Oq-akL+*$MNIagwV~a34B@&2lv`
zF6ilbI2BS35HmLwGHt{t@CnMZvjcTI&{=|8cE)9YRbEZ#*_XSkO32-$<gR-s%6q><
z?KF2=7R}A>eu*{k<^SsuzDfS;ESlzfdi#)c^z(7|TpE43c~9;ATEQs)tTs2%J%4y7
zwyy5kr+_<AWzzNh?S40t($`aVDRyuIJ6$%2TOOH|zLxTbRo<X-?q90E#H92$DA(VK
zRp47?nMvs-l>LD|Wz+Z8%}q*QVe3BW*EN&V3Ab!iHqq&qMJA^&r!2ua&=wD_t+lbq
z>Cd_KMrL&$lySD!CMKun+Wu<&vdrZ4MYgQLFKeHi*7_t?;bQ{7+cq~jU8}MUPP)UE
zMNUe8N@Y)a?X-TiiIcz=_jEZQAzV(!rk==sr10Rf)*Hcl*<kFrvT&>JG`_d;k>2y3
zr|Z5Iw6h4CL+3rw#}68Eap<iPy{W=Iwyf+S#plD!Q8voq)lOP(gPeg)?B!{2Y7P>c
z9JPZtmBVJb&dfOIpN<lKO$+qp<~SjipMZWM*ov{^bWdk=!Kd`kWWBfYx86A_`W3y}
zc#rG_<ygMED%L$3Sibmf&%-Yasoh?Qz4oVp>&N}+ot|m6VdO1$IPtr;n)Z{@?_ig`
zwb|huU95WywygZ_LtRcfi9BFmsYZUQa>johet4^EaI5k?bXMb!ZX`!CV}#+kgLS6c
zNyx_-$JxkHoF5KhD<|hA!n0n;)p>J|m++_K@P2NVSFfc+{HBHYO^#T<aG5VrPjMcd
zXLIY7z`1-*;prXhRNY$_tQMDXaQPRN0hcZNBxRCq>N|+{8I;R+7Hq-tQz%z%9^v@s
z(5LucaU*N{DR<j`?nUPL=jFHyWw+%0JsrL!7MaIRAIy7$ygRV$+|!$7x7{A{a>82q
zAU<!nj<+SD%ZnIKajO369_{bCdDLpEutg<f8dg;<ukWl}em~<UHdHP**B?JW@nq%l
zpso&0aNoa}HW6Bx1m3#BW!WpvHOs4wk^EjkETzr$&8B$1Rsz|(P<QTp9}N4oy9?So
z7k_XfZR!kdruc2f(1yA?1Fm|T`>3aUIl`~-sCl|FG#Q(z9DL$i@$5~s-8I^KA14Cu
zB_ik}-ov|sa`|uf%KuayZ0&oXqZ{#O*25o*i2-rer>$!>c{2=j3$8^!(Gv6%wLCkz
zz_ab#o%C?#=>qj*>E|c#$^qtZ4}O!zz31IQw{RbAdM9O5UHT}zt1h`yc*Bl-#uL4_
zIpe^td~*)6C&xWq^tbD)C%Jba|1-&5#|(JLpX9{{Tsbl_cn0%nS9Ww*84#J09*6zl
zy~&e2p@RHDu3n`~dy?c0;7$?m{B&_%pL?ib?rn!y`<<1XJ7hji%%dOi{oT5AN*qae
zb4uB~*sr-tuU@K@ElVHv4r@u9mp+;%n>LG!4(>np&M!G7-6_7s?*wNjT+RDNn%_&5
zX@1IWrTepe&2QLI^Q*`<1m>sv>HXR2apHq^ex>4w^^$wU35BnEWLCfZL4!>-rtLe>
ziC}+$wITLVb0>ed*mcZJN#7Tk=YhjL53BALzwTzWWvrll8qECE@74OodRRIQQSQbO
zS<7JkcMlv{`&-qeJP!S-{#%sUxdv_CH&pJ=O*XIXdk^JWt2_KL#Sf}?nBT>UrMUd<
z#bx|>%!46lf3>fVl}D~#JU|>qJRm!dIP<(tc%cDaSO_oY;04K&1otEro7R2vC~dfF
z{@c{3ATM~amwNnfS0BcvrY{o?iOq^u{s=D|s`GLq&h_a<ydWOPSF7B66L}~6n9_Wa
zqvC^TB029*<UguMk1N(X>ozk}Yn(5^6M69jJnPaziF)$0ERU&8e>5Zhi+~s5+Tw*A
zCgkU~x_@eVLSU{3UB2M`B<4G+cdjG*oa_0$bLH+BbNxYIb1lIi9pVpvuK5ynL5KLm
zmnSVH_#*{>xO0V;ZxlVD6OWZlLq_G#j<tQ4vbddhtS0^6(6?RVYg|6zj)Bi7PpEwn
z-JipJZU6tI@4z19iy3@>LFKG<u>2ItpYh8rznm=G*|`UN%1J8s=UR{NX!)g*a;>4p
z|5tx(#RpYa_a4^)_j@a!aP8O76p#Mn=v(R4k0Y-P@ADdC=DoMF!<G9Ue|h-@cyFi;
zdh_p}5mUz3i9)B))KbMs7jUO5zhC#X+<5P{yG}4`MAH?tQQZi2E2(=Gbyern)KBoe
z(p2n8qWfjj+=1`4iM&-Ad@qCVl?j<PgWmLVx|C;I>9g?u%~PIT%lfU~DZh?&!LK{<
zO;2xH|Iv#Vdhg`PkCaT1T@^wWUioJ)*BRqa_u{a;uS|J8<(0%v7o8BhE)Q(-5v+eE
zn?>?ec>vf8SsQFOKhQ4W-goor1>4K77GBK+_Su-La>l7o8()@>a3=cvEnp0D7vIZ=
z;JD`q>jSdP#-LN+R(^zC3*q+-aueJGZj%vYA+i4qd$7VM|I!KWESBL9H%7=Q!<oc(
z?gTEQ-}T1xm2afK<WXxiGW!z!wb7q)W*F{U9)Ryl<s47JvrXh!!Jl#8&5_Pjy!opC
z6283rz*W%bXn0F|YVFj!j<tUre8jxmK67JX&N0Eq-Z{dN*&5bf@>_i40ADnaZ>4@e
zbkBG#<XUm_wIRbz*z=1_F!y$^PvpsR(IJ<gT>szAy@5|M%%!DqE-f{`0iTI~7}N6D
z`HZE!ru(sHH}U%n^3UUw;JbLPt&r6n5z+NXaGLOO`Yd;I8wSIB<b%(F`}#8Nksv$4
zM=kl@FJzvIlgMT@ew$aRXWQhtzgtIL>?-fw8+_I@G_U%JA*S%=bId#+-x_V!eW>WP
z*vt;%4%$Q3{m@z1;i-`6M*pp_V?4`!TRTPzdqKrxEDwxf+gt^2*f#M#+AImQNq`H@
z)c_Zfp5}(diNjTnd3ZH2C9v_6z++5k3pBaHyc@sW3^sG&4;MF4H`W6WVjs(wX*xmg
zlOBzO&j!Y_@GT}^l6;+CvQ8RX_!XXo@7G6|HI3j|-xaIU?>&9gd)cq2IF|YduGNk}
z9~<~y>DnWOytdj4Js^M0&uMZg@>Tpj8hR)LAIjsB^w)SQxuaM4bdljrj+8srX!fi;
zn4e;-cHosAYUd~X+cqt<FUHAGaH9I{(8X%T6Ax<7tx>drPtmZoinr23&3By{n<@T!
zivBG;uX3i-_T9n%i~BwRZ`i&qJkMf7*)}cs7R7B|3A70TkE1mKmKD%|rPb-Dn3=Y}
z3pg)j`-{Ri#r<s$^k>_A8(y((>ap#_Cu-+le;Rn@8QN%EjW4`t4uV1Bk6j!+Z2P&2
zwzi*+K6vioKE@8NhtmhVKMu4>F@6#_(2dVWwnkV7!#bFm32<SKM_#}We;8-lcHC@c
zUIXv4_HFGanl`ITY)&AX%eELdw+6<N%`SQpEr|xg;NukNN$Z_MjtLibEsF858#_>S
zly|tekIFzFnLfUc4t)1)t+K3gbf`b&=2L%y$I|%F0F5u{<9j&JpWY8DhUcB*y*Vi_
zb@8_Y{<i|37UZ>Jc!rol@^~}-_FD4hBeP{El%pq$@j3&%YHftGuyD%y)o!hB4#7up
z_*Z+biw4K9+e?09Ya6V<=1qcYOIupw3*cS)@ZQE^AGmm&3H~_2HdmqFY#TR!Ztt3w
zyKDMO=BU2^i}^c6-yY_hVE7x~Y@hlYTP7>Iwf!c!uUp*qUfQNyT5;d0^K8CAn+Uq2
zxXoSuc*2wW&F3+zkMh{-CE<Yoiu+vs0dOc6PH~%S`+#GkFK?8Wns{2aa+;Ybo!G*<
zHlY)xXV$}a;x!vPv-(!+Bsuc%>jgOi&bmbhR)$I6k`s5D_Ch3g?Aof`k7y^Ht4$Qy
zFZ=m7yv6efb!|N>tJYCh^`7sepEZGg^j=tRypBBr*-45Q&UWon*<R(@3E12El`UN@
z+nc-U?Z(VVf{PYx-Vi!?74vt{zj5X$AEF-llK>C$DLh;}8So4I{a?oOVv{BtH`w~n
zUCOnmy>U6?ytb(}bhx<BV1Lm>a^5KG58(g4!F<B-W0M~b9O=$4$ghfpa<@jbg|DVL
zh-a^XcZ2gtTAK@-b(PO+N%%4ajMC#)?(7}z*<AhUR);plYcmb}tA2v@xfwWw*PGma
z%d^iw3nzg;&GG52laTEL*q`E_z2bZPehYdNT^-~Mrll*<MrEK+#eyX#wNEB^J=yKq
zi5<YZ2!8Bz@$$>o_0W*wo3bs=;7+REi}d^+C;KDT<Yi(GdNb16A^1BBo+@Lnp(yqj
znNWy#NWWO!665`5y?1m_yfTs8S@;;W!(uC9pKRK0@FNnufhAuerd%x8_re8dT-QDl
zD&L~D*$`3==<@8(n4fIW_8XeM7l!8I=)5R&CtI|RcMLSwJn@o<?(4VLq<fHovTHs6
zkG%w9C|%f0_4F;D)?t04_=oV&shK`<Jv-!AS3PUHU&i=~ZN138RDG3v)iK$D`;M%Q
z;&18yQTEofK2hwZcC}S}23VqrlhgkQeY$5Hu_?DhXXs;heDUwA*eO<ic6evJkK*}O
z#t_f9Ln~3A=Y#S;N}FQ(`T=cJzvE_XcVZTO$<eA)VlzYR$48;<7VvNd`pTg!#d%zZ
zviMLlUHa%;^ieyq(XP!O$^R$#jn5wm)+7i|st<Z!4m_-Lzipg8bl4KV4X}7`D!>;}
zY);8t2N|h+?}GDBtclZ0<DM=XES>}|$%5i<#H(CeSa~hu(2++kC#RSB^ddTO*Dk@n
z1N72EewhyX5-rT~<7@St0l1F#S{Lo>6_2s|IJ2h1*Lk=1@jb_P;qWfLNq<-xt%iO?
zLr1{z6u#ZWxC4<<7WX^D1KfNZs&g}YHaCLPC)l@nlll{=e;WQ}rRzsL>c(m0+s}lj
z#n0kF$y((`6fcV(&x5~r&Gz;%#Q)1fu@!GIr^=H!Uk0By92Z-mGrVzlH43k;<c++<
zSL&Bno=g5c{BAdA12&l8=kB?CC(QDz`1b{PwS#pO9~-@02D}mF2%PQGkGuC6nR~R{
z@baNQ>*|Vk;k85IvKo)yCS+^=PJ9f08wan&tHpy8vMV%aogW^`J~I1<30IDA2VT4v
z`Dl8+&wDxe#KSXrgMf9@5c9n3N0lv74xvG@6_t^}OLO=hJ9w8ccBWYnB@d2EAIXoV
z_rU*>C!Op$s$Ep{QAget+U7+cbp`ss=I=LND*h7Qe$9G)zR{b5^25yb=aIo4TBbEe
z$D$vIEqU>eMsg%sc+U*L>#$DO42`YO{4;tFCf2k)vN*B4@{`1+xsS)Xr|Zen;?3jZ
z={8?aC~r<!@ny!&b@}n-S*H6{aIA4U`K~$6>SKPT&P&xRZtU-|ru<lHk~ekVm$QI8
z*QzHw`SW!JJPh#h0FNw~4<3Z4YG~NvLHO5uSi=3^g%j}ZAd6C*N3pW{Z_GhBzJj*;
z{x-jkx0bh=<j2y>!GZb<uBU9<Wj-Dg=b)SLqoU}TCqlfZ`*C;y{KkaWGtJWWA+^^<
z_mLZ(b(anj-Bkgr<Ljdkb`ZG?Y8u9SXB&jib)1R5k@|WMK)QJo`NDKxWz&)P?HkE?
z6vl>ZWG_@avKl*bKXY*T=G^JzsPXh%9=><z+u}m<LiujrgvR%yS8@Tp(pp{6E78f=
zwnesNIsNCM=UhK}B{k{&dS#$!gZjn##Ffd!0l?R34t}U`KhVd$<dI#Mn`y7NhT^Ne
z_5KdJQoNfWM&R<FXciy51zbX}x0%={(#Nt^yMR-4?B$#y&ja)-+LavK1<iiaor}jO
zqT9s*y6AWfI%7<Wvt_KqA#f$!@)ktz8kK=#$y4ZYh1Tm6)U$0Yp6>$BK^#8|e_7q_
zMBb0%$M=@TaXohv>zD)c=#9tylr|Q}`sV5u-#-wZ!#;i=;GRYCng{i82k;d4eW%~I
z@pZR+H_gY+fjgA%Yx8ZtjbHC5e@yTg*1i42!80VU+BpLm^<>R$CUQ#phsgd9TD#x5
zI4Z22-bJ@O-BRMdX9xE^t(?ho?^ORcqOHvyZS6;&i?(vaUrOPr{v+?7^F<$kr<Mut
zZ!_yd;K_^{JVUzWR&?j*uswvc80R-#S_fak-P{1q4npSzIql_DwKU(vc%pSnqxTDM
z{Cy?&D&(JB!LRsG_b%Q3bEl;9@XSp57cW`cSbd1zB~S16`}mySb|h`ZCsFt@?9-{`
zlb{@0#9O(~Qdjb1um5|l)}qT>i#wU?cm4IqWB<op8*4)LJ9drWe{z1#vofHaH51H|
z1CjxX!4}(C-yLSw<b4}!D`OUa{}$gxvw!@Mb2yzjNIoY<5!*y=OMVYT9^W)Zdm5h1
zy&1VIT-}76xC^^$GHryPyN(*)dyo6d0DR6-@O$4E`tV6k+BN(N^2Ppt7Jb|QpU?m0
z``idVs#yoYa31nXaGdMICOz;C_FA;&Ki1vEBAd95@rEA-hi5B)%7^0}=8!`!cJQ}&
zI<jZb8CnB}busOqNPm&Gc6}nR^|<RJyTT+-O)K6em;~=$%>f-JygY=CTZVpH#v6k=
zJ9G{-o1%Q#4NcnxXT+2@8|ERMH)HYX%U9@LA^O_ti?{!FWbGjOmJPZRJy1NS<9ygh
z^)atOeESIH@r@o0?xVe{YqG>7$FY|%03Vk5-lX~BN8sB}7rhwpR*7FW3_r$|X*yTO
zen0z3)7|-FBRaB;eOn>M8%IH#t6ldpJU<j$<Mi}Dpqs>N;yKG}va7^zyLl%z4?e`V
zv+ymJb9P^NIRiWh_o;!R|I^at%%dKfl)Zb^9@hrG&CyxTh<ud^*~k33wZmIE`inv%
z>c?4QW=^Cpjh$j0T{#drJ$)uHNiJL2asWBw<xgS{leW^SSAzQ>yuT`f^<rSvxewiQ
z*H}Xs=e?EpweG^lu;<Qf%)s5ZASZ@*W-*l2dWHwHKT8>TKD)!@a@%>OX^Rcxe2T$F
zdct7SCAU2dU9j&sqVo`Ed%y9K`BCn{bgn1AnbluYki)E3uB$99xRq;EcX8@7DfjNt
zyw`wnJ@z4Yk5b${a(J&hnizYU^HDQXHjK^==ILAUSN7Z5ItNv>HnF#s0FRB__gTc=
zQI7A%AFuPrvF@o8kzX3KdVo9TEK|l^ryJezW-y-W#QeKXF~&2D7h}9S#@j9%jkRWO
z^YqTW&O7d(W4iyWcL^xhy8TK2XUyFFrd#q<w5c~96+3w~id^(z;USd;kudv|6V1cr
z;4Cr}+(Ew)-tb&TOeKQNY@iYKagbQV<l)J-{FOsmqcKPE2X}8^`M`nA%Fh*r)}oPf
z(r;g>H+RERyYUI0SY>7|9BP(6LHsR$xnLQP&O@_`*Xms2IA9&mzrnHOykqeVKgs{Q
z!pCOE@Y}P@wDqjy-^mVl_{Q#ujWY{IQLcSoXZc4?n8jQU@OEfr(kxwb!uoLsPUjs6
zY+&sX=dh^~q1cLD;A7bk@&ryXOLfPm!5q7#mc6|{6K4l+(;Fk^`O8PZoA-M>o0wpx
zFC2v5b}naffIBsvevmD>jix)t*sSS_Wf9H?Fn7&Ubd?!m-1)lmWWJhflvvQ-jj`@m
z$lE8FEBN=*5r#eM<TlOE&RO$)|6B*{iG0*75bQsj7+c<x##bQ!XU|e+Y4UWlVBHKe
zz31P65&5ulMC`iA1;9ESUz!|LXI;Rz6z{8!z2G{Np-l_ti#GFnlUbT^>fX*d&Vrs-
zsoPH38_rVmEWdl5rMVaRJ?JdW{EgqAVm~kCcN63O2fwY1rQdF6>2~1Fe1rcV1UL8t
z$}??o+A!L2@%c8gSGL2h%3-`;GA{et@MBwlicV3POC#o!=_YiM{?_+95AuI-xvTP`
zR>{oQhF{!j1~?1UzLK?gZ3*-ec3fRyBA-e-_+Vqv0f#paKo$}+OTe?gWPRxGUixZr
zW#JfC7Eb3Ll=^*b2{5r9qOo#(q_cdyYhAS-qQ8$irlON`1C<W%=sF)c?Y@r6<zoij
zHEu(`a{2guJ<|>_o?^YO{A)iaeHhu6dsMk&dC!8iAlGS4ZllM~ProX;#$8~(3BD!^
z*DnkHeM^ZPur0~~`>5xW;urQC2guJb(>kHu7_ub784JmWTpe&SKgotKA`2ft7F-C=
zG#+oB*S=IaG<XibF)I_0J@@^!XTe|5-L!Ah*%Zkw$-oQ#ME(NgVjh{;&iANf7X8bP
ztK}?in7;FjZ{^8-<hb6?-$9=tNnH8c$TaTZ?#VEYTi=&y(D_VP{`|FPljK!7@JsG=
zGM4b2vVK5pR{96RH|s2%y0ipdr}lx@cnNzyj=e8@SsV#p7Eg;LGl?mQ|0~g>v8kR6
z$nz`O$unog_B){&2RX2RN6)6bPwR(R>tVz=kPEJFqnPYZPb2ozOD`t<Pr&cS3Yb@K
zY>@dJKH$d&1GE93xN9E6MktPXv~a#UM_p^*JPB@*#qPLjw;z})@t3`LUwQUAcun7B
zlO#C5n{S@qx}S6V(iPRrKMI|2*3iAXDt#>+C{}LZm1Vp68+<7?@_{f>PcUI4Z2LFq
zOmx_XYDYagm+z{bbnS;3k9xLUigt#3DsDd4Czz{r8Fv!ecfUU_C_Cf5l`p!n!3_Hf
zto70aYy9<zX8C?%qfMbfd!m1Uj>AK;YkuD|ZTz|9lSbYfcsxO!3D7|Vxqk@VltK1?
z0a|^9c42rd=EPRKLc7Xakz3G8J333cCqbT?S>Yjju;CX-CscmJS*o?wI!S*S^jX=M
z3$9C1Ki9r+`749X^Qse7ef~dyzFl45%l7*J>{;-H8MKFe2p7%;&-P5ynZ8bR>dx?(
z8cUbohbCQKk#0_!^zG2vXMs15%u{(6Hrj6V>m<r|pB!)Nng#73|0MU$qMpXc5et0?
zJT;v-=ATpiAKIvKWgs@du14B#F>QM*k8OQznd#oQ$Fy~=G~KPN$L=k$wtah$>y5GQ
zy_Fa9omk0Ae50^=_+D_ckAAd=-V`3bBzXop1s#>&-?M;sK3!dv;{O?ZTdj%g1XtHi
zHf?7DSCIZgj5U;gf@SX^f0b(@#hMv6XT$V<VZ9k!I2t1cCcgCbNICdWf1<<w=F!U!
ze}8{mvW5GAL3sMZ({|wOuYdNhMoa(Ykv$i)7mbWvA^jM~u8a(ht<YJ?$_Q%}UO(>4
zT;=jak)4uT#(SEN_e|^6S;nO2FjuE&t}pH{%+<~*_t^XA6o2gKIo$*7zml&7d{#DA
z0*954kMK=&=*nx^qCRfFM@-D(mh*Dc6*H|NPU_N{?84l_<!5R=(SMe|zs*?Zv!1i)
z{~5l$79Nx>^Z8BuW!$rlL$Vhhqj$B2?D;f&p?+m|&EWT)@bDVZQ7bS>zPIFh7Fate
zvJBe821?)u$Og*E_K|(F10QcCew-P#<YW5(<(xf*Mp~e${?>Cpv?zZ^IJWam3cr+{
zz@3Ty);iDJBx59VHk^nqN4{{EaEXIHm5j-7?q(LShoHxW(7-X+@HXDo!T*cnvOh&`
z%VuvMf?ZA<>7!s=FGZW6jyA~b3~f|jK8=H}s3l%l%b6t3#Nl5<OV9R9Ukseq-uvP>
zGyO^IP1(@zN++=wq&ZZ9^AI*xJ#h}{y9df*D|UPp+md`@JHT_~WBg*5#;|3tN5?z_
z-JXXn(IYv6ADZV~3S!?CU&DUi@sTnA9LE>l(PoxDH6ngp4w>1$V%!O)%$aLG3H>kf
z=GER|yuT-UZ(!w+Jv)A7ma;#8UGfG`&OR{7ESE3P!#UF^_u`KO&Rv^L+xqaadnEt!
zo7wM2_C(B>)6};)J~a;8x$QpAJ|RPD#tgzor(9(jXTp{zM0fZSIqcIM^8JZZ%+e6w
zTZozGR>xN)H&-rS)m6Ft-EiH^^=BZ{u;~StY<^->)AawpBQGn>aZ6(OgPp6f+pN6G
zO-pwoTdiFE2k0t)dwhlL%-zV-5Pjr+#<-0G(lxJep9?u_W$Xi=!^YW&pA|l?Mz&n%
zm8Sb&sMGoAMXj&ge{t(>XjnOVbPm(Tzjr@6jBm%bu9Ut<FYLY&yC9)`fx+3WZ~8Vh
z@^F^FcWKAME_Cgb95SicP7#miKU1({<MT_@h1cWrsQZww`{$IXOP%P2)cu)Pw}byf
z->3Eo19dts@Xp(3<cqSt$6=!+v4MZ@B=7#Ib6oRaa48>P1G$W>Ovp?_20)|j$fKTn
zS-X>1JLGB4&slS5s^!<@lfakM`p1@-Y1UuJ;49?NqkG{6>(@zd<<PP1(0JwwvwSDx
zNEXQlyovum$=w5kzmdV;kgsvyuAXV4HNjPb?6UlJH?gJ-Uog|HoX{BZTO=!FlVp$+
zvPq`Xr+7a^+Xv7S4<TDK@RWG%3f-TB&o~p~zVW0p9bwvD%$oxAi%rORQFvT)b>YSb
ze;m2v$^)I<o1>iboSUG&Y|4YwU8b?6n+~9>HuWr!ZeOW+z1`#bQurNd;YT)wd@9XR
z?_S9td6V{?+hc7%dy+ja>4@;~?7pu<_us^>*l*fiIeA3u->aRrU7v8;^5_r6mmYr^
zURW6G-uHF>VRNX>G1#r>!+*~G#kB3-4_{Ts+xDIDnbucMp4)2VOMfEXmV@qFh9uiM
z!vkt|Q}30Nk8AxqV_XQ$?}b+P(f2DSf2MW!UuaJsnE}`@Bh2%Hz2z8qZh7VW-N2s%
z{uamKjfdgcTHf>%--wUL(9b^bE?yMv>&~J0?bxzp+ui}kat@k%X4bAprWNx`3ul(p
z&g#6q>#?c8gJ9fM?zH^|9^SkDVqnImDv!6l_D#khCuZly_=-F@bY;$J;A0-aww<)C
z-_ARLv{BpSM(@6)l~3wZed%oh$;UH-bTize8_8$UjbhYM#nWX|MW&_qBKv~46r87_
ztEK;f_S6$^6m-7Duja6K2{96I-fMUCkzZdpiIQW#7cYH`nF2R`^{f12mIosElGj6v
zH~Di>{`xDJujH|O(*1Sv%gVERk-NLFXXWe4rj5d1FG26t50Wn3i~QW>+qA9dB&&;~
z=(eC<mGApo=v8qz)mJ;&!T2X`d{})d7mwQ8adj?V<JLpB#eF^6M_;Rn$?ANI;!7c5
zj(!%sT~@uWYZ>wi{&f_WTwL{-<WeMOrb;eF_$Qf^L#LcYZk_A+`|OBWA(<4JXjc5v
z%M&XZurx;>lhzjGT|53zP~J%n<%Lt`(t?f^oeP)3(^NaRvo-%=t?t}dKZp2Q@!XQk
zP3;t~5x(}G4X&UM^{2ji@l@1TD)#=qzS@hYi&||zw}7Xez!+TP)!=ItxWiVNE1cJY
zyT-v&)~&)PUcI>Su`cFbH!-&2@<?pO{9J5m7d)Vt$`_!AF7&t7vuU?kYH1;(GftH6
z2e*>(l?R-q_0M^}T9Whe4<IK)(4F<atR4Bv$;Y-bR`+JT0Ze=OOs|}LF=estDVutx
zT~8aUZ{WS&7?qW&(mP*;wl8Mgv>tQ#wR&S!PY-ukJb$lvydV4HX&meKeHA@n$Dc_*
zJLMPB-uje>&k*eoYgOz`vAILU^fg}_XS@3bGyT|VlNOy#6&=k-wmy1XtCP?^!|?2G
zWW+1?BiE7X>#%EFx!r}_mV81^?|T%vegE9n4EV|r%M)$m`?&h35<2+wdEgkCAblX(
zh}U`gzr7C|q`sE>JD0ibyQ_vJ+j3W!hv7Zmt%`LIpx-Eb*YcEXT&MZ<wewr+LuQL~
zLA)%rC5j$90UZ||><pDI2!&2)9*%u`FLy+u#tc2O!kn<sOxSZTHoygO>^JaoJab+Z
z4!JSrxn{u7Xvi6Q1NP&-6|wEF4={6Qnd6s8&s_XF{0U+(ym`~Mo4LPoKe`CKbdCp)
zx05H99M^k^Z)ksD*X^<HpB<yR(8be}nt$pHXx>W<>PhP4h@I^2LSKP9;i+?cyiIe-
zu_us2kG*pLXIhj0Y^Lu6wtY`mHEV8~%Z1QWuRLWfwT`F2Gkg75sr;nk?^6Qbf6~YI
zNZ|WwzFT{ieWNTiyVVrgwD%#iWz*XIqo7TD%}&AM#SHf2>&c!~AN9x?lboLJ^zGHP
z^r0B6wQVox1FpAs73Rg6j)E<NtPitZR_==b|C6@`g0fvQ?GA9&YybFdp6;XG52+`+
zDcOi^$}h5Wu4E_svAw(->FSv#UbXg~cy=*%vFyDsleg02m1A3-q|YnZ6|bx`-LExc
z2S6MDsd&L2bO*N1-&yN@k6zsR%1Y#9GwWK157Q)C*Ij45$2mSN-R!;vx_Lm_+B+v=
zr#uB7dga4Oo)5Pl8nLk>Z_mz);fpo~DMpW9fc>&H8aX5FAU87Xe}1(JS>e-6q}sEy
z#rK&S(^kWL>=>cryfGBdXh$dPS`W=(=Z)dsuYBsf=l2l5t4UXBP2p_|gZz-6?Xz)x
z-una2E_Aefkxy}Vu4^=Y4YE>lFM^DZvp<kWPG`_XLs%0l`*vd+zczeW>sRP&H-7zV
z!`W}}V_o>L=^AiyJFs8O??e2~3E-%9;0NRA*NPcg9L3H|KgKvg94X&{^jVT~8!0>A
z%$e!EJ}!2`KeCxLUmH7EYUd5#YQB<pyUy_D>-fG`Uve*s-=%eUwwrg>`PF(n!~ZQV
ziuJ%G;l$TF7AIE!=)7`&?M9bqcN6WjwkhrJi~kcd()TmR;<Y`~&Jo@UuI)42CAMp;
zyvFhuTJb9sJIEjhGJ`L?E^~a+_0fk@uJ13gX2rbvXUWpDrL(+!pd)@AYwuYfXlqeD
z@jiDbdTDsWIUWs2&TE~e55+Iih2oKOSpQ57>%%zGQ(9|tHoD5vL~bU$;?>>HoUJ~6
znfTBX+;hmFYpktfVSN?ba{nA+rszRyW9E6YB4|4)c5^E7GQmE#+NmFRY-mMr$Zk>}
zcI;qZ#Wtq;Ix*0f`Vsxe@5^hy6Wu9WOlLEIr~6~@jf?NV*)sHy@>Y#-2Aj6%B;wOY
z(ZE^hU1tz$z}}HQ5v{v?4!;XeoBm$lbJ6>G(14})QP8iAzq$03Im6{0#fAl=<VkrS
zeP-xWHeU-k+*5*<7g4W29%u{b%iTpXxdD7hCQBY$S=<HP`1uY;MErb{+bKH-8Tkgb
zz^R;NnfuJC%_Bl1n%9R%?AZ|Ieh79$7rML)nXNr)a*7UpGeCcx)dl*qa#}dE>-t0J
zNb4_J(z;n1wci&J$MNL%+1Oztv-6<A4@+|`eVplA)Ac{3xjxP-rUHGrutRUeI=f@g
zSR5POKwrAE8{;hP80hOo&e60W>peO+yO*zSN7on2(1@j}pbYh8fkU20==sz>Whl8F
z?HL8_8((`^?__&CCBCc$4vSm)H685T6vtubFfZk;w)`A1hP&_u|F0Bpril3$^Z6M?
zcoOZ4H%0&AN%5!4li<zu1;JbIeFu*(mx?cSA0sxHy;x+JOG7?SeqDMU8&~Hyp5We<
z<-IeQd&b|3!LAvRnQYo#cq?G9Wcs#OHp(yW$6iSym-4H7?Uk*ynQ496D{r!<oS7}i
zb>=I(EkmAqi&vfR&f{muzu1c$h_-X)F<@7_@d0>ifb1r0W!c5p`V00FLy|A?efk&v
zw3pFfoH-b1TkZkZ`a9gz^gWGZ@Cikm`<S=rE-Jm2_+<Je{?30ZFpu`W=g}@Zl(A(0
z+gOEcam7El+w;EpEe_0Yz3dp`V-eO>_C5D!+`T^QYkU@8!@<{h*)I?JA(!wi?>IyA
ze3O6w6!5koCtbN6i0N5czL0T6qZYT?TkBW<^UiF4GE?!S;xSGS%t>eRgnR2}*zu18
z?{@5n>agBcM{|b1cg@Kc;_8E5+c7pXeLJ$)+80g?-ayVpfKl@Q7n~D+qQ=0po*kf^
z_5IB&&%3Mr&5OOJe%oy?(e5npUW^Yr=e^|Y58`|TV;qGW_)|PCz4=UMK_||o&)&EI
z_gQ7T1!Jx9HS8YZ@1S?ZcSGmKmM=ty8<V;lc`>up9-{jeBz&Q<kHuG+&UpLemmUKh
zJEnOFG^IVcH(3kWU%U8yZ>5*7#lJ69<KAs1FN$}LudGJ*nst`%E#k0;vDwGvwP!Yl
zvq0tS(V6Va+w_*>=$fwZs2c7zsGPm(itO9258~z3RxT9pe&ADq`=H)^C5>C5`%3gx
z$ioz>G2}&TKt6VIRuEs)&4u_Dunc?_`uMtOBW7N6O_`Z-ExANzl$nRyu@`jK5Z#jo
zPp&QH<&Gim3hz>NKO~u_yN2!?!Q0paTcfsP7~@IW*3vFk)b4)TsozR7W{*L>j~t4B
zImpX5qdQBkYz>*VQS5(}F^5B&-FMD~i>&fMijGGD`_8jX_YJ(mC_gZTKcQTHvK?Ev
zr`Ml8OA$A6-vOBIovTF`{kFYA`Nc-MxylPT_3lln&&t5Piz(2Z^6}>>@8X<p=hulj
z1J3|xV<P`1qo?zn0X@W-f}ZimPrZRVlFAWdVT-@hGkq`ZHP8R%_d0MD3nR}0_?^P}
zg2V1P(y^SK(tFqAxIb#v9HJlB9-#h0!#&S3bO+;qfwmunr)fT(;`A+8riZ<_QPhvc
zC*OJhUbo&UP+cpVUWG;lw{p=6rkSjx&Rc~1H?ov7QTw&OCI0sgz9n|RysgNhI^Z1(
zjDl4(5i;Z@r_J~>XDa?+w{khQhYaVp%!mZ<+y0I|cQUT-QwhJqv&Hev;8%FI_+<~r
z#jhd1j`bVR84H|SVpC;**K&qy7VrOVATE}{Plx8`t>1BEZHD}{j(3)IhI^KEj5$GP
zSu<YFqY)YC?-AgTtWrPj{YT!`JH)*8_s5aXS~qu|5oqpk&$Nc29pl2l5&xSr{#tUh
z*DtR>Txpy=?c{FgVjeobLT*0Jri%8RJ%;is?2)E$Xi1#C`YK|oO~A@N_=2A^w)jps
z9gfaaZX(fPcyN3wcS*YqI<R`MGc^MKyu3w4dB7RN?vqaiAHdb7xeJd?tdTv}`z3JE
zz?#JRIA<HoBN+xx<r%eS;%)&(`4MG|a})EQ#J)`@d4ndwf2${w+r$jGu#UVj`t~&Y
z;(~E<@3(;$R`v93N(_E_+$!)j;MM`-W5WhC*Dk-}FmE;Q$<X(CjQ0d@1VpegHE-?V
z)-sm+oqcQjU3gQ!=YhK&X225V1NQJyxTo&Eg+bd{?0F}VH&xK0cW={V>uB4A9(Wb`
zQ4Orz=VrZQ-FFV&Jnn_>g~z{eL+tkG@@o&PZH9eNou%;Lak6VTXFCx(KxT4Y%DCr{
zpr3As{#j!;UVjVxCfY2g53gOh+RYtBJIUrXoJG@`oWS4m&D`Aazz_kJD%#Z#ZXXxD
z)qo$TISxI!a6rq_VWK1b-2x8kHLfx6OnFu?{62SN?FN3OGu)iI@SE<zL%Vb1@R-e~
zpnkj@0DkUE<X|27nbpTO);I3Y<JGr&7JSMtxAW2WV16%)({kXt8a`STGSdz6TW5I7
zk=sq70ecdxXNEpAy!}$?`y3hXO@g_Zcb!|9%k*~Met9UwdG4ZoUkUKCo;yGAP)&aA
z`f<8bt-f`p+nCzx+F2j%Maus$`0yVC2lp}$;TihHUJf^B_`P<ZY5Ot!(1IT|aO;fb
z9?rJ>$P8>YTTg06PBcH0S#`I@Q7)z(@M#8^ccP=Y&zy}hx1?c@gf&)<uGlvg9!`Fv
z^6(DmHp)6YgU#GXUpqpBmi&%(_1KV!fvhLFWfK1Vd_#FtnRB=)S@~EKa=fX%^30~K
z{L59IDSFOuF0}sRv6*JV?Cp*jdwTuH%}mJyt%+o@!`yCWZo<){l&gQ8&lv)rYdnn=
zWnLPuo_ogN$$c|X^jFEam5i&hO2(~ZT+S=G;|ecp>F*EBLFZU>X6YUuhkENnI8!c3
z^@D72{SWznlCcYsDPMsu!BI^Zxvx9js%P_IIMi3pSFJ@A>o42uD)1orC%>^CKGC{a
zUr+1zD`b;+i+S{(txbS~3uqVe+vWMcZDZH{XS7or>hzxBkt|bQ5cv&y^F}g4vRyW{
z_)osn#pn|Cue!mus&Ct>9rD3#r#3O#i1(CF-J5Sg?ueJg6XJ(!1N<N!_4vVY`5_{H
z;M}t12R~*~cq0N{xt;m+#Shq#HR{j3*MRPLa!CBTR_=TW7vhB^cw7QLQkoa=XrD9!
zUan!SWvkRc?>o%MB}<_7tDv2Yq3U(IS66Mq%?+Vrny;d~$qd;OK|bnCr@`*hJU>l4
z^I6^}sfe|fjWn%0kB_wtGDDinMi_M1Aoq-CqZzU#^ZoB{Yh*t$`Te#xli&ZZHyhur
z-Jbk@{>{eg&AP?|vF|mK3$Jl-xVe^pf`bbk+yzd~Yn>cfcNOC=G{@`_zbri0d2HeJ
z=S<b#3!&eI?Ul<HVsndMBJfLt&o3ePr2&3vWj&J2S^Sa$2akgT;qYgaYo43U(evER
zy=u)fhaL3)I!~R&^LTLNk{WnW`OH=+E;FoZ-G<|;)`<@rLLuf7;6vt9>COi}WIpiX
za`@1lkJd(adp``HE%NIH<*?|@%Hm4&Lpy6X3OW43zs~MH78?ZKb7MWlbe6;xl)iAn
z$!!n3gr7*>{v5bJ0DUb3mnr5IMdpcrJKyV>p5$-k5iCbW*mfDeT|IhOHnmemzSn>p
zzw4zVNAZc5<H>u+$I$n~pNU^pF|4Awd{}w2=I_4u3Qp~Nuhw3L@7{lQg!iMwzt&#;
z6l?Cj2kXP)!cp$!u3Hs=gZcKp?NR|xSeOia@(^pcCKO%waHyiWDOB-+Z`8)|JzSW<
zTjJ*UVdP$0i~mM#9NrmYVFG^PN3aSm;oRoc8@_|LA69+&u${+H+9-c$P`+3g<>&Q>
zH?7_O3*N|I<l@V&T@YV00{BAax^FVuyJ@a|)%`lrUAgH#$oJ?)v%5DyZ(INRzx*B!
zeSQ;s2v=A8GSS*H7C(K$$6JI)!50I*n`d|5_rDDveO~fEfsg&Vqu{#*_)eVNo&4X1
zk3LT-0pCQ{uyKMpfpf*(DQH)|&Mb8G6lkfIZ=o{N9S@Y>M|n7AW=b!nu;Wxe_3nUM
z?!}Jlt9~oI829VN-z~f49_rcl-unHz)j_XX+L8`k|KG&vD1**wlK61z_&Ze_BS)XP
zP&A58ztHM*Yj21z)K<2C9X`8a1TEMn=r1=Pl&xP+f9mrrzm9<~6ZEbA)i-w1lHBO^
z<81v(@Y0ump|ONJ(f=Lrx$^8caBpoPIWBUHyBj>o=IP-7NzMYVCXSRm&8(1Jc@W-S
zIKjAgVMW)CMRdK8Tn>_VwXDlR&euv8-=h9F_uh_dtet4))^g@{A$zO0;2W(bC)AA*
zlU`jGZdU)w&$DnE=e@~Wx61!!<4HG`g_;*J-gEGNBeGNVpQk>4*@_M4S2gP`IF<3;
zmp{L7^Wi9Vg>ZX4L=GA+#$~eRR^53bE<)@X+i08o*SDz?Ccakt*7>eZ(tXv=OUTPH
z+)S^p;*E~RQ2IbPoIcnUO6&e)1llst5Vp|LTgbmTmOcEps>A7-b)odzbz$mwK8<`?
z*<sOXX2fdZ61nfrX<dZ89$%Kk_bemNN3470J5Ad=!{ae2bWSmxeFNPTGUJ<DuupTu
ztJ?Uxlk+F_?puxIA)`NZ^wOxg^X^CJ)1?_=8Hu~4=e+y8)1LO?O?m89FRvi?{ayVx
zIy;tMwW%K_|7<jOg2!cVfmS)Q(wzft%}?i~9p)Gh_aCFGM~A5WAJuQ8{5tCUaT?P{
z{ugqDPggzhkJTABFgNAJ%`vtuTS1xf>%IjZrLXl)$PfO)n}W5%DX}c-Hq_!n0^=0r
zV4%)q_jhD=qWe24Tg9)N+m}59L;NE`{47~xHbs2Cvhg#;iM%^TzjtkI!#j=L@M33p
zNbB}-#2PQ7J^0Q<%=Cm$2l_jQ&nS9$cXcTJ&c={S7dh6j%pHG1HpH*!rkGZq<^G9p
z&-Cs!F4g>**J|*nm=eB_8><`-O=%3_;b3(*y>hjae*4cy){ewB^70~&%zn*X(~;SG
zkd<1~R1_YjFX`-ZttoV4aVB~e&i<l%V|>5TZCjE36MuX4Jle7J`X|13v0gg+B$}NN
zpxGa|G&`Y}X3uqLc7ji{<Fmu~J4lbWJ>}734FBA&=}B5s-j1^HHO%nfd&q^aBKvcG
zBdlHSa?>5eb2qs7C)P&mk>3nI5?{?hvsY3UgMS_6fnraI9OT_O;>U)+xfhYn)tT;(
zfjhgV3GNkJJnm$!!e4$A{6b7mFpj3o<DIeD3LjS&`go3x6z`19p6~zNQep94k=?}H
z^Ovg+k5)T@UwHo)=Hso+*z8YK$CVL&9pG1;tKGSe%^H8aBlK_k>Xjv@m=WLLdzbi?
zakMs}z}nOvMxJn{%*vCO(9K=QedS9@AyafFq5*lik#cVz&WB;X2g7_|@YW7Gmi+S9
zE{ZJgBp$6cvlRbAN4RtJ+nq-{JEvY)k$dM^Sefq!!TJjeYaQoP1F$X^tngwlPA~Id
zoze^Ico)_~n>{)ctdiwwa}=z8yK%xZ^AIm5xi9RkIq%&7tLPv@{7q}0K<0h~o)f<u
zt2WTaP<|Ej7vGB(xl0Vcjs3sWy?cC|Rki=WXC}SS7FwG7MKY6?O9RTKEf7IFlU9nL
zAf*E0rIVy8P!FC`<Q9&dv_;W)VWd)}Xp<I|JO{AKHGq<|fO1hvfr5%MlN6}b!^K{Q
zQu2F$_I{pZ8j|SmcYd$m>-YU5uP3vg{p`K=+H0@1_F8MN?P;BUoB7iJn&;`vvE)X>
z83S-Pp5fpQc!%W49?p5`o8^4#=%dO@(q{wr*9GHk{IL7(AGU6#ZU21L`Dk99kGeX&
z)cLD?QnY!gg{R2-ihUM)FX?;6@MoUSQODwl^?d-2d_M7v?W@@PJl`tUoN$z^38(+`
zCwH&!jg*JDe>Vya(Ki<V0eZkrlB<uJXW~yqTchOcmJWh0vsuq-YiDuy3E+cTmBJ2d
zqH%0|?*0JjJi-6{`q6mVV#a!}Qa?%lZ^=vK&Vllmxt47t-wvEXp6d>@By|VB8_a(P
zzjtuv+o{KT?44cz$cO)L`p>(E2%E9BNin9u_YlREqhw_~cZ4ZA;fu$`ul{m0URQu_
z)5m;tb0+E={QoF*dimDoP($zA8W~mlzrBknsXY1P-5ynQn?WB8<oCDW>$-bIYyF%2
zy{10V4OXBptwCS<J#^CBw`N`e_n^pj-i9sXFVx@a-(9rT*UL4Y-IV8$WBGQ29gIbK
zY$N$dGs{id>T;z{mpl0w&bR|hDh#jF+|zf6zC$DU+Ta!LezZ~-yA?%O$QXAPIoPvl
zeAVPi5<Jfjh6h-R;srJjbg?P0dB)Ud_Xmd8ow|u-Sy^MASraba-ojoZxy<QL-Lc`n
zX^)y2$*=qMMmRT5{LhT!HGaJjU})F9saH@hu$2%)gYG}1&4shkGm@9NHru(Ubk;C&
zIPJQd^wPXG`8`~lZBwax$w1x45$dLh#Y%p`^`GTl)8YDWsiEG6aQYDFAh|Z2UQf(=
za#=Wir=E@B^zC}Wk2OEB5pWX{ZccOcgs0*9Q~m<>VXnQA>S<2k)#|q$JP+F*FeTyp
z7QT_{2|jcuTMxVq*Ir0>z;Z9At;apD!`9Q?uH4&c>y2=SZcKN!qIcPPBi-%FJ*~;Z
zT)p-Y?rcqnUMi>;&>&|m7Ysv#@x1$N$$dHOSnwP5-)Eb}UOn8H6O1|Eb|gL~z7g;-
z$=6cWyXZbjj;nmSZu~pB85CDkH8;1PdiiwRllN}7-uZOfKwiS2?KtJ<scqJu<jn)*
zTv7g4ty}#L>YW(C@bv@BkE2{MIpQ1n^=m2LgIw1fsXT$~Ra;Xj@1GCucl`(b<>S4P
zT$*+~-<g|xTy;y_+-3b7n>v45sB-RT)!aAi;x1V14r*JrfDpE8@yc<3#wG|I1@MpN
z8{H=$8q9~&P%fLWXgI(89dwKNDrb%6!@raA{`J^9aBuA!DzA4i#kLNVZ&P`&-tx+O
zR35CaR|e+eCCZOczwoYa>j_`d-A<Z2<?~hFy?WBuYkJbQ{K{(UO+63eo=0%{-})bV
zzC%xND1Vr6rai94ldspv{#}SpBmLtm<fqj$bR>3GD_1w%w&#WSN`wCg^rw3}kmdG{
zSDRal|EKobHbS0c{B^YZ3OXFI9yX3=kB#3M>+R*9QJaS=WOB+S(F1=;hN0~$b9WKn
z$Zsjzx$;S^#Gd@ML*kvt=y^J?s#rAcyj}bs)@Be+>mJX{bm?L2r`T8MEOv9@jTJhd
zC;xi_8e!cnmS4F5ADGIdYp=iu7b1U}a%eqn_YdsV`DWn@*f?k>PMtaE454e6-YEM@
zyny&x>?B(w6}55fBj;WeyQ-SA>JNu27Ttl(qlJ1mQ}0G{6fX@|E{by>!P1|S!vmdS
zEH<a5%dl$^f3o!3*r3>ZlAC^UlHY=PFszUBK1Ba9;QKT4we+&k;%?dGsjL2i`cd*l
zwcxKj65CUPvjKg#ki%(G;+j{nzx9y^<fTcsR9p+s(>f6jP6ub<@5HAiXjgFwv(R~T
zug@32-6{Bx)xPj^7kyrfE~4CRip>!{RAI+)Hn37}?~SH&!yg@;ysop~d}sOa2>dk$
zpR7~<Wpw-~duitDi8gx=W9b2LL<4pZcmHdawxhrgt{2~S5PJO$@oDnGYYdvh!SlCs
zi-RW&{+RDvf_bTDUc$_uVg7`>F!QH*tYi*FPYakw-8-hTTi))Qv15AN`e`)ozp>}c
zANLA>+_!7o(7fOaL+jeNbm<%)-@L>5te$U<=~zddt&8HFRrGNM?W=F)=LqIjabTjk
z*9s4w_LvX%YlWYjCfK#VI6V(`?V-QTdF*LsZ0pU8o%2n#nycE2j=E~rD0B5`w5xdt
z_}vpPzPAcnvCF;W_al0`Jr6(k^ZvK!l6$ce+x54Vd`gT-`;{X4*V@BJZ}Flre2o83
zX8-H>$H4uC_P!v#lMhWXSG(9J=}y8XVuqNzT;^D8AMk)ZmE6M{QEXbN&IH}Sd5q1m
zR5-n3VnN3f@ICE!yI2$5-{X85b-K`-V!%-YKBn+g&Y{cU*IC|aAABWqlbPaZuVn<i
zx&>OcF>J>U#IUgz4~$`})E?q7YkO0h0Uoack8d;XEx^=OA5M284`RfIs7=vDm~nl#
z)~tm7a~pUU>|bMT<bMOsqku6Y-o*damX;jsHF>aOXSTXQf_1-zzFubEvcLK6jvjC-
zyS~M%@C$Cc!K(px^=58v3VrrsuaWK8bcNF)>=f3vyqvwfcr9x;h>4ONM*C&aOpJPJ
zgV^MB4>qg28QW(6U0~-H{(H{le&^@F@wpDip`(V^VM0eb{;_vmC@meT=%U2MGw@4(
zctS<%f=JPJ@w(i`P+ITDgAe%8kn!^^=-2E=()y+gzS)9Y$O4CWfMFer4_pLqRs5vZ
zn&h{Gxy)-Nw`4!8_*;WH9K#$2ZMI<VZ##?e3;|=@hjAqMV(8gHTf@OO7CsQb_ab-=
z;A<KNzL$|XL7Nsn=*aSj8Z)y^x<B;az&Q@hQ*MfKz?a+g6N^XEXFx|S)K5X1qRVd9
zK@eN|+B8R(%Y3?IZO?afS?DdpJ|*AwU>k%7{S7XYEm*kzD&O>Cd)bLx*f-|W@Zln_
z3D{Tz^F9o(VttPP3bflhTXLkrlYK79x}C~j6Y&r7DXf0vl-3wNg+DW9*>Q}iXw}-T
z!EUJaEt}!9dPm#3+oD7`qdhBM{>A<xnEM9w>EY<BfjvbA+o9Uaj<CN-kWcyn@ZFE=
zwn+L-#-BJ7-C(xEwc`OUj`ur0uIqV!AP*??j^sPX0}8#vd>jgQ?|?($PB^Ud@mJN4
zzw#mRck?4327eW;-|oj>`TOv<JP&`5$q(S;uVI9{R1@r>0{pd)u%~HZ9~0nDGJQBa
zw{S*N^H;=pGT3?B&l6sV!G#8G-hb$6Jm*q-pb^oQ-mg6myCG}+6`l8k|Mcn!jcBeC
z#Pkf;7jn(^^#b*`=x&$=ijQ?VMr!;Jx!jHxuYbz%dioFe#C~MsZrLmI%Jx!LF8a?a
z+d<i*e!XB{^M>TAPgf1(@e119M){@so;i@*49a^b*ZxB7syt}trMz}x>}`VjTPVMM
zh;}wn{sWbRr~LMxp!`AGK6lg<p~Jv?h3C8Bg#kaZdBZ8Y8oUL3hJ5DG0XdQLzWGJo
zHz!!X68i+cQSL{L`BC-5^Ld`y4+@U`%>!}u*vZ!K<ge+c!M&iyTgE&|MkTNHeW1$4
ziyYH>h(zO^>kj5Vc-2SOOZG(4hV|9(b@nO9JjHM(v5O}-OOr9!SFv@~SQw4Bce(PG
zD+avS+k>q6+FIhM(Lc^&-R-bAAWsprbq2q6hP<a2yflT<;D6rUm&bIBeV+4$_40S>
z-kw4aU44KC$@4iJ4JNqbS9C5~?H=L2U-Z@)ndv@Fk5I2$_Xne|*!DQ1F;c&S<MWfF
z2I)5TPNaeO{D9UHqBS4p7Gl?f@>5jq!x$p|J}955av!D^$^+UwmhzXG`_ie3?GJg`
zBTeqx8^|3)yg~NJcuu;tzLPCh?fyeg`rXR&R_T3~Uhe5YKCNd@xn4StaxzMni9r)f
zZkY>hpzGi>5sma1ol~!~^eo+IC;V8nWOW_<<x8N2BsxTkt9wIz=9KiMl<^&U)2ZoX
zy-Bz8?qbTshqKU7%#2E33Cxl^$wrgj@GS4nMt)7kcFP(~mhgnPYd&Jf4L={TW5tX7
zHlw4`jkKw8sog@xk=$U?{~fe_nBR8IK-(>RKipgs*E-O4d{p|(!EM)s(kp|uYyGxA
zG|+bT=;7P$uBC0@6u!aJruweq(iYxjp>(zIxz?@`y?d)ZIVxSDvJIgC$8XiAMx~2Y
z)`P#(weePc+o<#;%4~bdBhtxmIGsS}A5U37j=Dyr%LBaEgwqQH_|Nd+KPwOZ5%kY)
z>7N1K&FFN&VB9PVr#~6AjhwM_df`CZiNlA-O$_^Rf7|iV>Hp~-G^ah`^oc>+jegr-
z8fd$H1Y3FwwsgPkO|j%*=`DlXu8*XvgSIdA+rDg|?UoU2z2t45A>OO@Whb$8o*JD#
zmp+!*yjkwfvmMxA{`iC&lWZUQ9fDS)DfF@w|3mZHk#sNK_1geOs3&-WHPkSY?Hn8b
zZ>N)|1lSF5kc+~`QO1CSwPEk#HknBJ9CFC0PD?m7`2~D2d+I-$R{b5U{XLE3RHhCL
zgZ(ISLHR^zNBf{w_?5*)S3x?84lLh$YMn_xx*57ePN&$XN}i>vd4dm(e<b~*LAsOA
z8@l1|!>!*I^ra>6o~7Z^?Q!H+!?Fc?H8-DOJ{r(hBy-N=|L9WmV)iG7eyjcQieDBp
z-gac5zWFe`_IT=wuUr^0XGqsV=dL~RNV9Su<87nfwUKykO~h;uVJ9kJZxD)d9)P&>
zaqLe*>;dmVPkfiUYU7L4RiD>!&gtgy<aX*(+YT>R@_+tZL}}|<>S;d~<!nTNqY!a5
zflTn81D8HdTJp+or98kvh}aypTLrI|e>?>Y%*PX5<A%`LZ2sLRt<DzWTv3d^%b7=w
zS@3K8dyW_wyY8@5{{cMTpx+*qF`q$M3uP}*cBak<`tuyaHa=Iseb}>kw(_r0Uw2XD
zxBH)zt&ko>eaW$)?Mo<^?PPHILdt(WMEx&N{;eU(FQ9zy5ashI|H}~NpP>A=DrY>!
zjN^|!49cDNxb_9&2mHlYC$jUfrkq}m4OF(>!}!+8;|Dro#K_IM$lcK>SsY@&S(J>V
zm2ca(NvvNvx#ecbUahYr_MS)3>xy~5jCOm_yU^!|C)Yl&xHW0ala1kcCx#2Vp6i*z
zVsaKVhE1pT_x-fad@cj_o^y3Kgmk$guL`=}1FfcLE63j~=o<Q)KciIsRb(>fbXsVq
z1-&WB@9FqqMW0E^W=`imP|Emyj((@G-PnBsI!PC8MMZO?2hrS=JbRGzX4z|ahB%Wt
z9X_EmjlnrSo#ps8F^0MG-5I`@#b1DXFYxwg?5wLW>!qA^b?d|UJAlRF#D`DosStRJ
zfm1N=4P)<MT|KM0W9&b)eG_L+-$nE-+78yh1?a0i^c&#mCe}cJr<bVr3Fh3*=fL^e
zo!I9FY<1ihe0e-4+uTX$z)P4z&6$fiF=^pF%v?5&(;3Rh_IBClu8=JbTf6QjW87E1
z*EeGw<GgiTVw(2*iU~B2Ol|!j_M182yn&op+W!~KnaZ7_+#?0gT|-+@_JWP%Hf!R2
zeU~4TIhFix#BP=Xi{davtBR2mt){?>@F9QCo=VNnBbFbCrsGAx1WoJQQY<BUi`ad!
zYzo?Uc47C?w~02BK4&Vj#c#*P-{rM6$iGkA+gR)0-!{m<&t7a*wh-E3?+y-TDBeVE
zl7FN1Xy#acddZFM5$uvN-YwC76&i*nEFCgl?2>Mb{XTzwPs(c(8_~?ecJ^7jr247k
z|2M$ZGtk}s=KF2Dsn)CZT(ZsD^~wJO=bDXIx&~d8Im{sI4fA~-v9i*iGsw<G&{TzN
zvCPkhnFrZ&r58l0AJ<wrL@-v=TA!tVrdoFU{ms93^T9gFAm=_qJF@A9<hwxk)4p@Q
zU)BxX>}Fr1H8q7kwC_tO*CPB2K5)F~O7=p%--f-b{+ahysh(_Gx^GB(J8NH+%%<%3
z#3So>JNoL`;6d=mp;eW=!<q2Wd@o-3z-fuPr$kqI{bq?J7ynhi4aEFvy$IGe+BzzL
zm$RoKaJJ3DRBUbBu_XDQL<iKZ0XFS9H=%dZH)o`Zy^bknrTlLCPQNt{oln(w#4)Yf
z%bq=~yqII)8{?VBNT}5m)T}Oxa4&77Y<oLASuvK)P25EisoWlCJ>7Md_E?piFER7(
zI?Ht4^~dS0OKP}l0T?=<5j{2LL%@M>9~JKD_Zz^XbHfkWv6p+x_^o<fo47-V@^4Zu
z*y8%m?#F)F!MeIZd$Ahiv-AaPTV`)y<6OS!_F@4aS<*Aw?!k6$jHLHAp?5(`xsBK=
zp|1?z$Ua>Mj%9yl51@VfCet=LEgSQ6%57XA{k8M%dF*as?Aw~7-qvv)NBiID&J5vE
zysqb~Cihi*F;4cEd#~H^6nW=aIw<qz@a#tC*Vub`r#2mK%Dnx*MUTQJDtl?Wwd0pr
zJAPYzIDIp`fpwc(>)TA*m;+}sE%IjaowMT=dB^a7hL}6W+UY!p)~xIax>IL5^Wfs=
zTpohw{~$PJ_b>Ole7qlH;Vkqj?6b%#^WiShleH$?$H0N&cFpPV68KE$EONarXH4j@
znO>gQ?p4>!aqqKdbEcTzyCRWvEWoiLX7_B9JNG->ug*R~_}^x6C|qLyXg0YISf5sr
zw?}c|O|*r)D*i;`;+YeQTc>lbXsKd@-~~}=an^8l`?+SuJ@5|I?Sf9*;b&RehG$rr
zCfR<v?Dpuf!qsHvR5mNk-%sRAYj*rHlxMduXKe><$}Vol`icK%@Wp2TYxuS)M%{<+
zb?v!)_`Ws_d~d^32E+Hxx^UVY<L0B`W6YQ45?Yt7zK}VPp89!cNAa8uJ`GAnh^8fX
z-+?|ve~mu<ArJcL?}xt`+Ga0b|6rTF)%(EhGQR1>exbF#Ys`Xvd-HVP-kgHJDSlVB
zt}JsP`JHdC|KTGuu{RgDzQI^!&o|tgHrQVO8t)vgO1)a)ioO<#mgv9HKFhqMo&he}
z25?a^2p7;<KQ8VYgp2&OIFE4!Yw_d%VvKYD%`x6H!Wi$&8{^x`HOLr`_QyEQALEgF
zF7W5uj85x*F|DPNv8hfoA=P=}gp$_i1pFYgO^)-&+mpm@D-NO>ek)vM*>i4TEEZ4v
z-gag@_k;cX_SZ%`c8KBDUps!YU0-(cq>b~<?c?kncvhaY;m6HPSD%I3v#iaFMp(x&
z*(0C_Xs~mnn57o{V6x>cX+$>39?RP9)|y{*;F=%H9hbVVN%$&eO=W3YYv9^T6P6ZZ
z@U@0WX#C&A54gkWOVD4qKxa}$+cPPjRt!1(Du^Nf1oNQ1L<4;_E?s(~XmQ~qr$VCz
ztsm3;ebw<7=@V*O`^4W#zJS9F?-usA@6Nn@&bB{reqaV|NEY>=iv+Tz@uE|&x?FSa
z&qH<u+eJ4qU+Tx=FYjL9SCO*;UKO(x>=QF8&%<MOSD(Y<Al`Ys&I4FH7I_=tivetB
z<-yf3LR?(}pI8R^uyBpwA8Wz(A{)pSc)4gavAxgUwOyz^!DrC{$){0o%$d^hC-^c!
z<=nHF9(Y%{=#%JgO&g-EQRrW~QC4}cCPZ4V1$OBr_RJ*T2_9&A@llhA>F2lV&E}i9
z)(pHx?Iu|>VeoWd|AmVtSe?GyYi54+4qk~*dv30V@2AgCT$}-i=OVv8jU3b2+;(KS
ze4a}fn|{ZEUovq2ui?iw-?7UXr1yLAZ>Ua)y@=tg>3e^4`6sGZnEQqM&mpHJYi*ym
z5#K$IbAA`NJy9F&Cf{3dz0v;eJ(r{5)4V(P0+V~5So1db?wmINU7K)Dn@8%b#o6R%
z*YgzemFS7i5VOw;Z=#;ar-Sv>SkcRrL(CvAkj+nIss`<0txo=o^K&&HXrHJDpNjh%
zEH{d!A40zYeV$Ccc`9Sw24&MJJ6C128I*m9vW)Bwem@E5MemMMxleZu|LB|f7P;as
z8lvBiQzjiJ%-j_-_Zqk6Z7O&dU5F+UlM)v<kk@13gaY<-1>3us&qC%Co|Tpy#<pe8
zU$28VOfg1zn>y>6g9Xsn-_e5`iR;$yMnA4Q|2xs6XfcHR5sz(y?nCa}<vAfg7h`C9
z-^`x^zwnkn_BWr#??}$Y{Ib_6%c+d9-^Dja^Gz1rP4{(cPbS*@{K0{~UgZ5zybBtT
zUT5{mQ%vrBXi#*K=6r+Vj6|!kcsPBI%K07WeGTjJ+0ov|)t;}vJV1LpPGLQ%O}?As
zxAk?Mzu?<YRJw7Y_fg81SlCUj&cY*JUF3NIJj}yP|J$zy-zMGO>$`ste5Kyg@O8V-
z^Y>f5{u)og1Dr3e)Vqed4z@D8SGvNlV|gXt3HLD{_es|EVBB|e=TAOe{s8={@AZD)
zarSNc{S@@Jj`6f1{|q#<=`wc?CxhH;gGSEM7$i?v)7`*SW9QQ3-kG4eaARM@*oA{V
zzrtroY?S^#j_;P}t_5V*2W=ar-mmD3^P{C%)}s20ojf;JMcJ!r)8f9&dzD;7JNPX*
z|98e5<T=y6iF4mK*gX~UW+yb!#y<PRi!4vfWwAYnSVPH6;<=Z}m81RehI-b3@B|Hu
zXWqs=_0lhDD60W?(E0J=Y5tn-&xg@QJ|VRuI29+n1Kf45<vcLHg)1&Gx$JmzqT)?&
z;!l00z}4WsE+S4a=&KQ5y!z^5{SEFbj{V!V-ALP)!V?cNC$_AOq?7!G*jq)B1<CqQ
zT}xvqo#b!ZQ=Cm^pPl6I75;A|4xnXiIGy5&jIlg=_eRB1m3V#dy`D;~gA%WS_l@{*
zvX#U&aSq~&3$Y*bCz%CroS%Wu`ZRQCuzrI&N&G$>2D-b;=fhn-A5LOBT-g&&FX1m(
zH(kJV5A(9(ki@iXHTkmPEm3&wveEU^79J9s);KymEjea@?*=w0;j<dOt{cCEaDG#O
zb004ad&Zm;fp?t_Z)k@;PUCqm&p13sawG2N_R+ircn`nbH&d~|@2f*!L7jSHsudsH
z1w963Jw9y=HDBOqMi=Ws=Wc~pt&4q(S-COQhJ_!x{u1!-rtD;`TWcTa?0A&11@UQH
z`2TtS9s^gR>F4-gd`z~dJ;eR2#NQ;Fz&p_S&ydmG$Sm<f(fB>yY2-9BIpsFXVMne$
z&Ro5h^Wa6F3U^epS1A5eq@yTmaz&d)brfwH&EJ>~lL@CU-#oVCi#HwA@x}MXb)5b{
z->R>jcW_4+{a!wAVu!h5F8K})>9~B}q>jrkIke;I#>pL5-i&<%e?GaVa!YGWo$M$}
z4>6tD<)Jk3xVfdLh3a;pC*P<&IyzZ^zYXlqhNE}-v$o`=(6snlmroyU*zpG2$7E;O
z-~2l#k7?iHmN@r`;8wBQS@=#6HzB;qr?u6`r}#qzJ8dEOXc6wTw*YtIBi7aeu9NTr
zdtMy88hAoAJVLR}+j?b3cl^GWy+?D6S^42BIZIBN?s->S>V;$CxzEf-?;1~zHh8{x
zXVAvQv>|!?N#&om^2EhF{V--$#_-uFcVUeBQNPcieuDZ@-Yaim3qGeta1+mK*TQCP
z5hYee^#I#^U`tYuzH<v?<A?8^y034>a>`o5iD`}K@73s@_1wQ8`*KJ&eQRG1w<hMq
z*au)|W?eN=Mtrl)g_Fd_Y_KmI{298-SoUSbvnoe9@xPn*fMe~wGXC6kg$?%2%3<P?
zT^xnx&Xh9l5p2#;>8H>{nK3q2|6=C1Z{yf!_BR`AqYX2kn!7)1t*~Yi#7A4Xz+Bqc
z&eBj$@eT=aCVGg0-&xG*=~KzgJ%u~~*do_ri<f-L5)%=Nj!7&2MYhrN$b~kWHKF<1
zg51#BK9l)s{~mqPzSSk7CjIkH)sf!I{1OwR@~?4TRBbNtpSJDfnDnuJdur=s+EP1e
z&$b1OH|DkVVZW_Lzl~&mTU}$)Re5b4?zbgf;Xjed&URMDo-Z};a;t~Pc2?*$=e1ws
zw||Chx70h`KFhpYtWHwo=^VIVi%x=;&?~t|ZYF+~+@HX8*d(S^llv(OZ8_T>-^<5I
z9}bUW(>we7D)IJ5Im^dbYdFU%y!0}s@*^X6t)8hE+7BHjdupL~gbz<Gzit0juKzgq
z-lfK+=DmeJ%ep*XW5o+nAzSE<C#Czz&sFHv({G*53-iD98Jse?*A&YT%yHY;^dBs2
z((6jREk0~IORc(EH#N{(2wDk^5Z@T%{FK^!hj?z$sOl#ugT980%T1K2exdh<>H}+T
zc{sh@{$K7jAulwhE_)`!r$uv6T0DI%u%0qT{KvuT0q<UL8N|mP*N^8i?+!c8LhpIo
zZjtw_|Fm-wKPdhEym9}?Z%6C&N%$x8Q|sua(yPp)nK$ka=)27Oq2K;*Y`dl2gMRy+
z`Te90N`Eb{pRd!8{AscAj(-;P!&^#>yQ7&7|NCF$x05+2-IUkPSAupXDwjl|_s@Q~
zO1-c8?GR9B=lO^E?Ig#g&&g}&LfTP`eXOv+w!@v9{`xKPKJT}4o&WuEo{~Azxh{ma
zv`I#lCT#xHC_0S6&%VDo-Z5BC!K2dh1z-0+j_ww#J)cHGZ}!bxO8I}mI|CkMkV&Ff
z+2?zZOTEDOXYB<8n$3(!NAt!ojrRxejug28`^Qo49qo_fTz?$r@YGtGM4z#Ycv+$K
zqg=^1r}VFtGH)NUyUKp+(_nIJI-J+<c>2{k?nU;huGUxo8fNW$<O5p6*!gY0WnP{A
zUFaRpZ{bn>3lFmx|3~;=^t}_>tM>IF=|X`%FFr1PNcl^p*NcB&i4NQdzh<rV>pt(3
zhfS;%c(`Ee0md7EIjL{p=QH53IuG%FSzF|N$)795Y+(D^d}p;;slJNn>tFS8C4H#w
z1@vLi0pyEPAA!92IP(82+BcL}8yA-^`Iq`${ocXyPkvDOKxd)5r`VrJca~n%=F8SL
z>pOJ*%^>$lpc8GRPIsP+PaxwDhNqwppVMe%e5f@#C)%pJMFSaMjf~G=du&9;*AMa`
z3x`iIwg$$g|7S41$NaG>KWYNp%wjwlbQ7zag7+NwpNRg@11#^u8!|GmWom9j$I=-z
zpKI`iC)vlY#D5;lK?=G13FbliQ46~CEcBqbwON&VxALv#Rdtb1cCXq*UEx({$|I#t
zw~)Rgf41^u$SyBC=Pb?|Mctk`w-lR47ji7L4u30q2>D^xL7RGNP7U*jOt8A(->n`;
zo*kdYG={xCod}M&4@ZJB!H}jM!6=`R{L5M!lF3VuZ91E%KCZXVf{qjV*TFp<8bh!z
z&>C3VufxK((3h<L@O<Y#jA4g39$%>T3N5Vhnxn|ufV^Hd-pmwUWy9^pzkVuxHh^ob
z{S(2%mPV64(Ui2FNclp_N8v}+81#O*zNb#(*uz&Z18)x_+f%eHzl?N&F7Cv%bb0;&
zU3N_#(AW1jyEvoWv)KotS4qys+Qy}?yU)gM<U*XGt6`7!Mb4j*<Dhd5I@vVNrY$g|
z7M;$sk#h7l{K19Zo%jNiz!#z4FfbMPa5jydx>_*`QQB;@<0|nI)QQn<g0pIho6m<i
z#l4tnPkbZ?UlK0t*+*d81DwISn?QTL*l$Je7N5Yed*VSIF>E#obR*emM5h|lK4P_%
z5B)dHq1t_sxzd>TYz(Diaq*xM?=adcvwBY{v|r-wMc3H~K6|il=>JS_C@okT!zQOZ
zH~**<4=wdxw@+fI{XW|0L-^?>|K{WP(j(|SI)A2h2fv#4&hmKYkC~&L%hhj@r*lHF
zW8M6V&+hxC^AkLW{v`gbcS-PBhp!;;SJjaVNM}s6MtWGQ3G^ys%3EbSlds@Uj8Fc8
zYy2}5byn|^UQ+69z1Qho(rx6cl`i!yjT7Fb|1;pEf1Hf_*LHkm-g<w$w=qt^{d1mL
z7m^ph@bRiKY77?x`~K#8tnRNe;Mo-GKQn9dyykjX7vkTNADR>G=dc~F(puI&AmGWr
zXAhvbXYJn{f8*RCxZ4Nb_5$lktmWUmfo?#|Gx|d99=iu9_F`S*(jQ??gIrvvv3?W-
zsN7qkuSfKa{lC)7SzTOuX{Gm1bi5$O=*Qq{_d52?j92%D&XVqYrqdxqBjjWVDNYo+
zVO@8&j1VW9B}ak!%u1JMu2o;(4yT*8ldHhmG}Z11zL|DnWo`TbIEiJ(rS~z801pM=
z;T?+yr-v`IcyO_2pFd!{6<#E7yd#aH0a*ISJA!YfLB1K;WCi~SI(viF*@-C-{L%60
zC-dNc4xW$?|7Cgbe{c}|&%%>}`RX3w%&yJ>1@I?Es29_jDj)vt5zYj;J%<l}a(sGq
z9{jfgzv6UV&aooT8~}5%_wziM8%BU7A((ww8b->wfDO~0M@9z7Mj?F|KhyhdHhFQU
z!dZf~DZj=)ABQ%5TJ9##Lf{AahsvSd6Y^*`K@4f|-B!I1aFrKZ`Zvly1HVuo(kFxZ
zFXr_V!k-wFZ_aC{CC|_J6y@SO>O<`Wa6Lx(VwD4Pet8$=4SD?r^&g=8oFUq|oAO@|
zQU6ZL*HRwvB-wk#9~5iSbEe7tjrrBxF6!Ur*<)SX^GU$@u-c>ialb#EH#|(T%Iej>
z>W^o`rnpIZg0qo?`_B-`zIZaW9jjMd>GX<rWRiHS^td|Y>TLAKUS!lP?h=e6|HR`z
z%N-BNns{9b8)zH#tZo2p?INb9otUr;>&&Far^h2FtWQ{egGMLUdl#8pCpxiWCdE^Z
z;v9=ThjS%%XxfTGPw|h)j#N5CoZQpa1}Ir{A$qG~6z}GqEzy5<C3ymf4ac^+X*X~P
zPQ^I?jQB_0=OG@gTnMkwe|eGJo7U=%z|4{4{Vyc905JvCrDk!8JaCfV)e{+Sp_%{n
z2N^4KG8#VT^v>dbz4Os37jx3HNH%x$SoB26`bQZbxV3t~?sBsd{a};eS&NRlYy80-
zYQK!ww(yj2x~B=b1?~2H+2q!MFX<WWjANbRNtcJy1*|iDt8aP=Cv@zZcyPxL{dyU4
zW`7Oa{Vr_sOR>!l_K$YK_k`!$pbOzeGVxtxpKuc3rx!W2HBw$H{Ja9aZ7$5i4f=5p
zu+0JA33P+#1Z?@>FEg=n+R_PT@dxo2BraOG*ANpE=utJ;5y=~NRrOP$#qo(|zGA8p
z<m`1cF(LhpCx)O2a4-X$i5_m{jEkd<D(@HIPPrYg5`6=o%1<P&L-|N7etN-A)BExB
zNgqF1@FScTKo1dovjHBraxbOkVRnGW-Q3MZ-|Ax<c#aT5on=mi^OIQv*J%!S>0V#O
zB05@nhuBfQSN^vq=`z&Unhk*~<$h1y<KADvw;I=_|Lx~bjETOA?O1e<D#2J@u{J%|
z|Ec5^5Di^hVOD;XcUos{oQn+Lo8iB|mv6qz`=I<oet8^v6<-pZ!Mk#ehu=y3GZ#MQ
z;}?7+8=1=`Jio+~_a6hE5AbapdoJyNo?hf&HkHQu06%HZA2}bO=Hg-6I+Xh8-&bqR
zz0)LHPl?rudZ8)lryu@3eEV$2BSI6nlNX(T8~fYpNp5|WQ%Cn5^?j4`5a>^*v%kwy
zU-5d|Sl7z`s62i9&>f@TR_jWz!6#Z<>0jS)m$v<88}dVSOv=4q&if0v3sp91^x9gx
zx7Y}b=-bUbk@S~;htAn6pOwS?U&#?9UEob{e*v;h`}Q(oN{iUnI@&4s&XCQHHJTvi
zO)*R2eNpyB;U>;YT3cj=x0qNY+3GUr-f^98Wc|KDJh^Pe|FF*rZwr0I=_A6v1{;Ol
z<HW{JVQ&*^t@dN|U0y=$xzLiK{S5kal5dnN^OjN27yV~gJ3r?Co-uRbE5xfp)7j-`
zDxdK72J#~4{^$&I<n;4$PrpBXci*Z%*|HMvk7Z_Mo3%NWdXM@rZqyU`GDi4CzC5ho
z;P5wkGB+Rh>7vc<hpN2a(1zCOW3;37-asshUGK?*)89tEy-x-J^U2)ZrFC$d-{uUz
z%~%H8KYd7^hR8|uDs%L%;G=)pDX-A@&Sgye-^1Eh9Bh{MZlaxUXiRzEzQDJ-FF`c&
zYxd?_d6%7#nitS!O0?2Neq?Cr7~srWpLK;NeK|X3O+^-(yw(3M_$GF6YF_?#hw&YD
zPWWeq_v68J4>_=IA$6;1doOMGjW);U$Tu?^_}KSv(wdVW{6f~t;gpFcufor(dHat?
zW!o3uDf52dIldxXJV|*2d6@!SG@jsaaW1%!&vwg8eO4|E_Sc%1xckIk<93fQQmj3G
zx~>}h|C%RYke{=gexGJeBu~Q3hu~Lxg1;8{bzXIU^IaWVvEk`mVBdR||G$Agp}c?6
zF|^j=*eWu}K7)R!_HL0}M?Ss!&9NPE)?Wr&%ex6+;9KcPb?^%5F}tS_FN&{n7wcL3
zy;7f#D7IJpL2IR$b-QLRvc1;K{}y*utT`K=Q^WIIvv@W2+p%9ICURd=r2Gul%i=8a
zQD;V7l0g1$h2Bo4j^Gtcufm5OBJO_8`DSsHJtTKu&tLOp+T;I&%4zefF3(PUO1w_(
z{mhu!hv5@l$H6Di*<9>!iFXFJ*IwGrMyhHRpC`Im2>-m6d*XWO<CfV4wQr)+Xl-PP
zDHj|o=A7CpIK(G4{(g8kON`I4Hn0blXuM~d#SQRl$?f=ZWH0=EKsPD!e!87|NohlS
z?x&GW5Ay#|I8grQpk38{q|~g`nG40`G@z#uSNKGC-1_^ho@V#%R_FhN)zQ|VkBvo_
zT7%wrI{4`(4ll(xSCEffV~I~US1V`6nkC>J-AnI;x0bQgDdSuVc-#s;OgvOejE?Ss
zuO%VSWnD*sPwxB*@Dbh7HzTnQeQ&nO#nB-%#B9IY1Z_YA=N5oR*1Sm~LuZ&1p`rB`
zP)BqVN8gprw&W6DE>EXjc;jUMck%>&qZ?h1Z115B=oouel@}vstsa`44ex+Xa=q}M
zrG6bd$Lk~mtLz<8vPm3*j;Q#hI50jbJptYo0=63Vtp6(ZM0M3~3}5$rc$xLJLNEAX
zSM7u6sLdp8CNyrr23*3!XDL(cT{Y`8I~#iw>r8Sn#CXkk;S^a#z472jGA`5>uM5?h
z6D@zF9kr{xqt_AVKf2I#{0!ULiv=e4BV#BtouAh@gjd>m>|%$%HuPxOi$tU1)druk
zWcO*J$pz@uudrU4%;Fa0<}&8Gg*k?gUOk(6mQOw&H?>vQE`4?#IxBX%nR8f|%jma$
zB6<OLrbkUx>){t&d(|nlAA*LeXhYvU6tAkCLmkd*E?!s`zor}gN_bkXerJ>G9vwFB
zukmWuxN_{5vBqg*{^1cb?|ysc#Mx)ZvmV4pwB|%#VbSMjp-=RBm1%4$mpp3b|F?PS
z?jq?{TF25awyqx2A-cVMqCHb-_ZU(9?ORtPpJ}6-_`B3!$z#U47z<8<zFwm(@dWKv
z)TY||K02NDDA|L}{Lj*MupT)BQ>yRwaF#{zyvVnSe!dg3>m;N6)_HtKupf>6s)z5K
zzEk1NnG?T%1#!Hmq1$f+r*ke^c-2eb)$$?m`X7_s7{rTyODwqHuYwo7%lI|{L%omJ
z1$lT);djWwd!pzx$hyTD?7D)@;vTsdGlu&oLbcMN+O&T_SLjkMip(MDrO<dUv})s)
z?S8Ss>-{V_zh8I!@F&0!;JTdgbiUTNDh(W*51b*oh~g_2olJpF0vfrNahwXw8ozj_
zU{~BwFEBO&;{sqb@F($YjYD$Z03&eL)&XPmO>)HrFh&napEnGQd!=6jr{EI4E(6v}
z=tsO${PuEmq+qVe6<C_$euQOF)+6{&pnpsS|8e$Br-J_~U|vog?Q?s4+R|RP@K84&
zamFj$hMw)4pMwU@Qa}FM(->Fa>k(bdqYaHKp!4V$&ImB>de)WZM{7&%80ILz>q2m<
z^<wZHv488VqwOQWX%w730*s;$(YIi{cAS~{80$E|?TPe<EvSDE2Cr4kh1%9yomv^c
zCITF@=_6s+D0Wfk>xc9w+~{73pk3jp1suibKXp;^e*LcDcRjzS@_SA}fgNuN{RiVX
zfpLtZE$Iw`<80n(P5qhuqvW0VXVf2KkMPI4XL+Y`!Lfw0T%@#Cxi|;U!>=ZpmAVg2
zJn*4c`c`eAj(B0<FM9lWVxQr)XTM55N%e~k{cGxJ-lfC+lK;PG|F81ig6CYw|Jg`^
zUGu-rgTclR1J@mt2`0^z;1h2Yo%eooO@(;k3dRx8d%zPPwCz`TKOOXKj&BC95q+b%
z`LU0ObRG=HP__^{40wj_yg*;c^%jorxa;k{Riogaou>4RfX42i-@pdnj4mi0umCx!
z*fixJy@t5YYHOdmzvETj<>`jx(BQl*ItF<eI~Vf*R`zMwY&IWB{HQ(e35_Rx8&S&7
zPZXS;bha&g)bwF)0AB3*x+|6MCu<-2D*9kw^&!({^z^NgkB&NZ8R9!r{`uxq*mQOg
z$0#2A3S+((yTA0x`<BUX?tD18DJJ&_`?h7+6r2se*pnVm&)R$pncU{*R-MH><=-8r
zz2a<O0FKQe_BDomP4p3R2TjK2#{HoMw9&vE*5m(L5jW4^r(Cpr(-eHQk=C+{n)d#9
zQvB+tkRf*e3M{jLLHcrZR{XBqlz8s`arh%6qdM@#U9IuRH>LHfF{N_4_p!*EXYCR2
zBF;iTvw?e!7^luZ1^4K^&i~qn*4umPO06tAoPIPWo%IjqR5%#LyzXxv$YUscqT8=G
z#OyRMe};C@Z~D)%M}zr0c3}Q8<giryM36f$fnTdjXB$nm&D$s3??Zo)Z7<csxq>M!
zKT(K$oqOP~hCS>qU}<ynXY<<~g+H6P0e>G};>~6Mnsx2IW!fgDU!y(A7sn%rxtJYF
z_a03=IdhjeS~@NM5@>+=8#0zBq`f@&R=t)HauBu9M&?Mry^-qiPVgt$W3jevpBX>4
zHsi<Erm(RFa{rgigJeq>8cHz#)zDDzPBuP`LFIa1#=8L4?z|jDlU44+raOXzwkA;i
zSK9Dxh=;cM{c~QsRPE^8zP{7mE}(_w$in^219oQFn7g0@w-&>-1zmG<*n2yZ*syF)
zTXb&awB@`dXQ+`AtU*%)uE_PN`DXtzIewHmDOsPW+d12vh1H%gPL7?0H=)O(TVJ!5
zSj~;nu?s!j%iIE;z0)+dLvdC6uwU-!4X00KJv{;c-wNODjTG1Rz^B>U!(R)$RAknc
zY?HpP@NR^@b+%Y-?WDeott#?<`AhDNW*l1M#q34Jvv;A(pG!=PctN-F9%Uw`>(=WV
z7h`wU9{mshIUjp0b>+*@8kmC4+=C8tIW}i~`xTv!q`m*Nzl*$!?C)~#OFT<#?zckk
z(Y?gv;?r$oZ?CnKI@-)^tYB`V*puMBG30-Y_03;8#JLW|bQt7iH8$utYoLmL7nrK;
zN#ZrXhVA+g-bdR^dRZyo63aKR9~|vfaM!B#4&PyIG|-29nzOJS8TP<y;kD@H19A;L
zSayei_w`^4zL$L=G@QE$c~?ol*YHe^cYA|C9$swYCn~(wt-{fOe*0{Ri)s7DI>y1b
z`c8efW49W^-Xp|#`;>QuJ^L%q@|(5%$`aH0Dso}I);4V^rt6g@=qtcECW7xaY;uo|
zGo5A3;j74tF6bp28ST}8?*`f@ma(%WV!$gpkaDmv_D?c)ja%ba{|V(+fhK<U9`FYI
zBRMJk0&B$a4|mUw>OkMQrik^y)r!yVB+mQcao8NVQ_9ZaiEa)Jx~a8m@=XnM7|4y2
z=|ehxoc)OQpJx2nlTJidBugCs7%WRdv<n_KOP(lam}JU#;pfQ`lM5kBBqKx{k|mNO
z{{ij;9-o;V&s~PT5zzcec{KmeI|pcfFS<rP-Tx4qMHe(5g62iT&EPhm`x|x-qWd!y
zM>#<E_u@~`H+O;;(fzOOZ_dfs-{szIJTGT$3zsd>(ew%N++Wa}+<GOaSa{YJ$+N(|
zFbZ1E|6Rg(S*z|$7yDpn&iartG1(?c`h7_Io1O1SbJEV8nT%(X$xKS$vw=8({&~gc
z#vBIo`T}~8=5(orwa}Z*T!n&f<A<it?f>pTdf+UGe6p4v{*!M-4{`Q7mL5Lp=plZn
zK`s}1zb`N=HUAB7x%>&|F`gFjT6mUtpaCBlXe?@k69-!->!{S<w_ZT|_aR?{c$82e
z!<lQ*!fy5*qNS_VCjH%s-$FW?+LsOP>U#JlJocJ!I2~CTue%cbG!f4q@IvJyEvCQB
zS;YP|k}H>W7DN77K7pQdI(*`mBjc>2BJXJG-9k<!!Pyh3V*Hifg{*O{8Le-%aWZ_!
z@)vwVsTz|$%Ho#$zj&6ieovZg?#@C7*@IkO_3#ezv;uE;pdYkNO7Gg})?xcv<wPEs
zuSNcR71}lnJ<Z<~#vLN>(W}S`*2STJ=Gz{4iTJ<x#}&nn2Z{H*ioAH0zWV9IOiHW1
z;8%W({JuWr_qCUp*&kc@%nci$!vf%p;P0xRL+%gt`PSUrv@Sni6yuMAzpKCKY$l2Y
zLJrP<_bhi`tnecp`A@88mB~KV63|=Qq3QbqSb7eG<%2#f&jZUMzA@yWZ==tKZ=ch_
ze!*M#y?Gst;Bg<ku>qVV(T!hxnD-m_e`6^9y#A-nWN#?Fng12Xl8l7YPpiBpoK8*&
zr=POr<z8}jIQ_WF$p@nOZI~OXn>ZR8X0IIY#gE3^{QwvWeEz)#{(T010`cx%@bM~Z
zMldNKZUML`gC3;k%YW7YjWocUuO;74ay)#s51#Q=a5NEpf&Y68=XPYlQD*t<x>VfM
ziI*=e#g}7DKR>tQhd(A6zv7SY>}9RcrpiSJqJhtd2B1&3o+`axK?9m&;eQMDq>E^6
zXkDCvY^b*T6_=M&x(%^;#0Eub*P-hMajV*Myd1vvpLXBEeoFfmwL{)+&)K@ewXzMY
z<*&YAO~r99!&66_yRWKuXHS}!nY8q1=R>OWJmf02pxS{vU4`Dym}eGs?Lu_&6l)Nj
z(cW!M%$~j5nl<yjea7f+?ZG(X!d_!J^5MF?y~fY{y~aBB8Y%V~H?!BMVz2QX_Tz4^
zQRz(u4#}8h>^0sQKe_`R-FXfBjc}n6E^Y3p5OxK{2SnMU$Pc6#LD`Dhp#|BA6P)wH
zH`ULJ1OC0g*_{aq<dgDRmb`cDN%FVX!Z#YPAg3PmDZbUMTo7h*dOkGrmpjA@x!)e#
ziSP6x+l4#TE6R&u{|NQu_j6|gioAn3muTq}I92x`>I&ZH=(i={o6xkz{wn<o&v)@o
zeS|sdtY?V*Qw#L}h+nR@|3J*mKlm+r`7QMA=*8s|a=Ng~CG-MxvllqwpYnIi(;1~0
z{aW3aH6Y!%g}uXW#vIU04w<QT_d#!>HJi5!UrUNy1vhesL6m#Cn4nhO1srGIlEOK2
zoMo*=p%LjhqLbUu3*8>R#4CrUt0X^IgYe}}=5g3PPmCDShq!-AXS>x0c}C{f!KeSU
zukW7TNTpAo@?(^FC$W#xo-UBp!h_BT>Abi2LP9=+vF4s&&l2q21xK(Cd7X9p5P98W
z_(iRZPEAf<4L=kO_xrThh0+oBfzai=ttXjW2j95(66NwE<`nx%Ft%>sM~516Ki7`m
zOFEZukQkv}mU^16{INa3d`JB=hf)8Wv)zL+7L7Z>Txv}B0$b2WevX#)ly4Ue(f>Z4
zn%jWqd=MJi-+XI-{Eqfj${j9R;=JGuUEox_WiK=#-aZO?dgWzDKjJr{(}wRM-`OAQ
zTwvo5*o$MU*)bdb9}aQ9RVaPIZ_yd?5$;+on{@H8XFr2Fnbkv|!B4Sg>5Y`J#<UM2
zZwh!Kra}AmTG3qwy+`F!nG>5k?&X2Aeko#y+0P!x7pCZ}-%Hkq)N|i~`wyMZ+9q2i
z<xyymwUav;T9>~Z9njj`w(NIzPHI1}rpc{$L%e}m7q2@RIgm2uB>BlN%JPnR^7nI=
zw>)~gix(CDN$`CPx`1{T|DHG!7yDDnz4WYI-aUpM8v_QdXUU=XL1tz*b0gnn7N4bJ
zr<9{gewXRkD(fOOtLuoVofUEU6b?m?UDAjy#P2p>cRb3S@qQWoT6`+R{w*k1-Mg^i
z*zY-WpT)MX^_^kuf@e$LK0WrIUuNyk(D<Gv#(WJlra4M6wr$JNA6PeY;hRI@vYT8Q
z4^Tfp-u+bSD&9<fYK{MNAGeC3Z-X~HMjx_Ggz!7nL0iq#mH%NwMtl?fpZ8z)VURr0
z9GnXdYrrAvk9}8oyCDuI)&@@pzI(B;YK(XCjqqyc8$Z|&SU2DG%LI#j&fld>d6X9*
z*X4JXO)*$28(Aw_TapiP@jQHqN&3rt8Jz(*#3z|&yPkseCwpi<@4Ox#?=EzpXOTfm
zmK7s&v`;AXR`LB5=v{cd9hsmxOUBS^Sy!2uxqBbFl4xIXDeo)~ryoQY*|AY&y8p4l
zTeG%rm1KhQU#ZR2{C4wQ;Z?!&)LsnQ=-~{o?DoP@o83#3f9gz=%YN46E&#7TqCeS(
ztJr(1EFbpMtD!Bv9ej`N>ExF&=)8eGk6xj;2kWb?v-&(|`jDM}W?Y<OV11X@CYfjU
z{GHMld$8FE)|%NH&Zsx$4DF-!ZUu8HT}tmYuj->N<#hfOerd(5P~O>%4TJuM<jdX4
zl~3C-#<qvCYwoKJxnJ?&yL}09gTH~^7_;mnZ3XP5@Cg?)7b(R+GhX$9-Z5++EmNt-
z_ZF5BY<?|M{G69x9^hNiqle&Iie1n1fA{Mw@uKuE|2vph{OI`hrI+gc--&B?GP%&3
zOdYKgi&Mt&H}>OJSHW+tu|<i&o=LgB`wQO%V+>*64P;Fv^Ae1yg>uOsy(^~tY1W5u
zACyf}UE2CRZRO)Q#M&1v>7C@O^pn^{=Fmr=$334#h6i%l6sCJve|y4V&J4g8Y0rMQ
z8Q*q6%HBJpJ1OM1`k>#}kv>hg+Zapo?)l?b1^tHUXG0Y>5^U>=Gi<WCaw3a9du{y2
z@$i@p@XG*K&q$^M-{;%$RZV8@flKq)K0>T}3o+$tyLpVs%ePax=)3qylN+Npzm(OR
z2Cbiq$&WEu&i@Tuw(EQje|Eozf3O}tB%T`k$K2c<4-r?!9EYI&D7<oigPTj8iHPDK
z#b22_k~YLQ#7DIDS3=L?8_B<Mmk>PT4dOK3VqZD9??S#CT=u6S>P4t`z#a_y(pJ`z
z-G>2Z&r;L5mDq)4><@Z@OZ)krrSZ;k)~fK?z}js=UUHtOGX=cnU2qQlAn$Yg_woO^
z{9j1^5B?7`PVJ}FP6AmNL+8AfJy`<#+HuUWU<qhDjNN_}_TV+-5peTaWcBSvXzdsH
zyH`;z-Qm7%eKU1$Qn%axt~Z&&^d8aJDfoqeRXkHVp!yY^YAi=0cZ5%;3l@26@b!pJ
zCW_9ecQDT!xDrp&KD&?lnu|v$b9}eho6Ou<+PB~6+#2@=Q}zmV8XWBdOHul{JXrQL
zDOM5xzlEpN!Gn!ELi<{?vY~|P1#6LajfJVgdtGtv%>Oo?<Aoo1)**Vb_9pAe97sP2
z*6UQ-`V{3GIak$`DooelLkiKhXy+O6LY`+cm*N=-?5Fy@7I{UT&Gnh%)7P?Qp5lA$
zfyJjaN2?e^z{dmrU4+j+;NQZN{Gd)=alW_>K9;vWm*Ow~E_<m;`WP)6GwW9COKW$j
zsa$jiva3;Ri!~tpnhD|78sHF&jbqHAYAcB@6Rh_F`qEq~?&2#N3*%Q_hjsp1lU#4Y
zr{Hv7<JEH}4&CW3twqW1ifwbTr$CFyZ^`y}(w!@n?yR^S=>*zKWxhGOL+7tD=xN)=
zoJQPanKv5Wz4j^C*E<W5gHzG@$a{Vx`pi5NpZ;VgeJuHUY<2NQY;pyrRcF2GUY?sP
zdF#KP-Lk<vGlB6BC(p8+VL^X;=4JLzt`Fi3v`1r(lI-2$=!e&PqE*Eg7kM9N>~>EC
zE<#cG8a|-VRA*z`&0ITqEW1~!_agGvFlMa_+5b7CH(z#M@x%PPCd6OzVF<z3;?zlU
zh9=M-<8D85PLM+d{d`7^XpFW)%;6O3FQ;tj`}EDo_3QfjW+sW<(R|qaTF|lJiW1M?
zcBtfK_&`0sUtaq6YxppO!^PL5<A@i}N}9L3^gnYVy3qO&-G2N*habTd118y%?03kC
z2HzHWdmf(PZMDMHcfpnFf}5PiBs*jhd})l%7KC308;kHOn{1Nyz|G<oWTN`sPwcOB
z+R!0p<z>*QbP=s>D+8dDV}VQU%kR|U<7*>6zW3uReEnMR)rEepxaMbR%Mhm#|EKfS
zYJK+jeZ6`x@n`5#(%<v>`4hk<UOt)i)PR0eH5Ptuaft0{to4i8H7>l|MqSYd<FWn^
z=-2u_HqfSMCEzjR!P%9R34YCEi1j3&**%mC&JNxMHni(4uMKQyrQV4?ZiQFfz1ZS%
zfF0W6?~OC+i}m%}zxG)hrRr&YYwh+l!H?)`wdSlT-l@3vuZU0B^?z?i3*!vp1n#E3
z_QSdd2ijO~lEqfnpUs^1is!QKceCEbBNhRpc$xF}I(?>>J@6jnjJ41EG?yJA{xyql
z_TkZHvEss#@H%@|1>1QFdxmJct6a2w;8~UZ&F&7yeB9oR3<=uFVnb>8kh8z%X3M^1
z^TIe?>lkzB#f-i8Xk;*TlB|Q1(Wj>JY=Tde9dK5&%-ce{8e^j=Yi$5e7AI}R>02mw
zx-xPS*z5Uw`W^HT=pl|hw!y_TA<K%>G4Ldrx@(<$?8R1&xo_>6_<38w*{5i4ATA5N
z(eCSty^}?!*j!H36PU$!vLl=`i*e_J>_ghuUD=5Lo&CSoCi>m_cJ$TywvzN`=quR!
z<iCgBk!2<6bNu)6bvnC4iT6%ZD7_ka=FVf5c+WlH;QA?LnPc5PA;lhDW6UiV&MUlw
zfcbvt$+c1J9e<lUv+MK{V&#z!Td)~weApjv&^;p$Q753MXWrERE-!-Ws?C1i*Rjyq
z1o^&7yf=xF)*SD!zl*)?{C4r&rQTs{l=E2jvl8!oU~a(YD>)!t(Z+M5tG!HpaO37S
zTAJ2+4CvbNMf{M=Q3ASVZGg`bZ!_O4g>Lr{?-<NW139jOwLS?PY92npJP0SkpYUSy
zTr-c#Sry<m+ew@Ob>tTaU{&4w;CIfKSnN#|?9i*m*#nPk{E)GBko9)##onFvS>l}l
z?25mWyk5fG>~C(j`*p3?`<RRHoJ3vL-?M9-oA1b9Z5G>jl07EJcsJ|Ya5RL^7?^=8
zVOnk$9Cx8x?qq*0zlZp>Y-3Y7S0o=sioey2qoJPv`TG(7Cr|Y0g80(phyDML;(y;q
zmn8R%>~qo^w9nL8<Rs^G#b0(ch0}X`MMuS=jrHtv(lae>6npP%)H-rG@!rD6`XJ+S
z`TQ!pSFtfk2hbcfoCTin^E5~1a!z|p$JZ>5%Dg4^S>b)zr<Vmj4sAb~(dkORpP-Ky
z=p$(VkNNG-qy2e013sqX3x3<5^V|NE-}dSDcae9hUC)Kyao8v{W{o$)zPb@Vk9dmu
zHf^P8%|$F(nvP9M-K;U}{e@c(jxOK}=(i4*VsDn<q%G-J8ngCCI_rM4Kb~p!S>he3
zr{8BBUuKd%<HP`GnClRKR*$_leph|;RLd(LhlWIF<v(@%D)fu_$@83!QkhI#e9DB%
z){`fcagL_a=BRiFUN?Ru{fvEM^AzGIs4sn>*TP)vH6T~DzM8;=-3KE#ndk8#=(ZOb
zp!ed>GxGTJ%6Ib5(ieG`vPSG$)%Z+N>oph6xQf_{_wA7vN~eLAZu<#27l^Bre^$Jd
zGd%rkb_#U@IJ4;Z*<e2sElaOwJ-dC8<KLPa@o>Q}{+(fc=JW3h@IR@)BHsUwGkL22
zC{Nkubq4<kfYm&R*1_+L0eT<cg;yUi_xQ>C>9E-A(z_w%{&w3}vFG`H-p2D-_<{V7
zTC)-MQ1!qxHRoiN+3IvJ!Fi*Fx!haLH#Ya!9%###!=_SlxX9|51OBC#tsObw=d15`
zIBw;8N3Z4HZps|rg6D#B%eT-YmQg3*4;g#|!jF{!ZDr|G7~AD*#Sh(Cz_aa{adI!f
zuY}VzKi8UYK9SRi5mMQuw5K+{!ZYyW2V?y^@jjBvZRolhXD|o$en9q352KS7v1f{6
z4-WWLa%>)-BIif4-mTdr=iP$u?RjCw6!82Tp@IJtu7N!t*N^-Cckdi%Kl4K0jB4~R
z`H1uD{?@OHESY~Vd*T!_S!)#eeFOJR-Bq6{O_$P##@enpspw(pH!VImD+$kZcn4ST
z&K<;g1iWI#F!U0&cq{e}^YK@ur`8f{GWuNK%+L9K*|{<0>F4O{Dqs%gW*hupK2@DH
z(mb5pKQ|Sg?CdHV<F`GEr}MuK=uFG}@g^AWt@(Y$%hR3et7o9EKMd;Y19^Qt;`imw
zxtDma+w*2FXF{N#ecA6TOU(Iq=qq`1Ja<)C=M!y?`+2{_-X*=rysb6i(_^YUy~_6E
zXz_Mn81N$(d++`%pv59@oe#s4^sVn79|DHcd>D43Hw1K~7z(?0M*e*R-YdG;-+ZT)
z+mgk?E&GK{va>7ZFFSEuhtA?yzvlOyU&>$?s{T%B@dwd86HfOeW~V&8%;%5JW>dj_
zsvzCF+~kh?8*{VV@xa6gcl#x{+m9UE^VGlHcYa@d*6HTvqv8pLmM2Kp+26d`@`HBj
zIvYaRtHCbt8P2<Ce7oseaz(V$0}L;-&$BSFmqY*PTzmBJ`7GOrQH(D)=>#_T%$V^V
z4{-iN{TO7#6nsLxUp4q;l><CvbAbQHN!az9xJMd!*wag1f7X!o^I~66+(-{FNnUDC
zQ#OL^N=%10H9I_Yk8sy(!|`T@U{PN10XWDvjz6t&L##E#7_~o(VWau{c%2_2j*Gui
z%8SS=9p||+T-cgDq^MQ?EpTk(4<3hSZDTLz)*HGXc>5K5R(&hKM{+cIdC*-yjjwKu
z<-d|kmEIQU@}YW@4*W?$doEV6%1iwjJ&ASh+O6__kG{gb-0t1=&6GCZry&2vHJ9&A
zGUv0{&!>PVi~gy6HofdM0~!kL9+0Ewp!)?lYso7=lk%Z(G=aQ3vhCMH)51dl>ri9A
zjIoRM?_%y7xQ7)!m5X)p4c~P#2H75ZzM2<<2@P}tXBd15PdgcN96FI5D2^TNf%^h^
zQQ{p0&e~{KI0-8*bvZP$#N_V4S1=T8+VgLNo~%y3)a1_eVe5wr9a?bR=;Kyx_b!2!
z<in)hIIzyfjw?N+g<R{{5{C5Gv~%ZkM&D7doBxNamyJ?yxvLi%p<YP!z@hDz{E5T1
zNB)|gb2Zl$-h6P85WK{~)PVCj=w-_vnbNA*{FjM+(!R)C^?}KfvkCds&L_5nvN&+-
zJK4@eJIZe+`8=OFL9SVw({-$ec%g#_SPqQsFMEH?%{1sdUihzL`-_OT`JrO_@j*xi
z$mV-GJZHY_?eK%%1=wLeicAF;J0lZ163kU{lDRrM!rI%+T&lk2(!kqh^GyPL%m5!z
z>_V&)yKetJ#Jb(+e=B;a=NlVu0S)0R$h`#Zq*$+-lacbswBXlM%$DkL-hbG+OH3Mw
zYfqy`h%N#><zn#H>X(U!>ilC7Yx6eBBFK?Yl(;YA%DxTndS$zd3+_S3mHzfhE4DM>
z{RDDF`f$%|$3tFebuq&7o61(S9J*fK#=VW$&3X&Rc1*YxImuXisW0A9auDaWT2JrD
zEQOY+yB404@O>Kz{2Cgc>OxC)jG4c@Klgg#FWB?=Uh-1=^S&2dj<M$$$GiL=teKWq
z`)2OdZ*ZV?6R!>U^o|hE^w&Z+<pGYOloMwmKh!4aXTs5ws_WxEL2jE~+LR2JK1`f(
zzwPeF;Iaq2$>uL!G86h1Zxvs?T{=$lz+8-`O?#FI*n+-8l&z<|AZ}|O-^fN=ud^f2
zuxR-v@fz05EVb7Q4??D8*6~E9-O0Balk(LFUd7xA7xw}0!}_1Tx_C+^OHNBJUc`I~
zkNcbN?YNaO=h*`{t$<&t?yja#`Z_;0hCC78I_7!6CaAMP#opFqP3{@=X{~+ng6y&A
z3)n}srjpnJDH}4DBE>wXXgdpy8QP6v`!nP{3iOKr&;7PP+Fj0gb})`8xH0?t>|J-*
zn>N*$aI5ma%w~<*7#(zBgWh26$=@H-@h9d-dR~_E={<svy{X;>G2{BKhk8%@^`gqd
zI0ZVV?jPyz#SP;5@+FsfmqFJJfxeZhNFSlOXRceAqb}v?iC3n3kmriCtM=b1&PIB%
z>_76e?ON{QMaH9}?|ph~M_}{mnZmuqv~$qCYO~z;yP=o<1zP6!@thBlFYQ?SEcHHU
zpT*wMJf*V*Fv}j)3+&ki>KERF99(Gao&H&~8^?5{BnKBH>SDRR8Et#H4}))nyB_v5
zjxGl7@009R-tUF}z3KPz8+)&xQ$6gh@bgC#Kjl5joNAApf~WkPd3_aqY&5*rjB)p<
zOBN^|Xc>IDoc9gHB+fGB+f(?5enz{p^$1VB$ROp_5#FZK-dg@%f#%-}p+hb(ouap;
z#DPbVJzJR<)mJ=mY#n+R-yC<0S*bdzE8DpEK>G-GY1X~FixZu#E9~2%$xAz!9-ZFn
z?iW<Me|w>C)jz@AkEd$=hrCPIai=kOs`2BtHP*R<#@fw!2;rfvF_H#Xo5zfExM;r=
zTtq_K+pvq{quaF8$A!k#WaK+2CeGLB{scQV`BXB<9pc6M$E~{m({Hyd@=hLWRw}kG
zu*r6@h7!<ko6ZO)E7MoNdl>tA@skwe7Cef%lKf86wsJ*=Szp(UPFyS>-OhEPbOAO6
z=~H%}RWPbmYvb~J91W^}xA!Ra3N76hdCD83IxRev6YS&ASP)kvex&#f<m-CvcXTHS
z{zXrF5Ah)8Ete&>NPA-KjjmxGi+|<dtu0fqy94uX*$!u8L)=L0J!>da%^z#9uR2_J
zD!C?*(`k57?sMk!6IGU~Cja_T*azTKzena(N5La{hjOxalcP#|YUjT$_kPV9eV`2c
zQFVQtA)cZJI&`)OV)ALL2K%7q<qXCqSk#yLRDTb>d-h2|U)&pF?{jo9mx@uq?xH<9
z@<O=Tf-Oe2Z?}Ih_3p*)*K?-xpJuR^+!869{9$Z(S>X6wxtZA#Gcyy+4Kbjtu?g7I
zjxaODf8{@(0*qD4R{(!kohIyTT0@d+E!^$ci$6@?^<IgOi!r=Stc?1)rHR~R_{QS!
z*QLfRIvQWHY>nk(oZbCUe~kal9CH42ag_L>>KWKCS-bh;`Xb|EEw5MXfM`==bZfcP
z=EUL-9Pv!+69hjlw+4N-5vRI>ab5$yHO>NJQ5wK`{y4LTxp97SU!NT(c}x!&=i$LP
z8Q+Q|x*AW#wA!)4i(X;8_xR)Oy)xdp^(2R5jdweKB#rm4#NTT_|Gds{F{kpMRUgCo
zaQq|r<2;&iI$Cja_<3~P3UU{TR+89|2Ghza8<SM*Jxsf5|2Ka7=c|3@E(9KtZCA%Q
zhn+dWT&=u!qC@p5dU+eW#Jk^f`#^pF;96(zae0lZyuaQd8j=m9*xQV4Lu0ws_EqVv
z<#{3Z7l;O0;R!1kmvYtiOlN&jKLwpEmt0MnXOiad)hT>qKZBPkmOFnvYyyS{UUThS
z{cpB&Bki0-JHkf;>q2YY+7^fb3uJ$0l6dWKK5dr+MX-O4J_Wb<l*Z6YyDC3#Q2CRT
zLzi~EXZvuD<~!j>d`sUec0a|Kf5w<i(GhmcHv_Bi_Bo#h=KFK>20E7bi*S23xD9wf
zjX$S4*YH>AVZbt-{;mTyoy%9Bx6+ULZKJPV>_E`vGs3%>bi``-aO;2hea`axJjw6#
z8Na=)tk=V6b1Q38?b){R8|aL2%+fpj3c8+_2iLoP{KHh*vN|Ae9ZVa`fy?57^)4Jp
zFGvEHU^<-t1yjt7YK8Z=9u8aq4`R*QvAqi~_`lOeQC=I9?Ofrzz&~B!kM&(*vwQGS
zE523q;po@#)`{Xf^!poR)B*P)TNx37uY}3fgPscCyvd&5ig+*4t~=+UJR&X@jNAbB
zOkfgSLF*aY)79~-swOWu*_|UpH(acHw_@<_s86FoF8bi^<15fN^<MP54OsU#cjm>D
zyYmR>qU$BgLgdnIqMxaT*eZCB&aNcsv-(uCxQp{$l4ERm)+<l0?pSbR2z$GmLgZ*L
zMZyEGCyUlzXD=cC`PeA4Qf+3?>l$clmfF%eAoQB7AD5XyUWZ(qK>uA~=)5!Zo$euN
z0(QmoJG{6v={fZG4}c$RoGyPO{+c%Gvo7tv_BQyelTqknz#y33{x!NI^cynlL4Zf?
z2QU#MV_|CXV?Yh<4Th<K7!K+8(xvpR<doo>!MFuu8Tga0!$f>NtU$bBz!wqZX;<H0
zf4*;(+W5U_i{BO>{vNVxD17+mzty+y#|q%c_}^bbdqJ7v64j>QTj=)_yc1v4ylF0r
zEqxBq1N!p%e0^E;iO#&<={jLAb(LLv^At-RLQl45oP0Ww4&FXGPgiE|aUV2L1}!yQ
zBVD;{J9$T>E3cQ&*y+mU@7I;lf2Q~O`?7vLQSmkCXTFYnC3%Oej%?@h-_(zpmoD%f
zRjkHP`Z4>a{`sNZ67VMdxNNHQWAaiH^CtZ`9O%c4Z|R`%u_tl*alO-zISXa?3hkF1
zpdYW-9Wxq#54^QsKW5zJ?;H2PzCd+n_v^>RCqdKs`te@i&7$A7Nk5KOrSC+qwfZsb
zrWm()=CJxP@a$v_52YX9&YIC4Enh!A6J1<5d5}1J>42R)r60GjH&Z@{t(-@ZJ`?QC
z<%bCJaR7(S+ol-pbDzPs#@T=7k~^)@nK)Ax<1AT2*mO2n88~nzB*+hO6SgPO<Emxa
zFAe15$Y7^wB#zMWh@$>Iat}T^=(u({XSm>H{b%JG{j+l2tn=BxBK(B#VHx5nPr1wa
zYKeQxB{?f6SrhWlQm=@+yd0@b(bk2?nyW5K+Poacpp#2J3#QKii|lq$KQG6R#<{#4
z8ebQ=IW$JuVl>Vydsyv_zry}p&k*Ozw*N|aegD`4JIia}x&hfIJ4?{#sr0EaYJF?n
z?{B`N|NMj2@GfM}Bdput3`B}`nOSAvm;U)g?52X<`f;=$VXvY*3%#uG9()h+HP+_5
zUi($$O^{w*#ePfkDOz}U$GDD<!H=~rwZH4q`5bIOBwnE1axcgWJ45Xpg3k{7V4#aU
z`jY*wpTAFM{Cj6d(qEh``!{Q3T>Uh+4=nOtDg3~+-tmV`+cmo&z4~Qn{(Qy(Z|_-z
zE#!Q1zAZAjY^%vtaGqNFP#Mp6d!_$Ku9l;dR(ap$yFT_1ieon5F|IpjrvN9mIq7)H
zH#D6;qkTMf!VIt|mK1xSyN@0HJIOtLnK#MFfWBNt3~TkeiHo1AVa)Iu^|fKUj|=kS
z8qPSMj%`MGiD_@bcfxHKK3dt{-Xw2;aP%5+@v>oWx4+B0zuPA?PPsiZwQ7KeC8rL(
z$9HEBp0)lh@pIuxb~NEy{3{nZv?GaMv>yIoeTeKIozK14+ws#tKP>k)uSdW6rs8M7
z?U+d&UBIANt!nbMh7?x}4uqr3p1zp|-L7(JbhYZ<OB<8W1*WiO^jo-TibPtQ*`w(U
zfP6*|(zfJq&+>xw;oK!PrJ#P=$IPs0vkT0$WHEav<|WF!aGq<?lXh=Y%pEW;Z}vXy
z9L#I2d?fNKT@J0deMGUhkA2bx`d7T&TF%pG%%5cr_puNE5-}(`^K=tDIfd;;^u*lf
z<oEbAx|jB_ThZ%PH$%+o6xPR7!~P3;`ljZAHm|euQSAMf<_S2OdA5L)U_OP9)Z2YC
z)X%j;^m7XRAm^b|=l6+n)?a$#DcE9kCW`s8Fl)XvPnxeJe&rYL#vg_KAOp>Ip&O)#
zn@_#oH$yZe-mHDzR=%0S|5`WBukU=txx#}xe!*N5dm=mM@m<^cd^>@u-649W|6cUk
z579@UcgpVebLmQv*>%{?YkSdiL+qWjpK2Iu4%IiT`^j7R?j>8#>8twgNBp+3nQxP?
z^v&4Hw=KY%3>PfYiKyxuLW_G|SW~gUgf7XF&knvyd*q&`txDFa>aQ_{i^j2M#YcJQ
z-YJoEHT=xk7YgjWtL|>m5O9dbKE|BuJI7C|ycM*mI)7)MtM`X$zNkBqr|K;QmKNwL
z0^UN<E;19JaaB6&^ZkMN7|s;KON8g|ZRxXeQ0?s}F1v_t_dyfta|e48#m4V|cAlb7
z&Hua1^<X-C5Sbm&nd%Ovv;QGqgxc9|pV-Xk=O64N8l2s0lZk&Ieg7~pehK&l+ZMjr
z#y8;Z9N}&--fqjo+n%4i4{zrPZ?f;Gt&NI52XEaxgLx6&?xFpF_BQeVa_DP+^Kbk2
z6_WR|hlN;MN#ymial*ODHIk3zZu)FlOF4fo@6(3ce)$vaOa8s@Z{_<`39_6#CoL!7
zgF3<aVAK|J_0W(po%@?NSpFxv>2G(u?hPi6aFWxtp}S#yQX%YC$wOSd7XF_#jK5QD
zB(dj7ch@(=*5lod@zO6HTuJ0~0=XMT-&ha-3i`s<)_;b}Q@P)EVt?OEeXsgzL*K6b
z)qAD-ZYOl8dV6^eIbQPo2)^zSY{=d0JA%GK|DxUj<6s^>v6;O10i5r>AI_@;C-2|+
ze+j<C2=EE^!SDrmJ}(cSp&{Tr>;ETk9`i5YoH`tw)&_07BIdir*P~m|FZt`A+m;db
zmo4lsgY~Gp>ojMgH<by8qPtP_E#0Qu+UQ&kg!nJvH_R>e_Ra`0e-<*c24Cuwv8;FK
zuAViy02|?0>Bke0Q4<a<zYW_)m^E25$;KIU8tNmb7N3rs6CD0ol>YmCRW@)BdBOF>
zVp$*1;4<az(|Q0Vn^RqI0aGWiDW2iq>PO%It8rZq{6mdvEcWbhDqd%pkD8PrM~TS|
z1^ZCnejFWf@OXx5YsmGUa_hZegm{StVwaO&ryl$nn^Nameltfy`a6@Hk4>_F59-#8
zP&Yn>y69Fx-L=Hi4%cq9hPszHSYsoc*Nnxe_XSt4eT2J-V#JCh=lSi8RIi$Pr}^!T
zaHmj=^TWw{zrB&_5qqLI@ep`y=M2@XVPr*&bGu1m%T+HnQoTy*o#?kW!d*r&;&75D
z`0b5UkNBG85q^8b?+yze^pdRb+Z(B#Xvde0?Zj>j+a7Zo$OZfY!`EZ3lI+_p{>ULQ
zY<tW>GVH@QQax~cfDBj`&#l{pjLN5X&Xl&JYsXg1&85(X4xn%DBC_wEIxTm#-sRJC
z-n+~6E}-AM`-vWcANJF0UirN$59o9IfSg~i@_-)m$~~0_^!JZ}`nRe)ptrp8pQ=2d
zFYXBm<lc`|9?(->`43bc(9atK^}nO?fL`*-zoGJgKDfg)Xg{U$fFAP7uTl9pf4<%t
zsDHW2gZa)Yzf|SH{BlqGV14IHzeJB<4u1e&*L<zglexJ?Pv)Ub&o9Jtip>?Cm4iii
zRUC`(xL!~2cDJ73>3%)Ii_W<S4_$gP?nm@woU+SmTu<rAI5z1C+_J9-&KG%#|7N9A
zvZo8PuIrJn3;gvT#-5GrJ16|EI}=%td=>wXQn&AE>AMg0+h=5(QU1ah?|9#tp>8$p
zv}2p<4jb(3^~9_`Vs+Z+F<o_SqxPOuQ;_PE?T5X$wOf7f&i7VzQ8$FVn{`$EpGjnh
zY(3iF6d{-QRGQp<z+J@IgC24Q^)jX%;Ye#@LTvRO@&_#qmu^oY%L4n^l17t${ATPV
zoK;=P|HK&0Z|D0i{)nsVlwPo>l5um_;sNlvv!jOwxp4H&)8GpGkA>IT*npY5gg<Bq
zU_K^Z7fY6(5IV-x3C{<}HO4T~exeN+2k$5B`9yHp9x-><`14TX&ja?`nfZHyLh9WZ
zHg{WE_2uC*bf#b)qi#I?xl~fpm1|7;JDioX_BzHA@SFX&zgMa`4u0!@wTs^MmhzK)
z5gLE{e?d1t$)g+DCtTct@xF*3eOIB${g8fiSLhtxZLN0xn?~@idn4n}(hA;>=G_Wn
zGF~<X+cT8O-oFu=TZ+#0cWhK^P54aAMw2&l_OOw;Lzm2b47|*lkm{`AIfWSDTPGB>
zDu4a#36a)r^t3|kJtm5uhCh{Opd)lY)`Vf7V{N*J&Qkl(WCDD~(D4%Qj=KJ5=x+Jn
z$(N<OezVosW%xddtv+S%k}vc`Z@UV$hjQy+sTsY!jruz`$_`xQov!n*z^eaypv%TE
zc0g#phIvwcr3b*h*7A$!*8zRWo+=x4guVh?Hh`~~pEGkiV@m=*YtiOc%h!)(f7SZ?
z2EObj`VH!__nv<_zi0C<jNTm3`_Jzn_fFVs&#-?MoKa}rK=V;(KEGY@g=Nf>;Ht-V
z75E7S<5d2Z8gjodPY&LYcN1_lV58<P*YR_JJAmWw_}Exu&#o~giv;I7err#EA@Hsf
zyo|FNJ`sfmmhd|apST=8(Ex7{%|178?P~FiD>;{bIXoj~YF00SPlz8xnP2$BGw_9H
z0)Fw^ANQ>i4-ubG`vHHr0{)<W^Ld0|3KLg?Pp>wD%}D2j*O<umE^v1h`^mxe_1n&W
z9v|G_JP_xleZA<|`USw90Z)N%vNzvXg?&&yP5G(9qs-kUQ=M<;Sa`^musP%2up#yj
znH6O}&)$B+xbBJwHp0Y<p~|n3U$^n9hP~C`Kh9oe?>f#L;`7pd$D^VDdxTT|*7CQ2
z`13As6bHxT09_OVCv#XkvOh0JhRCK;&t7P2>!^;M-yhvE1zke6SkZ=J;aE3CyW|7b
zTENbz@n|iyg=F&`z=eDWLGH9*EblT88q4#!zPm;5g0T{s&&QYJr|urWn|ypZA0ND6
z2z&__yYN}pkM;5KT&Qvh_-L~Dh-^1Q;6pT(;!kU1sgDoQ+`~RT7W()=7Fm2W2_N4d
z)v>2_bjQoA)qH$d+c$XVqAlSeW327FpC<D0pz*#8K11NFhP4YHU(5x$^Cf>4K=0km
zi}-)AKCO?+w+#hr^}*Yvi<n$KACIxl>V1F9x7zzGpBEnq(~s6yJ?(3~Vb@%A349~)
z)qI`0s`q~q{+IqQ@xK)O9~k%G)@S~@)EZ+hX2K)qJ<q*`0sVdg`rQEiu4OF-=i>&}
z{>Izng9z#-{JPj9?-{D@I_mzPg!kD067RA91>WEI(Z7%PUcc_hcpr!>!0FMSt3iC3
z-2C?Z&TQ6BFaAZ=kIj)9gD1pTv(gnl&Khd@gZxpP!CInt;6ji4P36laSBlFidQzKz
z_J=iX^D*FiOZhy4xLkN;=^!5QJF7#7{j&q&6<V*aBO4`ia|_`6$Ro*J#X^6C`PfT;
z;^~3|-O>7s$Q9ICx{fmt;KBN!@t;rF@83g?UrXl$?uUO^J;y&I&@h7StpR;sd|!I9
z@`~(viu|tpRxDVMXX8%vhaTW_F)fAO8F{#PhI$%HJMiYOJICj_3m822<DGRE1D2uq
zd4uKWq3t2~rSP4<?xf3VeiXmAk$Dk+&LXb^J};dH8{76cWzjr7uef)||MK@cZqF3R
z9H+~WGZ5I&*>$ddK-M68C2KCXuoc-D<GtwLlDX=;jX&vI(yb(OQ}`MJncGtDVgv$t
zk^;6C_A-*cf6iNL`D1mm#Oat0Zg;;$pof_P*+gBuuY-TA^_kxf40Ygnj`!ZG7(7k;
zIRm~z_#*^kcVoQn8lEv@P7wVSQFlX$>FjPab!);E+q>|E?EtsREnvq6t*xYf^Jr)^
zQe<@w?e&hK{e7An+HXNmQy&fE{x9a<KECR@{{MfUbH;^$SL}Ktch066>q3(Oq88^2
zi^}o>W|UT(F;o=I2u%cYXAG}e21kZdXR(17?VXk-Xv>NXG&MExBFnNmXB&v2rE#?Z
zy6^q*dcEJ<VFK0X`}tk`!R<ZX=k<QQp0DTYdHs66o-b&PXDPf>>BU=r$o{+0fi2M~
zYu+6(Ig_`>V`sR~*uo)W1b8o4b?$oy^jqTOY!84_V9wF|nO^(Fz@*>e=zYO70+{yx
zCoo}a`Y<gW0@D$UeFHEZY@9T<;<tdOk@b9uu@l6%Q_u-^xrtdOyt^_I-dz>gBNf<k
z<fIqavs}O~9!T+Ss7$bV@xL*0!SfZ5^?gOf42Hgwe<~O|p6PE=9){LT=c|2xKFByb
zuqRd`Pjm-L8UOFb7n6*Ou|~dpYeT+m!*@v|N4oOapN5~!-8T3>arzI-_rcDwHi)Ii
zHvHvxmpnGG&*sZjokx-XH<7V~-}H&Z0T@sHsHSTR{JaL-#h?$#B+1v2%E9w!rqqjD
zIIQ(he>cwk9O`Eo^KF5KuMRqW@qjbQ$lDVK<t<|%Z!`V0Ck#%vg~)a47SC~h1U!6%
zdCCVK8rRntK0Ir<kEDk-SG<3|o9i`KPlpKC)fw}ZZg?M#89NOOUC75H8C&#vVH<Z<
zGM;!SFw*i)7~J@K4>v>C)$mpvoRz{ql|g4x3+*-MApSrP^RDOr^-k!w0eCq+$}xM7
zGaaWdI}6++^F!ccP<~omL^9U@7U=zHaH?Eb59b3hlQi!>#@vU>AN>2xyF(-0wZI`6
zB>65J$WK$fUxN$sBDMCFjHUI~THg%c?Eu~c|4N+f?Fr^LXLz(teqIcCOMzRszlPsS
z`NpS*=t1bAMfAXTb-<#tW+(q>Fb?voA8PNP^AhwE1~1_AJoY`>RR>&Wl7z!Bbo~-E
zlrp|d-hhr#EXmLD>Z0AYY0ym>>jo{aeve!lPbNu6zK$*&s^_eH4wNgNQ;mG6B+ion
z#vbS{8-326zlm=pm|qL@J|H{1_)cPf;O17<;zAb_4>JC%^;tI=I!*wS_QL|?hfPD?
zsm&f>0T=BW!@>5)H=JKOGPd{@@Lj2zakO`6e?RmldJ(-1!^ggue^(E8+J}*^%pF?o
z)z0vSS2j=NJjyV4wUaylTTWiX<C~9f&>dT^tf{~2m0;i*<-dNFag{s1g?<uz2XD_;
zj3PlSq55OQ6UI${Dc}@NsQ#EUMRCj;)~SWQSnGCZV#b`!r44ha(^=^_&wLS>)R%aX
zxTfiAK79!;$uoVs=KAQ$%8u|e`Zi9!TjiVAy%Z-NFx~rBZC%=0I{l@&=T-icXwvFP
z_%RV3FWGbgawi0iJ`Mi=22EZH4Q_Bk^MkyT|I}C&ZJX!W9k;-zbAT-do}$ci=d4g$
zgz?3n(>NEQI8fERNU!)Sy)b%hHD_U?#2Nh9koxKh4KuNYH-S&%aK@?pGx*`^Q}qZk
z`%^!kqCfRp$2r`g{n`2bYC!J(KV?^~hpzv7yXru={@>yQ)y=Gf4*ne<hzG<AI%Bp4
z`S5S~;MpO3@a+5fpxL9p|1lptJIDu(!1Q170d@8(sr4v6xWW7OKtA~OA^Bh^4=65i
z01rTy+7Fkm{LT;_h%m0`-=}*^?>3*rr*-8k`?TIjUp~Db?py!<wh--Q&nhk>8d^l0
zS2nEGGr{sZsG}qwgZk0!Y5cKY6C=@?fsOEKdbX_#F_Uk~oa~0|G1(1;#D-O)yo34d
z!rr#IS=sKwQYYEj*Wa|Br+$yYlLzbLeB#XuJ1QCqjt-dqa>wMdN0Dn{kK#w0`(^uk
zkp2qFoTPqNe<|dDf*8Ip<5NTKQj`3b{!amSsdO@MO9tr9b;<nb80vcJt|5FdUnj|K
z{MFMoC)~<|!T6(<2Lti6&5nml>E!=E#M4HjqyKN>X`@-||1b6JCGgq5lQWt6_L=+t
z13B{_=-WDvzyHT_CPUvY2B!Z?&SdD@`QEpgawY(c$yS?<F8#0Ko7f}u^oRU9WPI}m
z<cR$JOuZ)^F8f;Yz=3DhogKS0XH1UaO|{dVAYtTL{Cl%|fz8AirsAJP;m4upXj;j?
zio<`hr()Qu{{$X=AHhE#h;O5db%v?pzV|%);#X!b)5L3mAqTs_hsi;wKa4zX3`UyQ
z1#^%SIopZ1RE@=N6$~BNHA7*DAs-CPw2R*uGcXG-AEw{>FiD;ebJu&x2=-H7wEIw-
ze%N_Gd(un4*6V-sE56B$cgRL&zrmb?h)|<gxWoQy*B+c~LHxJP?4|Yv*uU#w4mV*Z
zbEd!DdHjTiPw{`?ZrDoOt@uqki(ZMnxc@#IUx*Srl|RyjznB1*QS54DEk0PFTyXlf
zPz~{Q?6((FYuQgCwzXq<u<a+nS;9Fy-EsU+);b&cApSP+(#FTJU<`4GmE@UlE&n6(
z`RRRYzBj$^Tlc<a>Pyuyb~W@MTHNUQk;3;-KazJ9!rN7%I|HA!tM$F=Y_!tn2jI7Z
zwejijpzw_t0^iNRcii;8v;Vi@qt9L7?Z1X^<Pi8C0KVUSy6=Pk+wjrnbN>_g$Spo#
zeY1e?#ZULWchCRw`qJmUhlOu2u0iaCb7&*o8tB`zXWhBbU=O~a_U{DmH2!H{DM1`#
z_a^!HL2|+K+>N*OH?4uDY@9U5tvn{$-Zjl>zn%9fe9TPQ6o>bR%7sq+Teb6f`YHHL
z^k-r-`2BJE4#R8kAH0?`;J?1R#PjiiD+TO}8Bem{416|Azdsqs_h8TMp^ePV+ExKq
zbLqax#)!mo(78Et*EE(o+rilQYsNb5_Ux9kAlS0Hs5<EM)r<;^&%GycLI0Yg7lb*(
zkqYLXg}t-jS>k@-GN-Dany=1rPE{-Wx(QP=;UmfM@YgEw+lBc1<nOOy-$k<REbM9W
zSjzQxm^O{%y-<I`wBaBVZNTF|n;bWvHpI(UR3<n-P-ELw{qdS!zwP9Vwqt0!h4VLC
znHT56lHKH_r#4aluLj?KEoT*wk6SNMZ8Pd*tURi1GEbci>#jxLK!b`Ks1~B|u6d_S
zd;_1E+L*$t&N=#P^;OpDkDRHw=16DaDt>>NvpHt(@TS4N!$f2-E@NZ8FBt#6nzM5T
zPvH+I{|24jAv{g6bGyUfpui0b%!_)<v@v*M|3bL*=ibYFEiQ9h@gp*R#nPqB`E=Xv
z{6AjZ>*M_`uWh4#2lwa`&Xsum{Rw;?ZE5T=-fvwSNWKmZw`>X|d%9IGc@T%XC#Mb^
z35TjrE&S<B>g&_EXRqm~ww~ojx2^GTITVl7Lo+#dQSRIs$_tTQ{S`mwUj#jx;ta$F
z^88cv!Q`*>tl=ITJ*Nee?Ru64laKOj+^IA6!Q?u<1J0l63Cs`axi(<VB?{gL_`kVl
z9C~QeZ_tL$sieAt$$RzO6ilw=xr_5OiifGj*=oJ72_?U;=d@6=ndcwg?yryzQ%&tw
z&eL@I>zF7{UIE?=z0bEe_3^%ZV2yI!xmqL9`;`Z-<BbDta@-4P!}%F^Cu8bNh4?||
zDs}<Oo_cDptyRr2Xm-|7ZF`n*pAxvP7X8qs>k=;)1scCnaN|c@VV=3}eDln4FXj0~
z&5?fRdE+kS{{y_6`iRLjm;xNS15|So&H3}WZ~#{7$I#}^jQQMYXt&UvG0>*aJ&`s&
zz%IMC8~A-*6izjdQ~Br9k$7)Q_EBx!%<EX@C7<Z)z&5}y9Uo3+)1Tp&=@y4Rzf2q$
zv%noi8-wSw4#e|E2HKEMt~NfuaOO~R%;cAd*VgBkUGRHqrq`eN#gkQ%Pd*R6Nt><H
zf|hq`g2|qG&NQyg;GMGI0lcGoIyC3kIZOC)<|&`|8Txy7$vPvybw2Vg<g;Y=j!+hP
zC&Sz`Irl9+wHrI823c<ET_Qh+p{r_x<j1j}#r{;gVtuP6qp_2r59*@zPG-++fx~$B
ztcfkY9DNj{FZTKRBJ@KIkl(iE4azIKSMjVLk0fTtw=L%{PTjw{NWQ=PcQzWRKO1nb
z!G6>k&i(y?<eoX)EjcZiyvE6IC}XVd{=k$pXRdVCNH$?NHsYS6k7yf@O%eyrbboA0
zD|KZ%pfmR3xaWfSAZHh2+@B`hq&|B1M&HY>)gJzy>?7JDE$oAWEB~xn7~QNhdR^!i
z*3z7frT%66_LZDFI!8KsoEcwwdmpvej_}4;zxQw+Ed?CiSK`Za4^%bh&eWIqhw;Y#
zi9Wi$KJ>ljvG3@SZN1QFf;p&<m0lm3L!9%P!ntI=&PY}}y^~slfzjv`Vg<zT`M=}j
zj@Gwor!~>qXkD)GYQAm)ANoBmd~mK)XQ6a9I1`u4I&|-eSFZ}3yzIdvoCY}GGjWsT
zhmD8an$(^<HTk+j*e}=;z!{}Khd!d%{x|UZ0H4J_nw$bHOAc8)aQD|*TX(A)Ilt?r
zQElVbs{U57SI3C@rB7*py4XEWcp#>94$luD%PW9kf;XmMna?;jk1OAu$KS2K40S%1
z9G5Ys#uKh3BQ)mD=SQ`T88YVM-k23;OzOPz6fS+d6O%G@D%zAiExr;>$>)erJIUHa
z#J71TUc;||9~{xxi#m_nhiz4V6zdZZ-`o8S8gY)$zZ;~Gd&@)fBQ5ns5#nXhHSaZ*
zhVYNbn@u>qlcQeVU6j1L8^Qfb?5j?2E?!ct+sNY+8dM9FeVp?;sO|74VnR!?pC+6+
zp&{0CQgR`FW<vH<;v^F%6VGWb>ClL_H2Be6)7S(ThN9Qj);bI3Q8yz_zIyG4soBBZ
zOSO}o1qtr*sy&f9MAUoSwkeow<r~vy{G{YIY>o}^K??b^Z2~sW)aY#~@*1-6!$RDF
zR7u-ELsR-qXNJ?@<7mmj3!?@ffy33)B*#C+*;C=I?l9*=S~=4YW}Fi2s|!Xeu2!_Y
zj@kxc>NhDq=C9?te6z=5YvLfY9M&p~ZJaVSxVh&5KQB{e#kqH(b|v?zaQD?y$hz7F
zaKhQ>+U5A7$i(zC`XD|bd{=gylvEvQ&GC8GP<Z_dv{Sp9v*pO4+J%7y&`nhox}g0-
z<4j%nZ1_lWt<c@*eWU%_+InX}V;*Y@9fX;??BpNPN9lK?;}w^VAzNzLhY;O7jqj@O
zOBwH{t@aK{_Ward(8#pwYFAc5Q$h9`0?>tEDs@5)r_U=}G&{?=R{JJC{JDas<zv93
z`rn1_4}eEB5Wq%>TbSR@H!z<>8{L^%=&qtom_C)alnJZu*8X>}-k1Ta&SAweV0D18
z3_mXj%))<YUc|tgMy_?8uGj(hA5MoZJbW+oa90N$KCF3yH7ZzbO{dE|SQllqDNq|n
zZFDZT(5?2`TuB?%OVl`8t4i*S^T+y<Hx~Qf`CU^zSk4-R<y`OgukpKb@cgxjux6jl
znDeHC{2t5reFeXZN043S+~o}9md^{B^)x@vdt%7>tam$l%eA?{q4^{K+F$iLXI(3i
zje;S-I-MZC<L?;nT;Ti!--V$uUoMSgk1Gg`9g4mRGvLcyvrHZnt!1vCzjhJ92tI@d
z?Qv-?+8dP};>)D(1E1<-O1A2~{7!5U_cxyJDPPmM!^Zt}hwLW!*RPYgGn7@n)ERe*
zWN;rmB05%X%0BF!rd!P2h2_))DOYWB{id2gN#4uux{+~u&^!9An>N2uK2@lod<(S=
zwj$q-pq=8;aqI*6DUY&OYwlBmH#>>TO+7@+u9NtZ@#mnW4rI4v4Rs{shntv}k2lF2
z<**FY;6zsXKH|%)ll+DFZGt<$d>pmV<zK|CpS;-#pPZbHd}SW4>IQBzyqW9n>}Ee2
zx&9fx@0+dKm%7^?eYiGYeAvC%wW7zs9MK25nco9XqJN=j(F6S*a$d;3iWGdPcCo{>
zi>V#DK<zpYgQr&TBpX)s?litXcgYvk4$@fuyA`}se!TjXy!YSh`&;<!E`A$r=x8uL
zBO85(^spD7(LPaTd`9^Q1dx-QYe^z+g=aS?yM}s<=Ps8`l7|hG>)!br(TilC?mNqN
zzkLJ0mD%|P$T>a~9R$Epob?wTXmgl*!nivWc|ElSzXDj(#BUNF-C$n~=Br4j6^mYM
z3`a2dc+h(5Ea`92$-<AnUnYJc9=c-pH103J7qELkBTWu^0dwC|=Fh#r)tL+v;~{nt
zlKk;-aU{4%d{6i(VE*~;ux8;#zGa>}V*oe8Rkk}xxPhiM=NNUU4uzW-cuO%)LnDX5
zVKu+~H#q#q>i3$4=5b&PABaPfk8X3R1Z&KbwR_+TAEwN^=-%P|-$Z-BtGllkfaA=4
zCgOlAgx5LXFIDd(4G!}y4j=j#v_m{u>sc3c`cm1BnRDPUd=Y^!OdKzNFpigUtbgU#
zOH0w`7WNZ$@6i_wJU0JNYi#L0Fi7{TeYNP@#H120YTaxuPSEXoLbNSineEogp7Yi&
zjURHTwM$d;C=K5wRF9(N<m4yNMT)b@<_DMNeI;jioQ{)|UHGNquWn@W1Y?79zZo<q
zUQ*6X0kyq+-cp?}9~RZNsG+a18Eevd7<#G`J@L)CoFVY%P<<E~RSo_F_-C5;7HG!s
z-ARLd*O8GIm6`LSzI~pX4{W~{U1Yqwn0LyR60Ky)sW|U-7OxALZTWM38@#=uj(^g7
zj<@epif<vF4P0eo$KBZ1;zjAo2>Tb(bF$+jo=mwEJJ4wfB}eUrN9n6`SYqss?m%+a
zG;DnNy!<9#Te5GD>b}x%7y99G<VBp^zk)<4nX}0uw%}|om{yRCq)sOH&&g?Ct5~&c
z!eY1Y2doRaEVUMU9GRIo9l!M~kH_(O4@oDw+t|}9ork&WAx68#rMl0E{84<GI(S9v
za_g;<GpZGv<6gl0!q*_1!GXivOOU6UyY#^`@IfbMEcMN4$4A>Q;yd|?7f=IDemHj?
zmVdIh-`sWBLA&d)eW)F|otjovS>%5O!m8y$efE6(GyL;6pi|v1tFbPkt@^ql<n-M|
zKJ|~kOW(|WDfp>_$HTzlAiD+6Q}|0-gDv1nxYrsAXE%T|e5!Wknq5afYOj1VABV&?
z2ln$`K?nFatIK%5S-Qc)QGoj$G>#dAT6dz01Ly&{ej_+h8*IL@YFEU&-T^u&QXW{}
zG>-;~p@I0O@rDMj5)C*XH+9cTp@TC9=wO_CO$HrAm{T}|4yq4B2i2VW_UDv73?0;Q
z{#xs)c`8pDKWu;&MrF{#ADEl7<RG+w-S!#L!eUDcXFv;GS})e`?g3gDSN_-@j}~Zm
zE$cfKT2RgC%v$}Qqppu=;bLe({3BYJ>(RpTtl=5Z!iPOtI365DhS0*zz<vNNfN#;l
z3F04*7Op)AEu?o1(!$IPTBy#Tg)iuR2A<Ny#0@<lJJPej3$i|}y&ujN$hSSf-ZXc9
zKVxEZe$IX;vPnGR$5s~l_<>i>KxPf*ecCg^(<R^F0bdS|2cDUFmtn&l&$}w#`D6Uh
zjG_BCRf8$ty}%!XHMsA9G3;HVKONHFG4v<jDRbP>ywmyUTUn#bdZAYT1<jqClBGJg
zoMsK9;3b9Zb3A#v2fZj*cB7BJ##+kWlg!(|o>&|i^gdYw>~Z9X^i@~3J?n8ccXec*
z^&l3vJ<Pes(iUifni@tAIDzdQ$SSMbg6=z<!O(lbr2XhM=&9MBFEMmKx<$4$`XxZS
z^kHm<R&=A$VbDdww;hKcxc&omBN_V@@bC9qP2C=UEgwM_{sWu_J-MiJC!_EWd#58O
z;fFQI49#CTRckyPbz#@^j&j;BX%KF(CDu5}Z@z8Mn`)kO=<8A1XugU|%t7{T)LJsH
zE}lM(l!!(c$Jztg?qk?aK5kRA%Qox$NLxK}O*&J0@NWKIMl4$TQSoHesjOq2(>5+|
z&OlJ_+`BKyv2_E{gSv;Y8(NqH4FOlV{Nod-y(}8|D({G?RqW&au1(aO<oi9{0aL>)
zADMV4eHS^3wL({2$~=5Osq-*4ON_fkRXeOUlx@yEdv&0JCC~i^bG7=HxRTj_F?D6j
z<<H$f{{hJ&_TV!0k7SPhCf}`~jm4w<zasZ54mG<xT})lPf%QI(^%l%$WWZdP@%t(K
z?!y>R?ODcE`yjTN;vA6z=h!!(iSB98D8I$=875>6-v7Grfcpir-7nIg?8G_b-*x&n
zWc1_7alF^LQ}r!)$B<W;QlFyx!}tfC@Q&8*Me@+^h7M$>B!ENmuO)OK{TqMV$Ul4E
z?VwycxXjsszH1kqX8581;GJqQ2sYVqKHqHPz3SO2-lX@w|0R2TA$FF|{rY(V#Q6`%
zfftS61O64OchEcIRfCcGg(?0n$svBP{Rw20Y@uEFv$EX_pi%PnlGawTcetDNfWL0g
zdX&lEu<KEgu^vP3d;Ax0YdwrigYG(rzs0%pQDdE;HGtRWgIoQ-R%7CS8s7w4Su#?1
z4j(y)XFm^7_K@_q_G9YEm#PK_PLFev`VssQ_*A}Uy3G0qQTmo|DVj))VQ<fqGirY{
z^l$4b%N~XP$+H(+pYq_E$y0FYe743hzKw@3jU)d<eQT_<=~wpoP<%cP{tt!EkN+3=
z{J~-H84(WxN4^L5a%f&~KL9*)fLn77Fn_@>|4F`6>Gz=vVo-I&kmK^VoHLTG!jZmZ
zj+&d|f0oy+Pi1O{(6)|tPU`gJF8WuWo0y~GY&DGK%g^ih8#(9tGE}*shmxW4J@#hE
z&IZ;Do3h-OpTDOzEVVEfyhR*XGE+4ljsD#fNbc?qB>xlHSwx@zmFx@_49HIGe^Yny
z&btR?XTt376oa2^BRliJK^nR}wCv0?{-D*>Ru<_z&cS5ocGgDp_!ev7!<;EQyZPP7
zPGFSmlpUt_8b4Eh-U&?I$P>N)ck*+%M_(E8^C1WM`7C2)%FkcQ#-LBh&(_1p&sI-<
zE+wabsQiq3@>BaL|E=u22Y80c&egp0Wv4GU@8X?wyXd6Y(C7Mr^9xr&n>(PLWyDpa
z-{rq9MYpSdF8DL|l}L}9JAVf3Jnq3}e_Q^p_~~|NL4M&MStIdLnEjhQ?A2bQJ8OA=
z3S%0(3A;Jr$ulQc@uK|q#cJPOV(n(F({B80>FI%WMDCubb;K_A*KuNo++FYKLB%y9
z?7KEHZ^>ONZzm#exy!?Y5xiIJs!{*Cn<Cf!D(_WS+tOsNtK6fbjBL(zuZJFdKQcnx
zNVZ9oJ+PrUGOeoLoME${!T25EU1KPRBEkQKpBDCtGsphiLB?J!+5)b9jIEgT7Vb?@
z%zXng|2cG)?819TI_KS+rJ5y)8RUe{h+-F1vR8aBvDH!7P$k@J(t=GqH;nImyt820
zH$E`7KC8Z{l5aLR!R`1n?3qQUbb?piB_kbzO?Iq)-%9SN+DPuG|4x3Zq1|N8Z(Pm4
zw2hHJ<itOoyd4;oKe7+`(~C^9a<Uk_7PwjLhfKq!)f#TWmb!_#?qOZGl&M|r0l)8J
zKVcjHv=9Al+U+&#qdLv`?t_fc$5Z!Phv?In#p?IR(4XuX8*k5ZKiDbU6&akbB41s$
z%S!Xib(7{<;4U}MV)s^_+8<EP4Qu}5F2>+&dA@LcE^^Y^89y}q(p8gX;=8J6njSr}
zO?puK)K+GT7q~lAytBdbj`+>re_435J;xNqo|E4GXfd_MS+9Nd!;;%JWr2%gw<fN$
zkwxSHh8i@lZQ$!7a)P__^V;@oB!{pWnFikDoYAW0OxCs3U~#fki^U<&xo~^x5~nK6
zcXzO_hVM{L9#gvm?~)tzP%r&gkhi>#J<<KL0Z+$A=Dib#2iULJi!I;3$!YI{M~6W>
zqSw1?h!JouqXk~MF+VoG`FicaDu<)MZSDGaa{t5Rl+6#cZ@Dti{-8(OG3Z2Xe*rGj
zr-Rp8eZ#qZzR7Ig>a};!V^PKutp0edobi=h-N!e3u{DvewgxnI&PSBrxQTOn=OJ6L
zwaebJGB`+^MXZP3g}9GGIfF6qOWsUF5x7rHjkQOq^}=3Oau@jy*|gbF?~v=odeCo*
z{7CaRYg0#zDM~-Hpl65mik_?b<l39aagV->^P<3OaF>{r`~&k)KI0Z>S^GR%N9B3f
zYfh}?R&Z2GyoCL=a^dbBb4D`9{U^^!;JFT5rNN=%U0*i1()|V&SHkNoUuMAb{otrs
z^5n!=d+KChnyxz_v#?EafUU^wXFfWQFIzWU>Z})x)zAy+)=8~T0dr2>&zzSl$DzR7
zjg<?Ia-H0U^oe!tJIjU<ORj5IPKo$de6Kmn##l2v*zf>zAIvE!azEc8J}Y*G&&RxZ
zwd)D)9yR~Zb=T|3c+!!9!^Dcy$kjOOXYSP5Fc@EHnQitJ-lr#QZSy~x7>k)thM(})
z=J%T30#D)v@t4mFDfmn|m7?>j`CYhQ44tNC!m}REwH9^YEy`L%!lxv)2D_0j`bM(5
z`gKd+YOg(HwT(ni8Q=wdr*Gci8>0(_L%wa@lJVVa@4NW>zx%WIU38|$7kqmhuxbtl
z2Ie_|HA}Jf3pYB+3HW%5_gs1>d3<ZLk~O1Z<Ew*}<LgIG9S>~db!SlwnXGk;(?<2g
zMbl2qsfZ#^6!(>^`9QthhmE|^U$q-LP<!oR91Si-H;(xEe&To@-GqT5jINPCBzjqe
zeC~SKo0l_*y*}hVZFJY_Z=t;uzljE7m4}XH$AC$);zNdZ^0<!>+;W$7&rM#;0~+Tt
zL-7)PCYmpHKWlzdE?Bnv_6kdn1>X00Jad_Ulz7c7<e=u=k?x;Z8B&g{`VJ)5qMLfl
zvXYv!t&dGCej4{pp9N3;$m#34Ft6={rB0*0->|^F5*)_pPdcTmf%y^N&>aK&$nBQi
z>N8L2Df~S6MK}}grgGLgjxHXGx9OR9OH~|zx9c+THu*4kn`H6!C&t#igu@7T(%+te
zw;v7QO>(T*-FKsKYVo$l!`p8S?0N1}JRc{&LHcc`=ogyF<EgrJ#t)kBSh{yY$(^G|
zw^b5{bD$C3aVJ{qZ|1($nfO=Jg2}F%Mz*EFZ+aSMq<=&_{wCxP_?7-i>n>Gb_%iZA
z_Z>|}-`D=KzbS&uR~#RFRfNMP=Wk-X%t@{>@D;l)JZs7EoditP=#M==A{V4N+TI^@
z7GxDf7w?2G!yiSSBZowrYlMedtr@xtI@DdTY2@<v)E~OU_|YG?dPTBK`XGF=>eg9*
zu`+dBGR7J{B>sVS^N2Zipo8^Yf_4eyS||Egy7?tfC%=MD{u}3*h%Hv_zcSi)C--Vj
z*;J9-LqGe`qg~LC%}>g8@1kEnk8kR3YCp`;zL3@?*KI}~2<{qSReurmtKP?;+qot9
zy6DL{+xwe7&w5dRqFnp@suL#pF!v6=UCrMs!TDOAO-|oJ+EpA6zUcEzaD6<uZluOi
z9e7TYubrUI*$vnn&gMYzdd@z!E{gX~rH)@3+FecG>#;ji{A=Z(;;>QjhM?(o_7Y5O
zGwqY8?@!RT?kPwJ-Y0F{6RoShY2mK=TyUs0{iwI5ALe=WJN@gnjhNont}(#Ree8Q{
zeTd~xOe3SaZ<5TB?h4sj9?bn3V#RvD3trq1q;4F!T-ES-i`Iv@YAd$O8rFt8_MjE?
z5@+6>k;gY*hh4CqHR{(nQtGWp_sQ;2eyr?}4XS}jZdw;PfnDf?6f)hHIeVa;`q8oR
z`_ZM{GXw2ivjXkwJ-Hpwe6cCQ+;bQOKFORE`!QxsnA6kfXXIdC7cdj|-R>x!NV`ul
z4`Y8od!p&|HOv)z&FEW`i-pa}x{7YotZDjDo|i=X&OtsKJtO;tel!ooFV7=RJclz{
zT8r-cC5Pc%;4Nhh%CPmi=;yDTVUV1E%{&X;M~vNE=vF=1-xQr5n^Hn;z5sEtF#Htb
zANVx&B3j6;_I#gX1N&`U?|ktb|DqQ<ebfb6*W#VCZSm@`bZ|zkg>`VCk57KW>Y8X6
zn4c8yLLa40@)rgU;xnA9`zW*<Vm<ud<@^8e@7#$F4W@27w@q}EfF@;QYTmmPYll`u
zC*n)JYaz$-9q=IfP;Od`^I?3m!f_@fF9mP%4W-Ae-%#XsgOmJUONSJ=HwhN-E!*ci
zjQjk%<a=4Yu_EGd9^pUG8+U{U^+vi0y+MBidILK|dgBT+XYy{%)9Q^=kO%)xZ?r>i
zp1xfXNlZLIZ~TL~`T92E-C@=Nu7>)n5#r|36`yBp^u`LKH=>2fZz3b6G1oM-w3PRi
z(O~i(=DPzqt~h{bYBw^x2OZgkj_e+h*Y;I2SDWK-A9GFDYp&S+@MRZvspfi$nPawl
zGS4*lH0y@EJq7$O)c=vqidjUEkyn6&vw$P>-8|l@=5FS@8s6>j`VwD-;Ws0{rMIw`
zKmSO7m2W%k+~1%7VPvJ~VJCh2JlXT?fjn8)-Cy+qjf0%k{HuYdvZW$<GBk-i%a@MO
zd;MOSs8G(=i{tt2TEWY^0JihHA3!$Gw))3G){#Sq9S~@Ea;L9%xf59H1TNnsPhNMM
zcP)fwnSVF@t@Q}P_mR|a<S98M&`#IUdDOBfc4uH$7@o%#6%Ku#ulmj*cpjc8n`wDI
z%~<03zwsQ#93#j@!xM>9$YB^~{H-<gkM7?rUqL<?_My2iED^FYAPy}lZ%KFRo-iVI
z=?)`vGJS?@_MnC}v_J=${zCLu;;mx$Ap=9U`(vIb0)ym2dOmY!E%$?mZ%US$`2LTL
z->p5U{luHRIR9ql0V&Qe-?|ByOupH2dmgYGxzG8b@>*oTv%s06?-X+0;aqJAdEF__
zxt_q^8ysi;<?I2Rz?ne(J(|DeuTMmmwQyfbNrJP~$i4_`X=TPI%$?X5f*a_HnsDS}
zgCm{m(0M%NBh?}wg`11O%|)EgjZwE?*V<6BQuPyRl<RME-F)9_O;)gBmcfyYxfesT
zl101GouZ?Q4W9DcxjYru93y|x*saGU!(WOos&<@X!at-Igj4bgH74Op@(lT2{cNER
z?IFlFsz#rZqx{=gL4cTBvGJw+yzO_Fyl8wV%_W>qo`dpPfIpHDy#^af^*2w++vwZi
z6MFazK6iqBYx%?u^Oj5>@g}mFzawj@3rs(?#EzoiVmbDVjhW`TuVAlaF$aCuQt2cY
z9|w=n-+IoEOrTGPwN!tqQ<X-KDjq62IGy=u{?CdhS<gE*>Wl>EsU|pPZ9hpqoO0(l
zb7S7i_MXVug#>2<;@sK2VGjEw+&7r2frnT(>15GD%cu(%x7_4Z-QA_N2^xD$v7B=H
zYrY+O;_J?W{5bIz;8N|^7Ur|zGTue;sl)6c1QSKexX-97m~%=e@=<iMntq+cX~|i~
zG!=CNUoY$42Ms(2ZKt8zy=DGAJmXy1%gxAu-ajAX-Jj0=-^kb)^KHK!{RFJmPRuVC
z-^87%uSkESI4dE%{nb2++}C&tSAsWO=Tr$_-vn1(j4hf-gERID@JYCz6IjyNsOLN`
z8nZrLC;L%*LRra&u#**Q3qaGN)p??Io{yVxa@?o3^*7ani#gDW+Nd^S9QttL<Za*!
z#<~Blgmo7WNZu(gzTSyly3^<l<7d7Y$qF^>W^UG&%6B*90rS01)hhTvYqIaj)kT7<
zZ=7g@J#d~{`!6sb%|q~;-&v<p#?@T*VAB~qgWHMNFv7EFK<#pwr)b;ycKAim_t%)G
z=GDl2kQdOg_C)Qup*_owYWutNSJ|{F$eHrkT4!Px{Ih|3+Of|}Oo@8w?ODvP?D4XO
z0JJ0@*CF2At+OciJ5|Sn|6KYgzOH1Z*6Awnr#WbiikXM_Q~xjEZ{bpOD|pQrs2>ue
z(fqX!)Q$f%n|g4&G$+N-ip-o8mwA^vp0sx^Tc?`XP#x>y>%Qo7_(b61PWVJP{4}sE
z<#)|f@+hh`>u}7uqAQo#`=3Qu(ntP&_$vM`F!#~sx@Q9asjoN{>O-)__&x&e6<d3i
z7*HBLM;=Cd^()TAIP=k3nEUdOld`em;7GnvHQ&kZR?HF_X-L5zCC<3*ozTmr!?E?C
zcN+u5M|jq$l8x=dv;P|U;;z3Y_(-}hhF_(*tz2dQFTbenY{~v{#QvQbb!T(m&F>-&
zkubg|KKexFnKpiVzI&IaKNE^GvOZ&>1NC(-eTfc68hS5suk&b6>-HdeN%SZD2?wIP
zyO_JpCs6D+$6dUMF|gYuyC*Z}{jXboF?Is-K|CYfa4)#4K|h$-E@yJjW_{R8DZc~!
zIwO!x>`}M;%&GcYFn|6&&LN3bZav8Oi-(MVLB{xs%OJBC==(nbhx)kA>qG0Kd03vX
zb2*D|cbA2d0rZ{bB)mL8jKK0yuKNTqY95{DoI`>81bvDg>X4m=o|sdVHT^Sjqy%>}
zq*$*-FJmvQ2_=7t%~g-S(7uen=U0O~t%*9xuM!&-9jkBG^quF9>$UuHt_QDh%N>n<
z;v3=p4CakZ$C)>8Em*r7p7QcoZgSS$&X`)qA26=;6g+D3_cjCr+sT_@&GTFm-3N4-
z<Rv=6=&|#$MOmjAx4vO<cG3_SH2yfo*WTCQ_<8O{-uU5k|GK4&`6>8e1H2hVzcd+m
z^4-PWm_f#>WbPY+!R;M4S~^}h08ie)U4*iWkzEfNy^7o_LnlkGCZ6P;XD2HuxF5xy
z)Y=XMPPG-^ONJXh;2YT;rL1ED+LgcPh<Bk4*)V&+Y5$1h#;@Z1!;!4jvQwhh5{Gfq
z;1#>Z?Ad5t-h9~NR(OlCMhSFYg4zfzw?(IDO;Y#~x1-M`v+i6f|6j3<JokERf;C3I
zTKmS22PR$sp0Uyo&?q?iEc;N{9Hu6B?ECM(gY{4FB^j1|A!^%8?pAXiPxZBzdH1i@
zZ!T-dLIxMitLeRqnr&|`^zUCSbo;=o;%~xLbZYcr@v^;x^@z3(?q6-u`A+(4338Tm
zf&8I-cO-KZP9MUrK%PCcwSIV80RA;+4w<8D%XE#youN+ObC=+QN-u>hEs9?x8$~DI
zV$Vi4$5!NyY>q?|XXe1I_%8wPY@P0iHruD-^S`wKn3<c_Pclz2*_sZ=tYwI~i3fan
zah2>t)^Zp!Ro}~AE5=5Pj69)PK8Et|N}S^DqP@k$u;To?VAE+yCv{q~e+h6Ci`zOq
z+BX7QETQ$&T!3*2agSQ^G!r)vLm@Wa0p5n=gNScaq2ca6=p~(h95T7c{W$VKa#-;W
zwKeaj5!2zD!hvrJ-L3e!`tAg;{Z{;##LpeGPn80eE_9&qDZ4IQL!LFb6OQ&^vkRwX
zf{*cq*Dmb(Ezncl(by}<P2uW(XhU=_{D|(Q--Z8t;a>C(esbu4*%bO_-;&tE3@2Lg
zjA*s-`baZtZ)}Gy)~S$MZc{cnFGTsKh<V5!c@y2#9&mE>`voJAar{=|6wSYN66;R?
zl9iHwW&CrFDQc(>h8m*CLEUd!3ZJJNj%@q2v3IOY{V;x_@Rnc?xSQ`~$6CFb>q<AA
z$-l<nFmumBB{oGp^WBL}LM@=auH{Fz74v;DdRcTVTCLeC-IeE_&OO+o*^qo;>8YAf
zvW}<l7^crO{TQCV>8Q4`FHsW<UN`a>Tnl%r(t~pNGn`RSUvJ|t*P@Fan8jStt7`Wv
zo8w)s-?#C59kM_?B792Uh(~(yv2<ot>soN-xS2=7-@Ae3l{rpwOE9mY9sldg^_>5N
z?#C>}R@r3tCp3oEu$+9))GWJpoXsVNfV($C1?BP^N}-3owZY^^U$*crK@OFW53^5W
z@_V7qS0I1#y*UU^zt%h$OL*x(Hr#=)ApFRdG`bEP6)v^9&e|IV?g`(sHkbHN<6p_0
z+Ez~?pUoJ#uIl0l5BJf(WPsY;fvguU#Q(PuOOl?FF5QPdS%qFGfah9i`v~$<vC=Ry
zumn6^3Y}>kTk(VJUZcr-cyT$lNhkJap?s@@v|mO04t_6j3b&_|)}E0+^*6?IkTJeL
zRgJA<>=<Ab9`4v^eI>yvo|CPa0uS5kkoATpirk+!DlTp5_WRJCkDH^g!SX!Y@K@mA
zmCra8b&RF?i)VeGaR&3xw8c-sHkaJ<WnN$c@m2V$5MGlWvAhLMKrcsyEYB_B&fqD?
zCH;nMnm?-AshTBv_TZWv%5RuOErTxRyr<!)wxc~cW9`Etcl1ijZ>{i~wGZ>j?Qmu^
zVIMaAZgRt(QtiEyU%<RA-izF^9*;WUOnO7>a?2L+S&{qXZFbFt%MW?D6rJw|cW<3`
zp!^blRU><mu`fniCMD%-$iL|FY}SrS@l~FisI+&)KY~rA^{TrJ`h>3Fr|qKaqZmg#
z;`4{_Tut7t=sj|crAu_#M9E6%b!-}cPQPhw%fN@$R(TW1!DI2e%JrMt?F2WPllR?>
z7~kz+e$eB`Q<syE%v!3wwG;E*JCI{L%Oo#sy_3rdokrtN@_)hf6~3KgWU=hLBG<&6
zu`_y!?Mr@#1RFS!99R1fiKdLboaauO8ykNbv?N)7s(I$P4}hnsp}hIw8R8A@MrM8y
z^IMTy!c%LIgWV$=j~JWbqYh&B(sxeB<fQQMPx=r&+gLBLIddixd4f(7%{BjAc+7Q2
z)1Pqu@IK4S($U}Y^on>{xKuy8*|)lzIF@iC+SWX-!yc?QZFP2!+#__*6WGBWyFZPM
zLkyoe&Souv%ha5e-?R)q03R<Zu3bqEQz3FQ0bPq1Z$N(}j4xeizL8xZ8=&Qw*rltn
z|7y@#VR%IF3-;H@V-|i=J=PW!UN~EqFF#aqjeVi4@-%DH@?L+1>QKpkyO7_)SM*m1
zr<c&Sk^6h5ayBUPl$8_edmgye?~kEVu4aD5A7x!bBb-y#yX^NtN1DIn@h)tkFTG@G
zQSz(<yGXS4VQ8d@ek5;<TtW6o=SfaT-aMbMK9u??U@i2UukZJNi?soFvJ>mr8=fk<
z1cyW8*lJT3bt)2^F%~}sgEj{Cjm7;sV^p5H$lk-PHI!|12QpPOlMk=4F_PQ@OfAS(
zc+b$#Ek+g>x}U^;)o-fBye6z1KVqH<r=n8!Cpl83V}jV7PEI7OyC<;A`R;W3+<@&B
zr&geo(WjN~h3<Iz472vK&zuiItNB*XIh^fTMC?rKScOi%hWGkgdPR4#ox{61ybEE!
zNEXTmce2WwFMw9Mb_9MF3*|pE=loUw3h$q`(z!0!+&?<8-PvEc^0%iVlc1MWp3`uo
zVsGW_)rA7{Q<6QE_V4If{C$D_JIvpEmIk=HD}Q^3Y#i#2seKGPZ+0l(-0zb{kIxPT
z%-&`R@wqTD)YZu54ro%cC5>PIsU&$`wA0=0*dOhwV9C$J=>1eBPui!J@`Pto8%usJ
zdrkdyBBM3u9OgPq{J~r;jd5<4Ip4>eD+|h+xtFZr`!{ob#KT?UOxf+k$KZ8zv@86!
zLg(@o_LNy0Qg+3%4(jV8d$O>rWJ8M1wAa~#Et!if?5@FnWt?%)@8g$c+KXpA(}z5$
ztF`u`gPlnH<b`x-c$;iMc;&@7V=1<HJl{uIlhxQl*YTA7_%Y#~cIdKXnBQ6Z`5&b&
zICwGk<FXOazWpnYY;%q&ZV2<uDd=6R-wNH;p004f|5DoddQW`0AAL8|``y=f;@h*q
zy==@@)?;W)q>-3NqtSUe?%TEEH=8?jKC)eQrPl9<1y18Mcs4cq)3Oa-P@G2cD?G=k
z5{^_)T)Zq9DSyJsLTevh%bAp|$TZ0c+P3SQf6o%tPmsKnEs^8CimdBH{=W84-=@lS
ze?<Pb*1pX=i`@HpN*+s=oxK;CEIm2L>d80J#YRtlU3|nHCFk@XphtWB-!HRzRBfb3
z&!8XK!}4zh2RhK!J3=Slu%X|~Ut^v^yEwVsouly;5~nAx1Q%BzKevR!<&P25`y;=L
zc9tUJ^$ZN77Cbm#fS&g6dcxkyPw0#s^PIHV>a`!_JB=0xMQ$7I_3ahR^QXvH8-wI7
zF#ODm`AzZ1*jM^1xLafXzWY}fDgM~{)&45;|39oQ`a3WP))737PX~VD-Th79XKfUt
z^=yyLDcK$!ladFEJ9T)rQQ~9pc?NzPef)u6jp5_(%|5GB{wn%XYza7?V*K<q%GDcI
z{#RtZ+IP_oeYiq;Pr5MLLcLM;!2I|{WO0AhXuey<`rLu-lgN;hR`wRSBk<exdn%OW
zE=Bg%!KZ7g4lR3I;Iqld-qpx0$zI8&_sib`_Z?y?4)`HgWV;hYUgaT2>EFmNBlq*&
zv*AD4?P{m`5WWl=SL8JM@8974GVpT;G<h)i|G+r<Jrn*pXaC>B-}xWFf7~J9f0Ome
zgkL`Y?~%2NSBVy}RX0bRu}KtH-%Zy`HsrdE=tuF&a%jT(GP!OCIoN71nt9{f{Y}02
zA0}=IO}qt81EXy&%-%A5A!I}aGDI=ooKQ|fLC9$sjXbO;Pfa!=vVpOQORpT$wo~!q
z(c{L?0e;D^>Jsj9LWk(gavkzdV@mF|Fuvr%6zI&-em?oA{Y_I@6Uo0E_$kOfY7E-{
zGqk!_J~6W8HojZH-_n&+JDhjo$j7PSz&oOysd4-NJ-{?uvd`!}XMP-eNP5iwe~Q>!
z=KtgRKi|yIH_$uw-VDL$K=apm_SkX2DZ5Vg&b#<!np+)XYVT6M*jFSg_<I+)YWkkt
z;|O@VLGhe#vKF$Rt?bBmum6tLCeQf7TAQbcr}@6=m%X)_#S?#N!4fZi{BAGx>#%<$
z7l7}@BGyPclQmxv>8MCvu*pdlhKd@>&@p|;!*=-ric_5A#i5Zw;%(vm@AM@fPIusG
z?XY8Kl;FE4rk9T`Dg5jL&(gi}ouqp&K(4Xg<y*18^6<5!JG$^`q(`iOLEV^5!71|L
zzK;Gewh#LXUF^AN4<rq3l$yEayJ4P+shz}F!XLWW;PyTbw*l<Gf>2%2-}znr{{s6X
zf*&dRk<8CSXLhqzQ)+8hrZ4+eulCrazfa&_4f<C#h=1|;X~b}d=RiO59XjwO(zAet
z@8a{On6q0tBaueF?<Y@OYuU}-^D~TTbGHiJyO@V>k9=GB*ytpGqGxF!`5;gE$y&ck
zXhVCfH~vEFs(W0t|5oI#fPSRsw7=rZ;6Fl3nLb;ZoR%AxvsT!~b+`3bwL?pp@;@&5
zpE|hwk9upID#H)=_*w8M*8WrCXUO<>q&KzhSFq;dt#ypQ7}>7%xqzI%y{yaQ$OhTd
zl9Pg0a<?AXjei9GyIDiEE9JK`#{q{<-}*GV6B>A!=OX$}BSU1z%7)cCDW0YnS|j(J
zG`=@&W#je1<~88?s<Ph6YODPu*(&0-#_LO))qW{-r@c7cQCbQ<BRsQj<o+~h_G66U
z>*E=}v-0Z~xxPNmcb@=<8uu2)_%w6OT!)V_7km)tQ2A@Y?Wqs-SBZWjEs~7|?h59h
zIqEy@cPPhrSB=wmy@wYE-8ByQ>dJ@#!(VmeI+uDrM9}jgoUrc8<vv&Bg2uw;HhOHo
z_VtOG%3qS7b!kSQj_7By18t1kj*VX>TKC&2wyQmWX4V)V$d#;DyAI^@jYo5b(=_E6
zYTq;0$dMjwyq@Nx+8R8X=)sm%Y&VVm6%QW`4uZf{hmW!>UwSsU-N9bxAaj%I2njba
z^eDbbUne<75$4CgWPtnH<RjVnvHybIJC1&41B>*uXh3i)A2e0Qlll0tUk)syeZfB!
z`%`oDVfW$ggfD&A=Y7x0EFbnd=Gk-8k;F-fA2Wa1oXQtVFJa$9YtK9V_Veq|fy~Rw
z*F5)+d6GZ5?r>;9c+2AX8gtY-9O2=AR}Hm@nQH?1vjJNofi7vObdrxf$6keG5<IYM
zf|d2kFKk^Cos!^pY7zHUk8vgmr*nZ}GW=?6O~s|1)03N!H;U65833$`3&fEvito{G
zAn)d4@@^Ds$YQ@v@>g^yo4Yb=c*92UAb$2^9dp)MJ5~Jq0_SSf_IdNncV9~Bw><X+
zo~6hn$$#H=j4Kx_acWZfV4`e3`4rFhSNUzef^4bAW-xnA9k$(vy>^Kap5AzJP;Y!?
zk7QTAD>#-j_i|*V)=%?yoXN>$d~0Ii%wP6n6#7<fjdbTU<Z{%+MDRPw>C~Qw@{cag
zid}lJ+#2B_;o(6tO=Ail<AFhWKGKC>!v6gfu>jf38c*w{d#tWs!Fe^_Nw!FKl<<w#
zL$#k&^K2ArM!tl5hh#a=i!<=%>D0}Ul*PyE^d-D?uy$rY7n|AFqXqQq<5GBZOzzth
zgYQ?p@2cTJwGoc}b%{i6o6SS}esr*J>X#hQcZc*q+<v#w`%d(v`CW``%!DJQwh7zz
zQLk<103161<JpQWw#|>dHj1%k_7hb<9k$KAUYj~%su5_`ta)lmas+EG+>7STTF+lh
z4heDsIpweM2cdPX@qzSCz6NVNVhF9@&t9c?SL>Z;Xgtr&;pyZ2vE6npRp;#8B@edE
zW9%c~J)PAZ*=g$nO+r2e0?3IbNA{elZ_tTue+v5OLO%6STlS^kNOB9tH@{wdL>qT<
znOtw3Db!qSz8duc$>oUif7Jy}lNW1pB4#>$VPr#UmSfIBLRT{a$j#0mInE}xGRHj^
z`BNvG8aRZDDE%rYT>0Ok2c3OUzviq=lWiB)8S&FH&xpTd^15=5C&og**DjGh&ZeG(
z>h<KflZT8EVC@3HrJOqPM#SMx4ar?%A@e@yR6Y7Z+s`HRvxh#^S64`RNjdKE^rf~5
zU~c8#X)X3H){YbLucmu(oSER0a|4=_Y)7qau5|RsGP`Gq{5SU#l25PN)BEae-c&Dn
zrhB@rPTjqIblXmHrpnPLiUoE^SK2$|&-3$;BOfLfM9wKXw7vB(b#P+iX?Kln7dcG3
z>Jw?V(ChCo^}6a#pdIphJ?o@-gvsHS?oeL8a8-k!l%^lq%j+(Sjn}$Iz(Xt)82wH3
zT<Ykv+b#ho$n*9ZXGDYS|J!?OU(%U;<x$BdO+o7pcen}1mDsMbc`kaq0y}3|!>jz}
z#}KkuBiY<GmO9RT8M{)tOZM4($@^M6AJxHm5dUugUm5jpZl%8g{OlR5WpR_<`}oLs
zU#IsO^N&#LXZQBA+IDt-zRe-0#i0(r@F5>Zd@P)3jkUJp<U_K~-P430@P#cU{472u
zHoj*e_Z@(zIwvstL&DSYFSIF^QE2cq%;0ItKH*7qI4z!T2Nv1vDf;VK$hk9UF76aI
zETs;raJJa9?Y~PqYpdtGj}j}kaV(oV@d7yOUJg8K$=~#HcY4u-HGH%8ENqF8QyxVx
zi_XL&Hg3UQ3OPf1A7Y$oA8^)H7w|jrQ|)P0V=pKs9|$<>y0Pp0-^gvNQf`#a4aWNW
z*W<g+2w>O$64_|$4sfSn!byI)z-fQ|TFJKp_is8I#Crb4Jd52wn`f^3s-E*LTy;5z
zJ~LFE?Ns<@&fmay^?ml-kj>AMpI#Dzj*sPR1iaaI4z>?`XKkcHw*i}1w61l$jX0Rv
zwotz}#@r>};PZ@FI=S`GnSPUOJ{_5KKKNE&OG1)I<UNv?dKz*>F$S%da44Hk`XWf2
zSTb@p=Q%Fpe1~!|q#w!8gN}$P!Vifc@)Y~3d6d)s18`*E;Jcl?$8I#Wz+OP+&*Dr|
zjDK155u%QA*9`Inj%UB70Ubeq_4HK@{H4HOik&_iITK~=!rtAGVeh;{3;WJ$E51zA
z#{%eL6=OXDE)Rg0+&sbiAn^7YcqN08*^Chkao&I$SKkC)NA~B1_(__7zSAdPGXf0Q
z(B_WT52>I0XrJyN4Ibf4T1p?l^>&Oo{+w~uE=J9tTy#zgc-V5XwLJqbbI&2|g!jni
zPxnm+&Su3b;9);Ta@(!%H606X#P9yQTX{EJ?~tYbyPJ8pPv0UxR$~YMi@$fm^IOmX
zJx710Ej=xie7*Ry*xT4D@cM_|>u>t1`hXrwh{xT=H$Khjypms&XfH5n{Vi>=?~H9I
zIuH%q!1ui~iNj^I|A%RxPkWt3$Z?nD4C<eIX&(W%!kzf?Y3g>J3GJy~hj2Rd4qu&@
z3Wc4d__CD0ef=jLZtN@I_Uq;<|6FGeh4%_4`x&)WJtXO2wO<_^{*GujeU4-7hA&Xl
z+qX6Q*oWI#?5x|5kGmMY*~586>hC76!{3#EE7?4U_{m<*l{a2Lu376fWrXv>(!I5}
z<<&SZRAn_bTy<1V!&3H;cQy=f+a;eLyHekULbH22@G<n8zT3Tgc-v0;dDCkXAFKGT
zaFy%+VUhSwG5>7$weP&wbi-JiV_83{a{NVO1LJE(1;-1gzvs6Ux;ru4=~GRE#3-KA
ztX%1&rqZGGZvZ{G4}RW>jGAlmH}l<#e7KP9JDP^K?IZuFXY{e-ANS!yk1wflk~_hF
zBm0mB7v495Zznbv_fCx8!JHoTzL7mzOI&axKB0eBu4Q0u#qPbpk3HWmnu^0?n$uG9
zbLSlGv@a#LHz%8C9?yKI{jS5zHG&M#TpiVA8e(fyQ^QF(@%ck@*zn!=nl_5on7?$A
z^x0LR>}RNZ&An#B-?;*K`$jwKbRK^x?X>3pnrZE8z4@hd2FzQt%gnr#`<v}v39NCx
ziL)+oV%Krj#pj!O-aJ@uvu5$U!8NP<*Psr+9T=M!+qa2D&&AMi8W|sl=fc>M@j`1$
z4xSUR^_)a&KCNcLeI9TNUeTo9$M^PEonhd%XM$qDwh0;&tWU6}gS3|Cp2lzK(2Vij
zqt6?^iMxzCgV3N)Yi|z1JrB4q1#TaPq4a+85Expv^;fB;>~7Y==Qr_M3LcD$@2+>6
z$pw6&a9{0h1^uy=Q$hs|*B({Kd1|d&zB|UiFMA-@J;MC0y=iKQ@PD1Tm%gqh@5+ZY
zeVE#DY3NAy&mzvo6~NcXiT1$gL-SD@n{*0%{}<rTq_Gphf%@rvw|~9*s6I?h$QXU}
zGS@}SHRmukb0>DK`c!|d<Z>R0w<EM$J;!<H3;*b^dIdfejueO9NDhjn)japfTR5W?
z%zh?rcrV}WKpzW#bKt#=M>*}#d;3Q2u$lw!ZOn7pALiSotcm<AAGgA5<#h$kqcU(C
z$*7mM6<s|5Z^ru+?^XX*zm*`jeZCYPU*$LMQ9S^cFZ1sA(q}{3|Bm-R8`Ab^-gSF@
z`~5!7JJs6pW&D}qU864^HRqP}{(N{#xx)8w7Ds;7m-+t<=!h-ke(LOy(J9@5WErtk
z=@Z>`77CCvgI-ZB9^pi|nZmjY$ENN8IR6W=ZeJeo``9pb@u0u<J@vL`qU`@K0blPX
z{yzbG0~;DyZtC&K&iyz#RI#uGc0?WagW_*m|G;7D7)4aah`tP+9Hy2-9r{7AT@F4>
zooMt(3*$(xguQ#LhStn{cgfSnUzHCLVZOrg<-k8M9`~i_oqoHR_uI4<%rS;-rCKeQ
zVw*_zRF8J5{&YJsnOM&z@?6v=Z_d&gG2~h;`%|xsU0O65{C`_(C0T_$4ukuB=wrnm
zr|>s4UET*i4DPILs{BL4@2MbXaDdU^;4o(^#YaAkMh?@in%`7^Mzz(2vlHPTV$bEb
z>i-7U>}B8^6gUMx3KJ9I98!BXvLpx|hQZS@?7m9kthG*XzI+g8{+v^}|E@gB{pI50
zI^M}&_&xYhzh<8NUw-NF;6Qu%8mCQ9<`wgBf245l$%IVa8^L?Qt9ze>Th?R7R^+$t
zsZe{>%GP?wAAEPoeFvQ16Mf76?uHjc_p;w_U|lX|J+?k?@3j=q>?WqRmU(8L<7)v2
zEyMsb&+#2kKFMm%?tPxKd&esWg}=Akyoz?^7Gw9HSMqamD_P@+jXAAw9D9!MQpwSW
z9h0+xef)3F@$KjyX3p{Ls@M7I?2Nc;F1abehKpFYF5dew*J0cxp!K}koT18f7xL8k
zy=tA`TTx<iL=Sg{Z`Y5pmBCZ`dF%s^cUt}sSRV%8nY?4`p!~`3j^@z^e2OtBmX@w}
z`p#Dl75Nt>=Q;}#mj$X;f^Yp!PFS*<c-BH<SCT7VzWKeT*Ei|gV)x>_*!Vf@3(h^N
za(rdWCz7qu#MYdt<9o(9<NqnVslU%V3!)8yD)OYq?q^>wb!Du*<&gmLrO-Xq%(>W|
z#8dIb-$4`Ny)T@?e(uIlQn=h(HjMp@VM*?(doh<e=`NyUB$MtJe8{;C#M<u1w%OqH
z9k2d0<|1c-GbvD|^S@dHorjXHUQd0`0&K5ulK<fAp|{9wQ9ro`mLfNsr)aGOx*}db
z|L-4lsvd);WDD<v4vIs?4Uaj+#94~na&(f$z=t*Ua`rvy^gZ#Ug+b$%e1lwK#-<Kk
z)sMti2Z4DHIkK-X?^ec;?b%9f;(Np<;X!12j{77zgra}sh&hi@O*|^i9H&x~GP){I
z_0ntoO}WG+<>v`sn#(l$iUEHO`{|J}6Psi7*?l$olQvOgcM1N^XV(U*Vw{uE7}^(z
zXrGCF+Sz75Up_#dyZdPEZ)Cf_14a}71x{?h&6WHUyxTT~k|F#^!CaZ(3@LqWo5kKd
z`R85NIDOGa`kU&&Wf)jA<`rKIRGGcZnyjSG7F5RVe&#QMZJ-@_<j+nGRP}Cx?o5r6
z0ymOi9OyGaUjh2kIfw_Q1gbP&+lD(EIzq|4^dq_!eBCv~2IX@Dzs?_u-n4(Tx1N1Q
zWcDuNt9vhmuUXT}p@FVx?90+dzTfNEAzN9uEv#`5GEnoX-77jNbd!Iw^l}S0NnL{<
zRyK^YP}o<;1}f6s<iVn^#b1$gWhWD>M9)JXX8xB-#?FlP-9vtlzRks-3}~&WlaPB1
zG0~;kCoFOoF%Pwq4ZKNhMbnMYlD-E%<wKORW^;)LNH?`0x3pg8LJRs$Yjz2Jbg<si
zKgjn5pZP$bD!_Uxb`drA79j)auN1wYZ$s$E6!Ep+^Gz!;Z0(!2!1txsl{T+eE)=k|
z;E%T6B>iB0#IqS=BkeVw=nWb=HkReIR|+>5S~y4l#qLcDC+br%l=NASSx42Bid2<0
ztFF}Gd6eAk)x@z+8R_IKIZ?7b*L|6B<`Dle{tLRNi*qQ+W9*)}_(JC`&uAfMk36!e
z#DZFO$|n*Y#<|;%bs9xC4)KrZcB^X#Vy_`&1m6atHV&XYc;V`^#FEmZKilTVem=vT
z^_%u?{g}@jFXqz$4u{5k;?$$r$3BJbk<vHfnE>>l7|=V&fBp7!2G5I*#X~E8rr2UO
zG;4YP8|zt5<Xb7Y)p()<#U*v_FLhO*ss{ef0;gKP$}z_`D>tAW{?&TC{;J*2R;>Z?
z>JIoqbgXf{HDsJGGLF_K1sqyW)uoeO=tj0}3Oc5i$V>F6eqS)pJa_${Ev;zmR_KIa
zWWz(edx`J0&T(i+dSkHeT&}4Ja#b+*nI3$Nx%e90#4csi`}9<KT~>4DF&%%J;{?yD
zBnJDyKI;n~iQHHh91i@72ittSHuyq!cBjM>ybHh&!~~LG_TE<$E0xTe;?3XcJDvS0
zG&m?^&PH~FTgj#)kFfGY=XrD|YB6&-`Y^swY*e5^-{YeldjUE{b~EROMwg68%y)-F
zSB!Hx_}E1o{Vg2*5}Xjnr=Cop;qFkuS$B_c&a0u#PTCmS2ER*bclYSio3FV__$IF^
zI1b*+ahKfa^BpyJ@rxCQxtBQ1TH-KQ@mo*X@MN76rJh$UzXitE$v1{}#Q*8OLEpF)
z{rw`eXV2;6xeJhI!qY$5n_Lf_)S-9N$VAcPdiYZEO>kTZ5B375=u`OKg|2HP2WkBS
zk~!Aj)!BhN=L5GlZeU#CkUnCdI8Y%OFFuu@p+1L`<1P7j3i<xjX)?Y@Dk@u{z*U_W
z!TAJmKAZvP!_+ksT}}r+!{@BS4qy}fTGx+;1KcNRVg3%VYRpy01D!{ed~?u2l5d*h
zB>E66mjANdi!~R%Jxb>fn0pvmqjgTbi+==s1~=FqPd$PEf(+MrR_S=jppLmi?2om>
zl2ydQeY@j%WUcz%!?_F1d6#(>5cjh4Y&gU`k37UYpDPm0iN3SlbD8H-Z;m_BwL8(Z
zQE;ZYMzM|eLtCo-<InRW-aKDs?96$_gW!HSF$8c%?VY~wG0$D-N!1Y%?4sE>ZqS(x
z^<`<`1Z1UI59HjS{l)LhKPO}U%f0zOYUZ8euJ`8uuzBXXKjo?Q{w#QqO+P@FjJ?j}
zUgfyI6_0o{xsx^D**z?IEWDt1vat<ZjJun?EE~&&-p#l<?ww|wY`4i9=cL1o^N=@=
zZ|C`AeGYtRu4TxJF7gxV$OCSJzf$nm;dtq8ufN8wp!PqE?I?blM1S=ro|$d*yZYO?
zJiqOi;8<hWm|2k<-AxRa-_neEtHv|)6(6xC%=Z^&zSf4D=;8URX1+!4h2DI3kehHQ
zyk2z>y!Kz#-{dkc(Snr;)c06u`Bk#@Q|9kNcN$O8UeuGTm%lf7mZfVG`?Jsrcb2-!
ziF^4Wt&3_fSpHmx-HVPhJQmG|_ONv({!wETx|4?J%dQEIu{$@>hncshGuP6`>&TyO
z?JZ1@?9Fkv0AEkpFk}tm0#^|^pu%OxZ@A0wENWz;!_qaecJ$}`NLAehvSWs!=XUBh
z-m7MrdwQTscJ`|4CpIfD)!4Co*N9KChPo26DWrd2B}Yi#DF6DIP1q5@V(ef3e;Kjp
zLiEu+(6itYJc4r_=M1(0Uk|ud?D=2tiQsd7%l8vv?UmBaz#=;qJ88aCmAF85YXCT-
zo^5%=nSm<lYu~TK@1Mch`Sx1cSGUxedre0{N1~O$M>?j|IlYqu+-n+%7oHN}Ueg_n
zlV%LnLa7aM&%{ZAs;jS$u9Oax-=H<98<l8R4ebbe0beR<{ft0EWM0jpXGUYE@_mVu
zJs)GPO8w~Xa^@^qY-6R^CEpyBfqxytH>~|5oGDQM>v)RiKM!plj(?sNtuc?G{B!Z+
z2j`zRmq|wXG3O$;<$0%SJ@kAqe{3Z%d<0tSXFpkILB%79;{sKz!9%OijV;I?$vtys
zZHd)0z1aQolkWqrUToV0dePEku1j3+p}X-fGG&D3yc#)ac)!-^I~BO~?kdJ^<t&)=
zoqY0dT<Y!3?dOagdn@XLb@k5e6}Xd-vFNyur}~_#Txh`?vs~Xlid-<dMmz_vMa;f$
zwtFFC0KaLYzVyw0=)%@L^!#aHl0SVeZB=JRxhxuA_du%eZ)vT;fn>g!7iVSGinie0
zU{-8Ad~g;zaKUrzO<-3(B$*+)R9$4{`S&-BXgh<Nn(~!O@Q-{S<!R^!-?mSDAAxpn
ze%AIW`@Cza@<7Oa8<}XA{87!JFf|8L%N_hs+ST(NFmK`SG&)N7{GyKo;G7B#=v^^$
z(i|QG|KwlH|0uCC*@Qk$-k_bejSAhb5w8*-#_OOL=w38B+WY=T-uEAYzSUoY^d94e
z^gDA<&9E}!ZQWCy44j1KKR~{N;$Ie?Vs{TY#@aXAr6=>&_u_#Da^4gRd8@7efLKWH
z+F?nZgB9LHn-fQ9AHv2a*auAJj)6DfPpwbT;}h9s(l3u3ppz97DR58v+aN!>OC)Qv
z-4_K5-)!dT$3n;}oc~??BEdG-gYC$B`9JF_{x&*c`tW3q7pH0dSlx^-$)`k43r@k1
zz|Io?JcSHU|2?Ce#vbgY1ivq3y_fOZZ039``{=UgKl|f4bDwY-zQ764cLF(6@{PcP
zF#c{jG^||v{O~G&EBBNd0_c9NlP_zYU0~~~_%_!Z@_gkZ)G(g%e=CUvb~OarFZbr%
zXy#q$-sa7JMaKLU3*v4wGymh6|L2I8%nk(RKgWLGCEWR(AQ$Jm^DbGmdO=`8^&P|!
zsgJHb2F+b^Lo!1?nC5>s^UstKvRm5F(-zJg_XoiJvS*L%<Qv&B!tuR)t2lNG@yuz4
zPVN5eZM662c#Gl9Y`5CXA;+D~Q){+|b2NfQ{fOtaZn6gj&s<L?hroF$|Afn*c>Hn>
z-`AnfrLUy(q~o>{bIjD+zxgS04?QQpPdPlw5h*$#KcvXy6R$d3{(O;(y**>q*-rba
z-%V^-Z_b$Iy0Z)nI`?JI2}pk}hJPjB5|RsiCp{ftt>kZ&gt%XtTr|<^M_v&<6}p$z
z+qwRdxi+JJidXbcti=b=yf1&pF?#4!`h|aHNS36LN1Fd$_E3!M#7>TQxDdTc_G#X?
z_gTIe11{ua_%WylflKil#V(vPs3CTNGx6Fq@j2vx@N4a4doT2(z$RU)wG^z-_lu)=
zXYEqrR~c(q;H}}?oNv+i|1eMLZc64Lk5Xpd)IH^U$(#$e+Ie5kyodVwOIRzb7i>)7
zLe@$$`Eb7eAAfJ>`-*wyxu0ZDQ#5q3*S}!eRR-TPN5vE7m@%Xe>=>1dk%F%^u4r2{
zE5GS>Ghb`#ZTW_1NVv#zUqcS4&vj;=+3wHGGuM5D@ip#e823xSEPbr`6|A1#=WHcc
znz8krWKYb%Aem-ihycTWU=U3vpvgLDa+ODucayWUnmi<j{QzHnNuJ(oavXeLws7FQ
z`!4B~`apZnO@a1zmV$HHP{2{loN|ES^v$O?6cZCxo<R!P<*(^R=Ga(CJ!1AUeg2fZ
zIhUL!(d{DUsc-6}L)0g>T<79L@2jS-bt+_MZU~Os-bzeaymW<!qkhg5DCXa<8ZGm&
zU7-8RZ+EI>m)Lp$suP^!N*8|x``6||6u9S0Z=nYwe0v-^T=W(Bonk5l?$?bBC^qNZ
zv<_PtLw1mGW_9K`x03j;zXpoKf6DZ&+VtXA8(V&D6Lt*n#9vjvh3;u)eT&>5AK^5r
z-_7)E=oVVhH(J-{9z2k4A2hy#^=Zz8-=`ykGv(PXcvbRj7q*Ic`XrB^24z~VyBPXw
z#_t#I3xQ!Nyu7PM_@Oqv?<03O#z&UkI)y%l%D(%7%gR1`M)fA(l8>x2$dU_(%2$nE
z?Nq7Gn(sgDUptIDc{qE)x{FWjxz};-S$|RgcAmev*5=L$-nYCO4BO4Kz<oo{(}@L=
zLmL04XwII|=)*6_0&ewd>`VN1>HgK7v~Na^vqpFGx6U-E=BC#9X3@X|_B{6W+ZYDz
z6vK$1+jK5l<G*xef0OQXN^pM1$Pe(WyyaZ{SJ{e!gI&d{FU#Iz9j81qy>Bh?l{sPL
zBKeGKW(=Nb9D0_e<2<J-n|^9l`y72vy!0XGE5u7#gFJAw7u_PdxPW-@d7j+3z~loe
zcc!R(GkDV35BLWg(88|s>4JL;G_Ba1^0720`D4+u(a+eFSHYWM&wqMDF<<6ta&c&5
zV!!y;PuG#h$+yOj<D0@0txX<B_U~oh!imNd{uje9diQ(YiJq;Wte8xZq3QkX^;w@I
z&*)$2V%fQu!Na>eS=B;}Q1GrJMyS}SVpAK4bGD@Vjh!kyM6uaq$M|;6ZLEz?Gq=D~
zns>FKlR|ekPkkRj#;BI<($A4osWn0lX#A+`s?Ry?>pj1N{gf4v6zA=r8-lY<nu8zP
zSu`*X_9S$49C+`<H<Uc+0{)Fbhjn6~h2PT9;iq4goGWtAG|z1J3}9)7=S+MUnOu!b
zR@<vRxlE2HG8B5oCNGhF%h}Hqa<>b)YvqmA9g?S#$&!VSwQ266{UZ01Mqd@WA7Z=>
z!Q$-!=B#s8A0&n#I7Pd%VbDd!j&WGeZe)q*M(|@#nzJ*qHRj`ktIu2mdx3i-uuE3m
z%NdBw_@nUS#~?olZ4U4q^YY`69UU2V19I@zZ}wMd4TOJvUqBse;lBbIta(efVE?=r
z052hAp);?#*YG(sC;6iDEEjQ}MRG$h`e%C-i%>n?XQA1H`L^2o{4=@H12zmXi3gzj
zZ^)hpF4eD4Y~l;oI91Eyj-iixiA`7<u(+39CVFPyy>AP#sSCmXP}*JV(Qb?4s_?Mt
zusiU06g%Kc)Ldb|i+j#OZY1@IWWlCS7~e33zpZ<~QuU7NBE0Q5pG>BvbN*_j)84<9
zf7}Vs|FDC;l?^3Wigo^RY$x#aAn$rMNq;IgsL-5^-;tfy7Bu#TQ!ai;)BoMd3x~&*
zf2X<{(Jwev`d%{dN_h98Y~?swdrf=(`feX|=Ij37(I(f_J}7i=p|9WXBd>2N=h*0D
z_J8pGuW1wTzUPcX`y%?Fo^gBU=}yJaIsN1ib9xS*ME}@1fvZdC;~CG-C`1Q|riev1
z)HqX`+wpOxDmR;mk)bp2a}4;q=O}xoTJx)9O~gw*@L4x}_F#hk%RV(lHPEVWwDv{;
ze7S*pgPcp9D%nW-PJX{=p%WRIX&=1-&N=Tl*{oqakks!5%-h!08O(d=X3XE*Cm!RT
zdgdVB`W<JH^jys|HJW%7GHM&Px$MVn(2?da4BFo2>7;Gwpfq_<Grr#6gk7@2%0TJ~
z5hqi8Q1-|!_UI)8PWXfM1tkNjeHqZ<uzw7HAqUdP4r4pkBg^Ptwea;l`Q5}_=nHxn
z`;wIj$CzifI}*5cUN8j=!}y!CG5K0YKbG(cxJ*rlE?aD_)#va}jr~rW4tTkjynR2e
zu#3NS4tWPp(eOJwGyB@4zOXZ-zaQ8j8nC?o0dOlEZqax3{0?64F~8e=;9T$b*12YW
zmTs^SUsZd~Jfzt(Ey3pw7gR2eo}gIBApG}fOy;MtW}!zd?eaU{Kh5|0Hby-u$so<+
zao)8vhtxuHyzzHsdu}7X`D5wq)v|N!JtDo-f!`0DeVd%V`$y<(t=@CCnsv0}OP*6F
z6`Ni>EgGd}KYN(Rw57_jl4IZj?hz~39(rc%NPFg6fbCiG7PbJJeh;zMp%d)+iVegI
z4t2glza8p)h5D>v{$1Ds>Q{5qIg3wm&f?Z9EDhfvd@=`}1D9;7)04HY<ynKy2(kYh
zz!s`yobnv}M&{H-zd!YP!|Qi0`f)DwHfJPxNzi3CbbJ+KU~{eLhAz!nu@)yOd#5@F
z8;mwOgHVYcpN$OPmd*JQYG^3`f9Y6fQkUI-Ug2P?#ektE<n*cE2<>$aK==!=w>%X;
zJ3jpVxyzly`X_2^Y_b(P7odKk;QvF+Da)JFYUcDg>S<|C-)27AE0+(X*pbG%h%pzF
zTV2UKj2*>y&4L3M!oYAld}IClY<IT7XO4UIz2s!D#=c!6zbUAE8)&gyI7Q~IN2iNE
zr5jrx;JhIH%Ad@GKX+o2)s;rcWz<=-L!UG5z+aQ?xtcR`vOP=Cztz}<>SrrCCmOE`
znI`*@eSqx|+NkdYZEio_+Jc>9%-M+*vI8SeP4DYPMoEs{#Ti2J#(SLUFtm!T*ZR-*
z%zkE{-c6(Kke;)si}C_vL9caQpDAoq<xpHS9D9y66do6Qzr~L5#^b&6OkVTGyPom<
zvl2gHjbs~JUz9p2;7&9n7;gu6YA5;=9o(a~9{tIu(EBMPZGMH`Yy2v{5v@g_7ieX{
zXWybOCA7KcRn9*_mlyMUDS7Xr!_xg(H{U~E;n#S#ecJHkNc6;$M{<AC^x;$Xofx|I
zjix|*7JBHCk48@&Im|is{_6gU)qxT7>%i?+`WpG|+LhC}v#=k!dUD>pQ*WAAw&+dh
zt1C3BJcxWTb$QS$vI#kNHAQQ*_on=|zavY8OX={7%zhVjk-+aW*uApLg5-q;g4hVi
zwU4pKApVr@{s!~^ce?+1+GOhPTj*E1yN*0q$*fF!qysy-2YD43VvqclanUhW24mMO
zqL0_0{ZQDRE9n7F`H;oZf9N0mjnA^+xu@T=ai)3Ii>jeT_=`S@+{R(dSM88-#q%PI
z&J?|!!&x@Qt>#RHY?lNzR@3NqY_83b@F%%v340oNpMhp{?~d9=sh^Ts>$JB6i)ivo
zqDA=X_UkPjZ`&pQluV|6@r&Y#LiZfnh{ib^m|y7x&Z<6!nhLC09s0Bfy{!C=zhiT4
zA-}Sbe*TWGQ9O4GIV@Vo9{OKSTu1cyD)W_XC>v1r-%y)RbDh9=vRkv5tLk#e{?NMn
zHi)gymER_REfMII{js@@b6ZZ!)Fkn;{O4<^vqPLgHiYaw*|1;d-B{#UJ^d;c*aeL0
zb1q}lFveVL-0qe6ZS#OXU32D?y0}vzS(t-uWb!8Qk;036C#Seqszh}|6X21*<y)1=
zp8gJgd41IES4f{}OxZ7K<A=j%E0r@v-U$C<;4tDicHiVH^z$&VT#asB%Uxs_I2DQm
z2bquhsi+kliRKF2o!j%<zAif8eGhrMzOQ!V<<j?Rljmk3L$-ip>B62GvsY#O&zcTv
z<Ev(%+KQict+hFF>QD0*e)pY@9W@jC>q5ui<7?P$%9ZPaR+KB3hUbRn%RT(IrIRN%
z_cu)vUD8%~QGUfS;Qb%K(*+M}kNY+F;vCjNzM0x+UX|g1*-u?hZbFdn*YH~_u!N0o
za7MB+4(#CM=lDXqx`!oe!D|olEi}T~D}q~lApO|cJ=ku&_$n`FIgPy@|J@0$PQ9eR
z;ttlnj<(Rt+fGX`8N?@5-vyyy!)1r))9<e%qrV&I?~Vn|#Dm4#5+<f&V=dPrM>M|(
zV^%V6*@G=}`;C2W*N**3#<en~$o<v8TIafVfD73kTGQob&2!yL7*{lVk$D!m5oq;T
z*<kRM<XsH@zK1?ekW86vat$}nIU2f)eljW9Fn2Wf#UdwU|NFAxaSyKWIZjnrc*OVm
z8S-)_YarNl#(XAuH=>#Izis1aTSMexa-ZN_e2d4&Oda3Joq|!(HQ$Igj&%B~CO~iE
zW&hhxd*5!U8T|GhzHQC?mOR(Ud+$|6pa;pFnaCH7JK6g-jz3aEJV4{5<_Fq2>(t)E
z9bDZDxr^%>=ES@$O^N>sT;l#O-n_QIX$<e>SIA#VBX`(ueV^RfD!qYR*e1Ox{+;IZ
zUCXzVg-hP2`2Psj<UC}c@{`4*!jEG7>U$J;Y(nO&g2n{9#!?=%;ycO#(^?K=9(DY#
z^<KkV)-sncbJ1O5YnY1zEowf{eS_xI#hiLY2leXH+pn#6Obo7vylBZXy{}~a05D0G
zEd%eF^6U)gfjrQ1wIw#!UILC=zKqNvH(T@@Uin^y_C6%@xu@66U3<X#?UEmg29>j6
zbGD}c2tL2*!1(7lcyi#pJ~o2t$;8>SQ%<+~FzYc5Tp?FVu(zy@GS1zJZ}WTRCY{!e
z?V|HN8izU(*fGWK{vSDgpAbJ_qZt06o#Li<<Ilf~f9K1)MOR7oWV<ckL+kMaJ+UhU
zM=S9T>9*C+_czVnDZPe_WRKj$zh)ul;Ds-my|Zk01>Z%HOO_YeXIP{9S>WX$xWB=S
zRc!Kh(#W;d9uLKWiqmseop(z^PUBJZCp#~Vt#Y&UEwu6r`t4d`>$Fc}J<ep!V(6cm
zV@_z+KILrUQt(98vD6ojKo6=d)Ddy2Ca{0GvcJC~h5X&$t@HBS6~lZ5qvGLt_*31r
z$b9H-%S`3D0LQFYyJVwsLsSo^0zFOrq|sZDlNTVH6gSeDwQlD4LEzYejT7hj#N#Ir
zQ&7F~VeGkt+$WJUm~ais8z|%VQqI|{4pSwy2s-$!2Yefy`l!|_mvf$3&{3A#*Klmx
zK5Vt|$WANEa@;w}#b8XywH?^`BhC8dxF`P~>fSv*tLn=CKTi@M0<~DK0@Wu0<Wj;-
zP@q8)?kJZ4L21DzPm%|c5|WT7!5~(H+Ljh=p`zeDXfKfIOz9L`XzdtUr)65FU#!;B
zskTAw46RN}#~TSr&iDP<d!HvK0o333`~Bw^UWfIZeO-I4wbx#I?aMJV9oRU*(RRFn
z!yCr|IY44;I`PK%&Y$eD`?in_yr;Eq;;tm^8DqZ~9e=`$rtE$j8Oq>%iF`cJ!hDyh
zfw{z$(77<=WBW$W+_L7ox}M|E{%QHx-nvcpb*De$K6t45QVovWsUsY*j~;x>$rv;+
zV<~%H6n-D!8WZEtTw{Rlz=(pA>=SeU2YsP-9BYZ_OO<=Mp^+WW`$0Q}o#sq|^yz;B
zJCLiH=$7H|_FI(Q2LE*iMLMUY*zVa1#+P)-CjCx%_d7Yw_!V-BtzXYvN&Hfr^v9`f
zvMKc5zws>lQG!19H)L61KQ}mVR@32fuPd*CHOh79PswCZ)~{3+y2AD+&Y2^F`qs0L
zt~-T}>p*T~gNRPHo&k+>zpgs1?fEnMtn}!iUjdQJdiGgskM}pJ``?*spd-&jax&1t
z?5hmn`mDqC5z^`GuykqzvOE&s@8{8h*ufu@?Wy&op6K?0#P0_O?W3T~6P}m7djm2f
zKeud*Cz(?UC(%~8sy^8S?_gv6D8-yHA16HPsqd*zc+*se_7rQ~S#=b_t0;A7PowbI
z2XB=I+oW+n@xLJcPTr*(G_I-7V;}BJ{}!~Me`=naG1{9Zc@YjqUeH^|kYTNH)FZ>{
zOQPXX_7@AkVrZ7ZSj0SboYn#E;2WrgPvqP>{)G;+&r9-fr{>e(?e=-C&_1uZ)SsJX
z_juv(OYZS1f4;-)@lrYXex6rZAHm=LdHSXFfa)JaAG{eII}RIAcy2f4v$s)gVvM*B
z9@((Yy#<-H^$=_D1?o50FwD8x?*XqVf613Rl6&xkugXz9_`O$X51z_wA#bq%?zt~^
znEiJugSCR^gL0OF=e6J^x}@m5m-;ewA@A^VNTc+x^sv6G@MC0B={^E4ZC@PHn1d`_
zh3?M49?y|{)N|(!=}sl;kK&gy>(P=G$$c8-&t)u@oJh9+M87^k{_XHr{3HC=;@?Q>
z96@~<r6p&@!$Nqd_UV4Qz}K&`w4Ny*NeBI!{uI_h)%z{4U)9+w(li@5wDAu>>6|V9
zBVA<s@*hk6y{|xnS2yT<g64~?U1AUF9&p)*vI*V1@lZx#=e%(i?UcSM{5bx6;eu`W
z3FdJ*+?}X4dz>vnk8V8vbVvTn=-t2u^w=+x!`TooZQ8@oZ0AvM`cLqYPxErxdAWDF
zIk%Vs-CxBY<w2Jo3^2p+Cy;k{f#;cXiy0dWr)&P3i+|ycUctG=%NxH1O%*QviLGGz
zpXOWdppX7Zb{xNr&l(zLz>jCJyQcH)RpaLcZ+-JD&^g+ls_{`g(|VroeB)7Uzd-*z
zDIJ7d-23mGQK0<5UQ%B5TiHv)nJ39s(!RIAhA?|yu^U^kqm*BEjd+^LBYt+brMldG
z#CZJ-KBy*aDfOrBc9gxt8NKRxUB7FE%-um>dk6dJ)Ld&@$;RrmuZEA)TG}t5VRzf=
zTgESL$DK^|EpWcx$QAp41&v)b@Qn=FRh0duTRZk1pl_J@Dzp|Yc9=0lWpMZ03xf~-
zBx2{Q)5)LDyh81GJ9WS>6~7-l=>X}c5H8xOe~5R#MfXSCI-TsF=t;Y;G^0UtivEo=
z;DhEo&%g`W+uNb1>6^^yp1|IogI;+G9q|r)59@I8Sos6}eFM13Hdg=X2Y&Z+ACYu(
zuy5#{)FI=f!~c$+lWncMfvtTvbCj^1U4&j??ReZc=%F^oXq(ztMf+NrqiOCbzQ2m?
zrSZn#+thUq`fm>3?(^DU4tgc{20o>?QX}JD<J_%uax?e2Hsi;uXFPkgSi0r|`glWU
zAD>5^@(p1h9o>EvzDDo{w?kg@b-TYoT!yoq<O3<B4YHdWxW_LAdYH9IbLU|A?5ovR
z-$XXT`f5Rgm8b9P3^DXRY#{f#JZF7N*Z;k1ztx=Td1%_7F<f+vAYUJcmfwPwIx}B^
z{5}LeVOolB+UqsP&FeqSyuQZKbZ##@j)!HSl`;GmUO-d63k6NT0$!4V+1!)c0$s)b
z&G28c`LEz&*R~>!ksNP#4o@+<5Pj7$7a#uTH&{9L3~d-w&~5nXCpXE?wEof+DQ&4t
zN%`J9_DoZ1!Anu4b#wQpwsmm-+`pLf(Qox(O_@I7;onzX^85b;do3uh`#H2G>f(L{
zvqqBpK6g$;h<gkAv~T-~IUlV1Ld0YF`{zUNpbXa2rzxFqQ`%hGe=qncz7;wo@pNal
zkw-(5LVV?Sa?b;D*;2$k4>=nc_o*Ysy(3ZDfPTMB{<3s@@%2NQlMcmiIg@$EOz)`9
zFb8<K_FWd-t@M6rWgmQ4e1?NhJ@^!Yj|W}RGsZ7ITk9#{6jR(2&|7ONo_9?crwr0(
z1U_;6*FoIm7xCrVdtj2^zWysT>W-KA`8G0^f^N&99MR!8`yX=d$r&4A4{5PEtC_k{
zd!wamq%VeS<@+hvQo-0d_gTK}3Jr4@UyHC4m97SVuy8>(wg&XeWlRgo$e`?=p>l*9
z?bdqdQSxlw;p~qB?z?W_w`_IwlML!PTh}pIaw@rhojU|P^3`)!nP3sJ-vjx5;@Qld
zqj=Xo?HK!2pCtbi3g>;ztsR49`zSsI9TLRn5U=z>x@Dvjy})ZmE_7F&NuJUdv~JU%
zdr}Iah2h!z$T;%MT!Hx-vKz?y6<a$72ftOe%8_huN3MU1uIirtW26^88kf}86nH-u
zdd;QmJ6xa6f#>jIMULy!IYFN$Jvf}uy`kuTCkH>a{o3@G2<KwB3zBs8%r68b6T(Th
zsG+|gbM<%nd$OPV5N~+(XLN6><BxE@1N$pD^KoyTla=vJe2WjiIA=aQ&V2B_tQmp4
zNtVQK(f>;L?IH7ltOPvY7L-Gp?Ey~Um&&(I=NfxIwQ(9g0NJrmwd$Td*&*1^&@q*H
z#CCJ8i9H|Wnd;K*A)V65-|#(?ZotkMWg8i#9NF`%&;K%`KKF%BpobJLnSQ6gbk$Fd
zu1ZDTv@WZDqIMr=fBlbLKTGlnI(;a;E1JXq2x~+)A$#rHetb~v*PWlionE?kMeF^=
zJ#!8glRg94maQnBfNP&iu#d&FyLgaE^#{)XSh^I`o`LvB<Ug_P9@tn*yFKVbdE_TO
z<?W|0iB4KW(O4py-UXdCuPQTg$$s!|bdYQ*{Rs6ZL%Y<SpSeidpbw=|M`ydZXRtnJ
zY$p9X4O+&b*)!;Ye?u1)cxf9?15*f>ttvjO#<x^V8w+W>+Ng8L^5J;tBOflrzW;fg
zZygaYJT>o<eu|=>0$rpso6&n?nTw?|uG@Q7zi;}3?*EuhdnErF*HeGGu;o+CdCm8`
zIa80_`s=L`Z`u&TPqE(RF*ZlJGp6|?-c#5S<AS^6+PB%esOHd5)lS_RV*EF*-{>9`
zee-o0Yg*b539o<sBsgo`U@P^_#HM_Lcik~J09+nV;oCjjuh%*vWw-7wImdlG!<nPZ
zc74C|-Y+|zXK=Sm5o2F4e#S0%XOd03opr<p>eBpT2YOle5vuMS@G$y>b@D-^c?%j3
zf(LtuEAR%G`=m=Q#gC*h7I+uX?x*1Xg8O<Md~Ij?!6Eb=eTVHW@)R+SX?#aEkLGeG
z5;~ye`>d^n@jT_ibD@X&!yfSY9epY{%J|fG`^M+c4|7>R&Yj-0Ref$L@5QYBY3>;4
zo{wUesXe*_2786E!yBOAGg7@9jO=n({4UC5+-1uMehJ4P(X|bHrDxl>{m96J_;wBQ
z@T|KJMs~$^@IE!#qaFC&;g4ila-+MDis5&R_Q99Ui{bH0wC~maoHv5DnvXn-eJMGp
z2S4%q4iBFR^8G5m3meFbeO2H^j2}gJn3dvJv~rQ!_!2n0I+}H3(&Cf(MWjdPUAmIH
z_HF-a^im3KjzBNU*~la&|Lj8Tv#4J=jkXC7>3Z?k1J@#WU58!NTB7;l;Ko9D)Z-WS
zz7F-ZT*~?$X)@?TxyXU;D%1MC-k+k6ze?Fb+g60yrhBOPm@oJ1d<Z=Ty~29zx8y4X
zzq@#l74!Y>K))B$zop~DdTcH-l7b#9M2|_fJk}0-6DE3h*Hzu|5&zzDdUZSXWl*2S
zJ2TGF#>3zuUKM`;F2R@+rC!-4+s&9`#|+Ax5i6Zm7alv>w;c(Mzrw+53}np%2P;pJ
z#-GA-@zUs@*;fBV=!=|(8#gEY*igpamfRO3!xG$KUtFiXn(TMv4vVwg6@^o$rKLEs
zyC?FW0RNyJlDQ`OO(FW7IsHcMD=9%1<X3#v;60?VxG%o@ul6|j9``torazgzWB65D
zM(~YH-T5<{?^IG|RJzZT?sMZKeap(?aU+YuVYHKj&an*JoHov8&vi~8d`;9H=ttQ!
z*fX2|OdCe1-PrE%qve70pALQLYpKIt;#_D(-4^^*{oja^mor~x-zxgtoQK_kOls`K
z-hU%TyBfqd%7+K0Po`hOPI1cXPZ{dx!dpJPTgfLL>|rjXur0hlNnXiE5je!ah4F@Y
z)v=+)J0inU`ljxT)D@rQysG&g0^d|J_J#1;PrZfY&G9^Q{~>KXDjQI`TJ}w+u1?wU
z1og$Zr&W3}fv+;q*SYU=cUcCurrM=`HyqnYeOa=uyAsu3CG+&p73!~nts?p;Ja|_<
zYQJ=BE_!Sx<!Bt#_;V0ERQ~sQ&vkSwd(Y2*(uD`~Q@r}qh4|XcSe5zzkgp&6Kjdp#
zH@<qjf1S38uf_27PWZYVz80qcWT<yf%COA7tTS=8^J0A6qWKv4(ZSj)EWNnmSPE;n
z@GIb5!0Vg~@Or;^4ebNEzkG`wtHjHL{Qf`TrTox4@To@l#+QEg+R{01KE^&_eG@=@
zU3(F}uD&2&|No<(e01*rjehcxiS}*wK16Gia<8GY1L?cQ4otz`n?c_~KefEJ&}+dK
z{q=)^9k{U54$N_Op!!;;Eokoz%n0>|4A-w@Bg}{X`;jTx`%&ak_2gU<+_gWjk#9fj
zl^rPA(7f{wY{4e<SSvQ5u?5lfm%WcIcnsN8f0m8h4;gza<$U|@M$){E49dRKSfM)V
zk>9(q>pqWN$K9AM#a-;Xp4fN24mLo0*>`V~=T745ozG`Ka+d?H(k+tpOzM^GkW2eM
ztR43#I!Sn6$c~e)L(dMLI@0<TKFhuy^`Se>w*v+?=0P*jOLPlpww-&H(X&U-kWb@{
zXjc#Kt-aUP&sB6Mwkmhn!vCX@3(oDGoh?5XV<x)bFyCR@o1pzyclb|*=k{SbG}AY=
z4j9;%!5nA+^OzTRc!z~oy{q?w^oY_0dgK?Bdp~&mW{!7QvfJRw*#1R3?ld81=Z!n;
zvHw1Kz901tH@Wo3-Y5Nj(*Kt9KlrG3xY?!8b>mv$1$5mpbe+<L$C(E3JWClTd*ZXX
z%QJTju4Zrg<@iJC0EeT5t>Aqo?=zW;=J39h_Z;3u;|HK|4t_xWX8*z78T_6>I^~;7
zx~NNc4{=eK?o0e0!td#K**a&q`htAZLiuhF<=f`+)or)=K0!Lqm0v@gN165Y-r>#s
z)*6@E`5yfL0c~qWey$|F+B!Y8v#mqB)jcRwcR{G`b*}D{x7)mZLv^oqbvJ*`JG|1>
zt$N>seyTST)C*li<97Cs2Y4@Vc}2gu{8qkeNvC{ok**nh6_-t1GjaMogWoUldkcII
z<m7|+u5@9(XTo>M&Tk!UPEwa>vnE8F7YLIa1bq2lya)Uo0uBK`2l89|JW^}h_phW2
z+IJ~&;!9JFceoF~!+Z(obJW$%Jm1jgsZjn7?t@o;wVQk7yU^z!NEgtDb?hX4{?2bh
zAKKOg9ru$?Z4K&sv|D`-hU$AYRNo)F)%Vp<eJ4ZpaUZa$?_Kz<`abXK3;4J_l<yaz
zd_Q;jn9rJgw~(&M@w<t*Cdcm|^ZO}&Ph0ODZV3AM`itw4jJVY!|2OjSP;FQF$OE_T
z@^J%UVfk3ddmtaXz&VhQd--kTBX0RSi*$i}e1SM4A0^)5yZC(}`IzkL4&);%lz)rM
zFZoFDJKTRpkS>sqa^iyiQ^xPGd|XbtuzU>cR^Mfz`aT`1@1}0`^$OLO7pjjv23_Q%
zopTYYFOZKGoy&22pA*VA+vN-7<8P!3<YPK<fqYEkw~>$4A^G@#aX@ku)(2O>Z;d?<
zxIXiu!*MYBK)UDz??!jJKKdN*0S^aKf6zxi#&7Z9Ca1%GLb{-BeTWke3gJ~czg55Z
z5cHcLxH<#6d@q!@t-X_fE&Nu#fG!6~7trN@hzsb#J$8mJwM(E2ZFrn?YGY8}!`<rJ
z8>+84RNpJz>bo~o-%FwTUU2ojv&hzWm#Z(p^Nvuy<Dq=qV`urd(B`WpU4xT{e<7}c
zw&pDG4)aZQ^DPX~Z4Y5n=X!_hoj!=nySP4x%=M<q7I`PyDIePxTs(bjzSSQuF}}!l
z(byro>x1kcr3>tzFV}R{A33zCyZ-njVPXAoE$@N;sHd%g{@^>9Mt{`NUX7nwqzhzk
z3vrUYdhDzOzb~XeGF;t({?IwOAV1$>OUiCBzr*^YKj{M5T}PZ`S9<1C{FeNE-}RMC
zNEg;0J-XEw3DtLfsJ?~W>U)p#96^0Kq55XI`mUibYJB-`(uMVh&RGWeriAiwkDb+X
zZhZM8>6)BejUi6`q@MPS;<x5TDa=^}rAzLI_tFs`hVM!j@Vzg5S08)H(MIxf%;6i1
zzdz<ZtV@pa9`GXtTmoI<w{_*mcSsks^DJ=zKi=WD(Ib;AeZJx93-rkTP`<x}^8J^~
zcg;kbZ!hTr`ZN<K`s7UT4!^>0(MA1Ev|*2%(I-1eueJt!QCq*zt?oNRb^kI{_i<PE
z1D~*U*M;gn=IU-3=N<kRSGVeY2m3;LY*SFL<7-(cFMIQo`tLjZHsb>6l&^qv4UYc@
zh-*;$;Qu%HEq!tr{ZQ|Cer)8$^~3%VR-Zf-l93OxKP4mK@#fCN`EqhC_=Wq?)x3x0
zWFqf@oYaAHASbo_4)@zpqzmMvg1A6VHuBqy8&_JI4|DYeaxyrSuP~JFW|waZ-{w;P
z`v~a*Ik}NI$w~ci@9-*qUr0_Or0*^#ZS3_8_u;cT3*vZ_8>;&{SNDy42S|1Qm2^Sf
zd<WFj%^r!vQ(fI*IeCq=rrx0chw_ebdBy)x{0_^>Z%EhRaJhoGKu(77TXIqZ-vc@M
zAigVInD1%u-OP(!ANrxg5r2nipZd^KgoSDIUETxQuvaR{&-eIk^zdai@3%-7(B=$r
z;!9IM@9=-~JIt4$A3f~q4#sCbDw53K?DC5~ukbrepL<Cc(B~!M0{XnbZ$ls2Ru8Z4
zBApp`UBA7fTYcL?^*tM^4<BKd`ZkB^`(dcQAGrEhA2juCaP>`d{k=GpPxmJWcph~5
zrjky0eu{MUj^9rZR}bCP?#KBZ<G1|p==YVm@J@c7U~NI`TMdbh!QyeC|L>{hJT`mW
z8oKfQ3xxk0d$Yuc=PwX{JMk~D&#$RlzB<BxPCnHUmZNIInV+3kPdVW#-|!p1j_d*7
z)w`SY3jaq3Kj-4<-zHsupyDUGaNUEf{OEt<SJxg%`56QMx_s86i+uT7pLz!v;U4SX
zV@qr8;?AM?vZ1e6kH2oHceKZ6pe;VI7*AoEcWuVmJH95m$MF9(!9(rG<-5px8FS6I
znpkJ~S}a9tGoJZou;<e7eIJ{qH+8cAA)Kz0H+D~iczH)puO$Z`*d3$~;=^lS8D7pm
z|A97(zQKL~`N7n_yv?>P+rjyD+84zyhHnX6`#1gwJQQA(>FrJhXT=v%2Wy94EAmoU
z>a=^hnwX1R>DI;T-JY2Gw#W|rh0~hY6LTN!5Af2SfW5UHgH^8RIuse~9{*M1+qXS!
z);UtBH}Db5S9fDnXJQ7u(TqR#y<wj5H{$Ozd#S#}cRq5!U$T88ckIi*dPmBjHwMDj
z{rKbbtqt8>@JH^*@$jE%4X3$^Z_UC-(Zb`qj90RT`xo{pyb69nxntOKqrLgDUd&-h
z+aDQ;nzX4KZ=g=CQESbN^{=N^p&JTG!<wJ@?#Mf|UvyXd=OZ`Nzge=goi!_k<q)R2
z-=V%j`oM>=$CNJUj|bqNc%}7*Kl3}e2CH?!VcI+MtXUV#5dN+HQ@W=xSesH`590OR
zmaXtx?bbfWRnS@AM%20~Yb}lH6Vlz-*t_0KjqH|x-mD?s71?ck^sJSt@4P!VlH5Nd
zoN{jV_kIMrtF7{f&#Tm0bHNeh=xE^_;HAJjfqeg|@FxXFwCACIf_Jp!(%Z+@u#f*$
z_G)OIT<a`vv$pyAM=u%sPM;nJXJUtH4I-B{(qNx^7G>+aS0VjDXWJ#K&FongO=B1I
zDZBMR<k##kVU5*u`%CBpPnorB(Gi`|zRj+$s=R>qi=p@bK%-xROR%1yJuLW9cZoLd
zLbpG%UYP@}L_2-I30zuq7it7rH6d4$?H7x5$07GVA=53;^Sz(Cbq4Ov-^ShflApV{
zA4%)Q&!SJnE79rQ{(RGqb9H;j|5~4qj(rFHEt=$T*IjMOpkG?K7~J^Bb-E+T`}<Se
zzyH+j!yevbWWT@8c0R8(f2=Ta`S)V#DDIs$Hpbb`SW1tvr|1U(?O!5|?!RdgZRY|-
zTWD-(%UXukTIuWO`@Et1<0(Vlh;WCU=&7}ZPirsFLi(4Zbu`6$O0p<AOCKk{`vh*#
zX{G$M`1;MahyvRGg?{@N!c^v)21d;KLaF4!=()oOui`9AAh&DMyyu7bYj%o1`tIWF
zw0&=A4fzz`MP%N)YiQq|J2Uv+U9dhdQu?mIuK!0<bG{~i>U)mO$hp2Zs&B)cqnvl=
za(~ucDd<P;F5`UCIe1gd-K_csn&kf$_JF<CJ9TIAna{ltFZ7<jEhTklJf+9ZKi$9`
z=A{23{@1oEdmsD;`r}XRce>m0umM`W$61@#dJf)s+oh>HmA0stzD1*Z4~IA2dTGke
z&G6(4gLB9F(06<4oUscAN5<x+ri}e1ce#mI=*Yv`<1akUQP$1K!8U*GPW6#(;P10$
z{}H|ssWw0pKC|Hs2+oatnzG;18AA0ZzD?JYdS-KvQc8dJd$jSDpTRjtzd(J%+H&u^
zvscR4ama2R_(?`zyNPewT{;9@2Q|LKcd=WM)fC!!w$CMuIYSz6aBY0uv@LCCO!u*Y
zquQ1&IU|34FXU@2un%yRm9y<VFD_@>*>4pUAN9?`f==0@FLde0k}vyxr00xY<U2);
z;%_v~d+I&fDmsgwGx~VX&+tFB)9?A<8{B)4e~LS>b^dH5{M?fs*|`^a(ziG1d-S0J
zjh6~<+VcgzlXPd#Ib%f|(dD*FJ;S@lkkMA!-o_*Ssx}3(d@ZspT`OLxZt?4X*7|!H
zf5|hv@hI@0MKdGUcKzSlBkW^Ae|W5O9$uDPHlXi-o&Edv->G!E<Ai>dU-*@Rv+AQs
z-wxwW_jRfL?DZ~0?+5tw2Os6np#KXOqX+xjeVA)1I`^|i*asNcN(0;;9__XA7;C=A
zePDZ1G9EshGGON&jJGj#&c~3ii|L76qbI<bbcJ8YH8=~e0H?pA+YL@;+~j;EYn;Lh
z9DW_xI)AEUfBK!DIUD3TMV_~yT|hVW^EB+a0B4QEsk%3UzAk!VSMSPLvasceuPki&
z*(N(K7ekjA^v#5ZoMpNA{(HuG;Zc*qzJ2ft_I)V7_D=1m%uUesLTQ9w^}_+4*6s=P
z5c|a&z0tH0{i8d%-=!>T_oOvWM&@2e-@HaY(|#z)p=^o2bJoJ>(_vwJtR0ZF|L9j*
zr|pler?Gj#9_C%rx6~D^r9Qu@>z-*#M~k1u$L@_5J{I3}>W?%IzK1riWGvNQP-ylp
zc%Qmca?RO4^!b&Hn`Zw2@+mto2F;?-*JJ+|cI4*M=sw|M<gS|?)BRk)#nM^*YwJsO
z_3cN`>^J<d;Tc|JcN;trF3idDPl0oHTn>PX=&E{VQI76_?2f}(!rHg}@SyggWpG9?
zkguzeC+M-ei2Yllm)c(o&5gY@(b`KHO+9vhm%eW67}$9FHT*vh!wdF(so!pA@7cxr
z%y!1z<}2-8=@Do>oBLz>a$ZdNazDV{NoY^mM07j!i0a#}eLeP+4ICHHynWlxjDA%4
zJs5wrhAy0f{RO>cYjvx8DfErd_jM=27VMj8@LKmJ|D5(^LKpF5PD5`a2iS@$k3xI;
z`&8o2n7F9U^V)l4R}=qT;v3lW5zr#zee{0@`d|1Q15eeZa^`S8_#M96sJf1U&!Z}@
z-B*1Um%`5a?kCOtif^;=CVzbf<2rkt$@>)WUd5l|48G${K;z~M*gb|;v~3{ygxAB4
zet~ZKp~efs?<YJ6dx|j8`C8_<$$pA{m!8UJ&xiDsR~XryD7X7H2h5AiSoQ#W*x;en
zIX^k@FW(LH$TP@e3TI8MzEj@E8|~e^Ixp6~?U><j@Ez-5o`pU*BU#nn_hMwk*sV`S
zcCV&S7g9zuHi`#5bSCR>pT_Tk-LU_9WQaX9_2|H8H0P+o8q(k!x@jh91SJ#mkptO|
zlF!Kde4{o-Tr*>_(rxE^wHK5BW5gLbW?#5y5Jir$p^;;^4>f7K+r8n!S@z!y_OSdA
zyoC1*?v~92=O=oBd!L^S9f2L@y`C~`3;WWF*q3JRU%;MjEw=kQU!tA{^8Ex@z`o9A
zJLf#gc`>uEQ#P^gvYgA9p)<sD*w?A{zea!8J%wjE5BeSCNIC~u%s=MJqwkt;X4x~2
zgB$<nQ=N2^&GN43=xCSwZs)i-Msnn6bu1K~Nx19=<q72L<AlAVFw(yZRJr=*vuN^=
zbR^@D<RmhlC(>0Xml~a%-e}IO**SjlY?jVQC_I@z>dgqhqXTyTY-3<I*nQp_FC=Ty
zjoNQ-bmC~M6OC<y9+d6z!$N!zS8z`SeMS4U8yGXJtr*$;gMUG9j=)AFe)|<(OEdFB
zBU|)4$qZx9dA3eWdt}ISf^`U$sqeBxk+U51C1a17!#MrEBHCu>hdGpI<ZN`OoJE8A
zp|OkXK5&(%eev9_W%}`aXd285)sKeIUh~aq`j_U0??5+?xsYg~{`V?!Lw}`j4Q_k^
zxzJwTLGZn0uJ*HQ4s7pj`qP8Rg5&vqzVUmp{;{8L?!L-=3tpZPE#F3lGrWbmBhP#@
z@~yifyBC=IH}uWs%NvVDPs-K#jwpJAy<Fom8COQ2)0??7C+czMhx_(ibFW?p@s+$0
zMgGP2SGoHtld($jtiC=2eX$tabr#x=ZI?H$UT^n|3750-#a|6>(Eb#C?_zB@hR$zh
zoHFUq@fS;Xin^P7Ej;KIA~(8g2Hf5Q=UmN&9IbNSXZ*<3_#s+>&;IurbN4gm8eakP
zS1;A-oTgMWc6Qn;n#Uqz$$2dJ2YoObyYeOVLE0|51>x5a{xjD%gRsej>D+|y8Yy{o
z@frO74Zr^pJrelIg8n4Etv+S?)0LtA^iz*>=>r?J&#4)^Fp{1-mj1LcLVu#4oYB1m
z^~i;I^9uXNjl3hzfnKG5bm~<j^VXj9p3B&&F@HOG)sF%j?%&XD-R-15gLA!fAMFnM
zg>=tQ>YstU&2@c2dZC2=@H+iL=YIm*H<4n;qxX<o(zK`#ou$3{uJu*4%ido;xN(H+
zb-o?*RxjrEed~`F_2sSzWFf|${a2COZ_qyOPd!=>pWjMdcu@U9``5wU+~JlXy9&A8
zx!lUD<XQSUhOEoZ*1YyQc%X4+0cmvSRSt21oJvM6Ca3$+GpaLzPxUS2RP_os)`aq#
zpN#Cj9o)M6M?B7*XzU7Xv-A8UA^G|`wt@W)Hs4hPH{tkkhhv1kAX+KxC!dwyP`|k+
zE7TV=obGJk`zPJ!i4ndn81{dCiMoCYPx}}-eCl8-d`sbx{VSeLgNKsKV&>${oW0tg
znR9d%cZwDg-pu_=9=sL*-@>QTfL|-O@B7@{ImF)G`HZ`})A%f2z*mM|mA!HHHGF3H
zXWB-j?3TarV)Q>X(DGLP4cS%r#ombW?V{KmjW>fDf4D|88{8Pfr#7sB-?QoG$diX`
zU&-90%#4FW8p~NL)BW*wo-w4c@fmbJ<qcEY$a6<3wgJAC*kIo0($~>Pg=Xv$&4)Lp
z{}|aqhZGVY8%)1L)}?!LKYDT5iJ|LN)+y@IeDn$Iq=Ji#S@qaP%{MrG_FkvGFdUvq
zwugq=pTRjw$&~yeZ-Kj^1v*pXvd&#gMjOCgb<SaqMxC2?=nh!*Gs24KM;F7RkiHOm
zB4<YZPrTjtan>8$uQ^2>8RU(Uw}E)*dckqGiM}G;WPCa|b^3Igu<?SvVEu)^G`6g8
z)mW!<w_l^3;d*0jy{=`QXzwZH)r^P2fpj}a_g{n=9-)_hL7IQ&J$$CCH)ms7Z?R{(
znxNY`=zllkoOoZ7iX79HTl;YS|0d}R&U8KL?cVh?_i^2|@L&;kvH10H3io6}yCTkr
z>{fm7{yWsgzS-pYu36~&SE(nEsoyakOQs}G&B_BmgR!A;W5?dF5T^dL2iRTL8d^C1
zWWME3`ypx6SJX$YWbPK|U-i>>(V+w3wff@a&`*6<cb8}`Kf?L0&3^bT$Oh>G|8*|q
zXTZbR$b-&5{TqFwf%~_0j~n;NaJRPCa)f^I1o^BDFr+bG`Jq!i{cSsIR~gVJ_cCvq
z_}n@-V(&L%pLjF!r~Z)fKK&ts{?KXP;A<?l_RTS9or~S_HaJ{r?lIAKK8H4b0-k6+
zA+T@GV&5p;TxZ|pVBch5-*Ct2&gMS74yK_;0(;^tI{HfPBB^ICaEh@bm%G?fxsxr1
zPP>C~^q73*#`YQ5I1}5aH+n?lM&Q>RWX}89d(Vz?=VM^|Y=57zVmtC5j49ilUT(U;
zToapiYIC232W1l|eb}yuA}5ObmEy2D0{IzAxW?mv&a$82;{|>A$Zyg%%6%VvbHR6p
z^X*4dt!>n7Y$NV^!zXq@A3yvEaC(O^N&P|g&goWv?|(b|{={#|zkJgvj2X-67sy5n
z_e^l6E#-~qU%68g*~w^-4j<b1-5>dTt4JTGueNVHbg&2KNi`;YlW|DD?U>;;{+u%Y
z>kjU9q|9$%7prd&-*UPSXDt|;(-yNQnLAWpO-;kb7}j{TY>Z0A1Ijp6;I&+Z%`%EU
zFtTrM*?+#^9ZjJO-MhEHZ`#gN#f*2HSv$3Xd0(a1qH}W1FJK=bv+8q0@OcdR=_LFU
zOAe~Pz5P>s@bo{8NA>8|Q>5MA$D4|-!k5AMdh9dxyY)-mJ=B+Bi$FWcm%VF!aO36Z
z6V)%d`$Z}Bfh%-6dW>=PV!S;@9nD6U*>5d-`;ecNwhqQ)<NJDtF;zIMR+(#UncGKQ
zyv*20$|U^==mWpZHw=49x6$7;=HVkAr#dyS@c5Ry&bp5)<IZL22G&J1E?|opU*Pdf
zyFQ_@`Hdyc)*6AW<;J$i`}hYkW`GCvi3XAPk?#mHEj~PzDSgH_4&dD>_$gi-d&{m{
zNp>~XG{2Uzdmy}&40y<s?nLy!JBshYo6Z`78%NdG+P9ssJ~VI$WIP)gH|N9PO%Qf1
zVcmJ~FDon$ytlCnDNFkEAGqHtpnq;K$Gw1^7CVcb2A{%u;0o%{T?uwQXjtRBPa<#J
z^^=0VDVY|pG9}AiZrN*Zc}LeF!#Vgs+EOoNo;UoBCTyfrZy`&})t-cRvLUzA$KkKJ
zUorzdngP#rXT?w9^=s6x_(FJ`nY<Ih+qtgGoe0AlCxMszru!+=^M>!-TAE$w@r^y@
zk$lV{z2xI6(TF-vBM1FMa(Ik6?!{z#KXPyBI!JnBrDVI*(KQ#_OzTXNjZ^RAi#mpU
zwWTgQ_{az=8*K?>1Nw+2+c~4D{<d3ZpXrN|1NpoQ-}DWQkh#lLukdEi#8J`aHfW=?
zqL1Xg`<)Sky3l7(<7xUuK%Zv#RakmWU7<H<=Y?qW3TZ8khBf|TgXOE_UwWe%9i+Bq
zWL%tHxl!ol`gaWZQok2%8%~`+7f{@(W-Dj<9mw+C>c`UC&^9c8w-f$P3hySDb;8-`
zpH3e6c~17}dsg-bHNMGxPXWJT@6+dF>C!#J8pp#EgGaae)=}T@*dNs0UV3+~bljlE
zU*BMLOym{ryoYxCb^e(<>4c;10P~ttcNf9S?W`@&@dn<&Js>;ha3-}CdW)Z@@Q;S|
z*P=nJ=@+N$R{zqySCWTZ`1ly<uY|UY|Hx41_vcQrzi6+E+mFrNyxhuYhU@P++=bSC
zUbg?Y@PTvz4@S_&BeYTU3c{`+Og3Op9(>)rL$(BMn$0~hP5Mo{th`>%eirYtmh~Nb
z+wOwT&_#2WHs)!k347<sl-*_w1n)s+%p2JFF7vs&;E~22eC8k1xb!ODidDYvVPl_y
z4<lV)2<GRfkjY?v{_a}#cF?cv9R1RRPjePgW5^E$(K{YGx`lpt4d1Mq#(4cwQIFmD
zT;IrnMv^n>Cei47x95D%eqT*{Vz@t)b{k(SzCh)l;rell>&Gg?u5%7+d|Y*5YxhUj
za87)14)wfB+lQLF5;fNw+W3eoZ$JKxk?1$|w^OpqY1`fE<K~ebOzX3qcE3)$75{nY
z97U(;p542-S9iGS=V`1L_2f>R;f;Sqr@f9I%ut!gM?HG59(|~OE<GrHC_N~B_?q;e
z8xyWlzn~7&x1EeMF`w%$Bh2y4m=MUrLzMBf<UzQ*GwJseHdS&H8k=?z#<{HX`pXUE
zm2D*3<LB6CKV&bR>=@ZLvSWJEcJW2)VzRvyhtKAO<`hb!`G)*dIl$(Lp78}}o)Df>
zyqg-HQ*g)WYkV8{O0VTf?D)<(#h}J~eD=@fYwl%q$gefG_!%}}3T11K(LBQXj^FO}
zIIgA--V1cz+8DlG_<a7_807}ETL7K37w9;4wQct^2S;#^UU5UlZneJ%y%DSLu^X9M
z`3y1?1qN#{ACzA5*gd`0iEO^k_2L1nH|}|2r18BB<o8pVBX;je8Td>5WaF&O8!>l$
zzYy=(>wk358-?_VJ?sh6ezqrXO`KJ~;hW#i*F0!kp*Q=bV9h;jzXyB9RKNWE?c1I)
zJPz99h5jO5ig{a|h;4|^>>cH=ygFVUk0s*KwUt#hWtA0)o1<0Lm7k3l*JQ0PE013+
zO-;f?C!%Y!HgAe<-elfx?%g|CTv;Mo6|1g^R<4h(s2QDzE-9<nP+OL$iPltBmPd<A
zV`UW+qKj*y#j%QLQ9N3kh?hiTiD;~Mq9#^Rk`*hjtccsRHI>og%8D&<3R|;uNmdca
zmPBi+V-<<=n87$IL=(}nifBz~Jet3%_xj4}O|cpR$f}^x#g&_?NK-O8x?*Y6#hMz6
zwnkUvyP_(qqm@N!cw$2D-peg9ERC{C<K<P+=)AH-Re5YHMbfyk3R?~&i-K@8URPFQ
zh?P}VVo)?MqA-7}q3_~(%9N;y$4W$$L}hJtaXgx+sfI8KAr;*ePlzwkjq$C7*}{Z*
zHR0jX=DIM`HZ@4ix5+CiYb(~5Rg@)4<0auN^D3him7+*-d2I>QPA2L?NLxmAd{gC?
zcv(rjqNc1kRvs>9@p@BdKz#8bUPrMB6P$=`io?Tj22tO&R4K<tOS&SWc-L%O`KDO)
z#@dQd1=%!zeOcXg;Zi{(7G#T-A~hA2(du}tJlvS^5-E$8rL^h~7h=n$3AdEhl$wMa
z%C^KS97h6HS*#LJxS~sLN6>g35`o~|QYv{%Ajxo!MpoF4lZDhKkdSb_ol+E!x@gHm
zvg0I$iJrP-rR|(S7mn4|RO)v!alE>^vU+B8)MT4tbyW#n0t`lvnml^KgbBS}#+72J
z!UMvpqetVLYelolFo$S&D0BCE=&TZ>Vu)Qsx1tj2p3?g~d|bLjY)fY<p)z6fCWBEq
zxJVhWW^4X7yI)y>xV!M6FS%DQtD>??imYz38cNqG;sj=O7ptIr%UDl*DymGxlldKE
zg7+jH0)~y6Y)Ct8!sICvrc=Iamr)dCnt%#bULY=N&s(uH_lEhviJLdYHd0HnJjXvr
zFLD*r*8>G?I=1D8V`Toy+-0kl<mNA4zHF7sO_p;@thxf4&WtXN*Qhs)4yPO)MR=>X
zinUI)cb04mzA1O*vc=05&Wx&1{*v#bCeIu-1s-4BEgj*8@iuuly-7HE`iiAAG%r@2
zh*vK{qRZpeN;-Lp2~UPho;-g`tUUSZMaN`hWQ_HIw&3Vm3r9_+wj>swS5Z}7TOBJ;
z%$oeksQo!>(kDrp44;w=A5#&{m=&EoR?!!Uzb=UGjK4aRf7Ikjvt~_>UUgNpf}fKz
zW=)<PogJMNof$PnPvT`VFH@-Eg7sfKzr!koSGZnP>gt&_Yf7k=Q2MDMJeB^o+oBb~
z$zxs4F}zI)LZ>KHs6vzLqEk$ZqS?_YlN3IM@T(1x!gLDZqoP9PUPrkiN%pL%L9wEM
z{Y%mzl;039)F#pLqV4LIPuVU+f68!pj4{P$Po88NtFnnO4GVZ9%r1u42bZtnX{xaJ
z5LI2Uo~~^V==cA!T(QUyz@i9~Cnd>d8QqOlNj$@HB;s|&HN+>!#jBHKo&`~y^d#Be
zN#}66on>~z^STgsvu917G&aD}HiPI+?h`*FDXz&1lkJ$+r9Y@^ntp1lwxS;pK6}=*
zpdiS04N0%23rsa-Cd<3#gUU1g%eFtj_Ua_fO=DcahH$1Sv!hd~XqqZY))SWZFrDCq
z2&`^xeqPi0GivA%mTu2mrE#@9W^}FOJ<q7g=oswhL}f*+q9!X|Q4%jf!`i<feoN&o
z@$yjIvf6S}$~+7NrCeH8QCVG9vo&fnxN<woM`E%jPnt45ip`<ISH<g0#)ZaEsE+2v
zYOy47YE+k*@W~S=8;fPi#K}`s{(|@|0^ZVC#a6-96_{ex39OR^nDU-B+j#?dF6Uui
zyvJP5%i>YysXWp<**tT2mhfnBOy&6$PZiG=o;n^C{yCnzdA`iElPAIx{<|Xl;(mV<
zsC4NLe!;<I4$7)gyzCjlPdoS(;2@r1JcT?ZJllDcMt_TW^!s`TMQrXhO~#LQzrPB+
zmIqVAo58b-XF1P5^2B(Gc~s8T4lZ=?5@3IxQ9NsT)Q($u-sDkw%?4RlV@reQ_2lWr
zqXE1RPhXyo@LbCCQ6BEtVgb(chVZZe?+xYoIFIOcB~O$mgC~<`B+uhKSMg{lmrRV~
z`2^2+o(Vh?c_#5l5T@~5!!wg-7SDA&vv~&d<nZM3%;k{{wSZ?4&wugUz_XMmk7p%M
zKF_y#R`cA;b0g19JZpH={&hSz^L&P99#1Jx8P8{VDtOlORPt=**~nAPQ^QlsBMIHc
za~sbFp4)lqdG6%7i|6w^U*y@r^Cg~pctm6UrAGYA(mF2d*>RaTqHsSF@gphz$kg8c
zxIXSZEv1Ja5gR;3dL1Jpz5S7W#J`M)pP|I!mHvWw#p#dt0V!$i<9oY+%OdS#`-Fn*
z`{iDc;xh0N@5z^zLZOjJN2Cw<bVU04X{r59`HDCB0_a~tJ9yzQ;^12PyXd)g-Gl<c
znuKDZd0>u~R99A2Y2r~*TUE|%l39bB?wR@eXq(&{-Fu7-)W8h4v*F6>I40}*%CX65
zj5m6wq!Sq($8>sTRB&!(g=TiV*zi?mwr5{GMQ_@K_3PfvJcucuwHb{k0GETEz1GC4
zH()%M$55e~g==2PyxL67H{lX6b6=)-OlK=f646_#D=RjPk5*MC5@ki@atbip>{bM+
zHC;+jEYthycyZ;1in3edB@%!0w<5n_33m7D#jElQ7B9=6zj9gbl7hL*`L!k=xOD0K
zWfEy`Lan3}_*wfyjjoQBlogxF-ut)`%-puD#7-jULtXN1ir2)VOc-N^-ts_<nru-E
zJQ3mSsy_(V%unwV)rtA*ot6AE49c>>-dsChtgJHg>XNdGjM>pKqb84a(Ou&0l)}cW
zuGm;nc}s<15EE<6e_<y-2lD`uEUS!`SH?=>gely*drT^LLwvV-D{E`IR_x;4JhroD
z7jEXQDo&0SVN_FH8y8&9oI^iK;_G9z<uzXK#U*m@g#V1B^>$Jjim>5UIzz!&0+dI3
zBc`DU8;;|sdY(9x{IlWn>)?NvOg20}>B|ZtyM~*2zbVUvk5}dV^<F?rm&tvT{ImJ+
z+QpaEZYqM(?$4FCwJMZWQ8wHe6hY!-xWP9R>e8=R6ibvcK&;MRkfpKBO{0-h>#xIg
z*u`aGkmbJ>OS2YOrn?FBrr3tE;;3f%V7jS{K3O3hJxWTQKgU<BkrFFKMzBq-_!djz
z8b9^t+%45JXC^k+#^blfXGZfYD=D{Pt9+1BG)5lgNv)wrMpXprY)oP-PN1^lQuIcN
zX5fqG(Us=cnfbiSI<ce-7g<pm`bB=rs8NoTvc9@<Q`e#b1tE$pj90{~QJki>kpD(C
z(wAtDb@v%BB(vmB$H!Pt`4?}%cC)#=IM$rjP@5>qwm<tw$&g?C?UDQcJ!AMYh5LW}
z%2k_dD{DT<I3C+n1@Nxgpf_N-gE91<;zx{{tccB38d2d-O{c$ibY5w-{L6DHD>nxE
z-quaOG78i5Ct4w*nCxDlgzcN>+4P;ERi;R6zKnUx=jMMZZ+>(|-lFSzXY;?wlGNg}
zGVOcU0$eEhCz^a-wk_~FJGyv=ZrL`EOcBz#7neYE&9=z9c=r;HM@hIwnKZVXP#|fu
zCw8rP#O={di4FLK4c6#e_j0?84gPMI@xfnJC7vefKc{G`WVG<NaM^0)rA9nOL1J>3
z-D*Y6X|k$HSu^jGt|q<-hbE)6&5*ZTPJDHysOxByTpg49zB*Q1gNYtRj`8N9mo;>p
zpT4XD2M+^KJW(7&WsF|O$Ppc5b4(c<$ocvC@Xq4Guf+sl#$x=V$x6U~os*Mwj!^4t
zv%GaO^c5d-u*g9fcKofg;^3{5A*lB{3o~7K)WJ;0NBCh9EM2^Ge%6iFm#cu)6*zub
zDWF?{x@AQ$3<YDO(yhr_;>-!X>3x+kPr3yYzM>|}jTurfR*f1RXY`GUV)mAg+EqDX
z@I>Qz{-ogr7KY5`Fkay-0ftG`v~W^^;k~*dQCn42S*?Z`J!lLCYbRheWtrh*Jz_S$
zf@rH#RnPRIGDGnY9g_8F1PW(yMJgNZys@l$Ls>=EA|t(>a%@@|lIwzEJ0O}|@ToJN
z)qr?)yaK&S+}iO`nVsJH+FNhc+-@_AR%TpKAb<3e_2sb*F1MXGDtyF*C<|D{R-;FQ
zcf?eY{EfIx{jke>m+%5-K$<}Qqn^t0k^+;*#f8!r*U%l!d){(~pXpY}w%qsf%epQ!
z6Jkw4Nm@M+s^92^vXTqb+oevMud}`pw|8xb-i1gqyjy`TJXrvRCx0tnK$LK$QNlah
zb+HyHH*<E!9a~Oj(9OJ=Q4<YcEX3z*mNZ6aLdai5W!5d#u_|wbGgus679Zln_$WQ^
zDABc}CL8I{_*7>GsO+Mx=r%M`ZG2WHL75Y+Y9<KJL`6+vR_4}tA~UJ4&AJWcWwZRV
zp{CTOx(>bFEkKp>x7GqP$JI~Su2<6(oaiRTIK&;-JFU(x{kA5yA(}mE@^!}04fU^(
z%2hYEc5o=3?kWe(=&NX`i|tabTU(GS*D7RnEprESw_Q0BS%jdW4A7}XuS+XUyd{&;
z>JMTW*wsvP>q$g0;bS3pgBSE>*W&{FIca*8#F-(m;8<K{3rxPNQ}bs=ouCljH9A#b
zu9`^xE0fXBpSqEOjD4Nf1oB{4R=prkMeU||b#20PP*Q2~R~98I%j1?73ZPSmYBlfH
z5HP7VFG#LJn~>nWvbsw)FMpNI&}o~wcg%ZDz+7?A-`aA)yJ<ILd~!ZrCSy)K%yv@{
zL&EE#EE8&)8|2HLUAL(`SY4czIeEgQOvX{G!e?dH)~wH(o;e$PDQQ0CuQIkzcK)i)
zTvH}YcEh1ZZJi7vW%k5w0j}cCblA(5_r}(upP3Ogd!nr<+X;eQ)y)=LOrOi1XnwlU
zSN2gdp{c>xT>&!*iI$a^@}rKCw)<N9&7_qP6cPku)~JfWE|kFV+o9(vkN(28pDH$i
z3P&J9W+C`>1_<e7I>-J%k*FPJg6AyEWV%iPbL|fWP+&4$xC4+fdt#S>B)yX9&l5z8
zN%q9^Bf8)nL_147T7$uXz$CW|1a^`Q55zSP6VIg&x=}Jbx&AF;@|S!U!r9$>VQ0G)
zt@Ox+?Xl{qG)3Y1Q=I-f+Xdp#*hKPQHhTa}2eZv5T{6JXOzE;GI)Rd0<CTn~{c7<1
z#qcou{PnU`nE!{k-`QPKc_v-@1=DpcFG#|C!-#HGDPvHy*iy4DtGG04)RfHY){VMa
z69e(Nrn<7cye3{;Y6n8KGaL}~qpS_pm9<sZ1+T$eHOm%^KF`9nC8IGb7&$E_o&78M
z%N1ossxu$<_?EKD+C<j^vT<**<wKhSm^3hY+Rl+_rnIv%OX6GN<v4$;gAo-zlEHNX
zP_X$m|DBZ?h+btfHGbFXikY1)R>w`utVzr)sVqhu@am!1Ohc5eGL|Sy%yemrXV#UM
ztzREbDL?avNvDzeBc@d7R&FN_YnCitu;79-Dw{AMyd_?=s<xVWF&!sRKbaR}jr0$q
zjeo_E=!47YT3<ItTk30YbOcXwHIV<n<aN*qNH;97)0Zv@CVXL&1#?D8qoYd3Q*(Lk
zChUh2oDhk?MJo$f7DXq|tfB14iGFYcCbX%j%=DtMD(sRiakRMXE|1MO$Psbzcu9iI
z9b3xcw`2u*=-Poop<giYX4T>|2!;Sth11(nM!%Vfs#q~aA-L#(EtVqLvGN*Qo|VD(
zORoam93R(hBIrt{p1Q1(+D)6bCgU$upUFS5YlTiv8N`Kwm8-<oiketmK=7s3Rx#U>
za9jqPbL>VjXCE(jc1l6s@&funwKJQLSA?F5B?77+TY=e@S#r~>^S5Lr9Vu2|I^W}N
zUhUe8-bivX3(lK8JHfO`<&jPuE~H;9zk>-^z`DRtt8jjbPWGu3*3FO`!9X1JTYpLF
z*;njH<Abx^j4;>Hm>*c1Er=Jhl%-R!Z2_Gf#J(prmwm-9bqdS9J9n06G&EsGMFW}d
zjbWrN7&{xplhZQf<$Sx#lyo8EOA*<IVVx$|<Ox$UCA<}=QpLNMP95m%mQ1HYvnQGY
zk_t6jjAyOEa@{4S9OLB=NpNvhm5T4e-;#I&>yo)XOAN-fpz*?_B7ZkQ2}*V=9!UWT
z!mrCNsw~->M2m6Pyk}1oegtQm@#?&8<tZd&o{`TEY<4vAyrOuy!KlaySWT?RygN1R
zZE*;jPC!ht^AAm)VtQI~qtQ&aZZX<9BuB5azs9Uv_ldD1@i$Cfr{TimecV_$p?CR?
zWDoqYmv@q==@H1M_xb(JbSa0hemq`Is#%US?|~<p&7lb`)hJ$ntY0K*@fACEMN7(9
z9IC0TcGDg2Z$Em*qzldOth0K~@}-JcV>Xnn%A2o6QU1EU+V=t$kyhpw<gQ$}Dr&q#
z_;r>qTd;Ux^b@n9CYzVV+(Lg@@mO^^m1h;jv9RJ^R%|`aJ>KODR6HGPec1-H|1MTs
z8gysE?OWF78l~{E5S*IiY>IpdykyF+ZIYpgtU4Q!75E#41b<nMf64FyyGzr?D&ER%
z)-7cfS2Ivck!r5WI+{r`u{x$@T5lrejv(QSm#xarU9!Z+hu-s6&R?*2jS}$}3ZIvo
zpBsK(vUtv_@cSGJ^cF2&m9Kmg6V+zvfa#F&JW`ILY-Pk}v5Fw3#_h6^2WgZ|^Iyi%
zd`1=X>fTqzp;EDkTeP(*mPjlk-U^M~nk{{cOB5ZA`_beqVnsvi)TNc|r7Wr~D|ho?
ztt!q3i-HA<mk2Id%-SMLi;Hqs83%drK5zMwCAlj*<8N9-!c}>>bLU&U!s{ksf5j>k
z_}1vM<@r%rcQGW_`hRVB?y`9o3}3#oTX5K4d46G_5R(7%3+)<ze&NK=@9wQOa?Pe?
z_Mzj!McZh1?gS4H97bq`*{vS%N)!myKU(3V-S`_$4^PJg3!1C!NY1*iLU9+3$6!j-
zj2++kP6UHY^;oS4E0K9|#fIzaLXR%>)mB*7P3KZVklh<KdCYnjJr-TMxfZ=57kwNw
z=+Nw^VZp_i&Nd6_L+NgfS63zzB$Oi5ekD!T6AHg5p5Y8uZqKU=5(u|WoboHHvdT3E
zgS;gDyc|JNgB|vb*`-gaO|@_o>j6C$#b`>fd!1>CU9@Ayq)pv8yjV`K8H4rZWPZ2s
zoqYcQ+AXy!j8TnMa^E6L*rRUJ4BZ$)%-<yr2I*O@gAJQ7$<$@muGdxqJbBJbiJsu(
zL*;szT2{qEXR~fn5-o}qZ{)lK`}*0iz^VxT7lsV9v+426@y^IA#9|HRAZd_5Epf_z
zWD7EN8Ic#dhKFH!3U@4rt``pLRuFo=#H`e*pl~^%4(Nq`zhCyw^-)fHh>pols2u}p
zP!Y>apnTCNhj7sTL@^o7o(t5{rZT3yB`Ve&*l@PtdF?MQuQUr>rYcunux=ZU>fT-y
zH1?A9y5%N+e~8MdBb;7S9R!HwG<K1wJKR!P&5D;j%u*g-U&D$rQX-KyxC_NRyXyoQ
zFD^C*HR#!9W~N4#RoL}q(gkuCv=RB!if(fJ?j9eOAJIHeHLN5W!z)>@Ayz^w?X1!j
z+eKgMV}cl3t~<Yela1Bppdo8--uAgMV@IwVZLD3!Qw|8QZ+rr)Qf9+=@NSF?%1^#K
zBP4id+L#a$#ttf2dV?$@xm+i1+9*RKn2y-^yxe><2r9iBuQligHUq(3!`&FK@Ef&E
zP^4WblXcpovlD*OoHk+g-JS4p4K#at7BHL&8UC#O1^=<h^bRx@+ys|igMq@`Ai>8m
zm*%nE-;KsW`xLZb`ARH7+unJLR~D?ApGUre1)MWryq~z90~*qH&dxRI7R=AhU%k?x
z;&SA!%*|iU@bB@yM0=1ZB^f3>3LuQiv-Oz&73|)FRs`=W^3}f1c$q>IimPf_%wy+4
zxA00a#g=Q*nR#UBUHd<i3ibT(0y`g8q5Os7W7UWwBY_Fe2gUhVY6W>Kmj||xB0Asm
zZkk8?maon);Fq_gOLx<<b7wENV~o-C9DAxfugi*s`D_BaeO9NHQ_SHu^<GWND%>Wq
z#KegclReAvUHQ6%YedmWH1;H;yr(9INH^}y4U{nb-VA;3kCrD((+*Z2CN=XO?8|DF
z`Hj`j<`B_Fe{3Y)#AcWht8DD7LAH-ujF7d?k(c#d(~+QCK4XP-$%p-FGMZY>ORrgo
zk~=;pcgihZHh0PDdGqHP)~Z9zEvqip{%5)&2i+t;;$g6>js2ze0M0~QPSw>Y&Vp|J
zB#7@89PA&$XlJ*M?OK%jKKOKYHPfO6$vn{*XLe#GI*enE;#q@TN-9Y_a#%Dc1Zt1{
zP_^aSRaApr#P%YiBpr7+2V)lU%v3UHDf1DtK`l!Y1C{6A4Kn;^>+2-C?LXb-lLc#%
z0o{rV;bTZ*@ll~}qhWz7aCP4Nl?8Ki=Pr^G;m?IjO_+e-JxCGc%V(aV1S{!3<`gIU
zK(&`9PWy{%jbez7LHlxWkHb5YCItgZ$S$=8q+RQ^JFJWeq_tBWU9uf7I@7K^n-x{J
zTQjCQ+(u1)R%uGsy}w>Gy{RJ@HYa$C-R_t2%E~Hr>EwjNP~$@FGbzWIMoo$un_b)u
zMoeja$+;zOo~D{}Rxe&+J7?E$W`H;Fp$zH2dGqtkXrpy{a)bhz+?vtQmd6_dfl#yW
z+Jw4vxdy1t_qlm_F03=%(&h8Iq+7(B4RPfzSdzPNRl%x7xp^9-`0Em$3<bZH^V#+4
zHgS>8y)%iOSFmV)?!5U1yJR@XnBuymTeW=k%3%JAf-voKiXu7kC)<O6<fg^TwAD6`
zN>(~Db+(uIa9lXw>Sc@9bcsy1%lchZt|c}81D*eK{+J+4n1{nndEv+l#k+=F2+wfT
zdF9@iyK-^voF#!B5{?f?+3=O!=(NQ0uQS-;y<lbT()l+nUwMO*nxH+&@NVTK!)1P$
zGDQRZ*?N=l%GV_Uq%=bilDuU3r-EJ4oS(4Hoq!yg|Bm96TXOcM1q%+hGq3M5%{(vN
zsH-)ik2-Ih?Oq<~7>++wx-K)-?&WktNBE3Qj`587W3Zyfn!P}%KeK_(>Z`8lrbNeJ
z_*U1PpK|0#J8vwocEK1+W&D_K!`wQzfo`4KIJa&cn_)<_&iO;vjkGyNj@%ZwisU-_
zTu_el3*Ew*Albrp>@nv=ZHkFSWfc>#$g_-hO#3gi#3lcgbx8!}6x=ZXQ>#$)^UXde
zW*=rIcKxd5%c9yk6C6IZ`z*>jH#o50%@h$UapPyL^#dDs<e0HD1FA)}`-^g%nZ<q-
zoR^B<REfJgTFF$IsWBE>bTmbd4g@C}3szmsjvowuS3o!WUjs5jBeQk4r613#!7G~O
z;5xg5XfekaX4+%Zn$?==4I3mt#=3w<C9H?LTe|a7bc;9Bo^S~^gZ2kn&!QW?*jEDa
z`E$r7okZi!f<5%8?cC6)WrC=-PSIvIEEmVBOA53?i-cm%s>xi}pa~&!YlSDrMr_j!
zm?t<m@}a1y?>b8cb2du>I!}>|<UQNPo0I4X{0WKqI+JeB04e<}7atne;au7JGO<n9
zLNKpTj}Q2pXK${M<d_Xo@(5KRBJnyq<uw9ZAaT90kXZSETH~W@5s2H6uiFx}MK?#+
zniVTaAioX!ZZpKcSqZC)$#HW??WlW$UQKCrywkfS(|tiOp$;1mWo)@MyLSR9(s`P7
z6K|&dWx7cM8dN%XOIb-xDev;sRmDm?9yuXcC%YxK)%YMpHPLxJ8?O{&|CmoQPcN`5
z&0U&qBABok8#38Z&P%_Z;}*<D<axsWl9P$qjAS9Xf7GzxynLHt<qAVoY~650UQgUv
z><CX*r+ruj&{~*%sG36Q&#!^rUQ}Lb6oPyrh?O_N4lv1yL;ljd0(fTT^2>0F6^yca
zMCbL*K}Sco33i*4iZFjhGSJ7#cRNYVty!W`M*HWGoY2hG{miXdYVB~d4n%3FWj5Wi
zKE>#yo>^OAHCo)2Z6{vH)~4DT`a?pppuaM=kC}MugtNi)n_PUtTjF!=GL4tm$~_~S
zjNBUy9PY=;;`9J=rTb2(CsP_D^R`T<F!)7NGJ|T(x+~XQoJWW57|Kl7%Cr855T+lQ
zJ%z3Xfg`}gm={W@teS<_&a5H?6`}_=Rn=@ozPUi)dXBETcA9*e5V&_80@6=6C!;WA
z9tV4Y*@l{!WzOqRsGDp#yw<7&(%Q=(ZYI7YUR0~aIpcdCADrpnoxO|tbJr_)rdZxL
zZLEsb;Bd146R&~L=oORP>@%bS*i=JTafGnS2>pRJQl<RWRI&;PwDe+Yvn8LmmWCSD
z^8Zl>nL_!GJAI%GGfEM*CfFU|<a4bt8bA-#=<vXqQV@*MDuZ{?N5(~$bnDBi&A?KF
zlaA)v7t-UHHUqK=4_;Ibr`=q61;KCkF2Hzf$8p>KwHlRY>8#al>cF>|-fIY@amJCx
z<g@7^l6j+k7FqN&LI16&Sug(?`pz6jw&}zAj}WVjXqr`g33rS!&_jZqnMwcI$}%H@
zM*h}rVEZt6?OG{6j636Ik&^p?%*J?=E)lm*DDq3)83&iaM&oL=c}>v!<m3v{k7sOU
z!-k`|<U*sD;~PwI+3AnQ4MRGS%t%U2f<mlRNuQLl@(4a=Yro_{nkeoC&fhN9A%$`X
zz&IYuIR~yv*h*|Rkf<k_1qfF$eYs13_#mY~KVaAw-fn)rC7$ei%8DS;pV^;Zi<+Uq
zB;?RlrH(Zjeg}9PIs|leYtYKCb`*qku}Qa<=`=S3QC6asj#C#;@KXvr%f1_qD7V_r
zzTPeIWD(kPWe!zo6rceK4sFqNI|z_Iru{XwbZOVY1t?r>G^o<Q@VZc-i<cg+2wuo<
z^>1eY%QofZov%TBzz&beg3tsHrAr2TEMvzjSXsuPF!43FSj}fF3qn{xGBU9qT$JDq
z?<oIPrG1{$$Y)avQ@<biZ6uQNos?_6Kcvo1+nM@T?^BVjkuOKCNL`eAEvK#Rzf^wT
zNSZ-F&R(ZhrB+93Jw1>2Xie+c^U9vndVaK5VXymp^+>-m^~XK>vC*NQcWIBsJ-*oE
zp2%~N%To5IUCa6OYrWs4UYmYv+Mj#Q>G?S4zaQ^8C?zN5)|97HUP}3M%EwZVroNFT
zEY)AFy`CtpE|XluYPE__`)iBn8fKU|Ga|aAR@WJ^)>X-_kkMMP#reZKR(sSec1N{J
zF19BsS>{5<(Y09f`Y*m!#!BxI?ye%Y3?y?KrN#MQEh|Oyb&(glr&wAuRtc*xvc;GN
z*!?aE`6MaBxS&{|VJODzF{egl#tV-X?34?VQ@Dmbkhw(`GFM6Izp@&x6SD(uKGHu1
zJBQ^Zc_+8T=V-~Eb9~!+f6h(-dU$oy2Xg#;6WdQWvdQ$aKHuQ7%1SOUh_fZNn#1ZP
z{3_s}dYlwB989m~SHc?*S$X>ce${amKsliaQYue@SHxQxVI_o3;4*}2bI4u9PT^q_
zi+S{J|AJ7#;ICgYZE6q%oNj)r1pXpbuT5<|5E+*G$*23HugG0r)Z%9k_Pl+-@t5P%
zt#0w#*l$t_JdrJ((Bki4Ut%3_II9Nrz^SZh>;Nvgkvk56hd5Ai1~>_kn4W0yzrB->
zMFHFPa|b|8i~k~Z)d5cfj{w_%UTupX9l%`;z#8B#U><n%+tT9S2HXMsIxzhf@BmhQ
zuEpOqgv$Z%rW|1Ny)FK9@|^}Q0iFRC0?z^;0Z#u4cmeBx&jL%o+Ty<r?6<4MA32cn
zfqB5=z!IRhyTz{qp8i^ke*n1X!4`kOAksh7;&UIVR}U-)HUaB_(;uOoz&hXwVEUu9
z3pnJl7QY|(O?n)>fOY#R7rJ^+wD^6wjG^gUTs{mO)7auS5Wepppbv1-w_E)5VbBdY
z30VJ+v<EoppIZE8g#!l+hYsHXA7H;j&<S`5cnEm<yDk1%;Fy1=o{tj_%mL<n5BdUk
z0rvsV0Q+45`~mO4svouZYp(RX2H?mH=+V^TuLCw5hmJt+m$VPq^n8o2OC!eon)U!2
zegl7iM}S9wXMP7Bqlo_x+5<cUYy(!k41KSH-hZGxVEU^q{z>4Z*IWF1@ME0(8+Zf9
z{2lqj15)=+i~lt6%)5jG7oBVIwQ*yg51zofv{rwQ-Y;qOPXN>Vw)*Mg;BUWHe>yN{
zP^(`DJU*n=e;Rn;<E_3fw3wdN>c1^GvDIIKe5Zf1)sHe8>X*~%-wiCC-|FvzFIB*=
z1M7fCfc3!VfDOQAU=#3d;0fR^_|mX|^uRN~Bfv2WNe|owd>wuq2R;qmn-{hEZNMRm
zTm6@zd*Su1eqZQ*U}>v=8?bIU`GNiNTK&_&eZb*S-dDEz>wsr~`+z4`wfZjtb8c+)
zCqehRb*+B(2=<zNhIRwb01p6<6t?<lBdM1U7_R}QuZLd1<E6A8z7&>GFYq*QD*QO~
zS;~VCXE%WdbV{#;p5xh5xS4#w!UT9hC$9#)Sg$+;Tmn1`ECe38i+X{jpKtX~0>^v-
zx=#ZCFSh#QfpuSM_0It7zf69dSVw?4z?_}r11<tS4NSimJf=Y3ueSQ%CVk%SR=<?+
ze)mCl;Fvw6Cw>R;X{7@;1J~S-99#{39)MoJ1ACDZV00hpfM<ZO1CKn^>JONze%$Jh
z0X96`>emCuJOW<RfCpRsN3JFOpP)1Fz|mHJQ8w-US*w2!aLr4+Q_enM9{G0tw$(ob
z?DsPKA%DXw&<mLJ2ikuP`2Vrh9|=6^o%8!mr=5IIW-72>#yP)X2J`?v3tW_Y&d>QI
z_0Kuy*9p!&=YLyp-Z}qu;0fRW>OVgJoPQdaw}A3yAy3zz^B)181r9+^pIC9uUk9AD
zig4hWPf<Sc{XTQfPoE7R3eNdUfK9+U;G#nC0G<Gz1y;q*`Qvj)Uv$o|0UiQ=9eAYp
zoc|)QG|mTca-skFbACOru=JeYr1!FO{`5JtfAcwi%sl#8%{jjWc=q;le&KxT{q8w`
z(gNi1B=rIhy>iY!PJL_sKs@C(0sB#o_s4VoNZ=vh+rZPnbjq!IjdlZ1zYZPdLjOO}
z4&bE!Jm=pAoPPS8|1{A1^Ev+v@W5Z7AN8Mk<DBnN|B*MTA6WX=bN(UfKLI=mT=O^L
z7b16OhzFhp76Q+_ea?RqSoI$5T?A}B=f4a*>9zTJi>WuQ&EEsuk>2K~T~E1}wD~!}
z(|z0gXMyRLwfUttP|jH1fmP$${6&nL=_}j(9h9>Vco=wKRhvJa^!@VN{JVjRfct=l
zfaA%x=*BkxZD2ES<Pz$=sm-4btXtFO*8`hA-R3_B-0_(<e;4H+2Ob9I6}0&;1HHmF
zKYJPF0ZV{+d^q^qz%#&RV9tg%f6a2zm9_azz`DvdzYSPe)#i`Mqg-G%u%Q~ffTw}q
z1|CmP|4Pc;Li>P|ZUx^}$m?y?1Dpgr35<TJ%^#kRobIK3U<2?p@a&Uq{<_u3|2M!J
zc;X-1{K6ZF|0n7Jp8Q{JeqZpbKfyb&-}7z$i_}{O^j1(mZ~$=3Z`=HNz)8S0!0Etp
zU=FYzxCpohm<K!ntOGs=JODfcJP8~C{^=*7D{wk+9k3Lb4*n;Bb-=3Mksp};AK(lA
z`+nc%M{j~YFT+>hX<!Yo@Rc^d0oV+D4w&~x%2`8uo1r7{%<FCbo4{Rv;-i_L0uSIK
z;8|cf@X&vOufk75S770v!4p^t9P(+>0ds(7-aw9kC;kQ>fs_6R`B@A8Z$T$uRco7n
zh<XkIpH=<9lfayF;7xh;z%=p=X#)?^A8Bv%tJd-ExA{*48-T9^bG&wc{LQozm;-D8
z<^!97w*jX|+WlR?UBIs^9C!p+n$qr{1|9;o0Z#*?pFti{+x>aK>A*F>9l&y6dRn{x
z2yhYbkivn_0-J!Rf&F^4`~3>Y2OJ5k>(%ZT0{f*?KX3=|IPf^|P2jFe+WjGgl-HMX
zf%PA0_n!lv2A&0a9|eyX^aYj!n}B<O(SGgz)4)35>%d8ufp-z%AEQ2?*B|_V`v$c8
z&A=T4!K;|?LG6AvunJfLY#!3?FDilVm$&<O1M7#j``-o*8P@Kf1Wq5`?k|ahFHk$Z
z7F|I*fon3s8+z>nmI99eAECVZtJ?iE@->epo^+GOw)+Qw(Q)u$J@Nuf+dzN#M7uu*
zIAlEZ1)i7)Uw~^S(;i^@)$RU(Qt+JyzQB{$wEK0y!cVsQF9X-iZuhIo$e#-xfX9Jv
z0?%9zojwa*ODG3;XhXYy&qm(MsE7Jb0>2Kd|7^SeB5=&ccK@)-D~EpMuLn*AdKIK2
z{~6$E^6#o__lK9$t_1Z0&j9Zhtf78j)s}YuZQu@I`X<8bkUwD6)^>jf@DT9Zz>~lx
z;PhLmAJ}gjd<G7=9ePwi-|gTDtOLFboOCC2sDwViCBSB2A+X_Y_*n%#zW{xJd0&P;
z!05g39k>hlBJd2b4LIbhl)stxuaO^E`gpsaS55nW-tO-MHUOUk*8LLvXm366MbQno
zgm(3Nj`G3h0Pr4QzhA*`@JQ!lo6i9!0h@u*=iB|hlvDKrcmekTcO_`oi_i&p0{A+x
z{x{%X1D#(&erl;7_y{oPx9$E3U^8&)7WjP<`2;oq%YokSNC!*@9@6`NKqp}7Dfo8_
z^#P{>n}F+pIj>T`-hs~oPrOEds-xW3c?a(M3-ke=1eR_E{<Yn&zZL$RK`wx2-);A&
zZ-Y)P@Ey3z>+lZ)j{xg#gWo9~{`k+q-_#Dj6j+tk;qL+->Dl4G4D2_c!#{8b<qqob
z)9azrkPd$lu;0)Q{~qA!D?9v?z%!YYvz_p($Pdi<M2CO;F7Up(!=H3F@;$4=e-_vb
zJPB-=-Qj0{9)9GK9=Pjz-oHTlCDaG>mQ&srX~#<N0;Yeu!~eG6XFB{dz|*k~KW7K!
zly&&e0f$s~_<3IfznTtzA8^+e>H#+0*5METGV=Ag4u1)-@D9=g4{fJCJ1PIJ4!;C=
z;7ha%zMck_19QII;ZKLZlXg-+@C0xlu<jn(1&rR?;hzN_0FD>mzXCqMdSE^<`qd6U
z4Zb$)>F`g(x0Ap&;Mw~rAAU`LfOd;-z%lTx-(K1eT(ggM0?z<n1`c_Ma^d5mhpA6|
zeT4eqUjy(>;BlZX;XCpu>3}(p!C&B{$2<JD6%Ne1o%j9V4?GS$4y=Cye1HeO-r=u-
zzx}?^;ok=Iz6sp~zt!Qt2p@+WfKGRk?jZC4?q~#mVDuk4{6~O?z70Krh5tx-z<vMJ
z;ZKF{JHFH5*8qonx5NKBupan2bWZ>04!`d`;02rxEd3t!0Mids&%M+G%myxcs>81W
zo(7%-9{)b__7%!~n)-mv&mdP{rM>@3dw@HBPPx0_`*G+1Jo9hJH?aN}&;dB<xeovC
z-Ml~F;TL|5dS8GZz<w`v_|3orC*k9L)cgAme-E(k58$(ha{jx+@3$BE8Q}YGK1ld*
z-(T`D=`(%*Y2cwzzTfW=`c0AVpP+rafQ7W@1h58JSM2*=SNlqUw4(u-4*t{QzCQ_A
z3Y-T#0bBztT<`l0;Cldg7?@t_`^~^bz%k$-E%W_#z$3upz~dVUS35S54!j$HOTc?f
z1@!}mR8o%G!AHl^?k9b<@8<)LBz%95U@h$ej@d#x9-y8bd_0bJPWqDXmjh1%9|0Eb
z^!?I@pfevqYXA=61ApnX{|q02&3lw~^5MWb;Fzz`PT+CiN#F_Ko4`r;`Tp?7pc8Nr
za0ed-+yOlKfbSmx4&h_ZF9UOcZNR(-N%uJP1g--%0IPt9fOqTtA>Tg)^d6;r;1S@E
z2FiULIs&IZNx8u2H+}ysu;Dw<V?XkF$oCHbj{}bb&jL>az3=*d^a;r+^a1Lxp9Nmz
z)|Fmb-4&5xI1&^#gr~d^|B;JV*m#~Dgyp!fC{Vu-6SfHG<z5<nH0`m}IrpV3`@<_Q
zT&kb}JeV5ZNz$Y#!2PK_x~|u-wKH5{yLk3=3;Q}@J3?V2c|XE)4`tpBq~1x7_I#|z
zocmMe+?Tc|b?qNs`OOP2UTWIWOmseZbAb9&9dGm0hr-mZ^a%He680v)L+yz5HVw(`
zlV^X-=|i;A>o8#Xt@y3FroSmje|;$Z7}AuI{&mu$4pn~6qv?<Jns;B%Jv|oQpQf@6
z!nu76etSqeX<JvE4-mGFu<6RrpKy4ZuzJEy14B5cEDexY*NH?aN!}#gbbOzMJx%(;
zNBch3XU=`S_gpgn{`3cWr7RH|FNtuueKzjvvA5@<hf*I*OF8*)%1ytY_aDETck;Kn
z$pn`cDxb2ckQ<bG&Vy+Wr9PZ8|M%vO*EK2Ncvp*moT@^&?TIWFPNt3p$zLRi^4vq7
zCi0Z?J4B;=+lt&i;@u(A^u=$Rqcr@9w$Bnaov=Df2SeMrqV0nF(^6KbRkp$?Y0r@M
z?$5jYo$|UQkXMyAAQibJjbsr#jBL%7V9mQf<$;K#%TUSeamgWV+86MX+PbYAD(!{Z
zIro9c{VAV)={L|Zkk5MZXW!7`tH0?__3t5U`e*RTDj@gLyhnRKcFDZ^()aXQe1Fg7
zoy{?4j+#h&4{2*`T2uc#)qi6rbyenR(!Km4%FHJ1fHdT<0AH(>lQWS=uXya^bM70y
zXV~2Phdyxm+`U8g4W9Slpoa#gyhtU#`;XtA48#V!$)8Vt51I@K@neqou`-F%oCi|x
zPb=#UDf;BT^c(YLb;&OBzD(YE@QJq9M;`6>*hlBwcj=ywh>@0$xexTYzwc*F=GEr^
zy5GEH!c;fUi<EJ)gtdrXri_NjqXQo6KWFcy`#v)F{(cX9bl!a*+jH5%2m3zMC*{^|
z_^15pkxL%#UGVbnQx-qm`;ki)y!`tG3ZR%Ap7A}9&yDz&FEQoTr#u>c?8-TNhwi(4
z?tNG6`S|<?hdeZR{{6!r820d>|J~l#N7q$dcRpRo_QMiJfB^vl9z=iuVPtSXBu@H1
zr6*aog%L&u6H6c)8H5qGNCYTEX_Z86-ByjBq$lawqcm=+tZGd(t(&T?*F;Up)XnmA
zIgO1zld7xCRMYXanvUC1z_sT0+vl8n@4J$0lg|7xYx%DA-o1C9z0c=9`|PvNKIf)x
zvi2bE=^1zJ#6i}CIO@y6Th~b(gKJ_(nvWg|cQ^ICUfOjq@kV*?f#hp_js34i23|?+
z&-_fr+MoP1Jr>a6D!}gq;#&CHrDb3-@IC-u8`dV8-0jhw)srcmq`cR%*cHd^M%)CN
zJhc4@tYeJe8SP-?x)y_>>@92!N($-4d{E~rSAp&v@-&7tLDy*=x##HJW!-o7+_9xA
zkU(waCvOiA<fXtsxAotexh-Q!Eh!#KBA$Azztk%}aAZ}KLZ_^Eb#j$;fVp<@9<xdr
zaR#)fAA}8;09=I40rnnXWKCX#T>xy<1Iq=^3<DM*5-#Eu07kq30k{Y&0gUnSnHSrm
z60j1~SvvtMj7gN+&A>|nZ`h5;J{zHYA>Y_dA#(m0@bj>ibS3!A&l%<ec{|1UaS=8L
z*m=Mz1)|FjSn)%!&AVW^sI+Rp8Z@jJ_X5D;NFOSoT`rL^kcSk`TD->flal|SIsP$e
z4udAp_3_df1I^)&Npl`F3!vc`j&_pqLgbT--ZC~ty0czf3*i(yi}9KDSBO4;4E5)(
ztIdGTC7iK{byWq}`fjXq;@Rc_wrw00rN_N)YnvGYq^{aQ(*T;oUK;SjHm82Kn)(d@
zZxl4|fkxWX8Kdl>pExtXnFr2pJR>jCha+89B4dZj3S~VHf6qd>w5+~@@$0p;@hb@W
z8CSiK_p1S$K)OD5w$QrSj3fC+Z;$ofoV+R0x4!?zc-L)-TetMw(w$ca(chidb4yw3
z`hgp)=cZ@&4BU{qz6uG<Om9&mi&Pn+APrF&3nL*Sqpg~riSc>M%yfvO0AdX>wjh$8
zK|ZSbu*Qn9FRh)?x;>etkb6HIkJ_DWU64Z*LwYT0XG+HkK(1{<`QqO3UHYmOb9dG_
zlBoiICHha)o96QR07k)3G6OmJE($FQ77L6kfL{u6<zh{^hydMw(Jm_{k{2NI;uvrW
zHej7d<xk{f%;;tjipi(?vR;^c3;9eFm5lQOXh*SznZPsRciLX`9MLqiItV!dl%gEu
ztN6pEyd6v9(+b0<<gZ%LG=rv@`73qlGTp0tR)u@Bl9?8JhLg84=Y{1P1pV+vtaIWS
zc@$kJOxg%(!_<l@`!o8i7p5jrFD4pQH#4BEdK7DQidOaWUd$2D&S5t6^Gw;u+Gp(N
zO5o>Ri~0erj6bF8q+X+@UZbqn?V=r*uAQ0;XYZYwlp)j}j9jHq->Yaqe9iq>7gyt=
z8qYYCi2^PS^@X&0Kpt3sgP^O&`u_y@5#`tVP<KubG<PUP(cZPmYhr!={xx3$wOiQ$
zI@@fP<@gq4fEq{5IG)HL=PG$5nu>Z<Jii_sSom$Monw4Vt8=Mts|S>((qw#!0)G^~
z1oc1%zLSQ-^XScrv7<m~2EKn2){0g9O-I%pg=V(4=bC7*Ke?u~D<_fNx4M7T)`2YR
zo72{xdI}aB$if_>5b>NqJVQvgS@kvHU!$j6`<Y8ss$AgC0r&jx!S4ajyxQ=)0N4Ux
zo3ij?<W!gvW^3ZsuG=CMCXxOd`_@N9K24wbF?7|?)Fh-6#=7wdXg!yZOd%I~jPWVq
z#P~!)DIRTu9=PdAtUG)AFIg-?20{P*++-_CW0;$&mYV;8cH&c5E5>_Ty*s+UUGFtO
zIS2e8d==hPX-U0@S=&<i5mx?F{j2&`ADo)3a3!~{i8yQ@Vz6b{U^SCdAtEE*D*WQ8
z<l)U&pH^|Je#+h%VQ1Z%%<RponHa}3OLNY;Dh4u){g^YHvbB(Z*|G772$7o+X9{t)
zeFkgms(rK`PwhQI?Ol}lIQ8=_$!mMpS#i+MOe5!$QzntY3}RF1r}j@Gs`Z=>So<Wo
zrtyjCnGnfCO3`mYy6dk;-wA!VIF>dCVV{e#&qdhh%KO*!`J)4?Tfq*~7@6(HK^G+w
zv5Cj7Ik1|Om^w&`&~zw!&*ao}Sb@v%7-B@B0oG#?ew|3WIdbJPc?|e7z+a+otRRyE
zNaH+cN{(w=f}<Cdn{lN8IC(c<90N`}o(*q_?jVK@(UIgkJVD?M18>a5zar8~$-89Y
zGK@dq-buTLvRTd+(jng`z45;ST-9yEMrLq6G6ejr@1p;zHgU#*DETKwX0o0JsgsK8
zU$db50RBl@2k6W=a>LQ<!@W7l?24}3#C6^4damtT+kcIfU>037*=nSje<S4JpFn1-
zG+ne2(nd%uLx?T*L;ctEt&I%$tunTCDPtb+SMoW+kk9~^Z+*>(w*_U_I)aoX#$vD(
zQTB-~eU|mj$uzb~>o0v4drT~S$dhl|oJQQK6Yx8ukg#PMHKqvFrzrI(>g;wO$qpxP
z>b?0j)%hsrGQXU`7wA*j)(@s<wo<!#S9KF0YSATQ%Vr4Ei9d%9>Xs*z6Xg^by?zl|
z_DBIe9a(Au&3X8PRjNL%>y#C>mDTxNGP^e?nz*hjH=J67dhCJ_mCS%SnPrOH&J5FX
zY(`bbsWoiZiXWe0MxS9g!v_4RHM>j<WsEh%_(O~uc`3n<ADKFS3S)@743u+mBlIZn
zEKYab>>+)1Gic}kGknQZS)B2Q)410`;VL_Mz7hC&e+6H`<?vri$7kMBz%P0KXN$86
zUyuEiDiMm9GRl}fzcs<UdHH?<v@=uii*)N7GNw?8k<Lkbof!Sx1!G^Muj1HW!w%=}
zYvj)e88k))wcbRc?lf7xO3*F*4eX1{m5-BkSA9^oX$5}ae}!(N@~Flm@=t_yUus61
zOdpK|?o5I<h~Ek3^S?tzseF!P9J%@EP32wd6E}9>&~trnZt}WF-@5*52Xa!`*4Gh*
z*N(zC_`#{HfB4zrjLP%rj3c)ly|uC{FL6uv%{@2uu20_BcSHa61G%Z|GVff@R&g9r
zL=nf}KVkl+Y&t5A2<dn9U*C5_Bz4_DZX|I_S6(=IWAFORbs35!Ar@w)_pnyT)u%I-
zOO(0E{PPU*HO7h=$(TD+)-DqiCV5&=oe2st?GV!rF+U;Zhx~N``7Q~=cTn-Z=*KbY
z#Z-_Zz1AVNv1v1E*Xmj7z9bL&X$Jh#RNXr^SJGGXT3=f0np$Ot#%YQ+QN{6P@C4Ft
zMI0xQzLx3I{?SBsS5CO+n(npX<eFZ8m@3B3ROUd|D@vV$Fpzq~yp6TCL^T=6N@Y?#
z*_VzEi|exJMAeF##4HE<t-lreOccJ5s%*|!BlDGQi8Wow7v>z+ek20JxatXv-y@{^
zGbpAR|K+hzAH(={BJB@Qucwv#9?LkAcl4HU_xhe2BfU2yua9-zoVcm1|GK_ht8Qu%
zLecJn>&7w|Moc31<@R4kQfuerRFp5)OVmHIKcBjGV4Vz45by%88(5dRwsLyLitxeO
z$_X_dII)pIAf^E?kpV+YI>b1T*8qOO+c5u(F0rRq7+s<kIQ77pg>P+^>gT#l%w>ex
zjWXY1=A}t8SG|^FPxZ_+jT!E4zl-?_Bd0+=yn)=Pj4+LpNTdDw4;QP`(vW&%^ip|}
z#vVzdWu-KpH)(|U&}64kj5LaF$M^-lNZ}ccE%N?Sb}-6B`d!a}hHYzTWRYqaTOZV2
zAN_!L!yh<Kd|Xld=o8!t*cdB4v`)#nDCJw2!Y)c_S8gO-X0wHA^NKndug)PJe>Hqe
zReyKJE1B<e`e}NovS;S!W8Li;q>E&cuG7c&0aZ^J3lS6rUI0GCA1FLW_m6k4cG<6F
zy{`$lGr-k$-A<*Cap)JNjH(G)8l5RS!~r`_y(vE6|Gab}=+7M6qj=$6js5ZIXV$7v
z7^C$=?8j#?Kamk%D_+Q35Wjh(pT7rwx~dMGzAa<hc1}H-CdN5&HFZ%bBj5N$h+#7C
z+;j)#B{kq@cN`oVQC|1@OaSTC0(bW=Z8uy&*KP++6L8vrk9v0ObS_<cGlGVJH;cTB
zuD!f1C0!kLSs}<<=Rn_ybg29A;#kj*Ikp2PafXzg<8t~t$Bq)vt%pCjdyU6Ec6^=<
zX{yjQb~J;w8MLRLgYK{7t1}O+pvaF>_=oydTh+=WHi=RQvw4L*W%tWx-^a)pb|$CK
z2p}YJFg8TQQi=`y9MWw;o_7lbJj?rCu%iOTe&(usdp)oK-~!;x0Y|rw^c(M5Gux*U
zc<~o)-qQM-ZKe@@Ey9^!BPz!&*g(tnIShLLH{r{UXI^ZdLBN_{!gxS{+qS}vrTQSJ
zJ?aS)20k#)6QIkfhabP9bNaet8xTBJ!fxQ5^5VT@$11X;5O`U8(PoP09s5;;`XmK{
zX>3)N8sMj}Pr&dR^VA4fCt$O9Mp>lq$+{-%LzO_%N&qkTTkz3Wc*dS2Iig_juEoCx
z{JfX#Ik2+xQHR;momFwR%#J+Noh5Um^T3}#{B2oC!0<e$t7-*YWRI+WC$8yQ8x}L)
zxGaK;aEU-sU}-tt*OH1W;2~K7XI0p%;NUexUwb#|4SACT<{`T?k34?#ljU8T5|3G7
zJ7YV0Hg-Q6PCn9G9O{3#Z$l{c&_Ge<OBr0-H2MxEWB<kT-Y%@pL7C*CbaL{}4AO4;
z7WS5?HcK0?*gws>jq|AOfA?TK{hbdN2N6da&pGmFmufK8hoZnQ8NynaO2@R<t1KTY
zlXI&E;1pm#L_6|i+Fs0wv7S}kt6!#UwW_F8y*)K4_vWd|Lwv{GI>m>bc=+duajTrT
z&zhjG%fuDcB%=GRiSa51Hv_Lh;)KyjAUh|<51EkPfB$SmGn}KbQB!-0qF&jdO2;Qe
z@Z(-XXuW>#v-&fj&4o>}AqEOi)T_$`p*0OY3|*5`GV70#JT^I1F+Nej&<fA{E_o-q
z1aCLN`Yz-Zh--XeyB+!D)UNRf^1$pTAm6d?rbX#RuJJa?5j4(evh`iGl&wf+%e*)b
z9rnG?V~k7FL#eZgx)!Hq)t8&OQKn`t+5pn52JP6%4;P#8?BXAhQ{;yR@Iwo5a{dDH
z1ac~kAEM-kr`S}lu#K%PnjiL{`GbV;;oJHlvnpd^d^eF_FhO56E%UUr|MR;2_kbgU
zX^@u<gh6kw#1hg%iX|#F3$Ra`iniO^@CT4eO(1w@a!THIu&s#eCcOm1pv<ITtLj#+
z*38kM@9xG2@1XG|r-pZ|EgBF&^?q<K`rqHJ+#W4x5C46zg8=8U?eV;BkC)L5aZ~Bv
z;KS=vlbP`)?eT7Udpy0QJ+^ouY>!|3IPGClaJNdx+YZv3cW7vnw1;W{yBXYV<Lcqk
zfKsn$4%7M2yV5#iwQerEndIH+;<`25t%lgpHteJA_v3H%M`m11lhYjZmXp)PAUOfL
zA<+5Ie&|DKddcS;I^zx}Y0ZPCc}+TvnZq<VG+dL@$*M7-5Q_e0|3`~MNXpfx6B$fM
zjon&LQ|nGOz&{RrJ%&4Fa_qa#z>Fw^_#FmK%@-kaux5ocX00PdM;{7z7xvsA8Mr5P
zcckmV!~^l(`;zze74&}s!=ZPY!#GYOj{IN2K1yYaY0ErPeDsk>cTvwnm0cSW50~~n
zn0%nGu>byn`%?E>XO~1F{)+1#fS&S6$1f4limp@y_yo$-PJpMrO(l0As2X@B*I=)l
zT9+CW|DzaJBE+kxw&%KT7$Ujm(4XCx(`ZKd3YJHza^1@77H_LTztp{^VMP=$lpe9<
zc@}wT&cS{&m1jrilF?b&@v9KVeXj-iA1wy5q->53WxZ=Ruocyh;p`Cow?e(v9%O!8
z+_%EL78c;gtJMO!wC8TbIf1k%sDg*q4O&MEj(#HC9q73$+;val?r86w$veV*`Te&?
z25w8;+OniE(3HMG#L;-;M~k}^k1M^CdRDyKPaC9R(p=!40`BZ%PP;V#HVfF{_1IUa
z@}O-GG&YFsLF_5Y@bOgg`raF?uS|@;p!iDbv&-03Xc-XO3WTv0Bbnmg%7>8PT^}uS
zd^7wZ>yel&^kld#V0)Q!y|!Lu9%XLXi8u-ZAEo)zV$I+7vNDVR7(RU`fExtvrTCF}
z9{_LgGI+FA<lt}i2=-{=8TmJQ+_FBcls}t+e;V<o6u#5PFX0!|1e(p*r+TF{Y}aF;
znMc0Zp1knt8^vG3iD$Vv^Rq@rCH@@#vhKnDPt`VxzsalO11Fqh`#O{WKks4a&%hs6
z_>N6OoDW{_&3bMeD^Ia;5tNz|BZAE1szE!1{Blmni|IE2b_TFv0-U-{WQZf3^h1ac
z_I}vJ@k;_frvUxY#rNWWP}%Koa`8RWcn`R~d$Ffh;i`G3tWwH)Ww}}>=wD;K2tv=i
zlkJ$b0qNa`y|S*flv@I)H>JI+xi(=>=GFYJ1T@D{9@Z5vma!7B3BWp(+%x>6BnTBh
zarMBI0AAFrhgRUn@5dfoKVCxUXzWy_?3>#YH+9_{Vb6;8+}MrvavCkahUu4*l{3?5
z+sP@;z?ND)?cUk!!mo7OMu}m42d1L1i7uR7`r|VcqSG@GCLNMgnZB`gvQ3H}f!${i
zdyZ8-IrcD*pE1Yu8sMJ#2KEQz+11{c^q*uMc7iVYTOVDKPY&CD4EV#q&$1*PM{bLc
z6O8!my>{D)zmomNw&y}#^D*q7=ChkG9p4R+J!+&-`pPEI_<tL6Le+!QH)Jigl<Pyg
zn5w-jim1saji76K_@l+7%By4d5&wf2*Lz~H`$Wj4ZsI6thd_Jk5$wxeEBPF;j@)<j
z-f&kz;uDeXdwMXI1d?}^_ubil$3TAS_RJqIw^Sp33OqO9Jn|lQwW0XoQx=r<THD4U
zVU6hbc!brhg@ZyAe>O(8@O^Y6<jc3x>rmFp9bLy>%Vrxl1HbKez#H!RW39=An2Y6R
zY=E2t{xRTpK8Zc@k4o7)S4EHPIQmqit17WQ+P$r3YrMBIxy3rrU*1;{OO*}8Eldce
zXG;4j`pXC6sWPh_+U(49)lYtESL(XXRiq{{X$>Z$&AetcHDa3JGk;_;q6!mi?UMi-
z9ojy_BX;<&sU-sBBgA~<BD=N7b9Iq3CbKP@0Sms0J^j>sp%-Kx*>v==aPNlX!;!8>
z6C1a57xz5USJeMdc;La*1DUm1sE{T0Z1ypp*--oSj}}j5sd$v1H#MUOm8~d!KCIq!
zPAmZGdC-lZ{u}U&^kv*K<Mh+0d`e;B<v)gT2YBr+Jg?o4?HL7L)sQXQl^%Wxf8J)`
zp9cOp6|bkyrZ1Fs0OuI+JHHKGdU<_vPrBMi|4d9}#E0kd`sAC->62TQ*C*?dmts`>
zg<<fb>ch&Opxhy7O4ve6K9}9M(CltiPffxDX?n)Rcq=a6gK1wNk(xgwk<R+>V4kAN
ztj4r3M>1La-qO3)qQYp)GRo&uplP`Vd+JraI&!HjeI0^ry8zr7;A)$dqgOh66mWDB
z>|39N{)qD?8nh0pc#P~-&1w&e=h0!Qa@$UwuD#RSs9BrtvaN%CIS1Ba9WFMB9SAY0
zXP4UEmlH&q38dNfhd3)jm0i`bm}^Q|y{zXjmp<TVl3GJQ15fX0L>v={Bk{){8Q%nL
z_aUi76k|j&M$$lMh`qMItr2}IJ6XIjGyN_Teuryg;z+^zj6aU?{6AiLo<Vug1iWU{
zJ9&v$5WjZ70^b8qsq%XI!{z;S8ShEN(T;eHK0<z&0c^;m<&14yq7l2K(WRLe{}br%
z-~VVaKMODLvy{CZ5pL#)a&Jc^cX@Ds$J42s25z>#J~Q2vrb>Z;Xv8;|+yuf6BG0p)
zK%~aNCZyAfJSCLu_s9wk)<*V=mS^jvHOSU5Xp=v{*(G_B$Ii?nj~?9^?%vSzaI~v9
z@knWJQSzZ^--G=RSigaI+=^aiskJtB|3G0VyOKBSmu30W`V+ay80JUC72w>IHbjl`
zJAFs|k=*%Gx?TzJE7zhN3g0QmGQPuXp9bI`2Yw~-aYgZK1#BKLJr;Y`6t>c&9-;O9
zbrEN7O<T<EA%?{f&wGp~8)tVYnWSZf_{mUUY~>0JmtCT%RRgP^o0+EIaMw;f;i2gn
z@<HyCSSPy{=Ugn2JL0n!V_XBPQ>!YH*FXdzXCmKhZ>nXz|5B^y|7X>54G~l_M`%Gh
z(R<U!#lwIFegfT3jf-lnAjY+V((XrlHue@LABpyD=zn;iDD_b0A1u4f>kFU^XAsYP
zF3$GAGuqP3jpz%yj-Uek7J!q3b7k5ISizRTu`Tc^=xx9ocH>=QY^wtPdtb)+CJNuo
z0cuR2lO+V10jPYm0sn+2ez8Y!8;r6miLcoZ@S-<d_*nDC8PLokFP+Q_u44S=0ZV<1
zc$z^|@M*}08*x^T+qXb02T_{Aw{mtOW&rVyctyAs3RH#NmoGI-xj-W!M1)K>9PbM9
zVhZWb-h#7kl&tXR%jI-Ti*b!}EB#~MMY106*Coy|;_WgqE}k_Z5-FLKg^5JTtvGW=
zjd3a+YU5F^tCrCjD+0ZoLLf~qr;H7Pw)rlc!-Hp=k8J)pWU4@Tz7e>^0h|RyTwFEy
zwE-3dO#1*S89+a^Fz23SwDiQJpL=|g?fs|3<(eB;;aVoA8i<T|DRX8Jx9=Xv1>ATQ
z;5QH0CctJ1SYZv4`OEtZ@Y?h^b&0Wq=|q9s1Y9HA*l%h88wPB*;u+}&u;W-`rXyIC
z?=lQYUORw4^A()$16p2;muGRE_P|B}d(Q*onOvhD*aTq1E?5BZodawTFsXm1Or=IH
z5GVJu&^Lj@G8ox`{oK@TM0OBo6L3Z@gHr>X6PLkh1<uLK;0yxi%q4Jw$j^Jg3Eqt}
zhLrptTyeiAoxiQ63KQetd1fDc0_QyaoH|GVaquj(8sxPR&!{`mV=%X*Pm44(R8C(L
za4y_;VR1qAY2kNSLU-+Jq=I5=%-M<;hCp|s(BTiZ&k3F0m5jl}KL`9V<nK!GgTT+n
zUlr0kmxC9qU8^}aC)p8ByvsT9=Db^`+_x+pkD5SMi#RT9LV2&1I0mf{H-v_{AvDY#
zpt2XVoLfU9$=iGLGt01mRH?SS8dY@AVlXMVd6Y!lKgwt_J2J*6o+H#c$iWp6u$*U*
zW)sSJ*sEiS9hMFdM#oYzAuEJ(hH(ZKXk9#?$e<NNk3lR;5%5NUSFP&9k;k%cB}QRM
zM+m3sGQX5T|HT(%iK%vK@?DDTdU@lTo%0sen<+jgVU{A0@oErhCbl7OuCmBn)v?N;
zR4;L_;(q>(BA;hKGq)Y`h{6Ouk`(*mBBSz2c}@eglg}t~*$5v+-nU_r&zx0DUbd+m
z?ZYjct+HMrpqTvY!pO5ieO{h-$bY%~Kj(VhBG1prKNi4b2gy_Nh7$%T^E$(jFZqsM
z#6EKju!d)G1{$7Go_XuYhNBOMyC3X%Alh4)yuYlgDDe>2$(#aVE&$XS(D`aGC%9Ya
z)LKxK%RpsZ5aLo$MAm^?`tR>6w7!QG%@_ETc{Br$u*<tAu5FnlG<0SOiK|PQZ7_qx
z2+8~t7)*BY>D|exdPXH<PJIOY*p7aLY_K1RpK^q*dol)yX^k@ZFz`yix3vmS#*9+P
zUUDJLr`U8PLYTOtz-<I>i^4UsX32RH#Qgxc93NVj!F3&vAU3*O43;@x#rbWD-<)}X
z?BjU`SuuSF*6#h|Sagn!!!1^Lm0zU_ehs>xqIKqRj?dBd?ySnQ&v$24pM|p+`&1if
zj(0#lWa7o%-$pIlA*$ql|0q>w*(|fo7&xA%c5gP>SZ%g@OgOvN7%)I6I=2wA_~fzk
zNOSZXI75#BT!i^!s3*V>Bo|@%faU#`11koM=RRKe)sLr#*6VnJ60=IL1+ePFIEPQe
z0=ORrtOl?u!W_MQyKZ*jr4it?17}p#vCO+fUlz-<veHrpP5^KHucKaFabX;{eW>I#
z1+9mZNBpJeFTg+U!iT={oZ&q)d0@S40&c@^IAalEalo2Ue@W8gD!^|yU~%Ae5@6;S
z)D2~qvdSy#yB&BVz|&)*BUej}UtfCfhTwcrY$*JzqqIU@BA!!-r}j6Y+bLdhY&tTw
z(y(KAcRS~np}s751%)QDz(E!A9l8-9LhB7^<Z6NmO_FU<PzHILfG%fAIXv;!x#A5o
z-si<1A<~B(<jkMs)E%X-64A6E&Y3}+@91hr@e3~H86j5r`)6sLU>&V1W|i@L8{26~
zAY4-<RIL}CM1043a1Ns@z8DF+#ZG3HNqqsNeIB?IH)BsIo(-SHxGx+ck4dr(^Wtc~
zUYzH+MsT!FWt&yQw6gBz^0gJ5oWf~8w(MPI?V1*_E!<xB&dhW~g#8X`V*9Y4K~C8a
zD?|flLC=^ide2SIG%&1gdZv!U1QJpk^pGtd&pHi)*J@Q+m5ieOT(*JH`(_*cQC`KC
zV6=^$vuw^ioj1j!zH;ym`gl9ywRzNYj!-dz3W0YVcqtd2@tdH6rz_Y#1A%>FH)u+J
zpy%OuC#(su9Gq9`mNV^u1pza%fOtv3qJRbQ%!{yLzzPvxfB;;CjRCeBcr^l1urq)S
zdSG*aeE=AFj~8Xc1;7HwmeG5h{;4@a#mlp0TY%3t;1$4+=hO}ZRziR?r$}T}C|)8?
zJ#fZ6I9MOC_ZzYt9l$vQob`C-MOX^33BalZqVhZf*!tgwo=%uMJ^F4cU5)Y*T&&`l
z1%5s7gT%+hc+UgY>4F6S^KXGZ4H)%}w0N0I#723>GjvY_NAlyAXJS!gUsdNfRReDU
zc%<RQy5ae~Ip0D)lnl`}D%+l2u7)ug>(l1gY^P(O%^kA!c4N;;WH{}lPjrB62L2h~
zw*bEd&n}+skv-qaw?2}{?8@4X6;R4V)>Qz%95BZy=ww{fb&D|oXEv!iC<IP1aLxed
zB%WPyi%KdhSE>zsZ3x~C+@^11Oi^X_=n_$S<H5~M_U&>LjnVf#n`r2mSurUtcs5S<
zR>*4m&2i#Xo_D0!IjQ(%7I`@KyJ%M>E0j*cwLV$&lb&naSXsW@t>EWjoVSc;SNVD}
zq=Z}@5_Df2!JC0Q2i)~8IVAqfVl!o4u#a;u{nu@&vs_k%w>l8lahzMMWwPW`ToasQ
zkJR`NymLI?*quMhdB+P}@Fsv)fb)-ae2#tAwZ0+zxee_EJdq!I&MN7;^a=8BA@B|Z
z@3<>n*}_svPI{h;>8u;}0ql3eNTt|H&M@Fv(f;q?>|sUglr2UtqFArBm#P~ZR51@%
z`N#EOhvxGg1N|uIXB55gk*K4kvK5Pb6sEv`fw=%<U;^XHi&_jbIVwUN=Mi6g#J0h!
z__%*VBBhgr(GwI86>Nuo@*iyd-Pkla@QYq9Rprv9s)671d!GKsHj)a1>w@MX)_)st
zPXM=3mCb3Va-69FOx6hd^bqi}ejj+Qz9iX|J!!IeMb3S*IV~G<4|KDjTmL=uSC>vC
z_690Fr8JyTr>8Ys*L^Buz>4&&>GoR{Xoi{TFrVvrPz&sF16C?y9~ukG$(V0W&x8r^
z1(8l1Lb3V#;5S!46F!nQj_{0=3ay}<W)@dA-OM5*4<nAw<92^?$;dFpquAd2{BJS8
z?qUkRp9F2=AEb}t(q&QSa8{RkWdEKA-YMWE@of6H8ONVHYcJCa-{wCB+5KIdIj+j&
z=%q55mh%#}^{w7JNmmIcLu$uKF{0lM`Z3gr-XHDgjTNlR-qo~3*$bG!CqHz8<^!bJ
ziD#2PQ;yxb9E^Juc$I&MaZu$=;uilPIm@qi^*f%pH-qLJXxjeF?uWX5IoFEFK*UOZ
zs?Yz-WV)gh>hq&+L0_~3^OI4mnPy4eT<s&fT4JQ%nYgxVU6>0hRyF)@W~O(VwHB(f
zZOfdEpjJor{`d?w_H83|h|~cjkwSVr+dGJ75SxCN$l&fAJtmI<CxtS#D;(8-Jo+2^
z{2cI#5ZAHvxM<UsKI~qXAb#G{kULk19{_$F_{>MEEB>-B3#FGSyXaeuz*zv!IfbL-
zpzVW}ZkOWtk^=tddyu)VzAJuNGM{nJ#bw@MHOs_fhx}Vn8pJRgK|E~xImA_P67}R7
ztHj+zgb0^sjLdr)Cv}Wtav!6&ON_4WtdGKK@W5Z-9QbAFxuRz16(83C|J)DlIh`7J
zxhKapPH|jm1Kx>KIA`A7$GG+&X9#fqM_Uv`yI~_GrbJ$x0By}*LVs2KXxhFfLnczz
zAGk7Q1zj%%NOytdv2Y%}O4s2nD+ElHNDz2|XRuEBSNLv%YJ)M)e%x~UmC<8Oe9B${
zsb?)d7je`hj$-f<<qt2Gy9KZ)V67^BB^xLfq=DT&Ksf8JoK3MGO|e?^j^m)6J&UvT
zU3Df~=EaYS6>Qof#N{DOms|DR7QXhONwxfgNi*Bkw-fW9akML+_4qFbBt^-X;ze%j
zN965d;GY3L&qD+Lteou?=BW~LwwD|-5#bR!RdQwyj^#pUbuG4D;=mm1n=%pHA^$ZP
zd3f@K^&ywfaV!Or+l1c;(r=x$ZA{9R7UmAvC=F_1?uxb8H5`Gg_@CuOea|Bf5k&U6
zl9!i#lo^H3LNELqj7_&IdUf_A*Zj-5=)Wa-YwvB5{#*L;B3$dwyccF{>LD}Jw#rDS
zf|Yy(GH=XO%YeJx-UFG%FmH2O9CJgh4;3)PBtuM6yBCNJ?lkh5kMA(dd3i(D^5VVz
zFS2e7f2jFTRt@TP56=8&-QXh6<^gsLusngF-El7h%!fKm5vJ!qX6#&U4ov>41x+Jp
z^m!kqpILp#h6r9uFAc*dGywcg;75^e3!agN!ME2?n78A=X;_1^>4}4jd~p)6dcb_D
z+>R_LqkdX<=Et%TS@ctxYOK?AzFjC6zVo2RQK1vNiDO@nibbXpT8|P8Qa>f2Yvy+$
zm;qdr*Oh>^0M?*%v_Z#LC`xllIsMV1v~X};!PO_SVGe=Vfl9S=I)u|kS=UL#mB>cE
z@NDW@^Z@u*$TmeKqAIjXAa!>NG_#-yDjHLF_Fh)j7r*~;0XRk$5yo$K<mTWke$wFz
z;K%QS>;`Ot0H>|FZXnIZw%trRd;=p($wtQxBkE}S+=}>(z@NjnF^ZQR&(iVpfuABi
zzLg<zDzq;5h;@`xQ8t~l!3l(SzJPBd5P+)^zte!N{~X%D%?H%I#jf_w$1$r3Uj?2=
zJ0K6EOhC&=nL6&|-crpGfOBZ;&N?FJ29h6ZK)3$J^u8j)lB_|A)m_U~m@8CwlrnXK
zt`&5Kw@VP$F~C{?)AC-871ZBF4=6XgPM4hJ!g`wpZ6oUAysJKhk7zzjS2-m8Trk0=
zT6`A;w7eKc0bp^!&Jm#dB<wewC<!l!3;Q}>1XB+2U9Sdy2fk^deUepQWE+5Y-3NxU
zY;C};zZrU&n}_VVScH@42y6tu$sXep>C!eQKzsUDe2YT$HzysOePy*ddpxzdRE(to
zq<J264fs|{Bc4rpU>i?l=p6$rJHMN995}UJ9G9(!eTd(&IS0H#)^E&phGJ>A#cj>T
z@JgO&1n%4&_-2Qztg3|exjO9H?qd3eK*w+4bleS@n1dIde<WvE(RnW{ry+<hA6@%O
z>5o_D(z!)QT;jl_FUVL65zP6V^*MEWR^613*f#a@n%wr|KbDOHLB#Rz9f3WC|8VxM
znQ6r<RiA?$3G%zr+a|*IZk<*2;WpqG)j9kYMG+H#<vxsWoZK(vb*<ZR`7O+KyD%5o
z!d$$|yl&~jGsq}IXAn<EHNJ_1XVZ5b-3Gq#NuGpisvBb!(D+@TQ=pkpZKUhkuI5r!
zb2;5qu@90Rz)(YWvq3^)-hNH~O9%YhruPr{cVh^bgTZk8m+UWVMjE4w3$_iI*$d!z
z81R~#@ofh@r}3qp?*srI0Zub;s=YW*slkanc?LK>^w(j9<Maz@gT1!Akv?9F^%vl_
zyKz19C&pO_ybnBaiX1_la$>R8%Nb`ia2wF3t$0Q`RQftjGZ!yHP%H3!D9btAT;*NX
zu0s6bTFj?`pGwEK=Wz58gg~;-=$`?8@h$i^#|rq~IbTj4>?~J^PyX5r`~bcc(~%xO
z&evr|#2(BA2wgLZ-<v?w44MRKa8b^;1GWIzW`QVJ60m|>by)#tdc%Nqq78KUrCu+k
zf01SuG#5T5&H5Kr`(0@|Y@0Y})+4{ISdVhGrS+a_6E3USt-~_60RNcb5xfWRI}BLv
zi|P7{?4#h~BdU|>@OxQBz^TQvE1g7!G``fi##Z&n?`rJ^zMuHG$jj#es{-si0fs;I
z_$0F@-C{um2VR0c{Sx#EwGO7|J93sWCq1P+Sue(u^<=Wb6YtU|fGjJ&;T6QUteAgZ
z>?19J?FNkbK^{c6A+ykc3avtP9Jb$}#%oo0woYfNRn$}xX%8*ZoB_=c;=WRv0BHR6
zs29*^e|W=N^k<PVp5-V4&PYDKX@h58QT&2{odHbS$kaTaQ%80#We=`Qtm;|~X-j($
z&AI|z7bKF>mkJP12jXde72knk#O^lXwn^O{0R)W@?~avaq?8{xgTN8~joWhw%)}@i
z)&;sO`AUf?n&=Y#y%=|pzCM%Ik(sa`TK~whs7zQi_UdQ0U66Ed;5%A)cJZSYMbef?
zRPiD|us(!*nffDr8(^mZi)IMDV;jf*Eq<NA=np{z4+FOWX<f(^Ts6N?N1<|Iw#@7a
zj)<RI2dL9|k^DE0IF8+k?*if3<X6^sL>Nl{!9mC@s~Qgj`!Js0h3_}H@+YQ&Qnu=@
zUJHvzA$8On4Se>FDYh&QVS;a=Zf>O@t0oWIs|7MQZ$}!Zkw&pfqs{r|gKT1y3HmPD
zCDXN|GTJ5C-tU3Fsu?mt(K~ilIX^evySf2Y;hOUXL9+mw);FP3uf~hndnj9ix5#m1
zaypqZ>}19=Se5Pxo3g2Gei?EvfNymn3dG^g_hs#=n?TYE`cZsauE-L4udWfHu3@F0
z=;R9m^*HE8zG%xNWdkXt`J>Vtd}yBr_65m%+Gi+a%vnGjXYhSG_B~z!{Bjz=Unmc{
z4+^IG4S2)${mccp7&ybgF?8hnC}3m%hI(iRebe3cIO_DhC3^`f$WFqX>_aC&SAsH}
za<#jheJ<@TXKGjWWzi^?Hgyo5TL5i4()@Ybu4F&vN%$UI2l9cozv4Xedx+Iv(enlL
z7xok9K=Np>mA2QG>ZvL)>w6fqL3~Sa%$ufYOwxD74six}6TnN~4<UAbn&_oJ#knDZ
za~U^VTk(O_duWG<!T7dX?SFa&eA0pM9bPNtRNwQ6(IGQNkIbli&qF@tQIV0lWgyS`
zHa?#6dRnyj2*^qfoLEA7lg^wG*#6r{E@MgpY1X1`^gdf>-9>Cz<+KiS=IW^4@J@e;
zZZ;AARft0nW!((o=|mfeu64;aQgS5cRmcV4A6ND3jAb%akXEX9l7+4gydY>=KLPou
z`mkfil|{BNXX)?+>d)LUVAV~xrq|07ANB!@UhFvCT=mBk;*Q^oZ}YkGgEckV7FGy2
zzXN#~IGT^0HFm5)*Q1im_`&)(2i)2OzNx74>Xc84hUEj(yWqz_e11zafNvdMQ0Y5y
z%bJ1AZf)Bz<p94yd9nw*qWYt>o0z1dvW0-{hL-AIRW=|)Tbe`-g8ne*XM6FDN=2{b
zA*G;fFpP7aYwvp#yJ7nH7DpVX5l3qu=Gd$70$<Cl(2>%ku}I%%`#%%yiY6l6;hs>u
zH<<hd>vsn>qe-^n`#SC}&@ixh_jGK4pDFg`zXrYN-`VyphYuZRT5;HL7_pWPv<GGO
z2kUPQ3yZrPVv6``@oPeyC%%F2V5%`($?gcnwm5|HR1RaD-Iu(sH@BMGHE@4+V!V{L
z?NI-<ee22xa^S6t!w|W~gFpd>267O85I=siwB;Da6<r77ZyM&1AZe7DK|&73{Trm1
zUX3!Q<{f~Z3ckv7$yQkcmPJO$)`OsPjj2UQw-Pjd@XM9>T^9qt75EMJ;~S88Mq3F#
zifs+L4;>FR@6v)UGM{OTfM$K+mGx=j&jP;{_*arA;^)2&x$(e7vmPS)w&+JP%M=;Q
zZ`+A}#4$Vw{M`@YdyuYrim}&oEk|Sky8jnZ7}pTQzS2TEd_VN(8Go41QPAfUU0JyT
zz@Gzt<HIYD?Hu!Sn!umG1DmrSFYvQo?z>-ce)o%3V0Wjnwx@0!SpOO%f5X7~)Q#2w
zYzpTCZ9|y(;YiuniGVG3@_oN%q|@;o%*obDI;Z8#<tWcDj`FbO7*AWS=((x;<|xlB
z#?qZ~_{~-aLc$nAeq|F}>eOWGeM4sbklw&@9y8BJww~i_i1Evr$VxZ&zkzx3D8A#1
zEb*$vFCQ@9A7Q*zZL9P<*?#O80p+`6JD3y>Qiq3fw9mhHGKLdG0dd@uEA&QR+Z~yz
ztN50-A&uRCjJj}-AGGK?{x?y2V8~i7jz-W`5i<|EFa|^Hg=Y|F?g@OuclmbQn!Keq
zFV=rk9}aUzt7K-#dGE4V1?L^JZiQL27DQkKe*2A|e&d(l$N+3yeiZH%u1?Vx%N+o}
zet3p3{xIXW{>-dbA=!|fEXv=2U)w>*jrY7dFeSb0Q!b<Qm(9*`+BOe;jD5<r$~>u!
zm2F7t9Ma1DPp~hjy4LzSTS@#&D)}Xb2%QhYbVE>wJ7Wb8OAeIqWVe<57hcsT&ywMv
z=HatQSDYE-^A3zut@}0|!h8?kaV}Bve=PGz$<ZgmU5_U|8R_2C^H`+!(d5SRzG5B%
z;F1_ht`CFu<PV|mu0dhQ`#c>y%yY&g>^xi2PXF#i3?8{21lc^|sQxQ^4%sQT<QQvN
zc7vDNmQHT*wx~g*M^cG6HZ`Lj@h#|CRfa)X=aM5A$~gs<FYVDL=!}cybl`ng#zjlM
zgOUA$_Ui3GeC>#Da1!5gR^^({Jo4G2p9%MtB%g?OZBBf;yzlY;Pd?Z4WcR1S1DmWr
zBIl!$pFjJ)@hwrJU_O(`-Jj}tl9Z$w*u;ol(*)b}9h>f_pC%e2YhherMjaa1<ZDA-
za^FPz%)(}@`i?%ciicEf;h9ynY!@Ya(BJRqy))W#S9hQ;b?d-w*2|E8XQh9Z@{B8<
zZWZIfRtKkNo>$%0fC;Uho~coS2oZ!BRfw@fk%t8GFg6ESr1;cTzw*hG2-gwQ>vv0E
z&W^R%pz|vKwn72U;TSW6csl<c^Wrpq=R6>4&rij3ht5K7c@Ekje)*rrczX`(b!v{R
z`HfsA{1zwYQDBEDu&oPAc!lFsE#gT1(=v7)ncKPjPB2abzZ3WufS;@K?9#cYK5n6Y
zB?kn55j8qBDURo=`Ip`7x}9wf$(9{54<bPciAji@G;h9R!#QQ{7odlp$9LDg>C4<h
ze7>;pmbT2a?kRJDO3)7CTjbiuM&<&JPZphZjcO<UI?=wYmnTbQ2f2~7o*4mW1IQD3
zVhC}c`rr7zxoQi&7f+79;a<EL_u)mjH80HFc*|^ZL>vM9<`GZ(-z}use`M{ePH8o{
zz**md_2>65E)t(t0e*#mC7=(s6JX|2%d8Vr0q;EUhFy3otrN5Yw*~s*h{6^9FGf2N
zZ64C9%Afie@CuQiAn|aC{sUMwU_%5regfK=0JA_w;aUrr1O6%CA5O<lWXNnv^tuY8
z*A)XN?=A2F@|IHg#vUqbn6gr>@@M<|lco|h3m=oF4K(%8fj>?<$3b)YW75olW;e>8
z@RpxTa;hwj#{+O!$N6tVpNH-|qiCG@pZGV^u44FE@kk}`JCR1xn}+Nnk~$XKQ#0^<
z<FNM;4_7XJ9f0KnRxc1WA5Q_+1emm0)VAYlcUvf2s*UZ9ahpMV8Z?`b=P@<+QT7Vi
zZW^HxqD(f6GC$7XWPQ8uwihQ``);cReeOH3uR%|)(c`o7_o5*%OuL|L_$Rr2;zM?+
z98)GIltJ%<zOa?HL-7ZzlJ~It95L2^Gtw9;zPMPc@;D}G$g#R*OsGEn@G<x-P$|=z
zj}ms5IQ8szIjBs}Y~#rUCL^MsN*rbQqNRj;PdE!AUpcL)?@wM_j4Rov#vR$|BcIHb
zaYw$J3j;G}|7jC=(6c?O5J&S97tKB-56@t`AT=A;ym1p~+CdX9L4CO9P%_t4^C!-x
z#DC9eGR1EvnBONaUUJQVy!8R_M$f{=j%Qwl_$>f-4zS%SO~-y$344DCdDN3n(ieOY
zvJ-q5#4|6Jvjnhqq&@7;Gxc`y$-tH}@y2ipN}5K{<RP93Mxte?$i{d#*52(TEA*4d
z-9gZt0FAp($(opJT_lL;P6F@Pr!JZ^Dn?|^znwN=GuyXK!nw<sgnhdaN6x#LCnBw!
zwDz~Xmgqr6ErF{|;l%Y_H^{+7Ps4YqVl7+%ph!^%2DfI1d6-_vMxjp=+qn_(Cnv#Q
zs?HQ|aNm~r3zgB=gO*HpGYj1@(B=KY#WbHb`EH$z$?}~b&al(y*w!<kI~m0Kue&_5
zI3lcE%0&}l?=YRRtS=*ubY&ND#PKWm5_l$pHc;_6>kHD>PxY?elXeUw795@#kF3S_
z)3foR$UWF2ySiF@H!0hi5La{T;^N?vJjrooDo@PLRvs^9MczOAhRK!c`ss&Dnf-Fy
zVz>S5`=un3JWn8<;j)X1MM{n-eo&tap&2PA)*!Nm*B8wy9muhE(g+-ZGg?jo%io6b
zquo03?B!eTW?;sG2&!zuoUY>HV)J!^r~Eb|+%_${qvK}twCuTle`#$qtxm*IiL^TK
zoR(HuH=U^^t<4A;1>P|5<`rI>Yt6{kZCCPTuLR8k=yy+{FM9jG+JE`f$8i*6eDN<s
z&P=ZuANDL?`F>88FNydXfAaH{uNw3dpwIs)Y`3a>YMv+VLh_xJDD9}m{I7=paL={f
z>#7H^ze0Cr_T+8+rY_)gUGW7FZ}Bf;z3s0ru6VZl1>jTzCwCV5Bb|2B&XTgvc7K)o
zb?}|Za^7*W{~P*l9W)Oo^}+5t4Pcx2wPPr(=7yhxFtPBC9lURO-rvx0YsbeqL>$AT
z+CAnz-`^zZ1R2}zvM0HtxB>L*>R&?r@5Fd^pOjzEAvx)D&ONT?yzynuO0rAOz7HQj
zo;9F*xW$>KnJaSYNm8DjjPn;|{*t|`|MtH815=Y<kO-oD<1x~h*U0J00xcuddeH&z
z5pb3KzbgN=^1omH>xjM|r|igEOo*!|r#{DrChnwVR+XWvOr9eQ+3Q6AtUx6%$ft^6
zYkF`bdmD*brY5Texs-3O@R2jJQl6rK(&8kDDDPF1Q!f(1I_Jc~30)++T&TAZ>3P@@
z5X@o=?c@}!gc0+KQ#PW4Th2hMQ~71_i&%Kwg~RzJP*p>SX-VxcGuF$KQ_r{}eq9+a
z{+a{~$B7*;uy1hkPQnT_4I`BrBEmBUQyrJ_mU#tBa4c;33dY-iylB3els3O`t=rI#
zKx-mOCm#Xb3D6B84)iVK53=kz?37Ehz~3|vd8*`q%&}x&mV5vi>y0>**R_>0JL39m
zo3om)zKD$}l&|=!kehE~{TK28>8p8YjPuZP&O_s=+XwRDyAPY0nbVF~3?K$)raZQF
zYx1sM)Y=_=cUm8^he>@8n5VtQTxgI&jFWXXjI`%b7VV3mWWGA*m@>bVmW?+(iU7yl
z4?s8jKW$sNmWAR!DTYQ`ze@S7D0u9>2^EI9SLP7f{FXZjkq(&U)7a=3mQPGUI0lhU
z<<~G@`d=3p&p-x%Q0evZ<*^9$`Zy;LWz@@Ma&TzL0N4n!PQ+30WsKXaB@V5F+xzaz
z=-LsM13zW+{kMc2E7HWr%HO>G!P)oGU2N(qB;mtA`@vT)F8Y<8pzB7eg%uQ|Jy6Vp
zvWDUMK<c&ue-jqU{Lf*j*uRDPLMikG|7P%6HR4SEGUi|$$n5i7d6=tn$ZIJNd3}3r
z|3iI6(QGaL495&+@)%em@Jv{q1WQ^T63b&~*f-VfoZP;oUesAL`{m^=1yatKyX55^
z1^Sk{jmb^Lrsx|5^0xecQU0Hme{~cOItdf5k$-i1P3D6c@`iN=2C208JrusFLvXBa
zc`23u%rZ;v>fD^ne1(|#kh;rRIH(KJ`4hj4`U4-evwbdMYdHbD1>g<4@RqZ+aPBb&
z+}86~ZfD2^P5!Td4m4SeA6F56#emHKR!e|hvrF@-<wt8(L&`j>7Wg^;tbH3Dd9}np
zimY-NxB=kmHAiQC8e)oOAsTn=8I^3hbnFkz+bPg5fL`0~9Q&K->FMj$0pMQ%e%`{8
zyx~lCWfI8;PT*G|KY>$-XOvg`^kDQ^$JaQ1L4<Ecc-ovvY~eBEjzwdkGdBsd-@Z0A
zDMwvE^vS!jfgDC$z7Ny=KnDRU0xX9K;$piT2dvNqW8O{zRsh&Mk=!~L&c2nBD<x0%
zo}CBo9B^xuoYH+>*4f$d<LvWTbCDD3+*VGeQ+ych`L7-y2{ukycb0f}>vY(jyMdbo
z?&&lglw!p>gH|~?MNmcQ2I$?OPl3L05%xj%97eu&7~{mYjB}W6T>p-wvN37dE*1`1
zIhityv7M70u5%xtQKV89%ZV&LKo<~yi?z5omsSs~f`|+bvKGQ>K}YuHk7MEHUju)v
zT3l?s1~1&+#p7OOuU0t^e|@&+_U`;>;*PF6!`!81=}(eQP09+U`h5H)wuF5*gR^Mp
zM2sQCxMZ^zl45@zMcM`H7L5<9Gba__rzYgrQ~{82k(bYbW)3t(1bFt-Fg)ki(SKG5
zC*Ktz+<)DoEe`^K1pzztqlL6M;o~X&1HqEldf-eT-c|zKG6U=UJ(<}5pUl7-zv&{1
z$CIEbaHU1ktJl>UxLN~OYv5`PT&;ntHE^{CuGYZS8n{{mS8L!(Y9R2B3Ttpi-Q(xf
zy+hwS^*yQYgZe(C?<4x2`#%(2jlR$8`@}yexc7fz11E==XO_^p&AB=rRqy`I>dq-B
zuQ82(`pI<sL5=V8;16m15sg2g(;3tF3!m2MsOWu78h^+W|E$KJ*Z8Y6ey7GC^xy{`
zQ}NDu@T)X_iwD0(<4<UOE)nu7)c8#v{0@zOTI16k%FD0uYd!dL8vmpxKXVVO`mgce
z7s|n=m`7{;92LFqq{grE;MZ#WA&q~n#vju7#UA`Iji1!`Yc+m{#xL~X7k*OJXNSgD
zxyE{`#t(S#+cbWQ2S2Fs^E~*cHGYF9|9Kie*Mnd9xXMqB#y9mdSEO?0_uwZreq7_5
z_8rmqJ`et!#xK$M*}8r@HU5I9zf?V;@-wLKBl><?-!-{!&Vx6v-xu`Vuj9@2#J>_<
zp~f?GCLNQH5*=QA89bAZ;AQYke3wgarErtZO5vA_|L3KT>vC1;dyT%=>btkzE|-qU
zziAgQy$Sz$;SHXAEkqT6wZznYPTw2!y;$Fa`d*{&YwA=E+IA{B|BLFqL%(0stlm5I
z``QEQJ*nTb;qS_8P`~HwQ}09i{aW~}^BU3b#dRv3wwKktL*EDWeMH~K^!>EHPw4xc
zzAxx|u54_F9aG<n^*yfdwff$q?;ZM{)b|m6AJzAh`aY-czWusB^?N|Sm*{(y=e<e4
zck26)zMs_hS$&_^cmFFY{(!!h=zER6x9I!AOS<0ld#An!s};QE3p!liJM_I%-;?@Y
z(x~ug(&mq*X<lQ86nsM8Ii4@#GU0O?j*o8(KH(+~0!Cj`aK8@cn#*$Gc{-fq^K#(<
z9nSG`x$t5g&eWC*FVW$Cgfsud;T6~LDt+fDz%Zk?)M$8%zH_`|m<jLD@Y*+2IVta#
zOFyac?D57_An<t&>Tr&~q@UB_LmED+@9T89N&lpV&+0qJCpZ0^hA-$l?cEGFYhS)M
zRlWoIe!VCDLJcp`ce=hTSH8Fozj1}|DjmKa;Vha-zedBG^!+A;x$Cz@!-sVJ-mK#{
z)z@Ld_5Btd&OGum{5PV*^8i~e|D!tm))m6XbogzI6qjiq^@epS9e%q8c*7@jIM*Y1
zdBbOQ_#G;EN%))&zjKA~c^!WD3gN!bt9HHz;megjSBKxF!wrAsX?Tgg2Rz|H4Ik0{
z{1XUg+nDyL)!{ArUZCks`*&#gsJ`F3LikA?ejmc!SBsuEOz80Y5$G;ou9i=8I-F~L
z?Ej{G3mWd%a`1r_!t-?agF2jP@G|ii>hOmEbITVKUZTT`RtS&l@P|F&H5y*4?;BPK
zZ_?q9AlzMkLmza>cc3icufPGtAExh_`tj+07u4ZwSA)ZNOn8kBXS*&JUVEAFT%8W(
zzneaw;l=t+`M+FvP=~V=?(z>kt;!YG;gtXGa3de8bhwfKrhQF#jSi>$Uyi<3hZ}w0
z+rNWazoGmmJ<GtWLDRMAJLQ8r{tgXK>ibIcMn0PH!{mQN(~au886Qlzsh^WN+&jLU
z*6;;==lH?AoBr)TsOmSM?;Jne;e{F=)OU^_?(n#VH|YCH<42PY=lDT-{&=-%c&EOb
z@xg>AHGEXxIli#$CjVm^KB4a%Kiu)pYWTdqFBv~7RQX5seaZNt;R~9c<A=L_4V_QR
zDKmbU_A%jp9nSH=O>g8&o(|{u;4WXGhF9r3<-5ClH5%SgtJ@LbyiENx=<p$Zzgq>{
z|3>~AK;fe*9`hd5?^T~x^J@dI((qajyhXoP-KuJ!M4V<o<yY^1eK+xp?o3b5z{hkv
zb6eC%)AW=XaSVpK56OXe=`g;HU9a#5?^5@nzc)3q6!%h)Dmh^JQW*bt!xlLB;4<Zp
z>vGrZSib!6e@QRbydt;ht2F(>3iW4lKj)#V(fEZcq&w@uuhsY`FO!Z*?{fDEPy7u!
z-sBa=ueeS1C8lNGV_LwQ_kaI{%87aZ@{{TB6`xY?M(-c|zIr!ywqp+|{-xaDby5zX
z_W6t)s1>NsXY|g(2UI^YdL+j)UT_b4op;&GfxEGD2C0zX;<(9cObbS1w>zWrXT~kc
zH(r#J?#pmVRZyj`qwx)Dg^Y5Um+6g^qjIIx&A=O8QST<-$&KpWNC%U?(Q^&nM~kX_
zsAmCP)bB0(6+N0;%5TaIK9=|O`&9VP^!txYLn-k8^Zzm3-dFFcs;}0=)p}qJT;+qS
zd~lTyuJ(hga^R{QxGD#(%7LqL;QvoK5csT_xvBi04yu{qU`)-#MrRZ}ezSsiHmBPm
z7XDVf=l-dhn9Z+JGu4q9Gh<cs^WRh9agBHSSv4aaD^&Cy*Q8JE2KBsJQRDm+oo@0W
zGm}*zojRRP`A`Su&pT9k1}jv&!}>i}+ns`I((_gLQ}te>!)xD6FJIEYvlQOgn9AqL
zO!Yqafx=H}J5^q;g3o)(Kcw?9no{^fYgIg*9{X9IPQOFfSKiN5y^rd84tVM%xmu;?
z*ZHf`^>6BJ{(hBS@EV0z__S{CAE|om)ae-f<WCgdgePBixCg)CFI7A(x?Hn5yja)A
zpnf0J<*)Ut_>-Ey#&md|uIH1weFimNiyU}^bsF8i3+3tU<F8WXdGzs(8=t6qY~$k_
zAAj<tk{2J_ShsQC6MIV@e{}Dr$6wmGY2Ty!>NeKZZK&V-;+rqCETg~ohc&(phZ+tw
zA8f9B(YIm$f#$sjn|vD%yxzQb!^;QW-0<R?`y1;Y-e0dlp>X-b&2=yPB&?zCP=jwn
z{aXhPz4e;9Hy>0XpWl1%(EisCq`mAx*ulMxNc=4X$Wv2eGn3qp|K`0d_}_;YguPy0
z*Ieh@u(x5)zJqnI?cLK*4_fo4DE8DHJXrUZqA<^-V#J6*vQzik{+E!2*AcOb@Wn%i
zBujgw{Ehn$ylUF>-+HIriJYvs6z9+A2Xi-eFq2MtFZcPlUO?NDp|92t=3Zb3^*z1y
zeZKoV^evj++yj@P--Pggfo;j8pVSZLZqhe)DPzwv(S8;WtOG+orXS3`tx#c->)BHb
zy|I&(YPg{{_C9kr_B|DgW5+b_+wef!nV~oKGIOuh;?m^b;F<gLpr<X)yc>I*xzFo_
zn19A$@~^=@ngiJ;hThl*&E41sP5Or3l)qWihfRdq-ssbJW1l2F*M_|G?*c}iV*Ypy
zen0(g?3xPd_$`?CxA5Sm_v$gT#;~gixPHdV+}rW&rZ;}P=AO0P<V?uy{Hr&g?^itZ
z#-42MCLM$C<^N7iZ|Z+cj}PWvO9pXW-uRLTWBv_&;B95;HTM(jpsvfC{<je3rl0*a
zMQ`rIzwRQ&qiH__9l-<FEH#_j_Vbg43bWQA>bs#g_Y;6~P1MjE`+DI63d7);Xw190
zpF{xjZ|IA)eZE-J&wCii(3$wo;(;w}=#4%V_^iS#))i~Gz|fm^_$g@J=^OieRZwA$
zuyC%+(3|_;BFs(i)8nD9N@19EOcaLBy#F^m5N7h9tLbw!y;jc*`jYnh2ZS(v?`7yI
YU)`6Nf70^qLX7J4|J4QKqc^Sp1BQuYBme*a

literal 0
HcmV?d00001

diff --git a/third_party/qt5/larch64/bin/lupdate b/third_party/qt5/larch64/bin/lupdate
new file mode 100755
index 0000000000000000000000000000000000000000..67b7ea5cb50edbf3a2daf656f31379ab88ead332
GIT binary patch
literal 1095744
zcmb^43!E!yT_^mSD*=R!A{wqnL<yoprO&Mn0%m5;8FM%@XX;!AN?5nk(<f&tGkv;i
zy8F!3zyi_r5<oE^N__q7lGkh86$xIJ@}sWtv!L;^T8fKNR*kncC~CZXG`srh`&6Fa
zKdJh4J;V6!dv@_mfBWB0s($sar=F^0dftBa-g|Do=_X75++uyiO1`@CqMMgg!#CO=
zF5;got7bXY)7Afdf%SarcBQwf|JCqa{(FI;<?jOOZc%?HKj-L|Ir8@lP$z%O7AAk+
zhVSM5b>>U;cFNz@a&PqiO}5p$Lx119<Fl7PE`QIzR*zPGhm5LUG1<K2=VtHMKR0{7
z{yF*E#`eqKvVY0GCI7pE@AKbh)c2A<@^@03{Bi&I@M`kUpEY^*@@xM4eH%-*<Zt=8
zi|Xf+?R=_#<Y->P>zQ&HAQ$;tr(#*J+-W`d%AKoUzSG*h5q|mB*8aAC^7tJGdv{dz
zet)jokmMMD)rAMFf8Kaw@Dr!ry8Dr53?BWk{lCBGxi5%sPPRMQhGe{?Ci#=pKW+I>
zmX*ZzDfP|d`+C31>Yr|1n)(Op;2Z9h)=0k0{d0@;OsgHs7OzWgu|D6jhWa>){=^B(
z`W*Qp_4glrQNCaOSC*9>LI2R_spiZZ=QU2gpL%t^KkqB@{ijuEdE@`!EAoBtl6?O=
z)u?&nTr}+O|Mjf=`e#2c-#_u9eD8c&zK<&T{!@lLw>I+YUunqg2Wt8C@n_}xmmSad
zM-AKm!7s?KpOo_b9>aE?HSE_1)pU?|yfzJe``IV+>%YS=&fmT!zy9i%<a?ktCU1L^
zbGocgh0OmgsPiSSe$&ubZ!(PkH-_!`prH@HQO!qrulq+Y%=cFs&Liuk`SlMQ`sbjQ
zKR;YklU&~ReAIBB{(_oF^XhLk^woD7&X>P`ZvHqw`jz?q5kvlahMd3Ousu&aJ%9X*
zhTLZAyvUnZkAG?YI4?BJhyVD6`Sq_foWI|zx-~E7hrc}E_n(vR7Yy@!@5TA`pLk`y
zzs)coKFiSm-)Y$2m#Z-I_UqrP{PS}D8N<BsR>N`sbHn*tSC`$q*Zon$_2rih^Vqx9
zyp*?{Klbwc@jqfXE_>Dd`j;E#!*Bn*{QAE$_?ry#|FaDJ@HWHzf0Ln4lI2QXo?mas
z`A?spU;lJN{(or5^Y$0ykMk2R%lH3jSkF9S@IO-vzP$bVYs2~YenTI24EemzFmHcI
z&ChwS`+J7@;hl!Q+BA&wkA~~%1BU&2wPBo}d2Rl7e%*`m{boa7{hFO$|8~Rq{xZY)
z@<XTc$7vd_Q@0zo|Molb$2o6Ucm06jJo<b?ZXbVU{`kMRk?$qLeEZFY{=cmDOSRmQ
zKUG6NpEg`)J;UqH4D<On8S?obhIvf2vsFH_m6rAQhS$AdSU>#j>HORx!*TpZ!*!}{
zSO<QcVg2wP!}u>X^xKCG^UTQ5x4)*2OWtw(D|LO$n;%}JFwZ}`mOsvCtMK#c%ZB~x
z7>?t&8S=mNRr%xJX&C?5GxF>2Gn}U%KbBwrJBB{|6T`f8uc7~6W|)7@8s^WJ8~W#$
z4A<oohU?VLhV}558Lp@I8P+E+G30;Uu)qIgxPJYX;kf*WVSB#Hkh5)=_ojv%-fy_>
z|F18|KkiM{=Xw470rfy9&ucHv_qQ32*As?*`)9*AKW13xe7|~tl(#*9W4K@V#24q+
zKWxbPs^L2O+}rcVsTum=Aw!?P#ju^fX*f^+!LYwOhU0b0u)l9HZ0C;~=AWKn-Suk2
z{p>Fq)>r?*u-@1+^wpaU`*p_9KYw6Y2Y%X+!+$Z%4?kkq{+Af?cb}8r4<`)weXlZH
zH$P#>;lt`tW?rBFreXVEY&fsqV#wjQ4cq^@hUX+_41N1rL;fE&9Is~@j<0W6Cp>PL
zhhJ~#!}l8217Biz-7hp8m$w?`&l868^a~9+-)lI&&oIpAw;I-&pJV9Hs$n}nYFOXC
z%g*ns=Naa!ZNqW@#d7{Q$DW?=Z9_l*xZ${bhasQShQ9qC!*itP7|zFkHso10jPr|z
z`;>PZ#(%(Y{ra@wyoe3!_754ZkDg(@an7)Qey-uV+*SFjQ|ZW`pEg|YzR7U^5*YH?
zHC#t-H>~GBY1rT2Gpv{HGxYOyL;sWw^VNF|&rhCV82_V&?Y!48U;VtwId4AyEW`Zp
zy@vJhu3<a7ugD+&Zw=e;8_vg{Q^zImzG>HReK}{Ce_m?H=Pickicd52$$v8(uk(g{
z&KT}HUSxRPZ!qlFD-Fl%7Y)~ozcQ?IKHsp;^bGfL=MCrSDMMd<wc&dA8>-pz`t5{a
zJD+%M{&By<&_6%$!u;_+V0hh+8Ln$zZMbee=d<$1ZyC0yYPf!VjbXn1HA6qV$&gQE
zxQ~kseYm0Kf7Q}Q{yficzxlI<>*m)Oa{FDwJpVewdj9r}{5;#Y<!|SIH(X!ZhU4<7
za{l-~WmwnUQp>OZ*q7(~1BUDMn+>n~4~9Iy*wDA1FkJ6074o;|j}7-zA296K52^Dj
z?|i(=(1)9b_1lLH$NgP~KDpJfUV6YVpWJQ8;RS|yJ~rGhf9jU}{q4Lg-~Y+rzihZp
z{exls@SW<s%gg!Gh8+Ht;e7vqp$|QEeDluhHyirojfQ#S&kX(W5kqd@Z<zO9YRKWX
zVtx)^VCc^m8_v_07`Ep{hWpUF4cF604eQ3=GUWC$!~C;nSm*qN;e7mk!~MHzTdS=8
z$AA9Pu%7>O!#uyI2FUBT?>1adf66e<n_rwi&g*LV{)A!u@Hd8a_@AnA^7{5QhV{eS
z4D-Nu8LlJ8O~==8ygq4Ir#);~@4drtKJFOijdvQJ4}6c|yf|;z&i`ugA2#go+YIN$
z`wa8s)1RGxe7{vSRbF5His5zNV^~N1pdnA&uuk}0!}|7T4D(OZaKC)PaGib3Fh76X
za6S4H)A)w-<+!0wE*Nrql_BT0;dMW1I9@};JQf+&rC($?k1iPI^S?ICZ?7ol_sQ=Y
z?jxRKIPRwm*V$h+%s<~<$$#DZ4D;<f4C@x#a6kJJ!}a<_hU0s;VLQ(o>OZa~!@TqB
zCk*S`Lql$N8?Ku_dpv*qo?*VK8S*@3IF4I}>(q{+KYz$DKm4Uy|L5g!vtj$6{jB`@
z=NZoHUpAaaZ!_Eny~Z$ae68X5e!$TGe`~ltewSfA^A<zje$p^b-LO9Y3d4SVp5Z$C
zdxrk}HN(2}J<rI`e`c6JBSZf@-*8|2JBB{|d_&*9+%WH*GaQ%at98*!EY(CGRe`HN
z>c{mT^||wlhbO%2JIRO5PgtAhuH3hIwYlGXsC97I+`n?)-8*}`%`00E?li5<&4;e<
z?QR|%ZtWj#ZtBwf!Z%*1p1i2Wyxh7T>@+Vmx73Jds%IawHr02W<U41Y*S2o#9M-pX
zukJMWt0$YgSKa;QwN`lFRuHsyA3A&K{HcqV5BJqSsvo-I?`|C5%>U72`^|&BoyVGI
zcMn^KPo#eC^2X*Rw|XLZwR5|{jl;`(H}<#HUL>PA`GcKk?(gsIt1<LOx?B4P&9mWl
zGdOJR?V2|J%*JxZ%%h%qd~1JK?~`F%^|QzA%?o&0%BH&9D4m5l!qY0jBN6DGO@_`*
z-D!sE81HWF=pQ`O+}_FNry?}%^{MT>>(`sRhp8XXua+FBr@ABOtH+bWbLXKt&=1}?
zY#y9=Y-{I6^KA9l#e267Tf5a&2N-tXpm}&^Z~I2FA@}ZWZyl<G=T@u9nD}zJ`A2&3
zZuDaAajx3xU&3f!xN-f#=Dr+RV}!@HWZQGoQvp6nhX0@1?QY#}`GFiec%&5s&D>77
zaO7N2F}SBMp1c1{^Rd?Q%*Y?qxv?80X97kw?PwBpZlI^GHxCZB9%`a_j~tB?%h8jw
zF6U&;-K3{{M&-ACYxl|9UN`cwjr`NbSx$gwuAE7={*xc)C;f>l=khjk*|#|}rK3*s
zyU*Nt<xc5L(^i`1gWNo;_Hv(&4E$8j<D;{E^@KV#&nB}erg(K;E)RU#@=wm{DfOdw
z@2O+7E7u40!^<qPy8Ll&8C+)6j9NYUlqVuRcR$6wRmG;zkK~wh9aJ^V!+V-rhd1_{
zsSbM3bi}L9Q)pLp;^ohznagPYvHw4s!m7vg*?>t{pW^>N1X*1UtFKF`lvGGh5`XsO
zFlN%yqa^*2cj{F)cJ~g|)n{)vcc%LcKm0G4EOTG{U%s5l-w8eEnATKkzB2aP>DEKL
zd;7_X?+t!SU6X^Y?R29Wf3B*gCb<}6s?V9go>ID|^D9{<CKIo5A(<|Cl19m2yyP@Y
zYxin1%=TYy+#A(ke{Wk|=F~Fp-0s2Q{*CRVfl@z-#B(o@)s5}Fog3G8Q)`agSE>G=
zEZC~1Q%c_f+`YHo#4SK_8Mm?czSO*iN$ubbtwTSxLl-tK9#&7>y>-yM+}u5A9kw1z
zmfy?n*tmG6wSP`sW0M8h@m;mb#1YGU12c8=(e)gqmH??2PR2TY@m_T!a%SsrOKrcu
zwcotDxqD-0N59Uoi?2ISXDQ|$xxvVcQMC{E?%mscDEZ%6_rc`Uzfe7$ED+VwvblAA
zwe*yqK6&v>^T8Vr$(PBRBzX~iE0A2zsz=x3=hb>Oy(K4G2N#l!OxpC+qpBOWuLsLr
zyX%R==AHZdTTfiB>hrI9G1)b}DMwdhr!UsG4*ccLAG_K-+}idx{pL=fmZk1JkGU5v
zZyvv}ceQ!eeJuG}4SBY;+&|u&6I;nkF1Kd?;F4M%uV3?0>LyENeNStrd2aXG-pOXD
zQa?x??IgF=9odP4V5fC>_Qb`z)e%vfQ9X7!fxDXi)?+QT1UI)va%_^MUY{)Uox?q~
z=gE!H@_atAeEC)IvSp`sn%53h8=lqscIx7#=0j)0;8g42?Dar(-129WaaZ9UPksXB
z8+OjImfMVV<7Hdz)YaBOu%~YQmKi5$>3*{>E)U-FfY?`?TRS_+J%=j0ym|e)9zqt=
zj%u!}_p1Adv!VXR>PQ}GW7$!)?n!Q!Ti05u$#I-7oxi+nl=DZAjoxn^nj9}=LEX6b
z;KR*roPz7+{;6aO??jhg(Br5U%w}@xVsam~(^NMd>Nq?1ZtXsFBU#C-FHYUPcVqW(
zU!U@;)@VMOck{MBi%$jn%^<l|U2f`X`08gEe!ct7HPxf;mYRx|BdBGM-a>c3^_V&q
z)nnUwv##vjotzsN<R#LZd*adLXsq}2;p7mdJE&T{w!e4%($?e4WAC2dUiRMUi-+<m
z$JO1hx@&3b{yjLWPAdJ6uWvOUzpU=Jjg#X#ij(R|N0NjbW7$$XPf&*>IlZd()z(9;
z!{rHccDbRcUZ|c-wqvJx*t|>4!xy%$;~wk$@ni;8w*cz+B=e_wjnx(=U!S~q&(79E
z2j|pbJgLrkHB+BGd->RA^0jk$Z~rj)?%8F}uMX_7t^MSo%;n9N-mWCFRp%Z*+<QRn
z%s#hmX0BPC+3SN@-Pn3iJ-ktO{_7*U-1OtyS04zZM|83r*J{h0>*_&L>rS<KE!UOv
zMK<lkvK?fqG9DEv-@2UFzVh9ZyZWKPRoxHij!{1-$1yV((Zv&IbNVNbU2k2*#I5*>
zx>zQSyPd2F)L-}P?Jo~&_VSSqUvfG6%w*?q-Qse=;nU^#4o+!4U)JY(@?y?KSFdk2
zY)l)M57nc)t^KRZ`?>WboSxk8Pt7}-T|2Js;~s17tF}|495$sfsv8&8)4$}DOS-wL
zrcgEYY~QzcaConp(3h7wOmO-lvYd>MAGF>qPZp}n_*A>73%d-OK3h(0Z|&~ww$!M}
zg>Kz)s!fyJ^$+IFi^uoWnR?cBHqYI^dC$3f&#um&^>kX@xL?)Wr;eFEdDMFE+yymo
z@=E&oO7(d1&-!*ab%HJXy?ShUt|r&s<@vgLf%FM#=bfPGRywI3g(hh%XDeyi>M?b4
z9$s^D&dv2s@9?!=Uk}upOWmugtws;Zm`O|MY2Z|{yn0;CA9`w%g5*w2FBq{%_>5<s
zqt?v3%d082USH;ycgyNXB@b-W87AW=8=xmSwbr_{w}-3SdA-@oYs7js)SKWWgFm#V
zE?C)3#bPEod)4&!)R!{Ut@gI+y2IwOOIs~he>eFm>E-3keKIfTsZ6bA(rXmisZ-0l
zjr*_ZY1VuRS*5U?lb>j%X5`hks@0vXgTr&l?TZ>vC(wG5A=h)VtXv+ElUhHoTb@*x
zmQV7l_UfVML3WN->j(WJ$ItDmJA$p9)|;0%()v=OJ3VL0mjF(-b`R9FaJF@HE?Zq|
zWDb_4Zgshy)Kkr=<<sLkW$h=!X6E3})Q{&^Q=PimYAxqt1R=w%dwbb4#?DTknaSE7
zs|ek;tq==TRkfNkPaf{wwYRr(cG)iSa<an@FVBn2ROKuml&PzPdOnuAbfm8i8|v)W
zkJ54eZ?<-Wo#h?<`dYN=$`gls=hP#8+$Uu&WH?Q>lfl(Jky_e5(o_pv)4kccpOU9}
z$rQq8FP<5u`s(!I-XqQ3D^CQnijfGGeIDlaxf)&WwAIq2m6|uJ)yw)@skt_NNL1Jl
zq;^*BD>6&q{1aw5O<+#C{KW3zR=Di%(--e*9WJj)nR!^PP+#BNKTuBt^zD7sPS%z>
z@>C|SKD;L{CO6`D2I@XQ%~$G&s%lnH&%$<guIz8^9_*~%;#hyVJR*EuKlM=aFj=kN
zsU8<&oxYwuFRfO^>#O{w3u*y)^78h6D^SbD<csu*`9kV4dh+1LHT6cFJ}Xvdi(GHl
zi)3}{rS~%FlFe=PKzB>+iaHNe53j#Lr+R+k>5f*{XWhW`lTW(pUd@ZEIrcM8iPC+^
z!=hxZznqpo^Y-Q5#^s!AsdeAKG_&=QG;WSOc2Kj93MR=fiG6*+SL@<r-oSclx$u&U
zRdqw%qpAD&8wW?1Tyo!jX77f2K6v(OGVtowF>^~-J-J?4qS=$Xi`5-u@{_6O8yj*n
ztuLU<4VD9tot5M^>Eyu^>K*FqdKcCssdLX)H+On=O`q@8BR45>P_nnnPU|4Oa6Nx?
zo;vad;qrOeY8F3!xSGLa4~}p9djTf=^~`vpb)fFj=<2eZ>!`KU7kITxI!?8SSS?-T
zbuOr5{nS@5>swLvMx<J$oORvhAzX*)T-$HzC5`^h`RuaBNgnN`nnX4uwOx7@m$R_a
zos-<*ZX9bJ+}li6c=zw?DN>fI`o8?glz93OQ=!^o)!x-j_5bzknYn>jZoIyM*GF15
zuPS%%@;a_sHzr%c>ki}DC2#AbE?#oiezaXOR}{6|$!%HsDB{*kuM5<9sh+Cno{;TT
z1L*C`oE58?Og+QXDK9ffPV;1^Rg<W@pc7k%XXRmwngjKtlH<Fp2L<vHt4USA5cQuq
zht-(tXL-0eHjMn_v$Sfj)RW`oGCsK_%EnQxsy#~{y)BRJ!}^W0^xU=#Jbmh~Rt4tU
zwIteg-_sPhe$<+j$(|(>%JSYv+DIM%BopoGVy!mDJ#|sfD4Cx=l`I1?OSAP7F}?Ab
z)vN0FWDu3py{!lLxAvb%;&D_KdYPS^XD9HT<XA7?gINARIv-i#<Jsiu5?(#=_*Uys
zJ#o0Fwc9%I)%*Rrqt-K4wJOhRRuh-%cV4kL>cN&QUsT=tK6{m%>Xv0II%>rv>8(z}
zbV};6N~ZPYrmz`qZ6DsZb-0~=M<V@$nI+ij>YvH-sW<sLfaAgX$>Wh7Kdl~-EkBBa
zyQ1@I>35(0=)=8x4?Wb}Uwv#r9mY3jwiXYT!e!v=m*c5pwQj5Gd1C*GEAj|k9s10I
zO|m|zmfvbtJ-ZxwhadlEmiWmQ>9p0ubywYuAL3S7HFR=y(@mUu;F3CF)C1FIb9E@w
z?@lb&#<De4buG{KeCniGPg}`JlRgKY+6lZ|^BnG7Rq48Fo^h8m1BI!t1nIHWX}sT3
zA7xrUbH}<MHCY^e%V(o{@y-Vi)P-nU-6AfZTkIz9m{yPLhq`(nuk0;PX?NYi=@*s<
zcanfi&$5zUWp-o(<sqlOp;oP~ZVOtEHIuun<;k{QA0~%1X9bhG0?@KBb-mD|t5fyD
za`ekhwFpjbKlo8m`qrRzu)Nj7vhwJYgQG!aE?3o!$M@A+&ivqAE^sHC2isff?l8N5
z@?FVox!v+broq$i%U$66vdl7HUz3x!Ce;yJt+#NcmIIS?sjM89LCZHX)6A1UBuIrv
zPpwklsoLrx7Y?$lcjc`Jb(fWVDn{K}HTTb{_X6t6Hwg93h1<dwtEnzIf#sc2wKCef
zo`6a+-I2+sB@=d+pL<N+>`Zn`RV1k2`jQXMJ?Z;uG_&d^Og-mN4-J>2Wv}b2HAr%J
z^+YeHMtUPv>gH!m=|VZb<eGW38}0qAmRj~EJ9?z2^g&;3Q>!K0vbvZoSL*uIZs8s)
zXYsdj<Rf-RwqtoczOa6mJoQ$l?8EY^pMB-+)LlV(x78(6_BegfUw*3Uo>p^5z2~Ps
z;IaJZX0lvR52Z7v4;EdxPFzji6W50;yA|s6)k!69e5JNX=Tbf1I=GyCenhSe%N70l
zzC(5o^F`_zmU<TSfO=A|Zc?d7aiT4k4^2nzG4-Zp7G5#~=v$WL+Om9C0ncfdYsclw
zCO@=#_@8>BrdL|2ZIy?U*aE%VC)K+*%QvU>4aku-f$G*v>TN0gh7mqna60)gvVP-R
z=8xsO$H}?4I@31POuQU(wLIHM*1gF)w({1?{WlKPNH{9%>zwmo=Dk3fls1;nopP34
zdfTK-4$1nObvn79XkKYuZ>m+tjs1P~PK5wsPc>}%PB-0^xu3&G{oIM|o#vL@3*)*b
zYfZy-O}3cdti>sr9409_eyye6=uUkj=bDHQ<0d`Pe3WLe>}4PsIonmsTg@wK1*DcO
znP(~4BUnAH7GrPN+kZrT=0Pot)#J(J?TGBvEE8JxPG_|WQZ;%uR!v<!sX78n{ri`n
zQ`c|Y%C4U}2-HU`4zDGXLUzq5{k%HT8`VeEw5uN0HTN&6&(tTMmQPNTmV4e;^P5a@
z>C+{-0<M=y%M&BL{i|D4dH-BK1hIZ_kiE6aTy0NbU8b8%Z)LT5xOb&>s6LR8Jg>lP
zlJrM%AGA8-)0?Q?*`kBFJbbCvqj#Qk^HtI5tDBcokE$oC&E3cJ+`4h>(Fb<-KVw*{
zxib59kDk2Lf<u3RLeGA3!05TOe!8aLfLt}eI&*&8G1)m8$+WUnGhQ;y=;geGhJ4jC
zDg7)aGh?qtJdvy%((fj!IF>!0IdbcV0jr5!&v$C3%&d*{i$3Y&1-%f^opdh!7GO(V
zy-we)p35F4Z@Mn;GFDUN3H8KWy^pj$v(yPJ7plzXAD%qOWh>};^E0f0SFfC$5$W6g
z%=&8m&XL^3r{3>QUPnJ{Q_t)#H6Pqk*EaRROPWxU<GY^fldFq<ZnWN2-2uAAmfx3y
zmu?Mp&v1QD{W~*w7i~SouMgewsMyI&ubv28S68Ft=kw;x)Gb4LVshk(?%C_tudg~+
ztvHMmmfq$n?pW2oeWB;GgZ10(>ZdpKBf`{FCy%;mEvv8Jt21z&JxvGZ?o%z3%zvtN
z)swVkl<CP$#gYE#B39b#B;~})bU>#2mram*_V1+L7TMGX=*$iMB&Dg|H_3Ex`e3F$
zd$Jx)Ek*S?w|w{IKz*o(MlkO8arNH)PVzCq^|EMr=+|wR+>g9L-KZsZyjXrnldbNe
zo^s0aljf(g>Z24-_SW_4+^gEjJGN?dba-R+1SWO&wz?Xv&y^<|_UKwZ?_;`pdX~@M
ztw&B0GaZbF_gd=1B-t5B7J{;jTzx?G((*0$RWnIisdtYuQ!gI9V`7!+r~aM*-xX)x
ztz30rve?&eSnAm)^;m56lF7g3u)dMk8+7ziu{tOyFm`479mwj*BTK`hOZkmt1Ma+W
zxOYZfx3>@FZsO=iF_JaKa_UK*Mxve7DlYXP`jmP{X?=f|9Jpl3p+D7=e!`xdGph%`
z$9ML&k`MPuAgYV?|JSXte(M~c?0sl|@A0#)o{;5dWHEkp{rRN5MOQmI74_7iud8ZS
z!zKF2UFq?|^&M$?B2){itz-zbv+LPWVRCGbKdRPYM-RpF(?x3TTrC2YKc9&>bETr~
zUtK(w*W>jE7Edle4^`cePnxga=;v)aNM0~GZtHc=iAS1G+=*MP)J>jT7n2`YzFcO*
z5=|BBBd2fEmc^%&yBPKOB=bS}<<1_tF_be}4z+rn)a~=CYf_(YkcT3l@ly`#i8}M)
zsPx78=!fZLJ64~;$;?Rd+RHTX3^jd$P)ArVjE_EHmVpriO>ET@$xZFqoo4btBDvrs
z9|Ybwp3HhF#3##d>@OD~$!WH_V^^=7vzR)%fBZw3in0&J)N}9DgQ@kAR*!*}s~LT$
zRgg&^E#C{5!^p#D7bDa+(qt`5{ks<jhgY{>@rvYMy*R1LuDo77Z`<754#TYnTaQ&Y
zs+*gSU2kn}t50(sY$k6ktIzMKH^h<wFCU&(clxdE&DP$*x$Vn`)#|o-4|7vJlWrX<
zIC~cN)apCxvxs{K$^Vj%TdJSEy5l~!eB^L>PoKH!1-CZUN4xj0Zf<QqdPCitCa-Y*
z^5Kc?<VDqJ&egrm$6Hs`#~_z+Up{oy%Wfu*8kV2+LJsPk#iKh>J*9T&=nn9%s@*=w
z-P6m5$G4mN>RIG+D}x*R&CSPJ`-eBScGPRBy*s(NdFZRzQ*F)F&29CuH#GyLc1S%Q
zZ>r5))v6TK;k>SbOg?Ouo7^Qe>M<QIs?S~7ykc*jy?k<0eZ=_KX7b8cxAdFhm-mh(
zk71Uvq!X(i+q_Rlrd~>}ESL9AT-&*!KA(`xl9vy64$kEqxSW^YzM@|IgnIGhWp*Fe
z2ak?{Iyv>I>iz8-he>a3qpddeGl0!){}C09>VoY@l7HU3w$<9P(A(D5gKCjzsdjAb
zTCIcSzxJiR+TUp=Uxv$1p(9t-L~5aBU2k4jm)PVl_3yW+Z(U2hiW(-_hHEOB?PW#q
zgmry+4kfRU98ER!wx1l-$I?Hi58Snu`j^txCt1~Z!=z`E5t92A>qhd{wbEqY@QVnp
zt4H6K`Yee0fYCK8xrMUw|1)~&{a$vu^;P$tyX)@FjXSER^gnvu=CM1D-*GzgRkdo}
z?Rj_Jb#AkI$FcNxQmlUD;-UI4hb8}K)4g==^><!5yLqR34!>gIX7yj+yIK9$`1Iem
zX1+>)?>1CuTmRqNm!AAL{Eq&=+g9Ty<39}*@>;q+`&D)f{k=lY$Vnal<Si@F+j^UN
z#apc8|7J&(@zz^cP<897WM6pfWCUH2&0+m>PtUxH{`ur5^j67u>(|WgfsB)EN%9Ko
ztw}~mzov{Nf2a3tU8ny^USHShV=J$l-IDYu`k%AkPew?;V)na7e>#!%)~vrT*{8=!
zzAIm^kD<tVoJ5lE-=_Xwb{t*1{)wB_e>+ldK~n#W)#%9<NtOOP=@8w!as>2NKQmRi
z-ui#}KV?VN+qB+>^}Zb)S+-MuM{m_S9j)n_<ezWCIenA*r{AdQ|K?^{+56w~9qKo?
zJ=6L}WyznLRDy3;zk^Es+B2)6{`Zczzg+#|m1kH_yHnfN;{EFDr(4g(*B}4TBkDH-
z6|9%y>%*77SN)2Xr&+JW*H8S~hn|`Impi{geVzPCUjLKocT*+fm(~CD>))1o{iI_3
z{V#r}8eScV`s(LZM(TGiB|o41`GsHqCH2c;Znf@H-%m`}-@K}q|E}vT>h~rmf4mp#
z-y_q&fA>|~`itaMEz2jb!2|L-JS2DFZE_FZA#cFD<UYJdK8E+ni+`!Ne?UHf56QjH
z*EvMw(F?SX$cHb~J|?f=zYiRf7m@RfynS5%R>3)W_dlw`nEZLA{=OWS{`YDxke7d0
zdx_k~_+|3hf710fd4%yD@)E|cle-w-B_Csak9>~(YLHLxx;}XkuN#t=@VagC5ni`T
zzQFiB@&d*mkUJQENFHJQ5xMhyI?pk=h4Clki(~q@PRY9%e@-4?`~~^^gXjl4+b1!`
zFOqjKewn<F@hjvrjPH;SF@B9a#P}|`_5FG~J@P5W_sP2$KOhe<ew)08@jK)(#_y2_
z7{5>MWBeg`i18!x5yl^ryBI$vuVefv`2^$7$cGqzL2hGwtC~ITHH=?m{{fwUiM)^T
zE96CtZ<9M1zee7}_;vCw#`nl)8+yAN<Tl0+$Y&ToByVH<4*3Y<cgZUlzfWEp=zIp`
z0mhHWyBL2&UdH$_`4Hnz$Qu}cM($z!Ie7`=Tll_Q7pxz|JV5SZ{1Ul?ugl~`jBk_s
z7+-!)UN?f*sD2Eulh5F?e=?3G*9EGV@qO|F>I3p3JR~o}+vF9v98cb!9@WeC^vPv=
z2IMu2KO~p!8IjBQV{#Yc#N>7Ogj~j-k<0jVa@qa`xrgyB%m<Q>j4$(qxQt(-dfEOm
zxr`(88IR*oy^K>MmvLNj*&dHv_P0SU;{@a~PDn1>(<Ya3y5urWk6gB=PcGvO$z_~~
zT()OKF5|@H4e1|pA3h}y;4|_Nz95(Fw6LC%<171HAeZfw^_|qqIAue9h1|mS$U2V4
zsZqVWuB>Od-ZRw8`kLzlL%po`rM`{r>{5N{BYHmXk@w(z@<N2`7kLNuLvj}$kvHHY
z@(>=A_s9Bmr{n|poO}qkPGr|D5xht~f|tq1aGN}aJLJ8O>+P(O7k*EBoxBKl$t!S=
z+<`a9>u{gkg9qddct{?=+vII{hr9>xk`LfL@(A81kKqII8GJ~-fJfxTsm^&sUWSj!
z9e7M$gHOm^_>??=&&WIQIl0s?$OovmPG<Xd1TT<J;6-w&FOe@$UnVd8zRs;eZo_SI
z7w(Yz@EUmtuakG-F8KiNk&oaF@+sUWxBfuyS3n;8miCamfciFh3Em-Z{G1-AOK$(A
z_8z$d?~~Wy1M)h2NbbTT^5_rs>&E2apJ|_vcj0sLK72tQ!HcJ|{aO2CJ${LNgnFA?
z>K*bJ^)9*8d*l<;2jo&8lFv}zC71dh`5g5_a_iH2e<Sh&JSH!~C*(GKPF{mA$jhJ7
zuUm8s`IEaC$07INE_nm)kq7XAybTY@d+;uKAKoJ$!iVG$JR+aKWAZ6{LOzGj$>q2&
z$gMv|&ZiAIlNV5LlNaF*c?Is0+i;KE$8itHYp4&&8}Kf<>~D|UNBxjo>Lc<1^)b2B
zPsl^mFUZ^Q(yOvLci|3s5AKoo;UW0|-Xo9TLvq>vh<uFtm^_A0$mj4m`2xNm_dkJt
z`-*H1rN7W#BDdi-c@6H62XL2M>OJx{>I3rdh3Y?Cq5g#AUDS8U$A7A~zenCj{g8YJ
zkH|;xm|W^7<T2{!<gz^r@+s<zug>N#^(FE->TPnVcgQVVuU+yY+#@f+19GVk$t$Su
zl1qJ$e1vsEL_WZEJSHE_^l_Y!k5NA-m-+?y6!pc|WOJ7K68Q}EHo4S0<T19>C7;4Q
z@;N*pm->+0!aUq1AAbyePF_I$kbE`IkQY%OlS}=CyoCBWxzsPnW&KckZ8rY_?ptm0
z3dVQHYjBsm4)@4Cct9@WhvYu$yW|19M;^k5<Z@gh@($`_@-BQr9>M42WB7u63NL<T
zHs=|<L~dc8w8;x_hr9xJ$>q3v<TmO9@)|rOci~-f58fjW;Y0E^JR<MGWAZ+HLOz7g
z$>X2W=iS2K#acFhsV|X77~dwBdWSr~_1YzudXIdB@dI+XUWDW^>bvAqc#pgw_bKE>
zctqa&b)8#GUPk?dyaAt+%X+}NGn=#bPW^R(y#A}|LnP`?k=%us$h{v|A7fE}%H$1r
zh1`cb<l}ei?WvJR@6<We4epZHKd!gmBX{8q@)F!9FT(@!3OppY;capU-XX8SyX<%1
zIz?XjTJ3%E8hl7T!SRjAhsbke@G-gM8Iu>W{S$J@b4o6G&dA;0(8p^|E_p7<eY~!9
zSGJ$q@B(?^vvh7n^4eRqm&ohz3i%v)+T;V|=@`65E_v3;B~O=J^7P0h&jz{V>61&I
z0lD;NNG|=^CLjKmK3*Mi7rAxG8}L4P;a&Rp4aob*b7=60T=E=|OP*tL$ulOGJSXIm
z=agLXoRLeOb8^XZLGJvv&eOU(+s^@VE0Blq5_uVUmdSg_vtn?YT=I0tCC?hU<XI<|
zJY90h(<7HW8|0FwPcC@|<nAYQo*{V~xwXl=@GiN7JbUC_<k>g)fL!t%l1rWux#T$_
zmpsShl4ndVc}~bB&nda&IU}DS&pCM?xh=?t@WPpFKfB1YNZvu7C4-mACC>`E<Y|*j
zo({R>StFM`>*SKBOD=hO<dSEDyz!g5KYj8Matp{~c$?fuo*nWw^6VPCM=p8x$tBML
zx#T${mpmhK$#X<5d5*~?&zM~DoRH6u=ahVk+-Br+_=3ELJgu|Yz73IQ!Qe%5$+JW*
zd6vl~&kDKZX_HHy4!Pu6BbPku<dUaL9!zw9dgR5o>Ge{ByaW%(hsZM|50Gcu;2m<w
zvr8^{_Q)mAKDp#MAeTIc<dSDZE_sf~CC@SW0(r*dW#l#?Z@f$AJR@%-&pEk|JQoJH
z?#cGE<XIq>Jd5O#XNg?$ER#!~6>`bbCYL-Na>=vC{@-<f*2yj8>5><uZ^_5V(<g5r
z&%odzx#Za<mpnV<l4qA(^6ZgIo_%u3b3iV64#_3Yh<uDZN8}acHYRtZZ^;+Pb4u<Z
z&zZsJ<dWxtT=KNOD%;PJXMtSuERsu}CGtA%L(AlnXN6qyw8`r?>GRiNM{YH87hY%o
zJIur6#c$U8-ynC9vv2T#TyhS{CFeG|<lG^boV(<bbB|nd?vqQ-19HiENM8C}opVI)
zA<q$c13o72$#V?y3UZ#3*QK8gJ|{0=`~|t>Y}F0@OfESW$txJYL@x6~nOt(NkW0=s
z`3U!?4!JM=Odh~p@(6i)<Td2kFt|@Hc?RT?XGku6+a{MhJLHmQmt6AfkxQO^a>;W*
zUjL*%uZQG4<Q9<+;3M)P)(J6rjGQOr4sxCvd`2!g&&eg{1-ayGoy+#K<Xj+^oQvd=
zbBSDXE|W{n74jH4+vJk7LoPYj$VbS{C7($@liSkI2KUJ&=YU*t4#_3wHo4^7A(x!H
z<dSobTypM{OU?sw?|-15$tCBATyh?fH*o!p$xGj&`)NX6k$yJ#jJ%F{a!xKeFUTcl
z>ve{HCYS47kz8^vkxR~Ha>=>Eeo0^NZ1VEkvECqe;B|5vdAj6f<mnl_K`wdv<dSDV
zE_sIJ(zk7L$+JT)d3MPq&mOtt*(V=9L+3UiuOYV~xd$JSH<0I;yo5YsgHOmM&nda&
zIU|=m=j4*-f?V>n&S(2s@+^=`o<(xWv&8;dooAUmL~a%GHryc(k!Ov(h&<~CcgZDB
zk6iL>kV~FEx#Ss;OP(RQ<k=>dJUir)XP12b&w5_%k#~?=pS%knvLnxkynsAM1|O44
zo-w)PIU$!kr{t37j9l`ZlS`fpa>>)WH`~vWXMz2S?$09m>~{VBb%}f+eantKZE_2F
zItH(i7jQkQlS`g1x#a1QOP&q#3dZ-zCC`9d@(jr(&o=qw&vbuw$cM<SOFqJSwa<<`
z2jq))=;JjsctkG!IU<)l$K;Y{OfGp&$R*Dyx#T$`mptd>lIMcF_fI-c>%MG1kCA7A
zd<rj-PmpJse2zRT2Diy2PlsIctdUEeb#lqmC6_!sa>=tnE_wRol4n3Z`W)RqA^8ls
zwaKlvuJ4l1zeOL99{CJ;_6<HDmpq5$l4nFNd5*{>&oQ~=8Iwz%6LQION-lZM$SW_@
z`OL`+$ZbJhgcmMk`?-M6`4q{g$g^bdGP&egA(uRDa>>&nmpp6al4qS<@^r~1Pmf&k
zY>;=qSm)`JSCCskZo}K;<#+3RJLD7O*)@2NT=MLbOP&LA$#Y09c}C=t=ZIYL9Ft3)
zF}dV9A)mfP=Q$;>Bexm33tx~s@78%*_h<VyMxF(O7s(~h61n7ACYL-b<dUaNE_piS
zl4p%v@~o3fo-X<L^K_mbxsTi$<N-V&cadjEK1QBxgLlX!&n~&-*&~-c`{a`6fL!t%
zl1rWux#T$_mpsShvoFzk#^fF3HX-lAXXHNeoRg1`=fdEYo9$=Gvp_C+7Re>g61n7A
zCYL-b<dUaNE_piSl4p%Pe4fs;PCh_xF8L7NAa5g2pFBdIfx$y^$+Jx^d3MMp&n~&-
z*&~-c`{a`6fL!t%l1rWuxn0(Ij>yNzZA>1+C*(ckIVB$=&zZsJ<dWxtT=KLoX8T$4
zERai{MRLirL@s%j$tBMUx#Ve+J1^CFI^;9tRwJLoUGgFF^vDOuvte+bT=ERaCC`vt
z@@$h!o*i<@vr8^{_Q)mAKDp#MAdjD~^Bj^F@cHM6ya*qYPmyO#-bbDjgHOpN&l$Po
zIVYDq7vz$sbt&7=l4pTj@+^`|o+Wb0vrImDSm#+G_mG=S9>8nl3*=cR?;%gu;2yc;
z*&vrZeR9b&AeTHta>=tzE_rsyCC@Io<k@52(0TUBJIHN7-iJrz#c$PpFe2|F&#}Q{
z@&ca!OvokADY=LG8M)*+Czm`I<dUa#Ior>YXMtSuERuJ=Q0G}9kC0oLd<3`2E6CF!
z?;y{b!RzFbr%Nt*dgRid4RXoTCzm_}a>+9!mpt3#l4plJ{Ga;yQkQ&;+<N45Jg*y&
zd&qN0-bS90!AInh=a^jbjLD@xC*+dnlw9(hkxQO)a>;W+E_qs4vi;nCk?zj|`2u+s
z$*1qv^=0xJ@~n`D$kR5sLoRvN$R*D@x%8(?E_r(7l4pZl^7P3i&wyO=49UxXtoyS~
zK1H4#^71$9JbUB;^6axC&w;^*<dSDZE_sf~r9a2yl4ndVc}~bB&nda&IU|=m=j72J
z=sXwX*4OFWtOv6FT!a_NJIJ#{?jz5#!7JpFr%f(-I^>dPja>4qlS`g1x#a1QOP&pK
z$<rsFyjbTJke88LNbbNp<bCAXC2t_lp27R%lIMV2@*I*&o)Nj^IU<)l$K;Y{OfGp&
z$R*Dyx$WybXXGw&o3rD5w_cy^+X#6U$UWp)G<b<z@+^}}o)vP*(<YZZ9dgODMlN~Q
z$t6#hT=MkTD>}~xxraP`@`m&+d5k>U<Sz2;7`#g^dG^R9&px^2IUtujhvbrHL@s%b
z$R*D)x#StM*L0o}av!-($ph(I@)`16kk^r?^@eOeix<cx&my_xSt6G_%jA-0g<SHq
z$t6#RT=J}uOP+P|_H~`7OWr|l9(fn;lUrS#S3q7vo}t0p<dSEHT=MLaOP)P)$+J%`
zc@D@W&mp<w8Ien#Bl78kI?plr0J+8FL->@uggj^D4)UBEd_gXGT3)uFCC>u6<XI$_
zJWJ$~XPI2`tdL8dHo4^KkPm)eua|1%W8_vRkKrD<jXWFd$kR7?KrVTP<dSEbT=MLY
zOP*bF$+Jf;dG^UA&jGpQIV88S{*1^c$ZbSEg~#M|<T)X)AkV46XXKLSoLur;kV~G{
zS7-ZK@+^=`o<(xWvqUa=mdPd03VFGt&v%=AhTI(TIlNBZK%Opn8F_jJZ;;pJ^F`#6
zXFy&;eMl~Ow#g;W4!PvnC6_#V<dSEfJb13ob3nd8ZbS0Izti<2@(_8B$xFyHHu!{G
z`g2MydCthCKj-9<=Ym}FwBDHQXUVfbE_oKoCC?K3>vTS4avQl-$Q`&tK0ux|@*?uA
z8{8$AJUw#Bvq3I-`s9*lKrVTP<dSEbT=MLYOP*c!y3Vsl-au}Bavwe<?;_8LynsAM
z1|PHI{Ef*a&k1=6^;2@mb4D(C&dDXu1-ayDy(!zzl4pV3Y3MwQ<Sue6k$dn8`2=~|
z<QDRD3|=Fb{;ZQro-VoM>5)sG4RXoTCzm_}a>+9!mpt3#_MhwZQir_%Zk=<N-2T6{
z_sK`db3nf6==!0-BXY@eL@s%b$tBO2T=JZdOP*75$#X_7dCtit&jtHEdVj5do$cok
zeOMqb{(D_tBA+AAGCT6D7~Ce8JRNe$vqmm?*2yJLmt6An$R*DPx#a1SOP&FF<5@bN
zki3mN+vMf{pzFKjh4<*=(IcNB&%VJ2<dWx*T=I;_J<OjYa>;W{E_ue}lIMh6@|==O
zo-^|3**c#&c?Wqe$h*?FUz6?UGV&~vPmyQI;AL{jvqCO;+T@a_LoRvN$R*D@x#a1R
zOP(IN<k=t}+^+NV*^yg7K9s&C_mO9Ze1bf?2Jeweo_%u3b3iV64#_3Yh+Og<kxQOq
za>+9$mpmurvp4EIr{rVgHY0E2dGdnXL7vvX$@XoGJPQUdl1rW?a>=tyUc&iaA(uRD
za>>&nmpp6al4qS<@^sl<ou@}0A<qVRjO%_t?jp~Se2hHX2Jetdo?UXuvqvs@_Q@sB
z0lDNkB$qrRa>;W<E_sg0t%A-oCLbZs3Ay#Hx_(C9L!NW;5%OFZ+}h0ca~=IwAeTIg
z<dSEJT=FcFOP&>S$<rox@bCXR<dSEN{esS?P97sqmwY09OWsDFKKT^&fx$y^$+Jx^
zd3MMp&n~&-*&~-c`{a`6fL!t%l1rWu`>S=HBXY@eOfGp&$cM;tN*<v<X9k~>7to&z
za>>(bWcyk2ERai{MRLirL@s%j$>n^nkV~F6`Q)$l{gFdHLtoX%N4Orj<i+>u{q)F(
z$g^Q^pIq_`$R*E^T=Hy_OP(Ea$+Jr?dG^R9&px^2IUw)ftow6FUVfkUh}`aLACp&*
zXG}goo)d#l$tBMjx#T$~mpm8blBczm?PtleKrVR}$tBMcx#U?UFXR1=3VG@4b#6Af
z3$KyakY}B|k33z2d*qU5gIx0T$tBN#T=ERbCC@gw<k=yYJiFwQXODdRhx&Z)lQ)pt
zfINUl<R0=Ik@t}2*x)g_<T)XiJg4N6=ZswPoRdqQ3v$WRdNAA1l4pTj@+^|Ox9L7C
zk@t{WnS21Z$@|FDA@3s3n!)SjlBY{9d3xlMXM<ew^vNa9fL!tn$tBM=x#Za)FHUuT
zcF8Bmtw%nC56A=LIVA5O&&c2-a>;W{E_ue}lIMh6@|==Oo-=aEb51UKF32TMYdhP|
zJ>*#+kC0oDd<-v>caUd=yp23<gFEDsXN_F)tdmQgF1h6CkxQNpa>>&tmplV<$und>
zqtEv?JMM!z<mIle?~zByvrir(&w;^*<dSDZE_sf~J*-#9<dSDhE_qJKCC@3j<T)dk
zJm>7kbv_I71^Upsn(gPsx9IvJd5k<u<N@+58@xg;dD`TXr$a9NStFM`>*SKBOD=hO
z<dSEDT=MkEt>4r0XFy)~2Ax|-UV?YXXUMZl?jz5h!TaQr=YU-D9Fj|(5xL|!B9}bJ
z<dSDhE_qJKCC@2&{3klk8M*Zyo#&j~f3J3{neAKa+w|83@&@uO8oWd<d6vl~&kDKZ
zX_HHy4!Pu6BbPku<dUaLE_r(7i(7O)4RQy4=#$r_Z^=u@vrX<H&yK;n<dSEPT=MLb
zdze25<dWx*T=I;_CC?GL<T)mnJY(|i*XTSa<Q{UHk}srh$!+AhAa{|cbuHV^;stWa
zvq&y^mdK?)%jA-0g<SHq$t6#RT=J}uOP+P|?*G>3yG!ol{@o+DKcMsX$?M27U`L*z
z!Q14LXNO$!?2=1=_Q)mAKDp#MAeTIc<dSDZE_sf~JGdT=$$j)^Odd+#lFyOnjJ$?C
z=LTPpOP<z4*?yKh3*^$DMRLirL@s%j$tBMUx#Ve+OP&t<UAo_D<o35|uan2$sof)Y
z->3J#LGB<=-{1kc<QbAno^5i;vqRp%yxJv~JbUDlXP;d19FR+%L-sG#`9$RYH)<b|
zx3T_=$$jKGA-9p|)ZjC6$#YIFc`nE$Ps`8tv*cMImpqH)l4prr@+^}}o)z}j>)dSe
zF7kB9`|vt>8F{+o73Ap|yg@E``s9*lKrVTP<Yn|{n_TkjkV~Fja>=ttE_wFJ{m<5U
z4#>;MZAflQ-;z7Xb4*@Fp0U9v<dWx<T=JZeOP+Ib$#X$2d0MS(KTDnka>=tuE_s&7
z{om2o_cFPI+$!WXxI^AUo;C6k@~j)&C6_!sa>=tnE_wRo4fJO~E_sIJl4qM-^6ZdH
zo?Y@zQ}<_&e2Coo<P-Rie26?F@*?sa8GKAGdB)_D=Y(AHoRUkPGjhpuPA+*a$R$tf
z;cP!ko(1+-={$?%GvrnxU%)HmW8`U*7m%l8@ESY%s!lF>y5y3lM=p6b$R$soT=ERa
zCC`vt@@%u)I?oPy@td@F$;<FQ`2g$B0l9@dhX#+xr9VgHlINIQ@{GyLI4%=%$#Y6B
zdCtfs&pEl|xgf86O3$CxBiVi)W8GdLpX2@F5_tjrStef~|BAtFa>>&nmpp6al4qS<
z@^r~1Pmf&kY>-QyKDp!>khlL-=NXb0a9+2`U93O5<PG#^k9;ouZ14fO<T)glJR@?+
zb3`tAj>#p@m|XIlkV~FZa>;W>9{#S*b57nte=f+o(ziR=eh!gmk$i?cO9n5KOP&>S
z$<rp6JRNe$vqmm?*2yJLmt6An$R*DPd9kSHNuNAIZUOlS-eyOh9r7vi>>9jBE_wFJ
zCC>r5<T)glJR@?+b3`tAj>#p@m|XIlkk7IHoRUwG+l+h$Uyx6br*%Esw-e-9FnEz%
z@+^@{o@H{$vqCO;+T@a_LoRvN$R*D@x#a1RFaA=W?;iOaxi!ekm_GyZHm*k@d5k>U
z2Jetdo?UXuvqvs@_Q@N#z7NPH&mp<w8Ien#BXY@e%>MuAJY(`Uo*Pfd7vH7lhZ#Ha
zoRg1{=fdFDZnmE#&jPvRStOS{OXQMgnOyR$kV~F6x#a1POP)3I*+1w!>*PLiaLGe>
zgM5lSeex0N1A~X;l4qM-^6ZdHo?Y@X`m;wadG^UA&jGpQIV6`nBl0Q!J3b@w3UU~e
z+wci_{abXOP01tF&kQ~%uOo*Ax#Vf>W&2t3ERai{MRNJ?O_azb&oa5>Ss|A^ZT5Th
z`RkB3@cZX$<Z(~eyX4+C>;3e|Bm8&48V2{tr9T65$ulIEJlo`wXNO$+vr8^{_Q)mA
zKDp#MV0UyrL-HZ6I}v#ozrSuo?*F}>H^$_Z$MpCU@&Nfy$%oR<2A`8l{tI%+-wF)<
zOfLBs$tC|1x#V9am;5W_lD|z}|684#L+;@ERU`NC`|e!wj`TD60C_eH?vqQN0lDNE
zlCS!iT=MLYOP*bF$+Jf;dG^UA&jGuKekLE`ypG7r->&ON<l+B9Ka+cpqo2w9($DPD
z&jz29Oa2RT$=`a^(9h(Of011BFOf_BWpc^CLN58+<o;iwpUG!<Ke|R9e231{CAV<B
z^T>PB&j$C&CC`9d@(jsW{Y)--cE}~qF1h5{BbPk;<dWxr+<Q9unS3t&OkTisa6~>q
zeM~-nkM5@lc@dvyn;LvZUdOs(PA)kw$R%fMKikiebAeoPE|N>mC34BROkTsk4^?45
zsdKi;E#%;k7vOdB>3j74xa3{*t!MBCx#a1SOP&F_<QbAno^5i;vqLU<cF85r9=YV%
zXa6#t=YU-D9Fj|(Bk~3E9FupDXKe5Zc>(=7C6_#B<dWx{T=HCyOP<z2wx1=>0=eW_
zB$s)hMBe!eJ+GF@hnQC@<Q-hsZ1TAFY%BTWkWb+?@)^8NK8L&H!(Y<J-6LP1zCmu?
zskg@`FTexx+E427L-Hc(+vJrG>-r9P8TDQA-f!#r9(e`zeR3N<Aa{R7k256qkWWND
z|6^T0B45DA<PKgpCa=LK<PE&;l)R4m8F_@)os+jep|^8E?qMA3Fx&qPc!Au97s&&7
zi9Cdt$!nj|+fyO$px!3$!X5HHyhiSz-|FNO<l~YLFpft)LVbgLh<cwqf(PXFq2Aw+
ze1!To`TQ4jeTRIE`Yw44?~za7eex-MKt6*H$rtd5+`3E810(VRd`w=1$K)mWguD!&
zl2_m}avMG;Fa8DkpWH#cbtBvVHF$x%kMpre?)*1Beu@42wO7b}OXp^j*YUazxeKq6
zd+<7W1MZRsaF4tVZ;*H3K6wuwkoVys`2gM~AHqB25xh%2g7?U4I8XcJW7H4GWB8DK
z0*}b2@Dce8J|=IxSRdb*yoBr8guD!&lFu>zjC=u~lUsM|*Ikeo;nri>J}<)y<nB+Q
zpUG>eFO%2d6>|U6dK{bFMZH5F{<^NOky~G)_p46sVH}sd0r$uYxb8H_+i;)U$2b9b
z8y=E(;cfB(yhC1if!?n!xmD5LBVW8sd!M{~tM&nTPv&#-2-_2p7yd}+zaSr>-g-RS
zKQX*OK807vCu1C6@-n`zlY3WgTdsRu^66J=_sL7Yf9tZoO>RG5*LTQ^742Q}(%<ND
z#^j@a)Lsj-IjpvyJi>Om<l{GD`^lq!!uFHP_#N^Q#_y8*7(XJHaYp20j58+hVVoJc
zj58;XG0uYA!8r9N@^f>^Cm6>gFJPPwd0fExLOz4{$=mpPNWMUQMBc^MWAXvMj>+r4
zTv+zuguL)8+Nb1$U(!A!AHo;p_802?ExtLM=Nxq<^3lhhvD}_AdE?i$SIE0Rsof<X
zen`7V9)DPSgWUT*?LG3+k7_Tz#jyS4J#0^zycX+m9P-|eYj?>dACG+av%0=PZvC?M
z4!MleB_I5ZuJ4hTe?@ylF5`^IqyMVw$K=yr&|dnt`MH(J`#-JgE99e}*Y1%wzDW0#
z&;IZ9>$S;UeBB|RK1=_1<h$ghqV^uSV`=ZR|Fz!E0eKDeL-IO2B6r~<at}TxZ@^=6
zA3h-u;8XGtJ|l0#=j0vug1ig2-kLq`J$Qk<4=<7r;3e`Qyi6X!E94`%O+JP@<T1QP
zK7rTCr*M~i2KUJ4@CNw;?vq<L>3$2y3-FM<2yc^@;2rWZyh~nz_sDH{pWJ~D$ZPN+
zc^w{+yYLaY2OpC+;4!%mpO6ReDR~H=k+<P<@(z4K-i2FlqyC2%$oudj`2b!bAHvJz
z5xhb^g4^U{xI-SpYvdDnoqP&+$!Bnnd=77rFW^48bu;>(yZ{f$i|{si3Em+u!@J}a
zc#qtM_sJdjfV>7DlGou8xeFhWd+;%N10Iw6@CkVUpOT008F?E%C-1-)<XyP+cItn4
zfxHhdk`Le|@*%uT9>FW*Be+dIhCAdjyhc8O*U6`FmwX2I$mj3|`2y~fTeqP9$(`qD
z56KItZ<80{9r6;qOJ0We$Sd$ZxeXtXJMbZS4IYu#;UjVvJ|_3zF?j<%A@|`^@&G;~
z58-q2Hhe+efm`it|99a9@*ccM-iMdS2k<ia5MCjV;5PXP?vRh+HS!o<C!fGw@+sUS
zpTQgCbGT2wfCuE(t>}O90=!LLgm=hG@Gf~7-XpKT`{Xu!K<>bY<TZFiUWbp!UHF*X
zgU93z_=MbtPss!Lj68(T$=mP+c?WKNE%iUVK;DBF$@}mU`2b!fAHpl-5!@yp!5#83
zyha|w>*N!-OFo5r<TH4Kd=B@?7w~}Gx()qLUVyjBi|`J43Em|y!+Ycvc%R&c56B((
zkh}(u$m{SCxeFhYd+?aN0iTfj@F{r!pOJ^~Ie8ntAn(AfucQ8l7sz|?B6%NPA|JrZ
z<U@FcJc8TgBe+98hS$hrc%6I#cgd%4k9-Dikk8>h`2rr0TeqYC$qVo{c@f?rFTuOy
zWq6Og0`HUC@Bz64AClML5qTXxB6s0qat|JpH{cU;A3h}y;4|_NJ|}O(7vvqdh39a$
z=(h>1F1$eAgBQvB@Dlj|UM3&HE94Q}CLh5a@-e(d9>eS86Szx0g?r@I({$hZ<drYh
z&oe{v2EOi+J9u8yBOh((@%!X8)DOt(@FBSikH|gvh`a$Gll$<PJb+KgL->@u4WE&B
z;B)dWd_mrWTVJ1@pZo9v`2b!dAHqxI5xh)3f>+4LaGN}aJLD61jeH8Plh5ET`5f+%
zFW?PwOP<e=7vKST5gwA4;BE3UyhC1rcgbydkKBRx$!qWdc^y6^ci|Da2Op6);A3(h
z9+L;~33&*glDFYA@(z4X-i0s7dvNO;sQ=*w@&UX^K7^OZBY2s71h0^f;Wl{;cgQF3
z8u=7nC!fJx@;TfiU%(sWmOP&!FTexxB0MB7!Q13zc!#_K?~>c_9=QYWlh@z_@;ZD-
z?!qH-4?ZGqz{li1JSGp|6Y>x~C2zxL<Q@2&ybE8D_u$qyQvbsX<O6t-d<ZX*NANQF
z2wou{!)@{y?vPL5HS#IEPCkRX<a4-3zJNE#EqOjeKE`?@ATOXkBrn3-<Ry5AybSM>
zSKvKz8{Q{(-~;j+d`Mo0N8~PiMDD@I<PCUC?!zbK0engx!e``d_?)~0Uyyg<);DGQ
zzXvan_u)nI0lY*$gqO)9c!hifx5>wFhdhSY$S3eR`4sMw&)^>U9Nr*bz<qK{p3jgM
z;30Vt-X<@>JLF|}m%IY+k=yV-xdR`N*Wg3)Iy@qG;UjVnJ|=I#V{#upArIhF@(?~F
zZ^P&09r%L03%5Gd|L_8NA6_IMz)R#qc$qwcSI9?jn|us+$YXeod;+hNPvI{44DON7
z;SKTy+$Xo>`3!jh9+DT~ZSoSlLtch=$t&<4xef1=JMaN{4L&5V!y|GRJ|g$vWAX+(
zCimeJ@&G<158*TNHhfOrfiK9raO)k^|L_8NA6_IMz)R#qc$qwcSI9?jn|us+$YXeo
zd;+hNPvI{44DON7;SKTy+$Xp2oF^bJz(evPyiHz$cgV}|E_nssBe&swatA&jufd1p
zb$CSX!bjvDd`#Ye$K*bILLR`U<RN@U-iFV~JMaa07jC_i`X62(@577a19*vi2rrXI
z@Cx||Zj+DU4tWf(kx$@t@+rJQ-m&%b#(;cU)!rswz&qqVzV4A1H}p7t@(^DS$!*j}
z<XwC{CihSulgs#1@&NTS@&UeHkatmUy(`-%QePw=qP|2f^%e37>TPnVuaPfMUniG(
zkGynD=ieZg`heU)eMm0#9dZx#U2>`KlZU7ukV}0;-b4L}T<T-;2=x<ksh^QgP(LS^
zdJDgAL*BobqrN~s#m|?>i^p~TWpb&v$!*j-<kHV|@;d5Wa;a~S`>6NHr9LF@puSBm
z^<DBI>U-oKz8;Xrs2`Hc_#^TK>c`|Yd_5sApV0YF$)$cy?xKD{F7*Zcz7Xk$HtLJy
zQeP$?puWP6dB-7-QC}mM{&dL~sQ1XF-X|}e)cFMDQr{-8p}s>d^*!<i>igtUKO}FX
zJ|dTX7?bx=ACt@VVoE+n{fu1d7vyu)Tkp=!|59HhFP_qQmdK^PLT;npCYSmexr_Qb
zxzu~)A?h3CQXi1_Q6G{^eTRIE`YyTD_sQp|ACOCZL|$}so+EOpkI8M+PspWyM((11
zPA>J<w`Pxfi24G#)R)M6s4tU`aK78*L)1Iu(*Jex81*i>)Hlc%sQ1ZbdqVQ^X`O$Y
zT<W{zHPrXWrG7x}qkc#(^&|2Q>c`|#KOrBWeo8L&bMi6j7vxf3=w|z2hWaA8)R)N%
zuhMx|$fe#Pw^3gsmwK1nMZHHZ^*(uk`hZ;exy_FH4!MlqBOju^PcHpABp;(bBA4;U
z<TKRA<TC!0yzmt|{~5W|FUTvXxA6Oc<hn2QMe;i8OXRZs74iV}Ho4T-$h)Yolgsva
z<O9?<$fZ6YAE7>E$9&ZxpQ64?F8$LdFT7gkKOk@8>xkS&{fJz)KPLB3KOvXxnURO6
zpOcUAwe{ZY`QAf)fn2tyL>{5OOfK~{d5n68T<YuObJV-!Qr{pizDDQolS_R_Zlk_U
zF7;h<7xg`IsUMIBs2`F`{fNAa`Z2kjFB9?z^;2>ge@;F@{eoQT3*VOQhXv}3<WgTI
zFTED?Ke=qbLtaCDja<fe$vxD2<TAcb-bQ^uF5|b!`>5}bOMQ<#LVcfH>WAbL)JNn}
zKPI=nQs)_yOZ}9*g!&n|)Gx>#)LZY%9(SoPlDnuckxPAr9rZRl=Gz*1AN6%|8Q&ux
zp}s-h#eN3lQ`Cp#Qr{sj;P<U{$)&zeUP1kUT<Rn8I_gK{QXiB1sGpEa{fxYW`Z>Ae
zX?=V4xDQZYAeZq=<T8#;F25(xA(!71SR<F;6Idsg-xKJP%kK&F$mRD0Hpu1o1p4Ii
zdjh-Uay=c8*YW!ghvc$f5xMNwh+Ot-OfLHslgoZh$YsB#<g#Cd@5mlsnJ3HSa=a?!
zvR^j2ha4Po*{>S8>{p#!_RA%g{qo3VzuM%|pFMKfuRgi#*MMA(*O0t{{f)?FzeeP;
zUt@CFub5o+Ye6p0QH$@-9>+Sir$jFMRVJ7Hs*ua^vdQK5&pYIG{NC3Zx$IY+T=pv@
zm*-<$a@nsQx$IY;T=r`~F8ehkm;H*!<#>(AWxvMcvR{)y_P97(`s*oq?CRf}F(+?d
z(7qtAox5fE`(dmf%#Po_aQo5=<g@urOD~c~FV^Ff$omiKam(bxOWG^sgEwlo$%D7*
z-<#x+x3B2^s*(5Jq{nf|C!f~ic;w}Kb$x@}|M{Dj`|FceUjDSD2jrbc^f)2;=qCMp
ze%j=NmagxR7yq^PE_t-Cy+^)yn$Dq5KKwb{Cz6jnJx)Yk|2e(CBl7OHt{;>4kxxwC
zxTfnT<h6$W7g(m`))`$tBd^!B&&lnoK8_3W{>Sw8TmMo2oIGc!T-IL~$j1+9FOhrS
ztAAfvnLPSxU2l`ymvsIPdFjV>eT}@{&|W8Zu{|#N5dH6w&%Z{G(;#<oe0}mV&WnJ&
za9kgkkUS3b_#N^Z=94b@5c5)xypR6xlNayP;}6Kkk7^&1TOZWh8Ii|(x_(4n#Q8WT
zZ(r5*G5P36v`@(E7qw5xi<k9rpOF{t*FGmNUPj-NPf&0DC;d9ox6$kL*9CIBrM*b*
zpVeL>uj6=?$$Jm$`U?4PAP1W~@^!sK9`9<ek&p4Zb@KKDy51!(d{m#m9{KF`y1v1V
z&tv%HrB~?rIV5*(!8}avew7}-Lmpszy5zOD>EqZVui*MSAP@eno`)lH54nxV{ePpk
zXG}iC_Qd3a^SXXQKKn8Kx>NG<UAlfo9&c)&laDZ8Eyx%6J$2R(>7SFn?csV_Adg*L
zS0pdsd@PYqkwcl>yGM^xA-67Qx5?*lhrEO9Y>nKh=>Dmb_i-I@$xFBndgP6l>2Vt5
z?LXK3<C7QgdoKfW8|$Kwyo~d=P40hOANLOV{FvUJE_oN%uO7K|vp!$?<Sx$Z0r}`x
z^y?1E2Y2e@G9tGRw2#T>SP#VHvCPlpbzG;W<O}rGjJ$;P%$z(#pDfsMowYuww|CX&
z-=~jbfjr#Nbw%<q)-xsY+E~wfW%3TL3l;Jae&3@*zQ8)6Ms8u=sFQbY($`a$JjVIu
zk@v8EZjevDN3WLx^5We(hmbtR`ngT+VSeb4`?B63@8kUHk$3RAeexRC&ja#0)(=DS
z5PcYt$GBdM$a|Pq$K(b49?Y2B#(6OzuVI}zCHF8t&&X?7C(Ox5Shp<5E$QbU&h~To
zrFwoSk~eJK=Oyw5e&27Ie2R5Qg}n6TdVHJQKCidKA$NaNdyPEA?@6qa2fu}WCbvGO
z=OvH4hV@K?yomF~Cm(*dUe^WWbDZxXxqrXj{x<pK8G4)!dFMV|-zBe~)7~c!ur3;q
zPjLS=Bp+ZtkH~|j9)CpcJg$90UP3-I^2YZ*eR*FzC+}X-<1EO>*e~lt`uj4kI+yg<
z1@b!P!y@_Q6Z*K9$o=bjoHDtGdAmYx;W*ml1*}&c@&<CKk$12Ttdm#pJj5mM<G#Qn
zU*L5c<mET%>#|Q?Le2qs8QU3>Pu`&OX_HUy*WMu?<NDhrZ(y7r`3!y4C$HoFZb0sQ
znVuhp<Pp}H5qXH`R3q{l_IFIa!1W>~@8f=9LLOp!rsOj`$C#0~e@OS?oP3HtT#);h
zuzncoyrusO_*#D7_D$-s+pE<7ip#Uhvbwnbv&-+LW|!YL%r5V%u*>@r?D9O7U7q)|
zPu{8bi+yhJ!n^Y8%LaE0?i$=Tc-!DTgAWZpHn==r=NuM>`r<d|=TI@Yd`_0fm(L5c
z2ZnJv2Jag@GI(t8nZd1Z$=~0S!EJ-r4c;(#Xz;GV2L>M*d}8pq!3*!s&!KE^$KbBP
zeS^0R-ZS{n;A4YN4ZbjV@muqAs2IFvaL?d@!8-=;8$2?2Z19=Et#1DQmJDtiyl(J@
z!9#<04L&gV$lw!$&kbI9Pks(%gF6Oy4elFUJ~zknWY17PG`M`;jmMc9>K6ttzBfOI
ziot6J_Y58wykqdb!6Spm2A>(+`nLT2Eg9T4c-`O)gNFu}_xbra4h;1pgHH@TH+TV`
zpW)Xn8{9FtYjEG-ZG-m=J~a5);8TMy3~uATGs)q8{g$&{`QkYWyO*l}S*($hzZxn3
zlhinNYMitOsruKY>T9X`w1=tsZ%WnIQ}t=@rRu#@y`QR2dp}kGpHur4r0UZ?NY&p+
zjUT4!(>_eqzbRGUPSvM9O4a{lYI{1V`m~Qy^&6@BZmK@*ajO0xwLSe*ecC6f`Y%Y;
z4^s7MpQh?xo!XvZsy^+rRQ<bC^--!m?ekRqJ*n*(rRvkZNY#IBYW#7kKJ6C%`$|dw
z|5&O%PSvNqkgEUH)b>nL^=U7r>QAP|pQh^5UP{$}GFAWo()KRkQB_wP@SZaP0)%U>
z1caHvT8xSm0ur@wX1G?ZBBn~!PbL$qQNAjORVw{tGFU}pHKP%zT1f^kWNdA!phR0u
z2CGzCOR*wVt1|;)DppYf<RFm$UFVW{i3wl-|M`BOC!TrVv(LV)z4qE`uf5NqjnXsk
zq4ZUhejlZ0ejKF_QT;n8J@XSNy`uEW{`Yi5Zp<&B^cPco#!-6agOvU{N<V?pGryS9
zAE5L)rDuLErMDvL)<ad4p80x8f0XiHOzD~5K<O_h`7ERK%x|OgGbsOhO3(aGO8*DS
ze*>jwUQrywI&owbvW?O+pH1mgl>bgj&-_qIe-ouoQhMf#D19Eaw~f*>@1gW}Qu=+A
zp80W<{#mL|2c>6z0;PYB@>h2JTlAUvsg(XTN}o;XnGaI><y4;ul%Dx2O8*h%Kb6um
zznIb&Q2silXMP!_4^sYfDLwOHO8;}Dcj9BtcV0z4%rBt06Z2KQ@Kedo#Hc>=s6ORX
z?mWupDr)cIhcf;x^UHeS!@clrz3}^b;X8WagZBAPkq_6WsuzB7FZ|A4_+&49TQB^)
zH9gB`K`(r;7rv?&ep@g6&R+OrFMQhuyPgR1T9I2zDdyVe&}2I`m-M8G_)~}<8qehO
z9pc9kKaKb>@!uzY@za@n?j^pS__f405&sDBn}40j=S$)z{3gQ>A$_hQ{#(RnKa)v6
zm-w~BFCl&_@pllvjrdi>CyBq0_z4eN<!X?>eWKND#Z=<0$h_4!o%p`g-nqnEI}z5+
zdBj^gFBZRmcx&g&;)BFnJAD>kMZEQ8X^US>e2zt#|6fKt&--EGt({Hlp;g2Wp?qqI
zcWk8GUQ4_sLF=J<;)hc{8;Czn&xz;xaWnDxlurxs1;lS9zL5BB#1|32llT$DCy6g6
zzK!^i#P1`16!9IzpG3TRB%^PmiO(i}4DmyW_Yhx1yq9<n@jl|m5kHpr3B;dF{8Zw<
zMZ8Y@w~3!i{5az05q~Q23y3cvK1lp&#8(l2I`NB%KZE#X#E&OFO#GR|uOfZ|@wLSB
zdUGxDlPG;X@ukFXAbv9OO~mv1XfyF=QTi6*rxL%F_%h<R5q~!EJBdGs_$2Yit!Ih<
zE~Vc`{B+_wh}Vf%k7o4WPkc7<0pf=e&+COE;%8EN5Am~zA4mLb;wKP4hxn<)&m~?b
z{(HpFCH_3(=MjHC@e7E*fcPNs7ZP7Z{6)ksCVn3A%ZR_2_%QMFiC;zhCB)Yf{{!OJ
z5`QW2^~7IB{08C|5Z^@n4~gGQ{N=>A5Pt>nTZzAt_-(}h7x6oZzl!)I@e7G>BR)v{
zKH@8g?;t)zy!ur}|0{{lCjM&ThZ6rI;){sChIkM0*AhRDc#e}yAfDq7Q;ENx^3jQ3
zMEqRh|C{)E#Q&K11;pP#e31AXiLWAlG4YFuUqbvc;%_28O#D*fR}p_R@wLSNg!r|@
z-$Hyn@wXDcf%s*_Hxd6+;x`k28}Ti~FDHI0@joMe8}a``{7&L;Cq7C13gX*{4->zS
z_-f)ih>sAj9?R(eO5(GLzk~Rp#NSDL5%G5s?;(B_@#BcUoA?RD-$VRV;%kW4iNBZl
zxy1j1_<6+NNBjcf?<YP;d@b=+#7Bu=O#B1HFC+dz;={z(5x<J~hlsBwel_uHiC;r}
zJ@LOJegp9j6W>Jqqr`6}{#V4e5dRqQTZvys{5In2iQh?l1Mx}XW5l-+zn=Jg#6M1a
z2k}o3uhwPs|4HJriGPatp~P<>zKHln;yuL2i62M&)5K38{@27$CH^<W>%>1p{9NLH
zOZ+_In}}aP{O^bl68|jmRm49>{9@ua62FZ2O~i+Zf1dbN#J@m%E%BR)UrT&5@%6;N
zNc;xkUn0JV_}>%1nfN~t-$MM$#BU}372>xM-$MLO;#-MN5}zQxjrc9Z?<4+I;yZ}{
zBk`&}qyMiFpH2Mh#1AEYEAd6d|A}}H@ox}6j`%l;pFsSdiJwaRUx?R<e~b9J#Q&A}
zdBkrcegW}+BR)v{cH*muf1CKl#Q&Z6WyHTje3<wh#IGX$UE*tr-%0#h;{QQ>J@M}m
zzk&GoiEkqQ1L8Lm|4-sui2soIt;Bys{5Il~#P1|NMSPO@H1Tc3?;?I5@w<udApT?G
zRYOMq_Yj{={3pZ@CBBXLBI5r=yodNti62M&Ug9SZ{~7U9iT^k8I`N+qKbQC~h@VIN
zKH?V;{}u5;;`b9@MSMH)i-|u#{4(MX5+5f15b>*s?;yUGc!T)0#2+TUp7^hc-$48k
z;+u#+O8jQxj}hNOd?)c+iRXRlZN$r-jq~45;x*!v#Jh=aBR-4xeZ==6zJvI_#H(0F
z|N9Z2O?)=-Ly7NCd=c>ji1!dbkoa-L=MX=E_(8-^C4MmRI`O=(F_-wElztxZ!-!u%
z{BYuf#OD%UMSLFdi;2%Cei`w+PZ}n^kkYRrzKHl*;ztm_miS`g>xmyp{08Dj5#L1o
zNyKj^el+nd#Pj)_t;BmM{Wjvg#P1~DM|_g_vBb9#e=_m=h(Cq+4&uK}yjq{p|8c};
z6Mri4Ly0dTzKHnKi1!eGI`QL(KZE!Q#E&O_D)DC$uM<Ck__@S?hxmEKPb7W;@so%T
z5?@Mu74egaUrhWI;+GMB7V%-?rxL%4_%h;ai9d(<wZxxGd_D2sC4K|((}-^(eme1+
ziPwp5A>L2?R^kK1ZzFyN@jHp1Nqmy{S;V&y&*#wg5kH60cM$(Q;??6B{pa(L*~Fhu
z>4y@30r5q|f1h{{@fQ+5j`(@RPaytc;-?ZnpLm`4ONgIKd^z#+i2nic3y8mz_#p9@
z5nn|-pYvQy{0}MpGUEAMR+#uJDE%tpuOz;f`2Qk)E%AH~q@MVNlzs#8LE@W;uONOi
z@qA9Nh4@NJzm@o_iQh*2kBHw%{58ZUiNBWkHsY&@-$(p)#CH&XJ@M*^jQ%eoKAZUe
zCVnXKKPJA2_#24#5Pu`_<A`5O`~>1}B7Q3Id~Q}J{$@%)mv}xWJdgNWDE$KBZzVoR
z{4(OJi2o_^i;2ID_+`ZNIkYhGKcn=ki2onrYl**|__f5ZAikdXF!39RuO_~U_z3Zv
ziC;;43-LcEek<{J62Fc3yNKUO{N2PSiNA;VHsWiD-$(qt#CH(?3*yz28U4SX_-x{9
zi62UQl=vdzA0XaC{DZ`gBfgIK3B*4{{8Zvs6R#7$hWNR}uO)sS@xLT~0r3wLA0++}
z;;V>%l=#KO|BCo!#6L!SnD}+XuOhyl_*&u{h+j*5jQD!u*Au^i_{WKFBK`^DHxvIP
z@h!wZMf_IcHxR##_(tM)5+5f%N&M5qw-Ntq;`b5%8{#{Ne};JVR7U@QOMEu*O~el+
z{&&O|5&tal9^#)PejM=|iJw6HCgP_O|2*+J@h=cRm-x-Z&m+E>_yxqjNPLj^mx!+-
z{`bT$CjJk^FC+eC;={zhLi{S?TZpeEzLog3#3zWaCw>d@8;F0E_$K22Nc?8vUn9PS
z_}7WwO8i#hw-Ns*;&&4N2JuPa-z2_`_&*cBkNCe3-$DFa#4Gz8tem&}EAiRHZzFyv
z@qZ(}i1_Wqdx(FV_;JMlo%jjFzeD^~;&%|Q6aOypbBW(c{5<0SLHq*Z-y=Rq{QJaL
z5&r@4i;4dy@ym$+koYk19}&Nb_$2YQ#HWZ~OMII6dg6Bxzk&GO#5WQDG4Y#;-$Q&0
z@t+XCmH0N|k1l_u@u*ux{kf{{=<?PLE$)T9?V<MJ{=R;Ai@IQzF*G(V>e0sR7~^rj
z<NTTTig7Pt-81oM;51<$uy(5Xta<+wU?1TU-~i$Az#+mDfg^;c0LKWQ4V)l64LD6W
z0IZc{%AXDFBYYlkfbfODA;R;4BZMynjuE~bI6?R-;56Y7uy$Ie{A+-Hgs%q<5WWF8
zMEEA)2;p0RV}x%5P7uBwI88VLteu`I|4v{Z;d_7sgzp0m5q<zTLU=WBjPS$23Br#7
zrwPY^wKFp1KMCw390v{%eg-&1_*vix;pc&4gkJ<s5PlgrO*jFpjn9<-8nBP>8^8g=
zZvlr0ZwHPL-T@pV{2p+E@Q1)@!f9ab%uM-vfPI8N1r8AY95_VyE8qy>gTOJuhk+A>
zj{&C%YqL@QgiQH;fqjGr00#&U1`ZJ(4jds|030J+44fc58aPeZ2dsT3Q~oKyKEfry
z0m9>fLxd*+M+i>=juAc^I6-(CaGG!cSeuwBe>Sj>@Oi)i!WROE2+s$O5WW;RM)-2z
z1mUZI(}Y97+N4bR*8uwnUk@B0d;@TZ@J+xG!nXj&2;T;rAbdM;ns5YIE6tRDC$Nw3
zJ-`9N_W_3pKL8vdyc#%0_+j7#;m3f}gk!+k<V^Wb0{aNZfdhn}0S*y<7C1uqdEgk~
z7l9LmUj|MSP5^6DGUdMp>?8aJaDebzz#+ohfg^->0LKWw2b>`MA#j>-8dy6kQ~n-c
zAK_1d1B5>Z4iWweI70X!aE$O_-~{1gz-hwT9F#vbQ+{7yAK?MO0m6fULxhI|M+g@H
z#|Re#CkT%QP80S4Yh{`8PXYE3E&&b@9uFKMJP|lTcnWZg@Y%o#!qb4$gag3Z*_rZZ
z1N#V{2OJ=LA#jNBeBcP-OMzpAF9%K#z6v-^I0USnlPUiiU?1V@fdhnZ01gqp2{=Od
z7T_4++kg{<ZwF2jjsR=tX3D=4*hlyt-~i$KfJ1~I0FDq|4ICr<FmQtKW58*`F<|Yx
znev|m_7RQ)2M9j{93uQIaD?#lz%jxv0w)N+44fvM0M@2u%6|>mNB9lk0O7ZQLxi^j
zM+ol#juCzjI6?SB;56Yhur@tY{vKc-;ZK1Bgg*xk5&jA|LiiwXjPPOL1mR=A=`P$f
zOw&=ma>{QS))&}EcmQyK@L=E&;o-m$!Ue!F!o|P|!lQxHgnhu8D^va{z&^qyzyZSJ
zfkT8R0!Ii>0ge$q8#qCD8gQC$09ey9<<AE85k3z%K=?x75aId25yF=O#|U2zoFIG^
zaGG!kSaWB}zXsSx_<G;~;TwQMgl__l5WWRCM))@11mW9((}W|yT2`j~JAr+K?*R@F
zz7IG=_yOPu;nlz~!Vd!{2tNj#CL9CS`ee#~64*yL4jdr-3~-3>v%nF;&jZH@zX+Tl
z{4#KwZ~|ECn<@V_U?1T(fCGfz0uB-04jdu812{(bJ>Uf44}sH!)4*E4O!<3&eO<VA
z*r&h&!k+_&2!90}A$$-xM))vrg77imG-1t;^0S@tYlrm(_7NTc93VUxI7E0jaD;FH
zaEx#<aDwn?;51<$u+~3Q{wcsd!X>}~!sCHMgeL+=2u}fy5k4C@L3kQ)ns5ME8;~h~
zHn5NIdB6d}7XpU}&j*eWz7#k{_;TO`;j4htghRmEz)bnq0Q(4E4;&zT18|7&O~4Vt
zw*bco-v*o@d^>QOa0FP($&`O5u#fOPzyZSd0fz`b030E_8aPJyVc-Pe$AHs>W5C*=
zO!-d&`v}K@1B9Oe4iSD9I70Y&;27Z-ffIyZ22K-B0BeIY<-Z2(Bm4$%fbd(uA;Q~%
zBZPMV#|Xa%oFM!maGG!$SR0Zle-E&a@Tb55!k+_&2!90}A$$-xM))vrg77imG+`}(
z@`q;1?+ffBJODUAcrb8?@NnP=;R4_o;bPzf;nBcp!aiVaSf>0_fPI8ZfCGfb1BVDt
z1db4%0vscJHgJOQG~hJh0I)VZQ~qpVAK~+W1B5RG4iTOY93gxuaE$QfzzM=v0jCLv
zfVJFA`PTsZ2wx8zAbbOGi11Co5yH0s#|YmBoFIHVaGG!gSj)?le<!ey@IAl*!uJ7(
z2tNQEA-ozmM)+ai1mVYk(}ZKdT7IVdCxLy0<G=yJ&j5!AKMNco{5)`s@Qc6+!Y>1-
z2`7NHf=v0Z0s9EQ0URLw7I290cHju%9l$Zd?*S(We+Zl=oCekkGv)6A_7VORI6(Mw
z;1J=jfFpzt0>=m+22Kz@2An3W%|Q7@nezJr`v?yJ4iFv;93ng%I6}ApI7YY_I6-(c
zaGJ0WSR0Wk{}f;!;S%5g;qkyB!V`fbgr@+<2%im{AUq8?O*jCo6=%wy4eTR)9&mv0
zg}@=g^MNCTF9nVfz8p9~_$uHu;SjJkGE@FFz&^s)0|yA-030HG6L5s^Ex<9tw*e;z
z-wvE690ArwWy-%3*hlyt-~i$KfJ1~I0FDq|4ICr<FmQtKW58*`F<|YaO!-d&`v}K@
z1B9Oe4iSD9I70Y&;27Z-ffIyZ22K-B0BfT&<-Z2(Bm4$%fbd(uA;Q~%BZPMV#|Xa%
zoFM!maGG!$SR0cme-E&a@Tb55!k+_&2!90}A$$-xM))vrg77imG+}Kf%J*c-?+ffB
zJODUAcrb8?@NnP=;R4_o;bPzf;nBcp!aiWln<@VkU?1TU-~i$Az#+mDfg^;c0LKWQ
z4V)l64LD6W0Ic~k<<AE85k3z%K=?x75aId25yF=O#|U2zoFIG^aGG!kSR0!u{~BPQ
zg^w<O+1!8KKTsL_`>Cd-0atV>Vl7E`Zv47qooiCKCb9pzf1qxpasTM@#D;)JMb(wF
zjZ=?y7QTAE%9Fj=wYOT=>u<NN6P~iJueDlNDJO+|Brn<T^}agC*nf$u5oOk@akGqe
zDf^b0#w4YTI-iQB-Ffk0M^QfR%WrwkTQ$p2kIpvJ?7zg{D0Rt39i;qSxQ{eVuHe9^
z)Uz^gmf`+ymofHU)o9jNQ%z&<bu}t|Ky>WATI1Mz-T2GGUmyJSZ9I6y%BM>ncHK~~
z+NGoC7<C1+j9^GbZ=SCjZyunGypL5~FrlKu<?3@qhvItk{JxDrpN2I38gC9LW1!rN
zXwm+1MLedTTm$ZCA6%urj%>~P-aON&yl=2s*UIff8lCp3yg9~SQMaSZ|6uhK>Ls!g
z86CJnYdnD8&xM9XZ;5H>vx4{$$V_CF!f%nA^wTRxI@hSaYMb($9L);4qHbM_4)?gD
z!}LDUp{j3mNV0EqaI#-?P%=B3)6zdWFgYMPK;=aHx8y{#gM*^|l7pgs!-J!J^dZr!
z?^BIg$stj9cxcq6t7yY`&3LDu+UN3QnSJJQqns9Z^rkyqIL;N`z9gYF-uR-s@yE|*
zH7<(xX}m7hxAEGC`!)V(wlc0B+`n-x>b7b0EF<a8k6-+VtF8rkrSRLVd(#}F7WakQ
zf<NIZAW!Mr%K6Gr_s%v}+4m1z5olC(vkiqh1uus#oBFZEJWn9{(do|rTiWf4w<4d9
zXAFwEtE=Z9U9L4AU8$n$RsBsTFP>whCJl)0zr@|Rf6Jigok}<MtkaCXXv3k(K8=S~
z4vMy~91t}Y^=&*nV`#Kv{ebA#OZzo`?H(LGvN9)n=zL`uTXLcw->;11{aSO<-6tN!
z_}PCEu)7dP*uvY79zx$>Jjw6F_}yNa-Pq<Xj=%mj(ybgEZ4*5gYydwZ&lShVp+CQV
zN*QhLqIl31p8r`#=Ne;;GF*LClefhc^?{Q-+uWn#>6Py0)ax!||N5Nh*KfOw_IF)I
zU9%<AG@ef(&2IOIcpl`pOU5<o)xHMl9&s5l$Z^alb(3p~Do-NKJ(E?P<h#nej*8!j
ztA;WI9xdA1FT7oJtSC4v+P-B#RISva?UyLyW8`6s9cZ@0SfPwx9qwH7cgS1%uMK$?
z>a&bP3th&cN|!MJ?UKIOJ!4?><1GWDUeqa7<1*AGy79u5s<95Xpl+UOd?Cx#Sa+qX
zF?qksxD0hjUEw!8+5S`8A9NW3rOscNrI!5o5><}6)duv5(e!VXksg~9O<#uV3|trD
zT8ZmjxVm8*mI{ySt+?*O^+vf4h^DWV`$)G4*OddKyT<m3rdQ(k7Nl8@>-vEhZ&{6{
zDm*`330yfaS~fU5e<WnG;%C!NUGX#5sYk8=UxPpQkZ5|nGTLjj<|7a4#^DE*arimi
z$W<z@%sqNya*f|`DZM#0K$T9<Qr}4`Rqi^naFsVpUF<rdt%`MaPL?#O{;E{kTh~_&
zlQx^}Re6iPKR}hQxm|xSnefzja#W2gTQ^eZM-TE;S!&oA$YfQqDi4iyn|8bb`t}(5
z!tCFX(!aTJ>C0B|0o@&4W8d@Q8Rwo~?gib^TKk@V1n#-Q+vU0ZpXtv9!tSVyQ%Qf9
zou>6PRlW>qgezE~KPPF$4h3KjZg<M>=qyh`7oBnfDl2-ceXk)eQ+_q_3FukT#ZKP2
zxQ9APo}<k2vrzshGoNeiH1%j(+43>NH*|IuYIt7Suoz=W<mc#(Bg347o#n~t{^lcB
zNdM?Y{Y+JwyvuK>EWNo!;rBx6Bmb%RsPOqBPgg0*uk;(8?m=b3k5R5g!BfHAYNZqG
z`WEo=46Z&Ictr-gfPHQ?T*i(IV`u-^;b#A|LtlJJt*qbYs!qm)*a6t<Ce<?98W)df
z#+?}VVk?rkcg6Fry41jcX&=&;1&s7S%}8CQ8NVu(F`F0v;{sg4n{Am39XiL~Eb>kb
z?9)8qsH!{ohz@&F5I+^;RmwBV(mhch#%F~F{ods=4nwACw}Q>E%9Ju(gH)Z^VChrI
z@81WcyyEx@yWH>O2rh^(H*rDy!4H7ZRyW$}LSIPTDqA$n69w^?m8;H?vB*yOAuHsC
ze@?Y7J><g11MWf5Lzkg%E^{?{G3GiJ>aZKCG3j=deBvHavIlv6jC^)WJ>rl@%>|8n
zppPHp-fq~nU8ar|$M1}x9OOIu1y@}d^L4q@ZLi;0{jjQ&@!*+`av_gTQP&{m&<o7E
z=f<1%sXC8K#_O1gdC(^h#;1%ek3BwlY>B;=y!4Md%ZpG~(Wzs<l5%t7Q<2|+D`ukJ
zqvHF~Z^^rKW0I7C_IyXKXyci3U4$__5Z4=Z<0H8)*NuP5wNf|Um+MO1*d@=`=!Tik
zt-A50;1#+tMxI})8-J5@*XqV!<$8&3{6(&FbfZx2&(Mv0xn86j=cB&K^L68Ua=jmR
z30JYvO6I_I&>PHs9;M#!T%a~3-9;rwmj~dF%xFARIjhlFG`sQZrE?lFpGM`Zo^IQO
zVi}Y5GA2b|a^n$OCiSpwN$8)*E_sftx%F6QVd@3lP?|NC1IetY3(v|kKe3<D`{9}U
z1I;pS$H3mf#+6HZ{((LedC6GzVxISf*KH28l-782w3=fFI@iP{Z;Yjsj0dz=Y(+r9
zUqGK6+LeQ`R*ZQPy0OLGoc_dR7-I)TQ$sZ4P2`(~oI0R$Uqe1Aq>*{j(xH*@_Vt(}
zpK=-hz?jGzh4G7fiAj(pbgad^7RFze>l)qoy@_+<FPhg;@y)oFzt&kQ@@_Tf|B>-m
za6Lon`Vz^()3-|wlWaMJi;kB=eZD1!H6jP-kI3O==%&~&NAJW&%<3<7D~^9}HPYd_
z26gx^q?3E5-;f*~b*u1j4Pz2xzg8t((dS_cB<+!htY@Y|W_RN`(cO#fGUQp&Z7=*r
z$*X%FPaqF@PV)KG&Sx3&n1<(htb2y4a<O@055ll1lK#p~uDbn8(XVHo|90}UfYDhw
zv@G?-u(B1J+FS2Z<-vf8UWUBnp7?lA{?Z!1Erqxj)64dsrWrw{&eGkk=oV==>~3mO
zz?iPo-XNY&-H37Xhz^^X8?Qt@ski;+?=;e+;VY#k!M<U<?7tEGnE`{#Et7J=Nx7@+
za)X$U%yQ4P%N^^A{*RPP_TQC-axs3>XrHw8H|s1rW!fm{@gC^gF7%_^yRyNO`(nsJ
za52Vqhx_|wBL6R;D_wo(8TF06n`8IgFKn5QM16mNXAV7uHbciJn|)FkKl6RG8+JwP
zT?F|bMBVVVLtgS-$m)H+0Xw`m30bv4MluGz`%Bapzs06cy-@0v8{a$tI`NXbS)NfI
ztP|m5CSRJ-oIDDj1^G7NeiG%bMp><-H{NhxQ)fhfZem>wpY)CP<l61|q1~QOCSq-c
zXHu`|hVIynV85>MaxLaYvA@Co$B!3vr8QpOL|bL7Nd3FpjeYG{V{XAXwCz}+KD#U5
zi|u^%KH^u59R2{-n#r-SBk(PgGjN4(nXJSWzGc!qFq(vKnVf+ue9Po6T;W?L;aeu*
zTPEE|2j4Qe5<L9M<Q81vS0>lv3V$+Li7R|Z89z5Z>Z-dL{U?2Y1nrhNTJ+C*WTugW
zI)xk#W5K(7j?oX?bdk@u{YKDf2i9_qT^(b$BMf~kTV6aoDD4>IH~dao5B3USgHxFA
zMMk-H`sBdl<*CoN<hd5U=Pi(F5;CoZ4M~rLE?{i9VUK;trxG?f<<?9eGvFB*RXOgO
zW3YMVd<)xN<}R2x9d$^J^&2gC-n7%6{$2ImZ>QDKpJmHO3@=4m@d=U`FDbGAZmcz+
zYn^Uaqxb?Tv4#B<##5f@4|pI$_#5*-+2E>kLyj`vi$Cas?tFHzb4`}W7CPDnf8hg^
zCH|1<19?2rB<2OwX}<VJNz4;sn+{+;X~#S<YbEr^v>RAki{B-71Af<Z=%=h-zl-Y=
zB3sN=g(&X~TSlfIT$qtjKp%)Xsi-D(yZ)TW<^{XGVNGOHII#ok{nQY@5qA0~oYN(n
zUpsPiOWOR2|3+G||E68n`*)48UrM`Cj~uQ;F4ZACFuJU(4n;Mq?R;hYm${23zKeX5
z1N}ykRfpODVgU+1y`v-dIQ1~otBG%B>QU=$ku@OZ5{&g*QIAwVzftexqXu=g<)?NY
z)zhF??k;`AIu3iMq>ncuoszZbcVSO6YlqrEcu=&;$-^&snCqI_6m%-kGALSM-)qou
zuhaAgY6HnZ$F*aDoyL1E^8Q-K9AfHYZJ>T|S3NJX%Ws&9d=BZxS|?4*;N$X|Wv6qU
zg}nA7FQ?7POkU^O<>}~a_Hh*CDE(D0_Wv$xZhsxRBx}y|;dj`5T<i4=>5{ESWcx*z
zO@!PKld*j%pIw*aBd%us^loKgohD`d9A)js7#<6KKeQegV>p~0ZtifqOVaogU#YrJ
zc)r4TuE#nvCAM;x-`KqiwhZ?UVU0T$&+L9q89qFB2=W)-%bOE!4#6i&W6UJ_scjvn
zWi?mixN3IdcK~Y)Szn|vmea2*BbBQeW8tr~S8C0!F^B=2=`uP{mjh>EUO8=MbMj<W
z+CBtpo!o%24!%H8)>IhhQfK%t^Bekw=Z`_X4!Bjx7^Rlfj8^3ee-RC10_$lVYh(4Q
zw??lDE=xb+Zyxh&wZy9)D!xRmE0&mw<TVHOuI)J;Ho7Rj7P3yFjj}%Xj<nY2SPy<<
zeeN$-r48^;<$1{mbs6r358C#+mCv1&Pepd``Be8)rQ&<b8cEvI?smryxV4gwHx>L*
z$QX9$pgXr@KlnbFt2d!ciT%AYUoFx5LKdiZ3U#;&<%xY&omkhd_Z$1&1?a>4l7nU*
zMRA37ZO5DN>jz;yi2N%xH9swNJ=1R-SPPxQGt%bjfxXwY0r86DIxAfRViOX(=t(xM
zXm1jI=0$r_=zG&ofG*sNIZ9;ftj+I+yu?RngZ(wfHR>lmX$SO3e9Qfa*TJsUdh21A
zp=-%LSfjvK6}xf>ZIdyPjdnwR+YZ3bfzMLXjz0}LCiXZDpZ&4J@OjLBMtl)^Ry0;c
zv94HB0Xel_QQjDae)~|*<jQ_Om1o56i#+ec_&IpKW*kD@WIdk7THP<{L{H{u$iFcD
zoBiT5=f%%_5c0$I4-;e_D2TsgUi0HW&K6u4e*ySp@v|U1r|svV?JtNtAa{qG1x{iY
z2T-QtTTA<8p7MHfqul=e$XD9G6>Eidj2CwnWR1E>T}6+iEe9|zq+b2(`aNXV>p{8N
z{axYiy&tQ!On+CqdQaCN@e<g3@m(gM%>kJ^sI5cLu8wYP9RTiM!jV4o0e2d>T;$`z
zUr}$eP>7q5E;zFIIb<PyC$bQkIC2n~JZsD1)d$d5C{uL3;skA~mNuau=0a9~>Q>M9
zk(VJH<S%8nR|c97oaHyZ?5FDbf88}7LvM$6+3HOqlfCvF<jFg3-gp7+HvLyw=kmH&
z{I5%NW8_BLe?`1X?6ksKTI{X(vdQVLX3;Tc9lRK}Ozd(8>L$F{rXi@W=&{&0vFU5R
z61^yj4>R>ZH<scVi64m1ze;rWR_pga*JA9f(2Z}K=?mk1kp6FnI}1B6L7A7in%~0j
zBz|||_nYz?@y<WVeOzD1wQJ65>DMKPrR*mJ2Xyg2w)q2C7mB{K{!3qbJ(z1T_KTnw
zGX4jkuf@lJZv{VKa5M{jj%Vh#!hVSE-wr=dbaIvSH?BL*l(Co}|2wV^qmRnmCrw05
zG*d@Cud6QSp)RRUy4D1kSM$5()eG#t^1zqozA|GL=&PpZtiI}iyrq96Mj^6x`X}4$
zpG;qDfDLK0`|3L)XZ%iG>qkrv{^hmsFEO7!W!Akg{)Blgii^L0qsV)gZY)51#YT)p
z+kN4J<Mird^t<VE%RI3Lz8~g*G1;(v@Ey7C9`Qv`_iDTD5`%K;?$ld@Ud(5Ch4Z`Q
zb?i8uFX-Ysz)QZ1kgu#2V24XYFP*gl#^-R+&s$YtjmjykxmfHe$`*UQ2V+U(R)sc~
zqTF|(1BbBB1{<?I4LucK5Am52N&B?ZPVu2mgY0mhebtZb`}Jsd>LcBd`Qj|(Bf6t7
zSM0)^5eODW#UF>igmID^Uu{2=5`SZj)G1f?j_Q(^_?v?x)a2x4{^k^TjKxxk-7P*3
zZ3N!eSL&S`KO6NPX3MKroeme8IxYHqDf(3OS;`Un<=Cz}%sHkwzB+2@@yVtR<i~xu
zwuuhF9(2GTJB0b~7tgxtj7p5nnn1I^`ri5b;a`bQq+^fBGc;VBTG>CEe9+b0eudV2
z_F~mIrQFqc5d9(ZP5V>2VZ5sw#h9newGZU#65Yg@kvZ+2FJ(Lx#IvOQr6P~~`2UDJ
zZnb`IUt`&dQD(aQ_~G#)hobnEm`9VJAg%-bOug^6d;zSnlJC!GM(n5bFz(6vY@u82
zRfEt!kbyimO`gNG+#YXwHu?eg9+m!wE=cS@ken{DgZY)Hr|7x=u<R|!o`7W+<X#{+
zGJ1t`-+*s~JTI~H^nOQT9TLkfiob@jmwH>~PtmP{cs15K;(uIVxBE4;$BKm%nl{JG
zTaAj&MBZXIrF?xn>bP7t&VpQI&XIht#PjVK!>LNd0pM$x@~j+CCS^$M@$W0puPY@+
zB>qc&e3Xn8T;rzv^5PrJYhnCJTz`!@ryYHTvd!3?<s0P1z4gV%&xi2q5|E$e%OFnI
zrB8YBeWoohh-;=k6~t@pa_%#)Me%)NH=$G0M314*GN+$|-`^KqgZ{K%5ok8v#a?Hn
zzqxp^-dIrXZ`?0_B<3cWm(2MH&yUA5=c2wcMkK#IzjM`L&#pNIJ>8G>g0w^AD={jp
zy=zrVQ8WpCHLzYeh&8~0Nw$uRQKcQWj*Jl<8KcTq!WNn9Q0Q(x>UYIis4MJc3VJaG
zbHrG18f-82X|CG^|I?4Phc4?E$UBMk#<!s3BM{@Z#u()1hP{Jr^rHTyqIX#1{}Fv9
zyc_F>lkw-v3ODzu8oLbt3RR6)W!0!`6%BN(c)Q5#f5+!4iswOoBg`0aUc3x4Ez41p
zJ5dMmhf`S3IKHq)srgCp@S&H~ON?CZV~ry*IPcfcQ?zaW8HnQ*!M^k`ewra$Stp4N
z6~9+(j@VM=%pv&wH|TkX_|5oTApMIxCGAD_cxXW!R%CV=#?(~I9cI7OxS9?0(}BM#
z%Pw47-njpLJ5IPIGl%H#O)MQBVXl4rka<eRifO;|;<uP~FfZPLHb}hupj=V@Jjh4J
z3idk8Ho8!@jEViQy+4P|werl5KekVPkH8qpi?92wjETJXkol5VetZzFG8Sb|Tk@9v
zF0tE`f(@|j^@#WnP=}Q0pqVZ=eyZsc<i@8v^MS}6`7DIY%<+qP&`MhvAC0tDT?*r`
zNV~2T+2zHt<}&M&FxyoaKN;x`AO<D*c=7vADG%epu_Mk{{m{-&^3RON!g!839`oX(
zYppi^+RitQ>!-*|{8;HDZ+(FoCzU#(&$q)T+UBf<#LwFQoNoLPWr&;x+Ijs_^1}F9
zW9C^LKZ<q?M4qN@y)XOIe)P4!S)M)cSN!4rTst=A)LY7y{_!e|&u(QlqCAP6iM<tD
zGXiZf>x<t`8=d~#E;2;jcHeKc^Cq)S1@Xn^H9vj>uJ1~FQ6B^Abg9!pS({Gs8~;L`
z9J?oNbz~rQlR9}@Ms&@i^4v;O)-so}tn=c(GwV<s-(uFGIDWBNc3%7<xkApaKB{gD
z%91^|*YNv(`HlSae07#HPuz?#b=b7kGH(>eZ~j8sRS=(sJgl}B$KMt?oWSN^b~|LS
zQfz)9>X;v22iqumeTH41)8zUf##)}<tnyXqt2pD6hFnrtU=I+_++nV7i{rbozLoiK
z)59*5ZPjNZ%C`1~3*utaQn06m$WP`dv!3t~4$gpWwe6)Bb65)YT<oQcquy-h09n5-
z*NrgbBK@dI9eY^gvmNsc78{Wt|H2&0G9Tv0mqA{?#M~;szdRj#z3@3w_Be;m&0mZ@
zGVKG(s6K+RjJ~Kund#q(o>_692DJGaJ6!{8r8Vd0#S?vS#tV4_!qcKxIrqgL;JKxE
zM(&H<2n45@ZT*3rrW$^MHMe7(4}CK82u_TC-??v|S&)4Yx*whxo#os=l&M44^Ys&>
z-*xWetU&?lCF@$rJJeTQoWlGf`Avl_a$(*vZ6IP;V$X%Y4>H>!@ueEk6WMdmkN>gB
z(v$U&TM}agdsK^FePhOL6-PVEAHmp>JRn2UH|QE0;gROpco};8O@AOi{u#<K^}-wz
z1@U_&Z{%|it}~G5!5Q$+pj%a@4K9pdV_xBpLeEx7totq*kNI8kxN5ZPUG%ZU$>C==
zor3meL0`Wm`jzd!PS!J$|8B(2_h9~8kN9^3VuiafH%lxK>niN=&1{CAnK2}1PE^=~
zk$vgp7MJk@)NO?6r;2Zi@r$;lFgHoQX_T8rniTT?q1l$axDRz`MZMnn+|n&`zQuFG
zWB!>h_CJZSg?Jg{oELuyayI8|i9a5}z81LI$SVbXm%4d9%G@_r_8k6>*i^{qOSh`a
z$L}#XZ^q~K-o|=ksa6<0kgJTJ1hNo2&5sX9zl(fuK5Co9^Q3>}te*5W&eJt*N1goe
z+fCm{l|)6}oA6x(^9)=XXWT~1yq+K53f|?U(@UcF0`I~;j+qW;IVDYHi85XWk8vaU
zH7VHg2&aqL>82<{?1!DMR)tHV%Q#)gs(a;q%7}w+weqV~^(E08I9<Zd?`&n%gZDc1
zYbl9d&FRv1x@pRg_NAQs)M?SnIh`hF8_|w{GNgT7`FT!@&f|1GJHJzuA?>Sn@(Z38
zoz3YqJDpD%(ms)23+57q^~AZH&S#g4vx?F_X|I_sJU%*+)8X8RS-(qhrqNDk_FMS0
z=r~T7u+!muqO`BUsbBqR(b1gFC+D`%-fNU0?dy_D%W2U(P8YHB!&yjaUzc2xr$q;F
zx{#gjLS;z%q#b7cJf}y+U(D!>o$fqkNc+0#r=K1@2wT>bE^Vi~N*U6=uKEQ}kABAK
zG`k%kWk~zF(uGftra4{6?vL>}SBrFA?WjLJx|7pI>~s^AA?>Sn^eTCJ^es+@Gq$Gu
zu2+V%&xJEhR(sEgzRKxBcDfssA?>Sh@(Z64eUZ~e>~uFNL)zC>Zp#_bCQcW#)7_#B
zX`kQ8PmPa0$>|byy4#c??d$3feSGv$U>Un2>x#6U?sjFKXFZUs8%LLK+3@C<avu2i
zUFU%v8**r*GTwzf*^hTI<ZSRy?D232G7wv{1Ak&?B!96rVrMp^ydAb(*@QFB6*y-h
zw(KVZlp+4oPllr{NM8}L_+Q)gtBBd@3Y77bq${@5B`iK>r;~a0z-?~Ws)G2hBpqx~
z#x@ni*E;z@2c(Wafey&oT{+KtXr#3F)eWk2j&UE_+@oFfS?8e9mTemYCq-8SOIa`4
zZBC<nIj<(|{U4N->64PE-z+;fULSXxzCF$uH#udCoP#)D41dHf*ZNMGK1(ydQzrXb
zhzD&8U@q|D3_~~z{<uCMdNtCY1Yct`{ysL(&*?@Qdk%YW=3UyS?wDyvIh9Sb4e{&l
z$eCrV!5kdGpLu`tEJIgn<Mz)x3*~$jxNXYg!kJt6xwuZpd6pKeTY#IqJ7*ddNV^Z~
zXoc^h^_1SL)SJE|E8h0!RM&L&tKRE9;(t({NBx@uSI;p*=JQ(D^IhlP2P#A6t)S0e
zrn}T+vu<l=8)2k3>y)J%ji~d^&dxO+*pr~oRVMEU$eDbp$A{hKL7DroM;Dhf{}TV(
zc%lEgyqvt6+??DR>DP5y?p}#Q2Jc(gA+dR{9h=v&Pt*NuY{Rk6$wBPzY1m)&L(YdV
zugmk^W8&*!Eh+kAj}`TAr~iK2C~X$G$@>RkTvhO#XaHy4WULef75t<@(d5|vjjzH_
z^uT9n#ntN>9-RTdW7l0u;x5~z{_R_|=%Gq?<Dp#|&Vcu6d=&F;YPvE~>ouGY&uUDa
zqYOW6j+_&b^?eZMQZa8dspPQeff?@T;YxS(>-Fxaf%CZ?yWCOuh1-*JWIo4uKT8=G
zz_;mbZ_Vq4Uxb*O$f!E^1bZ^0kq&EdN#{C2y4F!hhxnzL-|*h^OJToL*1%?dCrD@J
z2cO-{Z&>g7wH6{joZB$-J3%_v2&9Ak5r4l0eZF+KijGpbHLj|qn?<%^#4xt>)r~E~
z)W#4vNxN&3GCqe+gxz|xtivyXEfD?;_@!g;%&tjT#|(q6A-x)|CPRl1n^euI>DC$}
zwG{i={}z8aKmKPtE9=PEK=IcLu@C4jJN)k8#;-pa(zwzEU)7eKAF<5d`ploBO1+kk
zfq3)q=va)K-KK58n(QoV?=GDsvG5V`-IdDdhq_DIQs-Au53$)28<tpytgF-T@sEN3
zV1URkJRJWn-$prK`a{SFaj_ElJ-{wQVnQkRNIaW~1Ma>R^1<`Tb7bvR6d$Oe9oXlQ
zzVLt6IoTOkUev?UwN~Os3UBL{|KFMP`NG@sXeEA#@V4&wKhLD^FTAZQt;D;9w{^q+
zMJD}Gsk8L2*vcMsq4f)l|MPWY2j-xUa8^L!{LlwTR}DQFEj~Kx=Ctio<Rxn+thdZ{
zSO{f0`tmyDDCIPO6Mb<Z-_*dljV&0b*7=IU`0CF(*VN#7*oay$_9Fv!K55Y-=+6VV
zFMTNfmdMzL^~YkV1KR7<;ZLZ;Yu)N4{k=&z$k$2t3b?p%821kMBDi(JK~4_03EXDk
z(3cL^1nz#}Ab*E@8XVp+C_I4vhwp&;iwyGPKSZ4$gbyIU+b+_LP+#nkLdPmJSIrw3
zJFvOU3j4*7iMj6|JZ7GWzBqWywW<N{EWm!3icaC*7nJvSYR&V+SRcx|&4csAEiSdm
znO_f8&cIpXnK(;4t5MD*A6@=8bKVG}e5an(sOM*>XASz}=<*l4{2k0owQ^44M>kov
z`ykGm#ZX52OeOKq?OV_%m9WWTqt_zsA$L|>t2`$<H>{$c;JMkb%@Q~MNbCpp9QxoH
zIa~3>P|VX+KiVvO3-)5isJ@HjoIqcfZag_qZG27c;jB8&Fqa?H)W-VTS3KxKzN%$%
zP1_7tRDJfdw|z?0c&dUO{%pPZd$JBb4f{>d!B!3S{WN8cG4Bb^Som?q0{`yS#s=iA
zkhd3ktD&wM#Da_@^2qC}HewE|P2#+11o<99xn9gw)wq|wE32^x&s+rgi>>-Tu2M&-
zpUPD=1=+gs4xYh0ym1HoB#G%v@8t|fLtj<;&YgP4LujYygZL+wZNdDCabdk1ATcGx
zM9?n$8(UbnTQ&soh%Os46n!Z995~v!N#=R+6_%pk(r1cZ>4smq-tcA}uNOy`zh>$J
z&Ks3-pH%PfESK{y*{wMLa-LdJ4L`;Oor4XWe>e1`U-iO{J+NW-h`ysPqDRo}?O#Bz
zpC--^?o)8@fm3+)16;pC`=oxduORxWA)f$zkcGB<G@Snr;5?Cb#Jy@gbUlFc0pjO)
zkXFuVIsUl#5(nXrdBL0SH`@96;4cX$zJyQaWW?qw@h3ierP2mgA_i2cTmxOWhdx>I
zJ?wW$8t5~|CSumgy~ta?vKX=&R{1H`Dv+J$^p>))>Nv}Dx?ZM&BPM!IS7oSA^B6oI
z!hQVvy5(~IX-rUksjxTdM}Cr*<SF@FjC>@Wq<I(Da@<ehn)hmHO}Wae5kK97dQV24
zn1f25fXq^uYwKQ{TqFH1?U{^yk+FDw)8Q3wOZ>!({gJnkPV%kR@@r&n_F}JOCeldR
zl}azeJ3lomub;fktF$-0VgK7J#opsymu;~9evz++aU^{bSf;<d5HhGjEbc}0mm}{i
zTh8rBvmfW0;D<G@#My|{eyj`Nb3O!LbJJjV&5P*YJ5Z-x)5Fbofr}tbg~Ay%#GdwG
zf9NBn?bWeA{4v@fwm|&)C-5hH60&<7<;+wH=UuIRBIzT<rOT_W_qK*rJ9<ISRp5S4
zW&RxJ<Gd}CYSyD(DU|(jPM@0Ts?Xk5^q0IN=0zTr_!Cabz8YnpjItvr8#*`)I%$?2
zv2=1+<VfFDPeLd8IVoFo$&c}Yx_+lc#)?(fu6N8Tpx@PyNfI*g=~%}=CejCZ=cz{g
zXW288^_TR+V7#w)z?3_^FAP0L8KT#w&f<m7avyZdrJ9DX#kxRr)P;JBPAb$}^fDVh
zKCctRjx0sGpv*0Hnyttu37ek!SLYhY!{GGY-^1a1_IxzVnUB6O>ubF?`~T<q<K4Zz
zuRoIia@HT2_jmV;O@O@3HTr!2b@@5@HL@0ZMa$dUinbS=z%EzI9E<g=3ul@C0Qtx>
zI-XgLb<^{mof}(BnZv$djpWRuzeWA_Ll!*7WPRI=x=DH`-4jSBXR^c&a{TiDq`rN^
z+oS(seOLBU-(PgA?@zncSLVem_}Q|)b8N5p%VN)^{}Cgo^^Tiu#PI#)(Wr~qj7qe>
z0(~JiIYIW`*0YP9_q|$R?`2HftXc61k)MnUc^>PwcmwkM7VKV6X&ia>SiipA>i5A+
zBZluYA8h+St{?I|3VHp%u3vZg?MD5M%{1QnzpfwheCPj5{Uo->{rl(~BZlvJKly)M
zKjitF6V~szcwFs%cXoUw{2cfZhS=}jW0a8vzhegGSeeWBV$5nTg;)>SJ)G03!!xNd
zSf4_#JmNF=m3Q#0xzVx3ZChZg^VG$n(?#&FQkX9#jWw@he#%qBH29vTZsOk6n0xav
zPgi2zb<teyf}I!L{RDo1rt)hVV7u!j4qiVs8V8rev#{?cJSSOUkBjYMUy$ChB@f_v
z(X~H=*D>#iZP$-j>x9?AnR7Gd{TR+Zug6~l{(gk=<$U<b;-BDq2%3U#g!jVxWUFR(
zj;m42(i*c`RGI4zccbfMWyttrJ0<Ian**+B_}E9;7_U=;_^mLH%ADqmSMgh3!Pxh7
zc9u%ng3Y?XAC|HseU-5bb+5-gS$895R2x7Zs%fV2V~lUkQ`+a`%k_}HZ^wJ8lCPXg
zKOcQ0^Bmq?#adh|87uj~j^I4|lE;hvx3yw!cKVp}Oqnr<+&GM~tVc`!`HAEsd06l1
z9Dt7Z^qgaFc3}=RZ6RWL&!Ii(2US#j@2jC(y9+ISyb?N{Dm3R`Q{Tc0zWBgQyH1xi
zusI)C^S<b_83RKd{Pug$_0VOBVM)4*gtumCUlo-zHy-HPdEZfW5tQf8@t+F+_WTtp
zcTozyiPa}otkBB;*~Z6FN2%{F#M0m=;(cFtV+YE)12H;@s~Kqf&%u9;_o`&gCiSR5
z9ny%IAuhToj6Fh^8~!!y`6QhExdgFA@nNt}y0;$ZH4j%JZZ}pl=iP%dw5XIDMBU(L
z8>x$q_fxhGm$M*p{-ij57i56<K5t54KU>zSGA3jm?#-{N#ypazsmW58rO+#>j|V=V
z)Mbpy-CKcuZHaF~X2T!ATrYV#<K|WLb@{Q*QmL237LV-GaGr8hT)sO{I0bu<SnpeU
zJ1Q=Fswe08uWNr!HJk5M;C-~mbFyku5B6_tz`kngGVH&73+uAy^kz>U{Dyw#HMZZX
zn&pg9J>FkTgU^RNV~FQjv9D3_3z0sJGG-ueJ<ESx`c}O;{kCcjqVDnzN3vf|qxn4I
zZt1u6<~%$f!Cq|x>YF<Mcp1)xysCvqY|}$_t_^Ez=RCp$$aW-TTaPgi9-ucj;7|JU
z>%w)#$vKv+Q}%ZfT6*wdTk#%(#C)VrQm997eUidC&E<V?ZnNJ7jmm@X%b;CJ#M-27
zVxvUfuA!(aWXN^higj2DF}fuBp^v2p!=2ca7yT^d1rZ<W?psSdi(@kvqF<MwobLYX
zwcw=wPXEtDx~~s+mTJ%)iQ`E>_+_mE*)P>xZ=R0+S$fZmw?!{c#c$CgiJ^$SGUF{b
zX5uZXk2!ag$XIjYEk~EXW%?~5ThV`~+*45QGd<LAbq}1xy}Gx<e3t?B%@Tcso^{Fi
z637_(St;#AosXQX>ZHD9z~cXkj_1NYI_o*dwmAOr>P!9C7337uh>!e{mcKWQ?@-8^
z`31E15PXK4Pvk2PR;6OE2jYFw;3<}lxQ6tuBVI}Gv(h!-cW=7Xidb)OG~|rF5xw)D
zAZ>-DEw=KM=X%RCg&1+Lz)C02^p>t#(haxUa)NYTNjKPT3x4;OUn^o!K{JkwcAOwx
zg`~q;-W+Eqh+nxRos1>1ktax(!abS0TtmX!YxZ=mG5Z$ZHF*x}nCGyL3C3K}CD4`N
zc)QGf*z>_}M_+Hl+$Viohi~UNeT)6P$@1Hexk1t`ku*+!%02vcp1)r1Q6IX#!hK+|
zOOr4boIa}-9{uO!d8IsO_ftyl;kR?|2XfEu8~=XX!*A!_g>uj754nfm&b>Ku&+Y?P
zJMQ7Pb5EChw%jY^9)3Ib%H*Cc>sH)z+BOM%BgU8PpNfAY<6rEA_>brAv22}_b{x_^
zhP3AQxlF$zyUS+~KV~ud!1OUppMd9UD;_Ij_<4*)XT7EDc{>3=!`wGROjh>IG}thI
zi?_xFJ2n}9!A7*P19c12x__J(a{yw_g_!H`4qvI<^PH54H>*x7-mE$;KT^lu)w_sC
z#~_nn8a92bf^0JJnJSOWGp^`g#3qfk^r&@c?_;6Di<qAH--u00J3QildwY&eioLzn
z2mccOY0{n5m_!V;0rlXyW3GH_2j!+vFBuR2+qlNucii(bPbR;O=fC|QJ`a84^3CT@
z!}F-ye^NetR_vY2nZ&&Kyi*`EJS)$oPGA@Oay}V#H1j`EI@#~D`#{EiZ}zAf=N;>z
z)8a2no?fgQkakHG&I=b}?PS)6p7+}^Ex#RqbK%~hFX7uGkD%uIhECw0A%jlj#pjYv
zRMQ^Q)$p-bU_3bEBM98RU#>$Oy8Hac{Umn5d48Te->qMIe4hHrd0zTM#`<*RA$69%
z`Bds{_e%xrh+_+;AdS-xDdHyxZ_8cmhf}W-@IA@-U+rDK%rKWNQ%COnd@-JXVNYi%
z;*OZtaURs(i_Zf;5?oJtj}!mgT>q*ihv45yU%G4`sy^9S{*As&X6kzkbHovx#|>M1
zPQ$|Xo>M!xZ}bI?x$51WlYfEw*m)0g^hE5!>tfp+*?iPFS^C}f<GR}Z_a2@#_wn%D
zQrwg0oxO!$3C38!URdFWSVM|`b#(b=bKmNCJE>uPsN!NH&2t1;E9$T}NvwMm`dijI
zKY=YUu>OP`yW*nR-%{oEu#ZKsk4e}nxfk?g?4!rFj~?4ThVkx11#Hr0_{9&wKBgwA
z<LtwRQ($lHIS}^F+&9REf7P)P<7TM~XA<RneSZ83$Vp;==r2Rk`+^di#{TNJVV@@H
z#$`&G<FcWk_i^2TalJ!q>vU^B%p<mS^6|D+_5+VD-)j1&u&>+JcG=gyjY*uTVB41M
zv&xn>i5@ka=!^r_Hx=D%>p1zI82tJa){g(t^WDa<`TRL}9`*W9o)4d5`HPO6uQS*D
zMREDg)?vun5Shb2w$_|Q@#i6PIWHs6HNckn>MfZk@ou~9u{tvML$1BqQpABurHxX*
zR{ZWQU4swl(2tVNf1-5IxnK{rc`Ia@Z`<Z-nghCz=LXp317CEORv?duV4J(^<G7Qc
zkG`JdlpkLOIc4ONAAf!<=_H<Ubh3JHXSs%R^Dd9xybyb}*Tbhcuu$wwc>ed{*GbuF
zv#rX=M_dW-H6G_PY{fV5s*#_$E=M}Yu6_7%=bCvkzA+wtgu0xC-_E^vaj(06o%-({
z<_Oj|I#2PsJl{>fdVHSsjh=r2&sW)XbL#XgI2YCN8Q}cgouy)%dg{XsSkF7QxuctH
zZu#Jww%PkZ#x}1(-v5LhuD5M-y=|M{k@qK1XR(9MJasS9Iy#BI>YBgq6yDZB7qu-6
zzNh-${n<C?sfB1;_qm|EeLM9Zo#k>KqI)_i+p#6B|LmMB`^l_F1K^7}dh`-}=KoEP
zs_>ngYS_v#MbI(W%b*7PCGT^<pFu39neAr9j?T%~bSv*XJdbbQnR>ep<u#Dr7WJUF
zt8msO4gJz`j@RdLh+m}92inl%`K^dGSHrf98Hf78w$yj4-zVt1?sMU?9^@w9#_K+}
zCcsG_iwvcmJ<Y!|#^fC~*SRe}^+G0ZV17s3saf7t6B{@U<J+-+FH^b}JDoE(-RHCH
zfb=u=9KTT)i8Xhx-|u_ien(|I)m4VX|MKHMamqlQ{|&i(g8t|_Cn@IvVW(A#j=gwQ
z%5hD^T(@~KS4-Wh6RIqPZ<@Mv>^<Y`zU((?u!jrny;+~NmwU0#_PKnBc?FT)i7`~4
zAO_Ze7+3|;hEcz2pE5L*;Ya>ndZxQA_Tw4OU-IZ}erUz_Jk0!|FV&}H@|QfEXS(NK
zfoC{>$-_zO>b4J^!Z%P>Lcb-JYkqGN?=1i2K&Kf~4k4Z_{w2;4mq=V$zAF>J`Z13E
z=;NQsUG(d2ab@f&Z1cW4%a|@Ugk;%zpmVa^6He}*h5J3q@1T`V(v0txM}vLO$>S6!
zk8Uz@9kTP-J<B+$TOQT+Ju?s7&&Peyb<1yjsmpKNgt}VmYnSOaHo%X9{upVj3$f?3
z9pCor(MDFmzbkO&<!@!=-@UIIPFAG_cu!S)u8O{xf6X<myD^D%s|R`{Hfs#lU~`e5
z?D3=!e-mG!0_*SI`m`F~&gniUw#j-Jdt0e7|Kao9=0x*(^6me(^2NS|;X`_1cTwlk
z6!y(TUJEgv7362yKg7Zn>Qyifw#QxzxJIh3by9K{<|Wiw+S_n~_BJ4YXTQvAuW3Bk
zbLg(?)o#R~Awy@L-irJS5yO=E1a&-4-W%YHi=7O^S2EjxJq5f+Hry$v^#tE;Nx`SP
z)ZKB`Ch@tkCaFjM9{Aj9ti*&1%$Tqh6Z)g+Z#%LHdTrUDT#56Cu~$)01lgd@A_KgW
z*Cm@@qV5GpJE#0_dea8KPM(+cnQ}zTpf|l~MVz3!-fWQX5|iF|Pq5Aqf4I9ZHCMh}
z%zATz^TySP53$~~B3|ss=5LN{pjRTBB=$F0Z@ednElJ$j(Ibg7_tt(FV!Dp3D^8Hk
zk8}qIcT5p|xC=JJ(Wg@MNq6~Ox4Q>ll;oM(mFd%y<@s*ouE*y|p7Olo-{s+XmR|+d
z-=@ymW6S?>r`h%(zLnd3Y_uY+^pls`qmbV}dhkWw5Z@AQaN2z^ZSLuQ!>{A<<3+q;
zHuC<4??<{>{g2Mczd;(Qvz#Mz^8XO|-v%sYihXwYo#5+)N4=Tf4*m||kvH>y2LAx%
zyA`;c@T<T&aJ7tA#7tGo6!RP33Ui*=tnP8KHk?^={PrE%y31vJdH-q2*waHyr5bS#
z?7x0P2IEj>cezaJfg21?+SJ)YpL~dW_3)jn`O7{h2LDK62Z&|GpTnG80bfXLS%XrO
z6=cl*lEk<qjw?2Ln#Zz3lHS~J#N4i6hd8}ej&-go3;vh0cZ73*cn{V(^K$^Pl~>`H
z{b;EF)H_t4^QWt<MfI=;V{ncj2wBOwMw#3CORN>;`{1uVjd3o%r^4PuQ_?zzBlg*)
zj<?Tqhp2LyFRO88z=OP$Jx^{G9`OeFY{&6)vBs)E+`oG8@%&cdG3KiAt`+Aq7qQ9;
z>@QT~9V_Oy3XeUBYP@sB{9No=i@d7gUwYvK^1TgM2UO!;81nVi>t*RIHKhVJzS?(u
z9;*<etAKqIKaZc!#(E(fa78Qd_uxsYu3|jW;9V_FGY)A&A@~I`oJ|g?<}j`=B5iQH
zzpUaW%pEs@+wLmcs99&I_^gA-{=3kf7<5SL?u9&IBbWRO?{EJD@ALOmSA1*g8*$j4
z>i)eR(*30e-IlZS-N%6J4R_~y>hrtz^-z}{bfAAv>3YzKyRoPIjdFX?k^ViU>p^Gk
z{=A3$de9-flktsm7eNO2)|csTi%pPmC*w=bqEz5qM+MGxjJEls%bzv<Ry(d4ho9Y)
z#Qwh*XE>734byMM`3)K4$-7ju8q;xBYL2zPF5_2Xn|b(?c&WTEFX!|n9(s5s-mR*%
z-nV)aI+fg_Mdd6+67jd>dc2Q{*r^YCGZyJRIJeNbV$i9bD^>GI;9c0`*KvM9&ZNls
z1v7Su@gVJxGYkc2O9JQJTcOk4&w*4Swv`ed``E1O+2;8W>z$lV`0b-`hM_`i$R)O)
zM0*t7=eY{3%bas0F06fe^953f+dhhVwLot8_RXTxF}_lF$#2&p&o=!w98@pI*_I_g
zKpQs|tSfF`q?)lt8iq47C34O|zMrl<a<&oiVw`o5cBdhW3Y?*K&M;J*U_V^^56K_z
z%{12+>$gc6by~Ri6>a3AU&~pT8}(+KCA#eb{JsLdPiiI3ieQgov3;gR<m=3ngHw24
z$>^MX$=98wKY{I^j5<kuC9luW7n0Wj_s9~-L-Jgj2p3Das-?OZ-%D=(8g^QAL-b+)
zjjDOSdsK<6?M2>PPCM+i?0vSvF3b5B?z6dwsicIz;&{FdHZSF#)A$RkABW4g08Bp>
zXGVJKn+Eva$;+&CUdP|Z*zVrfvbQAZ969_M^}7}I>pr%B+yfVq_CW^H{ucR-dO7*L
zh<uVgJo8o$+!lEjW92D)+o-qx{LPo0<<|E|@=B5zk0tVN*Vy~U&U-rW^P9S#F$v?H
z9ywd$oGa=6jCsxn`C*?1ueo*>${3fiEn`~Fe$?&G_zPkaobzhtnd5pDtwkJMVSLIw
zDCg2lzq{YMV&^?mCk}&Hop~<J@-?#K0r(g=Uny(aCRxvhG3Uq}!~TOp{!-?xREFdq
zl(X|WnBVXW>ra31-TQ4X+9dkN?<Z|UnNklq|0!*icXu3n*a6?90_{m*U)+VVCB9=|
zo&D1o&KP3O6JNyI8yFEEDc`lgcuHR)`?4eA-$y+UB40Uk&<cNKa?sur!1+5T9`^fx
z!XK42ANH`rNaK+;U;l3VEbvvGcWgMuc^<}rahVl!jKJ>}AE*U+r0`b{Su_t&IG=UA
zOvGOh8EcSn41SFtZScYmlDRt@>)%S$Rqj=wKi)wen?jh|alZmFP)X~u$Bx1r?eDgi
zTLF6^edp->(T}Y6<(!z|A7E3`sISOI<n$3@hK_t>9N77F?fLx^T=)L_o9HCkdUSav
z-h%TCP2x8?`*R&Q2VtINK)glHGFY(~yq^zWD2aO)jZ}3mH{O?npW~V5KXoDESC*|*
z=i_|-q7uYr52^42!(kVLkflr74ZGf(ZAoE%koV?czb}?}=+|hs<l~%g6rB`3X_WJD
zC|A;W5$E{??N`7q=u~bFeC4+$)l9;>vKrDaM0)&tFXeI$L;k%CIZL+m*o+6IF49+b
zOJ2xB@_L8zQAnSQcU30gETvO-d}psK2Cx=&<GOCM>)ML`H23=udk`J+Ko5iFd9<Rg
z^C*_xu;LHD!Pr8)wCND`WtZX|z=0<^*M+l}GPj9L@O>8OzPyKqd@+s|;5%SR=(j0j
zdI#bL)N4QbTH4^~({<pa|0TV{T@CJE;BJ6USmXMIE`MgTS-<SKw$%E!>rjTA-^TZV
z71n0q?T%fOu`PY%tOwfg?|AIM_g)UJmpxTEyIT-{1~T4X35+<o_$&vo|JROhZu`)8
z;=k;I&CmEO{me6$9{D~Q=Eo5z(}fs@wO5#Hu32uux>3HH1b@QZA8g0-sp(iVdhk62
z_()>cypXY!4g0k1Vd(A^#j5UyGf-aVN7<esYDyirI*iW~y%$&^^B!X28p@M?m*1Tq
zLgu)>1KEjQ`emMlt(9{_u&?u<le!_!oy0hBVeDJqsxt2lFUPay`AXO;kz3N<k9Em+
zcOV<5UydPN8vWuk^&Q`IKzez<HUOO!-N(CR=fkdCTn?L%ylYltYGt2B(E<Mn&goXb
z_Q?K}$kdUO58w1jLv}JI>hawsk)iAj$UcTsm-kVZufSQ~c*Fj<-F~r0Nz_Zqtv*3)
z&V{&n5p+oWUKy`4HtMq_E?0Qm*s%7)|74xlL|dOg{?2@sge`T-YNeRmM$|?0*J+QV
z2VrRg?4-i|mVMX<M8DL_Hwjv%MpwX>kZ)wbw#~o1()Jh84{~0!4)cjTHyVA5vTNo0
zoH&2n6o6i-$7dQF#1BC~Nt?a4EpNfzXLmoyi}%5~Kkq?3u11}@+v6!xPsmW#UB7_d
z99@3g_`|!r*^rUM6!7jDWGG`!<|%VsfpIAFx#(RC?*LchcOW@6x={2IV*|QSUV-tS
zg6w#Fj>Fla?){+#eX~D~F1Px^Jd2L8+>SB(HO^LjWPSru#`TE!X2h0v;9YOoi<9>l
z4!g5TW?)RqS?b-;t6<kT>VD=rBn;m-4gJf-m=3|;l=_LEBICx?YmArsA%|ViKe-n~
z9Oz{H`Le>zw^VtS1@XQye~<EJ$kiHq7^BEzF?0s!tA~sJN*|@1J`#K1eIEvKlI8H3
zlKtkG=Xb?!97dgYNS~1Yk3<<?<BWPwvaEtHB665HLe-gmBhD&`Ki<8cAMb&aF(uDV
z#<PCZ9r{_TR9W<0^q-TL=>0=TXZnwjeU{i3)Bm#8o#t8*x`B0Pt)m;ap#AdiJBr@4
z!~gPQ%<+2!vM-xNyY+q;kN6FrR{Tcm{q-Bcp>Jf2w)`;TM_FUjI!ldtt5*CwoJp<?
zUXQ&QyzAB=-v#iLMUxmGY0PIbKUAatrsI85^jW#Q8-YA)q>t0P<cz--m-iSh5E}wt
zJrDQuRNm9U?~6R~j<w_iJvU=yDB}$ocSt9F+IoKPzC`PJ*xNySq+U`dEer2NC(EL;
zevtY1HONx#g-}1U&f&AoZ<;)d`?}cLi<BWgs+0r!YWj6s=Rs#L!rX^AQt%=*MfbqY
z;vI^5l;wsEuFS$Z9Pb}wVGj4gPOQM()ABvE8FCyW?Z-Ry&5+geA|v#3$1Yd2Z2fFw
zN9^oqa^Qf*6wZso4(C-2@s~;6_QM7}EOrRC*sKSgG3l<uUaVQeZmd_a{+2nX1+uo!
zj9nbI&n2|T`uh^y=tMc2p<79;?NfLc0%gvZv+82|!&uA1w>0bP!Ed>r2cN21-pxRr
z#9pQ$vnt4`9{noylIJphRDK*U#@039p2v*imUhK)M?ntlI4dvpbbJKak5Acpvd)b)
zh}0YFov>TgRQHqbm=wkTh_Ylp65TmRsi#}udnfU2k1N1ix-l{?b(;ZPfvd<{g|F(6
z_jyMy(~XyAsErl7^fEv8KjpcTAkz@~*pIU@fg;^ls7CA!<NTl8)7A7HE{q$=??I$H
zo8@nxBShbAF9L7M8=Sna;LMT3!9NAv3R`E=hK21jX|iVTUN;x?$E(!DKG1#hJu<XW
z@{#-%@@c~}X1oM?2s_`bP0j3^+jgbvJxz6%DwT08|29*1y<LTWmnDrcBYLZ*X7tuG
zxo5q_dwP3y{JW2=x1z7ffjNyYL3dM#rM!si@-1gaFL$34J>teYMbK|uVn*_A4D_V|
zep+w(u>|_@IP^ol&mwY;pw05`dL{n7m6aGjx1gWJpZ+^y7VWSNVJ)LCt8o6UOJ6iw
zUl4B$YtR>*5tMg^%0ypg=tddxDN`e!_KdY`^Iwstr7t7Qa$f+pbh<bmLLHt1-if>n
z=$s-QT{R|CCSp*gjw<M=f{waGN5^W>QBo%S8qrbo>C<63uLgT8=j?uGmur@V`SF*)
z-E~1hPlMytMpsfVb73#fm1Eg}uRg$cL-ChH-ZIvzPqYW<Ri$RVk;btB-OomPkarTY
zk-Qr48)MhB72WMgHO^3q+$Ft}SH_-L|5mGxGjlD7&350L*@}P9G!OP&%19xW=ak{^
zw$63o-p%rEQYCB>bm~FOuM)2l9WreaI6S)~44aU?*0M=1_*ka>x5q>b`@IY8Hgq2o
z^^iw*Ip;ynrDN5`a9S_Zv3FfP*pl;F$ap&bWNwi6bf#gSN5-NbWAP;L?RYmy`cL$v
zLF~7FPW0R8$G@Zf2Qg2vj+(Jk$ENk9qcgN<EuKxCkME2_U#6;}r-O*A%3AIeTUR8m
zA>|G3L05{<hN6?yMg^OuV?Weo&llICo`dn{ycgDRf_+pk#-~|l_(jscNu2F&vA=86
zV$T;k&QqH{nJtI+-|t)_K1dQe{b&3ZzZO1mtzYbD{cODFs~dN~p00x}@O;`?9wu9=
zqh6oLGqxV%8wZoce-Rmry?Yh+M0fR1tvywdh1`2to^kXQ_nh>b!JGPtvvgd?XTkTR
zlXv5Mq^;v!XPhq+JKgPEwS03~*|ytx-$Kq4cGn}vcCSYN3_8L6`*2^*lu3J5pl+HQ
z{(>zt1({j%56%>SCG$_war4i9q<<KHUHyr7d7Sny17F)i{X-|H%Occ8;;l*afs@ZQ
z$R{QoWbAMi;KX;8avknUa5oEwdBou^1NRiZ0n?joE<$+^$+vPbK6Ipwz~=YZcI?xe
zX>5HNCFQ^`++;qBxS_}oewX;R-VL*i{?Mh~=DI&^<$kv8lr#6~Tl<}*!)_?pCFuN;
zKfR7}p~K(CH&P_c*-{R!PB~wo&ilaeGuJiYnMy5MEYF}$D^SObURmYc3U20mVoTg+
ztak+DaCCVypKGd>cwG$fO7YFj7#qeE)}h;BGYxsqPv(2rH8UnEzVhQ^@NFr`@6cFR
zRNjd-V_ldtB|atN$Z3<r##)h1;vMqbYWq12?RMpa&3_YM1#D6nK2(L7t}yP^UC}EG
zRNby`>+-Jt{2<a+;G4zmm8x0ZThb6W!@r^2sKGatwVn9#GPhyQEtmZ;uLs|4L0Mz*
zZuv~CrR1F;S<~;u`;8u?m$NvsE^I(~^4%k>#WLT+!k+rk<*%D-eR)>i*^y^Iz_aoW
zv9$S5&<Cs|=6{asYnUUXz0UgBT$4hU<{BL`lsLVtf4rEV5&tvN_S!f#Ly2G5<#*1N
zIem*Oif?EkmI<HsZM=7fK6Px3AK(3(-pkzRmv8ee)tk>ooyMr*MXd$+{tL!6*1D%+
z?#EucTJjtCLel^E4%a^H-E1!^oMpx7;qy!Ue-xfQ2Y>w`Q(3pyqrH*`zVjq&W;>t!
zMgPVgc?15vb4ernc%_&xsu8b3rggF|s7CBn%G2;ndF~^{5)WFZ;os=Sx3PaAaWk|{
zp6x*UFT#7gPWxQ{+nF8YEqOZm{Tca5z7o$xV6|LFz2X0weuVb~F<n3AC+FWQzYAkR
z>dg7#qeJHRdLZj1e}e9cpD*<l-CZ);YNP1-DEO2|-a5DDTs5jIuG^pDx{tbDZ$8@D
zQ(PDS&H?44FlI)zAfKF3HC^?mxULU%bn1IW5A}T-@!fOLZyvktQt!;#XGHu(l;y>}
zG}>XVfAD<?tfOjVT^la3e3&ry%d8k;LHu^~qx5+M_e2lHZ%w1Gs!NnH5;`HW7-8!M
z>&1U#|NHmwon&9f@ma#qHFKW|_8s;B`fkP7<h<K)F*TGSHe7t0J^$!j^K*<Vk%hyh
zz`X+Q=g2RG_r-UiUa$+>pTKt_5L?;)G3s|YzU3gXr7-%;)Tt`}sh7K5=Sv&@jeF<f
zdEuQr|BO6k58X8^JRi1ap9-H7T?hMW`Qy-0*avC13cI3DNW1Z@_>W#EZiBts?mnuw
z19Lx>@f^xvdB}NZ+b8V$_siYj#O6A-`B|*9#+dfRvd_+#bz<FYo1HlKVb~k7)7@?K
zIp}*Ga$F6$J%m5`MxE$x9&~O8{J~9uSw<<ocXXmSa|6bb<WUFP$2Q#$PU4a>F1&U*
z8uE5*I>zSSAkIYn686#q+cXAx=||uEKjgi6eALyw|Nr^S1QHfeA!LKw%mg>kE>;4j
zTA4{`wd!rJh-+J!No<SK_Da#ZV9N~Ht8IE)r&6)C_mV&tGTm$iHFhBbwqmutE)}(U
zbtVx-(OVam1f=;sU!TwCOg<TAMti@H`+NKz-}^@%^U2xI`@Hw_KIhC^#-8yi`QNoy
zFeSYg{<?>=LuUiy@bR?S!TB3}Tur3so*2{fW!6sRuGcU5T7zyMeOwHTp9F@E-;g!4
z7?<!Y;pgez9fyXms~v*}XHtI~^%v&hK5{>l@mm#x?eoMwbTK!<RxlObOc7i;3ojWM
zVVs(C4|A5BkzZc0+D<+FKZ80=$UntVuLz)@!oy;uE0)8$0=ZCSoum5WNSE9(?QMYX
z6|1j3h0R;67PIeb?n4QA<Jd_o)RnZqdlI(BI^J%qwpJ&Irw}~tGI5w;__E@SrUU;3
z@kkE*%kXN&X(pQ7a?vv76z^cpgs9D2nfM1=Wxccest1oNZX?R)#6G7pr!wUn-xPL|
zGnX<pNd{SwASOuVqGig(RSrAdnFrsc#%HS>J_MCZmMPbbUoF8}sa&{BxeVo`r`p8F
zeQ&$ugu4&)$dm9L>2tJk3AjBQyzGF^mj!|kUddjg!3oI;;iPc$eI8z(1YSx`RO9<t
zHi<ga7oHe;`7&(_A8zBmnmj%bTcL09Z<V`BWjq|Pxi3K9rvB%ZNBo;5Ucvn0%IAOS
z1#_WAv(7oC`_B8vRL@&m-7lbT)89qPGwZ25zD?c&<#}spa~@dVChsiedFvKe9^WQ!
zzVf`a$|#R-llMX8nf1XYHFKLw`u7Ac@=V(MNn1mj|6U^T73tf|{}7)2r|GU<Eq?9i
zE1NvN5(Q@9m%~>w^kekuKI-ZJ83lYL%Ra!Rq>HcI@Nl%Hf_*sg6VuL4_(`#P*f<NH
zE5lC~6T9i>Cp)M3_{rPR9{5w`$DcB^l@ZM}y)znATxD4J3yiYVgMT`FqR<axsZGOA
z%FtI*bZGcVnQ~#3Gx*1MDf-Xg3pcnJEmJP8a)zJqU8+4><qSV5Q;t}X5q?spT!t|j
zesa^}hM&}=fAfUPPqu(Z>=}&W2iK7&e!wGHBm6)#=;H@VRmNLGhX(mJ^l>?P{&kCq
z)*OB?HGPuk%v-0N(tZ5k6Kd1&18C6C56)AbSr6s;_`ye&XZQiWaz8&fU3rEdD9^_a
zBFZ!TKzTlX(4stGBYwu)(|LYy66rqyUT@ETYtj!ByCOO)<iE!j@RN7Zrpr&<^X$?O
z*T5_KJ=<Mp;2a&1I852^;x*zkift;?5AUSUBz?*z+=JdVM|K4Ca}xZ&Zg~FC6!aJ)
zE2PJ$tnfoJ<NIFSCea&uOaz-k_j@I<J>yO}^d0Q@%O_(qy*Hw<@cs}yA3J_8I$#pp
zaiwF&k9F+$8RRe0Sq|Cp@GSZ6!XYbl1AQHZ9p5H99z9XAYKZg0;$a$(bU)?wdwFk=
zXVyY|QhLv|lp8|t39YwNzhyij#-p|B<~({S+RC64h1%@Yv$Pk&525nWGUekcKf^7T
zE2B?I*9tX`$iHNnvfb!UA^Z{QTlGqfHLP;A-ki$lTp9RsXo@$NGUcRWg%0=TQihjH
zFAL$<(D;&N%E|8=s&vbR%aoIj6+(YkdzmsaAx@t5r=|B?@@K=Rs?)ci14-`@UMv7F
z>cL~l(3Xky=sxuiURyNIsyh8T@i(etXs^Dn1>L8<^9!`G54u{59CZ8ulnG&5SQC8y
zBH0$KySXnxxMg_TNsLE0r1S0uhivX6)3?zjW~q#aH*w|hZR*cZo)1@amzn;TFa8zf
zdAJcp|I)W<bE@(TJ}8fGlQ&6u9u7!1)3?d1RGzo)(#!O1@+{?fYn@RZ-zIMeS&?5~
zc)z|)-W$sE)-*|;ncFL*JLkX2Gifi9rn5e;qX(KePS5^**x0{${zi<F;cxP}fis8j
zx8<y>c)@pwv$~b{<YfN_z=!QyKA4iNrWmjm_}sZ=_}t|lZZuKP&*!>`sf^LKjUPom
zLh(t9efdUs&T;U-1pE8_=(G*j>y16#<<pQ}3k;_!1_b+4I36w&*BmBpNjSNQbBf}1
zh7TXdJ9|nm9FN}LlMU?PDmZ8X*O2@z?<&Am=WY-8UU!Ydtdr!u)8AXevrS(&;p@AK
zzV^U7yVlvMe?AhM7hAxg&ocZd2XE;@C-^4kv%Am(R6bs&d{X6`+;VTn=em5hgZN`9
zo|u8pba}di_+zPZQI+%b2-PW7E(g!)@^p%LnQ}>$Gx|lDa$%M8bd7GlOZ6-Lx69Kz
zqGig(RgSe1taD{_)g*b6q2ir~KQ_WU=d=EXcYY8WEc8>IO<FTFBmF>k04@tmeekNH
zwq$ks--sI$E*XA0m3I%8O`6)Ny&mC@q4!<zZsExoAD-mkal#pcm;EZ^;fDB}zD@n7
zmFLF?<vY4#efs;%C%^viD}9?b|EPN2nkSXVx5@jx^1OA<DbJ@nZdRVRwz5I>ZR*{l
zJhPt4^XZPiP@cDj(tq`B>ZO(Ety`QtGq>-PeyiX`o=ICvT8gwD^kNeyUC195kLT!r
zUW~NyVSSXnghuVFaz+HcHw*i7mhj*T{5qz8aB%5j-r-nBpYkO{SZ|$sjClTH>3(A$
z)fq6}ZQ?Je?^eF~v-I80H-85o;d>?D{O#BGI==ba$9G~2dpZ2=);DW)HGjj>8}W1X
zw|e&_c=1iTYfSQ6dTRh1W>G17jyTTTx=4%8)UDynU9^fbbph@l=I<}+zlm@Dp5Qw+
zi}<}(&c*Rde7JLGyJDTiqc<OJt<E8T^{sr}V<*4&C%H>2-cB3*{a$Tw4oGL~m}~FK
zIoL$}6}I)Pzb*2ew&w8u-VxU74)#d!cg$+%ES}b2CFk+<KH92B?UwWLgIbD7MMtoZ
zX(4!cHaMDxA6)LnYTKUgCR1mvz6HE6{+}do-TamRUxluI%dg;^L<WZ6nm_a`IOK;_
zW^d)(y_AU%3nBRx@$QCJ9o<ng30!M*{L!QRqNV&7|IS!4;1B+bhs7)8caS|H|Ap*{
zC~GM^lRcqw#(#0MS8s;a+vgXxz>B>90>9{5>MG6e!`N2BhY@`nA4Z{1^lsKH0e=z?
z&6JT>Ipm3K-X}OGnSfWRe7sEgq{=tFGx_GXg}bQNSOVw!kS(%@)pz)9<eO|`XHI40
zQ4ZOXc!%;W;qgGbOnZ`V33#CTeLMM<@Ob0f$+rafqW0cizPUcp3!qiAul03go#fjV
z+R*((rEKz@9$p&RW&EIDq>k$=tx4~wEpDqzz6pN}zdngRg(v^$!xPCj;f&$`vsA{z
z4aqlsoBA`z8-)+bhc0y=`YWnu)*m^gZ`0;f<#}r^`KE7^H%WOu`KE7^SE)R2Z5<yg
z-zLveo>@=io4!rn5WL^4q2!ysP2L;I^VZET-(DeI@=bXM`1Qvlu&45{&iuG>!k$0F
zi${>WE2ZzRU|o{5Cw+epy1wqu6A#+gVLLtz>H6Y9;%6c72-<S^km?w}#^=2@ny44@
z`87h^O%iv?xqgk=laLkY&rQx<If1j(Rv)+{e*OsO7ma`71?Co`o_(CJEc@d>AqJ5B
z(TANoUa)1HGO{J`V`yyR#cFfIQIglX|F1SJ|5SrNhWu^r+RI`GIP_A6H)Y@*8uRxV
z^L50OB{Ww0pGV(|Ip2OA|L;ftkE}=kXU-9?&2X9f>7tA)0{p*8n-S!g+RKy~YYx9k
z1i7nn@iOI-D(AC@?J{M<D(l(Ds>gha?iqChn}}yCt4^tMQI+%T=C_j#5$tAXE@j}J
z1nv=RXqB_elnbjI_O!}%m*MlWT_V_gDi<wRjyY=I*3thTHvF+VJs)~B`oHc37w(8o
z3@?&?CmxtRX>_{uyHAtefQ*-}_JN5F*ai&`URT1`aw~B?qBp}|8~Q$gZP3uEHgrzS
zv0vwooK?$m{=@8PDz3nd8*t-ugo|c;PcjbS+#8%@H8_{#{yKddUi2R-<KbCOd3>At
z+mz?SttjVY^uNw_rI@?HrHs;jzLtAc&)^TdUEij^JC*0*Oj3D1U&~LF=i!NDg1$|?
zA1Kem4ao$3o4kKlp1}v@@on-rMCY6paBvE~Z|0UFeHHKxKh)G27LS47_<79CXAV72
zTZ$j`Jbh@{Cl!+h?wS6sqQB43-wJH7gUdJdtmK@M&J*j6*L-~01tb0&@$^CTMDcaS
zA{{_ZGlxU`IhEi}jDFsN7wz6^r`{ZJ;~9i|!aL!s1^$a~O23R#Rx$LF+k?clsIG9-
zg0F|LX%+>oT`}yP^GR2n_7HK?`@Hz8e`h~b<95&X)uf$w9f;k!Ua>pi#0iJN|EZ(z
zfr)&d?w%iPlHAa_!S()ggX5fYgBGzx{p;Pg9*7s1-3=Y+-ctWsoWVIHb7t>3ball(
zTm(E7+tQ8CY2A4AAM7yc&E4$zDSwB`o#OG5GUwfL#I9s3KjNGzYQo>1J<A&EXPi2d
z7{!02x$I>wIzO<R--~B(Um~z^?$xDzKR<X2-tj7H?2e_5cTsE8KN3G_1Ll;~yt2g4
zIJoG=%!G(lDvX&)a<<qXGxGv%+)ulO{)b<YhP-soy<ae58(Br-JQOc|aQTBy44>>B
zjr-v8JA1H!96W3S597=~kBgrfjf(~k-vSR4I-3_eEp;0_KrtRk>N#nN(^CD+@mr+p
z&WnU_3*3|3)V{iFn@vw&4BjbkFEN_?gtKh{CkAI4I2)cgtyA&%g?O8!yw*T?d!|?4
zkGDDaBQbWn`nZovFj>u?&T=aL&*Hrv;qhu>d$Q+N^?+MLyTFs&$5<0+PIxl|9Bp#?
zPxS8QT#;f>_HVVEw=McBC-ht;9N5a8#@rQ{tvn0=HgB~A1H6%JbFP9nOE_2BPrlw9
zSx0=3_<7-*BggTEfQj)DuHAwDC>+iK8&{uk&&#I0bZi|bZp#vVdNh2Qr%&yIr^}aW
z?Av<u5cz=v^e^0r#;la=?-1h>E%l!TexN^vEO49kQ0%V7c(gv5GCo)QBF=oR5NCBi
z&blyH!KGXGbgU1g-Yd8Od+`LuICL#MLNqf|>5M~bBwxi!d~AzK*lh{zvC@Xq2Wv0f
zNP^oYwmHh4-O<p%vqfk?dx-(g#n~bEPTe%~J#ah!6YqWvaMU_XtHPJS{B6q`3RGFh
z2FK6r-rcTsW1PAR)dpsXfHf4MJ;5r%JpigF_!Yt~%K6)V@Fe2p38ow1WyIc1cH=qg
z)8Zo^!awYs529Ss#L0;k3eGpiwU<X<ij`1#;lGg`FZ>7eM4l7Z4{XI>-m7*=Q+&DY
z-Ba2HPwZ#z1}8obKNe1C9mFf5ZlC!(2eyz_=;L@;{Zn3iL3c~80q);X+B}z*yUXB8
zw{XSdxtTI&n=`;6&$m7^!nY!UL-iV$Z~f8XTWZ_Dq#KyXpX0=;dU2B96P!r<q3EZ8
zzZsvO`qlegJHaz24zqGx&pL1<2<{GeJTJn%LG~D{r-L}*71$+z#4Zs$_JZ%?gL<n;
zej`UNuL`8zY701T`sr>U$!)zUr2cRFa^x0kYsm2xPC>_z{vduSnhS$p;)^#CgKX}w
zPx|5?ytO*V+zH=JjKT%L&BZOwvOyDX!n=fD7Gu{r74g6B_lTD$p12`j=4SSHoigB+
z%4AQZPwp%0W;`LrBHR^!c5V5o={Ja5QC^4g;fc@l4x80C*NKs>*F1bUf77w-`M{Hp
zX71S;7T11oMipA8O~<xKxIVOV5}psOi#e)YwfU*T-15e*JMK7Z;nlRIHoCyGQf>5s
zXBSjh&7u>*Ks+W)9l>+4&MGqhesmnc;2h>I9Uho-UKD)<8W#*Aj9cq|CHzqLHJG?v
z#ZRBbIS<|~uQs?g7QB+*Pw&y0G@G<q_Ju@)g=5%u8a##m&00N!e{-K11Ld2%F=Xdk
z3m4LVv3a~SG`x@)hC76JdN(r2TZjFhKYb{iJ$>lbhg`d4fceCkyZCGW%+mZddmMNF
z!mIQ)t;cur=WF5x^V&fi!XN%Lyk-aSsb-yayfHl6zveqX=&m{MoGplaz*}>CTcy^k
z3w-$0B-RTaUm3#x$y!7hx5c=r<HVF_gO%wQ(H(xu-4-uG=PDx^_2G&0XAT5{XTE@K
z9k2R*!+g&2hQB^`+E<8`NL~{k)H#O?xZA~g?Lc1!5AZv4b^^NMEPC$>t71u%GrdO<
zo4(enb>4UD_R8oy*W5Pwxg|$y(-q@+U+jX&kZ@UNEZP_&cyZYd<XsHiI8L8gbb$bU
z>5PSB;Q;H}SIgaUv}rLn-TBbuov|1|UaIYHadvb)xVD)+^L}tB=A9kb_{#9yc~<q3
zpG@c7S>HQY;(5|d!t@^kMu}5LVC(6C`7@<mr?_&%rmXOwiL#4I$l2_N9lq<H9ry8F
zG^9<6KiB#kT<-B&AFc~0KIGxV4&E<`Gnc~qtArCSzSpO>JP02Kj?i3h_xnrx54ulu
z$IgQRqiFcJ_m8HZiO`S7H-|)Tc^W<yegXYl4i1OV8S=c<8Z&|SiI<!))73el_oX`u
z?~VV9|4tw8jpDzI*oT_)z%7+MmEODuZaKZ@0c^UMw<i$u_*sUu9pG*honf9ecFD`|
zR_Puu)>ifmtg?FLZ+)@$biScca74IgTj(H^4}QX)3EmEcJY9pkk`HPB*R)@bSKkPK
z>t;P(WbMSO{e1cu+Vks1e>k4=F4$Tc--(PX7=sqUGwmhhSg#7kQj4x+OGjdS(urb$
zk@0P0EQTk1i|_f;Sv(wHhEMlNov+3A63(AE4*i-oMN5ivY7#CV;nGqBTAI&WfY~W7
zEh)~a(W=;`^^35kQID1+kHTJ@Q@_{G=6oO1(sk;CvFp6N!_%F+ro{Ja(npflbi8;7
zw9PpB!Lcwg2|uU4?BAdAtG8gpL&eu~@YYYT*5Z>_FgNi#@utPt6EWagXVrCfOswl%
zhWvXI-=E$9yMjJq__l@T$&<?9IW!OhJ~z{6%-b6Ymnk1r`6jpB@cT-)8+|Y3@O@jr
zR%6H^1Ll?R>DlDPJl}Y{Ot~boBIfzYRi{*YVU_cI=G}akDwjEya>jpNrd(X*JYRZ_
z?^5mAD(CHubcafp%WyV225ty0(K6-Yv%q0+R=&R@;9Ka{v*i2z5HeQ!fzb>0b6$|M
zHa8=Wop+pr$m4bIJAG&eGAn$~=|jKx17``r-+uU$WSjckA)9|(nK4%J9u)qDJ+wWF
ze|fs$2F_^9W-i9RV)q@&zcO17<zG)Q56N=zuNvWX0sopr+K5gt=B6L;R{Nc#`T54>
zoRc5)_{I$EfdG7CfO$R-d<@^vyAR?UagT3gJ-!jchLVnRKXZ&T7s2*obk_CMEu^bu
zJBBxPL6d@EBl@%Ce>X7x;va!6aQZQANUj(itc$rx9u&%tnSUBySZ=L8%vwoq7p|3!
zo>CI;&|3!>!^OZxI3S%Z{MploKE~KIhP?c}Z@5|cVa9z1c}EGpo_%&Q{6)Slqn~$S
zvr9KsTi>NzlyaK$i;a~%vJWIbj+gvtbmd1@vLgil{^RiM_Nq)n1-el5>vmojl0K3_
z7mCrA(S?+jcyM@O6S~kM-gcHQ)Pydy$kT<+qpYV><j-FjIsWhiBXT^K8E#(3+7#l-
zg`@>pbB${SZ`!1ZrP$%&iezX%exO^?m4o1n&f7f?tb~srW-h{=u@>*;dbpGHa3?~V
zWMTr`k$nFG>#nsj_%Hy?z0TSXKwnxD(T~<Z;}dU)dS@=`C}VhlogJZ#$-*0t=BI!Q
zI&UUEDu3nEs^js=9B-fK+q74qJdZa<pCHe-hj<X)k>`iX^X(z-Ri4KK?I+3e?IHeE
zc^==3E01r3-#f|s9qS`mVA2LiTctGQj!An~Z6IF;Id_|vFMp&hWQ{5FIAxYl&*0*>
z!Oam|oSu&2D-iz@9LE5Uwlua4GWVZ=t*LWUL7myuk<3;d`O*dJAMtC>?iruq7S><%
z?0-kqocEZEZVa#F&Kcd46`g5uHntIc?J(|R)4R<&XAO>23upDlMynM(YZ31>zlz`H
z@uo=czTlKu(tEX6xd?gP1O6u&hjfR@@ELv20QcLs%;;>wr`L-7ZUt922Lemt#7I1T
zjP9`*sc-Dyps#L>x*>EHi@MfPs%tIz8ouEW^{^Y9JGy7$qt+PY*ZW?TOV<{6E!__d
zZD9-n3!RGcVUM?0G5(C?ScNr|(fY$XGs2OH{7SAKVR6P>J_C#Wfsr>d^{%+m)psNF
zy^QmOreE8-WAc}LeQzky_i@CEyj|bL`c*$OXj6CIc>amJFX<K1l)sF%&J@Z29cc%b
zZ_J;sXFvPqt?X^N`y7FEJ2=qKy*Q3v!?_E~N-J(_hwf}gr%7;6A$O_G5>6$6r{pWV
zdTAAV6<Xtvqx&{H>r~4+Wr1nl9`InUJ5TDt3)Ri|&U|=t$@^M#$K^#6uveLn?qGj~
zd%WVbS7`HWo5P)?_=K{=XvzP1!?qEA89us<EICSkoT=y;+?@p<dKbRjEd1w6{%m+)
zPVbA>VE5rqi9_dw{Voo>cbU8UFtzD_XAj8OTe&jvCyHkgFDZn}V$K7YyI{J@_@D%{
zjo9(pZ*=a@Tr{#L8Tr^~-`&CG4>>+N=`Wh+Cy66cY=hxP(wFM@49~t2xb7#PH67XC
zKLH;;_XPDFO<%y5v-t~@AM@RF6Y<^?jF|TX@ek~wz06qdM$p;iuG3Oih|eP*a^S}y
zcW2`#+bLga2kVFbPWl|Ux8P%p%kgEevQwYcT{p-m;Y<94((4&L9vu=Hu5w||$7>-6
zJz05<{g!*@L>zyY${843L0_MSw~ffu;7#k%zYLDr+?%q|2eV5lKYRD^>}u+`c2;%z
zcf_;(8)f`@(Z!T2w$3k&+yR~U|E#2L4xA|5tEeKzLVVp~{rb?KZ{t3lBzB`UV5J&>
z>+|qy!D$b$lRs2?-A?>%vgHKF=drgceENfdO9UIO5H8)^x$PhSEXE(#m}o<M&Vqi$
z>o&}ikHLNSUVQdK+OJmZhqp#i5B9MlePp~oB!>+Aj}Sb$n@E1bnVfZ23{f^<r@nQ+
z@MiRS#&#aMPnUU-eLBjS_TFMVq75fj0Gu}Idr6;~8=id;ux_-fcg1qVtHU$=b2~%t
z(1`xA9VCyMn9Cygp5S$e&qs5iY@9Pn@<acOc_fMT%o6Lln^@2Ivz2r21b1IAqT9Ve
zn&9P!!=D)6Go;6<uQn#(Zvn1f2(t$shb|m?O3ZWa#JC+jB8&cY0Gc{5*BXiiN7iRC
z{)HHKZCUWIWB{54XRMHw`iAP@6F0b`yYsWu7j5dEl&Ue<@gDwUXN=I|XBn4h)X=8R
z3uM_Z{50u?Mpv<J+HV>|8-@nU#g2$So^-g?d?ma^W5;Km_glt1o)Q~&>D407>}TY{
zrRhHdeQ4d~x4RcO<|HfdBly>M19GaE3^{}Q`y3ep4QWnO(D!v7VpG6cpmh>Y`FrvD
zV&G$7Vd##tDu>Wr{BiKt$B)jY-Vcl5%;}^R-obR6@C6$6&rz~i^dMeh#;r9+PM;Vm
z@}`dR^ahW94Xqr{7~Tb)6xt+u!?6%=LzG=tWV~Nf*<c`*r~oI}pZzkw&U-h^)sOc_
zQ2#OB{M=KdzuSwXX|JttTvJFZ#;f!Wis4m%(S2XuT1o~B9)0Mkg?uoF{V84~oDaZf
z;kS=2XN<Cw3|zDDM8VefcwGoTW??(Yr&w3&7?^HHFS)-6oV1@<IG+ua6Q6fzH({mL
ziWj4&YCpe_A6KC_$X+pYEqc~HgVn%WvOqE+IWe&y3ylr{d+pzAE|L$ri%2?pxXL;*
zYy~GAl&ogoQTb!g-<m2Cz3A=4dynaC9bEBPtrh5`T;~9DSp{F|=z~|`x6``-QQ8}T
z7k!^R`OUMF;i1$&n)<36rj5tR6Ksj2S*>vmIluL3Y@XG!)dbfU_;z3o{O2;Z*Z6;6
zZe-{J?r>3Di!&$i=_L9yJgJR#pAf$J;C&rw-vGAa9e#Yfl61o-?vTxjAJVMR=g8Yp
zWR3n=?J(XyYP>T7sR#LelyV-gIx^<zKcWNA=3MY5<-~7ux8uV;*BZKmI=YWqHg6`F
zSa7`~>m)~~r}sZGzUOSw3Hck<2W5WA?|nsZLwC>^o9-W3FQd;(hrb3{w2yw>ebzvF
zFS>jFd>Sxw_D#_lBIx<f{g>EwL#&^4!<Uf{?tRtO=>hP)8=G6Po&DJ3>l&B`bLl2s
zWo0kRKhf20r8fM|P5U&k>qDMMR|!EE^7*nxkFEqyq$jn8I8Q@;#ai?cQz5yjwj94S
zYZ-p>LqlQ4bt-L7p^U}ek$WFYJ!|gzv$fZI!%M?!Ivv<y^D@3miE+>vwHI_C=(|gq
zeg9Z~zsQYq$|A>QZ|i>5erx2ur8U4&<H}$Unm8oUk^D9XXh(MrsIOYqq?@&KWojVR
z%Y5X+65RUNv);%>hYpa<Lr;(IdH3%Hr`mMaO5Qo*4xcRJ6yGrNAW}p}a`Z6D8JyfE
zJqR3rNA)OY>fK8{N5&Husk(9A2K3XxFUgmzoQfX1Y68B4!>x_|4u0y5Y2Ml5jycw0
zvgZ9%0G#yNvAN&26z>dkPo>(_x?WEE&fPcICl>ocA>Dm5S$AennPqJ0k+@0MPH}x+
z)#+N`3eL<@J12lw!iR3|af%v!rq51EzUF}a5HJ_7R$0X?oxxh}eQ|tGeofZ9Yw`#1
zbP99TJalK1ZPt;q;HP_S?RDDHzP;O4Gi|9IXI!*n_|37*&8+Ku-?~Q2#AQT%aT(ow
zmx5t8F&o+g^sje<w@wS?OHTLcQqHXRX^cs}H{qB`YawkwX+FG|O`3cMc|7h4q$-)e
zYzZ@e$FA|s_j%y@vV+UeJh)t`IeR#%@s^y6_<%PTyG%LBQQ_*R3dTB)vA(7>-#k?=
zNczR3iyuscUkI-a9~AHVqV5gAhwH}a+v$ww<JdPa!UNHn@;p#DE<V^yy9tknSq=}Y
zPOpT2h2dl3UyqY7J`tH}_*bpNzgoq=&L%E^HYXyhg|FI=9?ie1(;Dx>ox&Zy!L>oj
z2;@&Eb##BTzU9B@#;(vEmk#g6mJsi4C0+S9Q}!%$8R5Rl95n%X>G8iA*exOMF?inN
zeTtvUP7v=4?6UAT4S2k7z{mS86#N)(oH(@X1UCkg`8qL}IoeU(sKfv2(ofhf|BK1C
z4+T=!GA3h#?qqD)0-X6IIHP%Kz8brsp9>sZs&jDZO5Gjz-{6ZYX~W>)+wxN%{$Htj
z1@u*t5Bu=$)6^@+PcI=q&rc7>Cq9aw*82EqUHU7)@tyF~c%GlurfX=w(BISdw)|9Z
zuT5_SZ}ltL^rYs&dWX5^RraB?mR-TrSk_WFHNsD8)51^j)HlJo-SAY^*Lpg#j<vq(
zKGms9ONMAZzkw#h@KqN-f~nW(S8Wc0>n?uRrgwX7K1-XbyHmK~!<&cU)4~_=nO8Y)
zZ*U{}Kg3%@MR;qnfVaNLnAVC9`FLwTX@$J?KS>jB&BN8INZkPpL?fb)VtjSAGv8^>
ze1D<&{txig4vpPM19#GAF~0g!(zTZ)K6Mu|L41{aPiD#Atv~%=_#4EpA3(=ve{{$q
zo^1yENKIAP-NY@Z?AzrB*l$qXCd;0w^1>JS_yg!Ht?=MQo}Ct8&$N}d0|MUr=dJKC
zl@F<`7kl`n-^su2y(>Bayj5FAxU$qPgFiO%I3~Y8eJ0DuX0>7ViBzYQ+*6+3A~SE0
z`S+m~0%Oyc-erNNoV&?Bs&wo)jUjq)xLNfzFSVgEA7*Z<x104*xj}wixmPe>-X&8T
znKJS=16=ccl__VFH)<aAZ^ql?8!tNHA>(b(cp2w@Z=B#rFSy{~3HTvA;Y|tF7{4NG
zytE4W6lCl(CXP<ON$ITN4EAD1m1obzIu2XoI2X^_UHmw*{jG|dcsr!ISX&RU*K|m^
zB5i-9NI8FBg8SRe=O%m$q6b3<h5h>T)Lu@wivIA9@t(4cPvOgd8@O)3#s~n{Cg6(Q
zm-pkI!T3Z!5ib@Y;>A)at#GX372f!Ik(G|GE`%(IdTlfb_LeoF$)ioRVUe%j|IWM&
zJ%9B+A3d`lrM;*y^R^v+5$Rp$@rNYikWFFet<az1&y&AH`<$&?+_>~lq3<<GZz3+L
zo8R^9VMV;yD8)nRostagi?3TD?r-LAEwQT!?$iYzS+CK1irkBC-l=0>&W+`GgS!5E
z_TGLTTb+HI;`4Cx%siy;9?o2(x3=?VGl!}F6um6M@A=H7nL9Cbmnv_e?W&nr(}^E{
zA$O)ef-dvuYVOLYLUzZ&p%vuY&}F>IN_Aa+(xArJ1?^b@-an-Mt(PwwjQe13=yoRa
zb=Ds`Zt`faRD0dfm9hQIJ)r*`{Ahl%5T4HaPR_fL@_E>dGX^Z$z<0qZz@PkE+|fKi
z^d)}tRc!sB^1xI1TNF1D?@Bg=na3>|-aVmy<b=MKgf%!fazdoViq*eAa)Q+&8fv7z
z@<rq4!P7RkTd!j;ER52g+ESZpC+W4LG8v7B{1EXX>wiC^b2jaqhc8VwH~P-3?OWNi
z#mBe)_p`afI_Ti}Z2V_>%W3s~`OhjSTb-^z=L%ZYopIVzUrppQuTI|BeK4GeK6Vd$
zS?PsvmK@feW5+d-$28aDh;8n3@bcHrez0t%x5vx-%HXA&=f_L=q!t4MKW^4u=;G#u
z;O5+kwViXo$>BiFt~%oSLfBQ?!A;!*zCBR;;8EaaqKUO^vK*Nvm?CqRF2-M<IEM6N
zMyKy2U3Y#f4ud_GHHr67<~^g!=<M*ycI5mzJJsHfkBHy;VR!*|UOX3=x{KSMd5fB}
zHPAuqQM={M%bN#d_^WvD(RuHCBlD?VauxK!87$Ty78u?BHvI1i)-g7Abh<NU<Y8?5
z==3V?5=kIeW0OXwZy@#}floBXo8RDbK4wAZ@Yt6git*;RKYb@L_X&J<F?@CYbiKcs
z#GZ_?rxf?z{cfT?L%%zbqjB<^x*{#>c2~{~!#Bd@3(hln>nEVQ4vVb8IPxU7Jii2c
zneKi~v30qOH!}*$X&-uoZ@7D|I$Km&?vWyCzb}%evo(cv?<kV?gCc3)Es~}?zzW;b
zy=#W9<hwe!+{Jmp!Q2ZLg!hP+E(MO_&C9@ZVkXj}g?+)mtXnwepIc=0=9by1f50|a
z4-V<hlH8(1uj<4oKbv>IZbJqo;M=_GyekIJp8eXF9@AZk_0WdizHEYz1S-&*p?{sH
zYPuoX6S%?dv6i$9ws1ajZJ>Tv7M^4g|56Fg#xK8ikac(DmH1)@w6uaXmQK`${MP?%
z9{<++fEt&^G&F<QWZ$@A6BE6wx6I{iwB5Oy@g*4NTJFi|l0Fu)9;sz~byoF*<;FN1
zsN0peeD2^rXv~c9**=Z&>c4A@eF5ST&{5&X&R$Mm!MiL8^n-QYJldE;1lVf*LcmwC
z_A$opuA_JF7(VMia2MK}%-=7sr7ye*@3nxR*3^+PA=i(KpJ`Srae&B@q3ECOY0EgD
z5a&#Ue8)EOvluTHjmbYgge@-LOAZ;jjB$#e#QDP>+7%%U+s27=BK~@z#^mDJ$bC2B
zLA%A57?;g>_Do@a7rz(!eY0fH;}-8E9p%P;+=>i`|Ib<%0QY2b8yPW0cFNWb+G{Xn
zJH4`-{x-a+SlM36B1ebXh?D8iJ~;1^O4rlfPp!<&d7~K`5UdRDw}Nwvz&FKq5nDXu
z+zWlI@G<eIa7}w3*U;WJc(K+@ad3L`P<N0=fny6eZ`Rq<i#UJb@(l}ntBX1s>wVz*
zn*nP`Z8+n@W^5yd@mBC;H*=1+S}DQ02KdDIR{IIYbSrC7gTH$>c`Hdz!mC4!IfjiE
zVH{D$DZTW0+TX$aBfxvb#Ke-XLt_zQM(3a0cP;wjlEe5PJ?b3ANzUW{aMukDw<Fs%
zKE-GTgTb=|uhD$ucaB``Al^vnri^gZ#ZNciUH_4Hhy`1VvAMj(cKn@h0!N#%<*-$G
zvttA|pLB8aN(VQqcX4;qLhT1(c&GL=-?6|~aM3ug<j<jL;GP&Sxo9mB4&FvN`H|$e
zIn%@47<ig&S9*Q=Lta`RJSDkOX$|R!mlh&T<JaC>9`}mQ&(%j1b6CsVTpzBL7A{FY
z$u{X7_&_?u{e!~ssR3}DU$yz4tc~su)Bmw1EA<rrZx2{!I{!2F$N9gXSVP+ioY`d6
zoVhL_TF~B-`|h^`?`fik`!@Vg^x(C7e?hxj3)<aW(C&E$MK{IUy_t3ehX8Xslz#3#
zgnlF&w7#w2VxE59YYpw@4ujl#UHaL|dWoNievo-itfS~h=b+bu-+jbEX|2_-_}FU7
zE1pYvA@KD&VDlaRoY)T5@iBBr;vc?{L`Qy;vh6F8OXwmtW5^IMKktyebC(WtmDcR`
zcFLm9sBFAUS=yf6PM>j)&MeB7qVEu8`xu8{`VewrcfcCj!vB8yK9BSIk&sK1XQK=G
zY4VSHJEedo?}EpvP2r>H@)+<x&e#+D-QvwZ#QExI8@3^T-*D3=7s8`^pZh+SpGQ2+
z82xa_QO2MDnDTvdkMKT+KmS4U#gCn_73CMMyjoR~U%2^NZ*zZ<?k#rtabVUec(icp
zR^*}ZL^SqA^l;%w?w_HFJ9+O1J7bVMoi7;p=S1&UsFS38yJdIYi;U}HZ$bA|NN2wm
z-9+!)PJ>6z0FH?!^v$NxdZ=P-5=C_OZ9biS%v;5E_M3<~TUns9pP;hn>Phr=>Fd(f
z&s}oL;Bs`IdBJJBx`>OgI8U<ex4b=f`SSlK_4O?U`ua!E$!p*X#o#YpUieU`(-vEk
zuNKkQb+`Bb-}QBas|Swf{azowCeT^W<F3!`lY*U_@P~Av_Ypt7D?u!>h0fXl-qu@F
z|F7)L^A8lq-75Mh#N98cEO<LF*sx3QQpLdE2zVO@hwr@n1A~3wuHMcO{?<A8d)@z&
z_*=~0{51EX6vN;D4fdu*EMy<LtdWD37Yk{5@kLp5*naqN4u0GQewVUmBsa{PLWT6M
z^R0zxJ&K(|r#lwgM}AIMZrtnmh5YucWQOcn$qXY){Pyf+=((an$qm_#qQO;^=dsn!
zyYQoSVK1Uf?n)Hcvz3y)*gDAQ-oDF6?AL_nf4tx~!)rRQU*pIy+rrjGw`j#)l|J;5
z68^`+wle6S8k@0c{bLh<SiMDe0o$D$8Kd}v^k4Z(E%*br!lP5MX^pQ`ej>G>X+mGP
ze9oZk!7gvCCpcsMV$rdd@|6~APrg#&L(FI27UF~KTL&M2bvb-ExZK#cb?Fzl7s$15
zy?rCk?`H$sFmOe;TY4FDX+l5LS(Y!OPs;wa@B{Dpwd)rRum(}ehCP4Wap;io@$UMu
zX6WoAzW8gXqy2*@J_eOHcWIO=Z}b(T_shl=t`XC5v&9&Vt)p`*Hu~PBq$xf{@2+*D
zCl<5EI~<!QxT_1jP<Jmnc29?$w|NraMF)Q?u)Ep2=B)9E-JK=99UqI}lPkOf5&alA
z9CB~j8P5F|ib>*qWN5;<8xdWdHhS&1*@rZ70m(A^i%HtJm^%?g=T1xjaSGC9L*AXd
zhuT-}y>wZ|5Cu-MW8aTlF@0$t((JjMK>Bt2hG)wMRJi}};HWfL=a&yz?P!e!*W=Ku
zUH;+PsanS?S-Ur}*<7AMoRR0VSmmu@J233WCm>${zK^A`@sa&ns|<6}de`E^2n){m
zze2zex^&JW?1VmT$40YLmoRSl&a5o{D#1Bi27Y0OkJg=eC$^*P>-K=`K*fDcO~=6Z
z)r_kj-$auB^$us!cPEay<5>L|m^}y0_XlVXyHD-u{;@*XZ6{6k>I?j8PS0X9x^TM7
z=YO}-f|cOt$baVS!pu$^SULDkT)Xf+!x<^<)gSQN`LDQkzQOqfeq_a8J9o&@?_e7-
zN8qtyv$N2RvHK&$=ouR51FuB`D}t`we>ZTr9vaBu*DgGxqH{~hO45l@@~=%5Hm4hV
zU6<DTEvE@Duqol23$w&gIBNvG!f#IO!~f#Rr2IJ@oBO-+=Rb&pDOnC$sNvncEOun!
znW~$(Tcn0P7xk6&-DT<VqWoF2ZtkVrKF(^^+9`%d>#rE*ghx|-Q=GWP{GN&{U;p6v
zY&1r#qrrtwfD6yC#+su){e03NB0a}AbKE~S3Rbd#*zeB~-|bJ|KulIH_~D+vf-CY(
z;mcTH?tqGxIny4+mR20M<{d>w2zD{_|3VmN^lmlf{Nt4Tx{Yxb;_tr}Nn5G;;1?*w
z3GH1Z@hcYMgnNge%NOtU=45a|>s@M%bF8t!g=86Ah*R#amxgC+9i7;3&N`cQ*^3;~
z9zo%}HWW$ISuRs=C-u(fe8T8G2bcF<M!CXueunaoE4=_OwyT{3!_7w*>95$h@Z&gq
zLi8<v!NKM3yGr5*SHUCX7qZ|F;;-VZ>%mzg8y$WME{UJoA!NG8Q`t*${6KZ^(;;v>
z4Bg6ZFTCqf?`!Pe${m&tZ*53df)ioz6Fp#-;=%kldXvuBsoZ)yb&xr(#^08Yuk)Sn
zEX2Jqyel8;#CNH+@8&#4h`tMHTle@)^JqKn<MoBK4ey?PfY|3iu=>oC##$RiyRr{m
zp0Bq)Ytn1~HoV4pdl`J`_IN(y8+E^{c}K_KMLTm{esFkpSa?pnw;v{p;hzR}_ZXOX
zab1QU6P#Txgh@_(jB<W@JcIfg`?>pvH!0nWU;AQ$bJUaPr%^5sPv2W#CzD<belxi{
z&+9*b4pH~`71GC7i=<sknq--9w6OdZ(lm}Nzmj9ZuNe;hj_h0fPwl7tfPVhJ+D~Z(
zuJ3d|Wv*AY+<uCQTMKwJEf`6sKNtIH8GDAe_PX!FD=kW_itfR>l>2+uvd@%3eon!L
z3WwO+z$Rhe!P)zhJjWk5DsJi}?4@?a>!3rmd+{m$dU5h4H{zb$C?=be#NPRJeDnR&
z{}{b*_V)1ve_x!-dB8w2xt%{7IFyTX>0*ClwJ*-4+<v5DUlj8q*k!S0EcQ(ArLPPz
zFHNk6?45VAXDT>o55dH?h+efPru{IjtN63lPdr=k55~5+hS-O9(Vyle+d4v-^SSd(
z@j5o^JkP4x)rTL6b$Wya9cs2}9@IYYQ6+q>POL!@U+YevuQk25xWDQQ&fTmm@U=cd
zS@~J#1xMl|!uYG?bA1eZUH+;e>Gb%kKFd6+mt6b5#$R<WcP%8E4)u5cZ}3+sHXzF$
ze8lIY$a;J5*}vI0brXjfgO3=xkX~l&rxDrX#*H{J%Iqx`mR<RX@khD)f}$hoK!%Ra
z^XN$Xg;(L*J^P;WbR@nYI#T@GZ0M*QUsxNMva7FvFKnd!?!S{S2u5ANq0zH-3Srde
z@l*f)qxRFa*P4fiw=cQwPX->n&fVSOEwb@ke~F#9v0Ys-;M`p<ztz7WgS20)Hdpbz
z79W;)O`pySw_B-u`O7)^od3c;eAL*}+D~pIMnU^R_@wsozj%-IQt>zGPj9kk_<7oF
zskBnkOXWL@vR^zzU)mSu&X`9&O+M#6(<{bWzlbZIfp%1XGcXQe$1kUU?HBJRT{h{(
zl$Q)_w8&R%NlfFLmi`IjVw|(IXFCsjvJZKsb+YhT$?tJC^~6`@XACpmJp8~tM|Z-$
z3rSyPKG{2?EyhneFIelu*<8;!b~A46Wy!Ar@2__Io}T_!`j&p7zL!_t{@oM3G0tNj
zOfekG@h3c|`8Z>lo*ra8+(-MUzm4njZPcY#k6r!U5N*g`s`09g6~XFVeZ=NzY{kZI
z##@*t-;7`0h(^rbG4Dt@wn7-%(Ozd0e=DrOk|esj;#5NL?*Mj!O$^Hx&PJmfoFjbV
z*YTC<&YmD}n8#V51o(0??Lb4^xm~vle+g~W?P_R49)O41Lw*y#mwdV}{mNa7EuOqy
zgnuoIuA+7RKz<#kIP2KW+}-`>TIbH(?;ZqSsaH>5k~{KAgz!=92A?(yR<tA9)n0av
zzXX4p3$(P*LVl{Pum@|wRcrP;#<POhBhf*~xhts7Ss%gex8!jLE%6}S-^-lTX9QoM
z@K^gocaeWF_^rN`zle2;g17zT%g?91X`N+lz<(qhiGj0yj7jZf`4%o1IOWj2{c~O9
z%~fzS^VQwn8kfeK;ePtUek`w_9C66P1>v?u|AjFlCQmqDm?yloXj?cc`_{#u-}FQ|
zKd1X{O&pKtDaaiZmUu5QM(2?qet!PYI^NFu^Ia~Tb}-jCa7SP2-2$&$<ncPsKFHsd
z%KFUSgUxhh!1#$>9Z>ZZ_u5UHPoqN=D`UpzAD7nJv56N%FVp*f)%fof>zqN4s}atY
z@Gr?O6z{U}Yrn}HR3}26Tfebr@UG$EjaobD!8T_bjLo+L-Y?&|-@htd@2__a*Q&fJ
z_cZ0?Kh=2KfR*6cDwuLFdARyRx^Id&5B=Ib9o&O$SMV0{#9)tIQPC5q7}HY`vw8!w
zt)a#%IDhxB-QvbpZR+7X*v;Xt3Malw{QW}ObosvG(*h~I&n8&xS;c#ztX2O7t`9)x
z&RfOLID6&TWbp3(;i{hD8^`rL1FUtvy4yVqcC*!2k=hI2`x$)6jbVYm10Um0N-ijE
zt0&I^rqs0)krsP_)tq$JbZVMdMduy?-5qem-Nfinrf+4WrRy@Qc~sw_F{zt<{XXvR
z_u?}BUgYcdV*15TDPOL?-#2K>^c(q9LBEMHsW15Yz1!EXy{L4*_9Y|zCNH61e0zoc
ziat!g*;qlp*)gewzJ9;s>o@bs(*0&WG171Jlk|%ZuCU*`eEmiW`;ClE&GGfS+~4o~
zGX1vs`kha|&K&`x;e4B~-@XeA=G!$kRp;yXlfHiK^Gf$?FC6JNxsZOF4xR6HzJ6mD
z74&OWruM_X4L;BF^_x7cbic_Dj`VAvM!(opg>e3auiwb|1^vb<Q_uMN4g30ymgzT2
zzrvZnKqG(opw*mdi1dn1_Ttk^@Lq73`#LfWR_}8wtrjbLqT{FAi(f9|>uap9ukMpe
z&#`+hbHwi@nhl?9HQQsj7X%tLX-U!&vs`;S@Y(2PbI=7&;eC+j0>s$77hU?A_CcMi
zmR{+nw;K8%qTSG{NK5QvR`d2IWNWZySAu<=>)~VH+gh2bEyJI?x%bwLp_^F0jKfPt
z_i=F3NFP~ze5Mb{UiZ!j?o>qXEziTHKHWzh!^^_HeXq~^=G@Jl@;34=Oj^Ig@9WcQ
zTWQlt(>ydc$=)#Vl8#VAdQS5Nj@e_a<_{#Smg|nQnwvNS=EO|mBb3jjiF1(;GM-U<
zFI$<~i_h$w{5WgUxBAA}-BM=#SX;;Mr}b+AM>+E#->q~k|9bqA_SA>?ZfITso<^!t
z@Avh6wXg4JnLCoh+>vbh&b*(#@f*~M9!x(c74*|pm8$dg^GRPncA0yQi5JfIlLV&n
zMf}Y-pDbyk;AxFZ{q5cndT;af6FsUlEW<NK`pIzb->OHWE$!fHYoa10*~|X$(r~OI
z6+U9+cdy$xGEZxELI1IFsb_ut&+zqcGnZ02N$zOq9@ss_8hz)O(R9zg^vz-LCr|f%
z<5C%L`#xVk<9z)@n@aZ+4Kq)V<}+dDse8=O|J%|3GwdtT&pG_1qWGRFpwU)zed+#L
zbmsHXD^}o-lHUIb?g0=Thsw}#PWLH!eI>^-Ct^bjdBp^c+mzwXN6}QP_?Jl=uNd>1
z^yBDNI?E!vhCPj4%8zIdnDTRc<#X)iWgJ;NnqR!mnjN4{44xFJbk|Jx??i#)7xHkN
zmcE;EhDSt+D>ZuEr+j^6hFl&Ye3$K|F;C^&@PH6JfWu=g7qN~m515kHzMtU%f1p3X
zVVm>Ykp8`X*+bEKO2%yA*SSCCf|2`E`i>sGCt>Va^QM%>Y{vQl#`2I8*E20GzV%<g
zSaaXXSoQzQ{QqO``$Z4_>%9L5_+P$#e|yK!UWPRBJ<ZkS`Ss~1DQo5&dy@NVu{G8H
zqh7lB;Ql8@(jW5Dbw``p2lh@p!X(-^x?}WbE^ITD{b$|L<SSR<D`)@OEq6EN{<EOm
ze$w*oZE?%}l(fSO`h891n3E&_wz=ijn>6OxWxnCBnfu-R+etgcYsbL*S<;Nm{x1DF
zwgqsw*_W<+zBQLd>;g0Iht)nbul|$Ixb3g<(y~R$-{&iz0j`3z__cVV+PTNamtqdw
zv2iH#dCG{l+*L6DJJg=1vqyjEw%0-0dkf(CLzVO3lzi4LcafL&ns1y29^WO;@Uo|#
z8iB{zzVvOrdIla}SDOYN+_9~(&m&E;Md=CO{6gd#IM4Cgy|iF{*ZA5Cd+T>RX>$t7
z2|fl6nQph=FliGC;BcwG+>hOIwWNK#pxnj2a`t++++n0mRXN$6%uD=QI5XFmR^g@X
zeQTuLu;xs;$9!q~y|g=gX?r}_d{T4s`gqMttMH}m^6DP&)qTNBd%tfiIWO%jC(Whn
zXGjyhKj^gQraj@M-RGp$yYx?*c*RQU&cMdhd8#vbSJrR4?+%WgWljB%W3%oZKu^Rc
zuqQYsJrfy|<2{ed#<H(!`{I4@$F!2y&Kb%Gwz=iS0qMOVwWBkX?aJrOq(5J0Bb|KC
zOs-TuXC(dk+OI_(JX}Q^i;v+R3vBY(x?qpak;Y!b-;3@U=NxIMpikAwofPT)BKsf~
z_PqQnSGE(2&U@;LNtf@%>;;7my6>2W4!UQ;i_Jst4Mo_S)4U?y-dwqPT{fz`cNR);
zC^65M@F|V7@0Qnot>>f3-#z~a(sWNaevABiE#zB%pagLS@?ivkV}GOTUx=Y|%J&vi
z9H4jJ*1sq3`TFy*J@UP%Z3}-$`yAvkFbe~}IB?6Z=Z^Xt13lLP_v}_Hbq&8xJWk_C
zJdWkPt!U0)8lLkdaPDQsej|E<*>{tFMB~=@I~b?Nud@)(6K|#%D(}qPEOZ~;C(s;g
z=Pkrv46nJ0F**GnJJN5g!jr#KbVlfRPW(?3ZRrfLU=amB!mJ(o-O|PQfO7-*rrNCD
zAM9Z+j9>nwFupPAe>x9!2wbp7RL;!jBh2SH<`XT5ozxsZ${Zy}4lcjj*<W=0KFrhe
z3q7o}rt6und_tO=GiPG7H0LhnxRSZ{GS9o2r=w>OuVe+WUx*>Jj&R>1a`$T<aOP?D
z7u-F9>hvGfKYq?6I$_s0K0N5etf9Zy+~)!=ERipGKmR-T`C^MG4q)?N;R&mN6>$qk
zp>vJ8uWuD}L)@+VzEfq7qu)Wd{i`CqHKJK!JTlOs_9pyvcpN;zjWerG|9~;+ZleS~
z;6CC}8+l*hP2L=G_&Tu9d9d#zzYz90{F2LnNw)HI=N(e#eqF|-Gs&uN*5vs+@d0uN
zp6shfn2+(VDyHOTl<h)Jso(fM*Du>cS|NS?S#453Lw(gtYF-6#HD_SMx<2Bm>3zK6
zP%Rt+Zo;ANGV@4!dr8s_zoveuBRnzV->C6>{^FHI#-=-swALneV<UF0i)SP8oGve@
zO0R^L>=QVL#rh0DPx!w*dSVY-^bJiztGpvY95b*zgr3Iu;_7@fwGJ5OpeO%2FBUwY
zC;49cp{a*=kI+;(cyt4gZs=3>KE=ITq9;F%T>(5y{wK+QViZhV9w{Hd7xHlUEpLx;
zFHewt{0aE5p*bsSr9QuJc#Q=dbe3Ls=7=9=E7vxdJ4y2K9n($Bmd@^0rCZsH2>=@h
zUhvgK03OI*g)2L@IJBqs)#rJ>J{*3_zJ@(f_%j+-<47;Wxn0ab>!`L?*;chVudcN=
zyj?M-;v*JgboUQ!_OJr!IP=PJ=Fnyg^0zAn;oAO@x8p8@p5z00eMmMpcVV6@c=P@!
z<CU$ZcRe!TI1dv#@BU?x6Yg89Q`5KI;qiB3lM|G2_|LckJ7<RYtsBE00A6;8vykwZ
zGok&V3;3VCic7Eyw6D`ATH>z@nDmb49tU)V5Hw?S1>J`rSO<Xhx=EvXb``c{2V+%U
zoPIc@IkbuWK=JfAXNaS;V|%oxeG`u_=i^A@*ou~9qjw+GQ@<Qu<HQYmZ_j)Oe%{Y`
z1slQXS9?d`^C#A)kk9|;C|q>+$rbnYAI#MsC$IIB9MbwZ@xkyC@%gr@=uEvgli<z^
zXFWTRZNNx&r`B2Pc=3NhN5EcuMRMyVVnp;m`xOtjG8dcub;Y2BiT^#BnBY0|(_{%3
zyz<;%p)ym!i%p!LFzHqB|6bPNDcjl@Lar!1TIOAZDEp3ri}qu_2~N0jL-#V)q_+Y`
z)-}I|J84@w#}_?aBUkjCsS7V#v9QeNns)BCLD!I6ffp^*9*NdKwst)*=!eJaTV>kO
zLnLP|B3=FV5vSZ}_OrY*IU#c<M{&xu^HIv0{WZl!IJ^$tn*atOWNM_!#c8vDYv3e&
zbl?yCrUFOZ*CV)HyLWh#b5AL}Q|*t1H|d@Vo%z-OVba0H)v7DlYYqJH*LlAeDQ|Fb
z4lw*J|M$7^8AtY+_zXWBi5t}YVoCNRALds!gsFdw!DVke{g&Ie?Hl)_)X`d-I`z~s
zYudn?c9Ji=6D|t({=vcHk@M{AE8Z~!{4zS*I`DZu{~KMcy;}G@W{HKqKA*B<$-4m=
z^BnPRU8LzQ1hu^tTw4Jye-+(i9dFs_9Lqy*xclsJV5>E0V%&2$_oMOG0=x5xwQ9t#
zt2=43$Qt~;k7!?Xd!R0V?q@Cc)PPUDNqoW9lG%gs7^hDQoP7`T8@T++!8l{Gt<h(c
zN}c;DY)@x?q;n}2HHY5W#W;mK^s{O7o};UKuCT`L>VnrZZ}@F>`ZKR`hX!@@-4717
z2f$<C{3FuE|Ib6#4MP9IE5YeE*qYMg+u(H_|IK?Gt{j9`8LQ;edZ%yq9)~pg$~yj6
zj7c?p=&U(@{Do&1^%c5uHctF@d+W%V@GSr5>CUx_M(%tdPw>&6&gtl}yP2!{bLL|1
zd_ZT^d3W9Qpf~~NEIhI*P9F*W>cKz7)jMap+egl=+r(){7;}_4370=Z`~Gpo3i20`
zFJ2u9fp_olPKX-TLgNntdvo7|WWM1c#=clp@{G5O1Li#^t)pnG4SW{;=<YA^dc{TQ
zZ1>ookB*C4NPMC8%H8<FYUiw5n7An2y>ycAtlJ9jtXp@J&bl=Z>K>#n@Lo8-ls30s
ze%0TF^TpZ|-e=*nUC36m-v2i-Qv3FCR~zuKky$~@{&9ry+Kb~SbH|PJs0H2N`eESV
zBK-NGSnHYg5y=MRW=qIw8m}_RBe=_MV#VYN;@27}V^yzh&>nn<y83N&?5^MTC?<VG
z546)Oxo;(c4?W5na6jXk80$NQ?-=O;(sgH}|2{>x9XBr8wL{&r_!f0Ge$-u`Da8J&
zoMN0p%p*p8f@DY7(?cTo;R|gUVriPyx8cKg!<$q;?8L!Lbz{mLeVf>epSgOWIbY!E
zgLj;Z{J#M{<me5|GXXsH{(uF3400!Etl#$CGaq!~%<Q+GtJ>d&4LH`CvyA-V;W0f!
z=p4htV|yfPb$5S^z4`uN-K+s*y=>AO&|eeQyzM#cpf1MT9k7P7*ow{^q2GBW;y0rB
z5ON)^E`>~AnnTyl1gw^az)45;;(JQaUP$&Vc7~s}WE+`y{w)0(IDHN{iBE2(4fMO&
zQSG&6#|dX9%U*j4I@j+i@)gUby3RPwTA)`PvKHd2ULRp#w~#&ryZQ=i=n=k&HL3kL
zdZDoojO;V_`h<ZIxYIj>Kk0IoqdU9z_nh}L#(90?xqe$gcWky^AGzfyel6lHbZ^`;
z+K&k*fPIp`!uFETc8ov#?(e9*MP7T!R_gJ0QjvP{_h~P{`1`=8J7n)@KJDO@^p`fi
z2WnlrF^3J5WREMWGVEy!=Kl)3mq`}Z;$!jFGHXc|8vDqN9eNr#?gftH960`_M>5^t
zZwGCN{$li(r9a_tKXFVE=*aSXh`I-D_bS<!#P-3P_50VqIk8Q%ve1gwISS5|#7A)8
zkg?*YqMcdp`nY3NTf#Tt!Xx03;)x1<a`HKBXACZXaL-|jw@W{gPGoSzfgg66?C#x;
zZCstc!@<$&v~V{-Oiws+MCx?bCq}G>&ce-MFI{+`?^}7lU2xU+Uf$P;v1g|5^Vu8I
zeJ}dHt4e!s)#=~<)IB33{j<wkiwJgF2%czY%h+h)!$dFD>0dBE&Q;FZ%$VZz-_N(w
zXMmfE1qy3i-dMIDfZnRKmtLJ-@74Q->XBbqZ;I-9<NhLaN`FqhZ+rFDs~-7<^~R{4
zH^&<G?{e(#sJ|P%df!$(@(b(jWA1r)a5h$Ta+4C1ul4HPsCvMwu-;45`vq&+!CG1g
zEA`Vm<X8Pw4>4hPV4qF)<EU^i&f2Q&4(zTbaJ3(wiu9^h)-tMJYkX>8MWAPRMX=}j
z)2-ek(XX-7?!cFNM;m22LgQ1dH_exC?a}b{^PRQ^Is-kqTY^0+2f*pS2anO|1mlow
z7x37uv(ZZo9&22Uz(IIClX)6_#K;lpAo3H1n2&?6_;rM@?KP1h<nOM8Y%yqY&sNdi
z)btH6155Js-9HUpfiF9U4%5W>QN;v0yxr#uPQVXb`nu2Ym8h*sXB<Cp;4Bz-Tmf9$
zkSp*bjVsPra!*Lc5c{`2n9`eviXVsq&)n6TvwO$qOV|%h+yN@xTl}gOUK@sAoD09n
zQZC@=7lF<x<gGZ(TKX!wrReS`XfCk0eK1tj>dX;;!@_R%dm`jnUE@<froMEC+}4Uz
zb`k4*J3J|2r+&d4v$wmvCR0ZCW#B`@cU!$0gZNUoOj(<<^nZs1402CMCb(-Fy9D0!
zSgR9bd~o^G4(!yok%eh!MfRimXhi=oJnQ?U>zzs6J1BTAidnBKo>jJG93GqC4|%*R
z$zH><zLU6TkMoL?tw$W2Pv^miJ-i<Nyq5Ud{tF#n%*_{Zo-s>2;%?w^V0}fZ0h?~$
zs)|&o_CrHDqnz!iNY%k-bPvOR;%Ia>TDnLjI^5dt+e^FP-D@ulERCJXFYUIYC*2T?
zv?OZL<)%dLS*y5>s=kZ+@dZm)XholEC0=NHB;2_+IAzyPaByvvy;ORrbQ}4s)Xo6^
z3-9Zeed$|S;N2If>&$ZYTK(#M7~KP>ynbIE^q_UV!-`BuohUq6&iLC{C*Z|fKn`wM
zp3FI8K7O!OK}Y8F-x5qs<IW|s{<+rDvL+Yh-Us~kxq)D6fHjb>CtLZ6nFAfx(1(DX
zc*c$u*3hrK^KhC&_D=9ce!3OHndnT*vd==-UYeDETzRwyUukIp=0l%3qDQ{lq2Q4{
zItQ)uN1=Lmt#Yi(5Nk9zqatPT?p-c89ywo;+P8vvXsz17Y1SyamH$6u4L!yik~#~!
zY<%CvQ>-c2)>G0`t0O0GZb0`A5vRqQdz&X&OCw=x;j$Xyt7{k&dg|t}*3vln;)n0W
zmdt%qey8ZnJ?rgW=Y3kn{!`wC-*d~@mh4t=)Z2g3-lTjEUwDZ+YuxXC^844oN48o+
zM{w>~Z3%wabJ3NUXa9{y_9%ZGd8(`XGIMjmWptt|e#|#<*$MQV&*@ux&?~Lf<$P;h
zb?2boDSzufNawze2yavx8z$lTiV~i$D5N(k?{{f7I;-^hhKYqrwA!g1tY3DsTi!md
zbotydwEHWs9N(pM6r1>>?A?@u{*W)dO~gViGJdVReeL?qtQnNO(`_@{RHn@^<$ms!
z3zaFyTkzQ*d*yhWu;dv3fpS0c%1tj*ZW`s*yXCs;N|#I4Qf{r+UYT;X=Iim^Zt9d8
zUmRHIy*|YQHbNKnOW3X}+FGplpeKQQ*J#Z;z5al2sdmEZ??$&=v<!Tsg6}G~9Q07K
zy}01p5gEEr{V#XRXMkm?{xiVV_!>+c(Py=Pe<yF=?m##C47$1VK5m_JpY<2u`;Fj=
zXovR#7tVn9ZGIPYi~o0XleN@_2VXTga*t@Z9~#*Ny^GfI<IY;v+T1yS{r8!-7@Lp&
z!`b0{9i^*`>R}%`^*&B{)n&h}R(gcq(p>KK;pkx0Sw5lf;`S9EpU`@}J>}huv7a@>
z24@crdCZui@ZACSFs8#3CC9#dV8vtet%lCz;`lYq)9cRdZi-H5KGm8Wg&u&_(wpFs
zaq7%Nu35+hWLmHKf~PundVf8QpN~FN<~rKBl>F~;E~KBc3+F8fU$fSlzT_3+LWK+B
z4a>Hi(kVV{a4U+P;H=3LhuZC7-Yi!+jnl~CZ9f@ab0_o8!xp||U@LeT_#OeQdbEDf
zgz8H#QyceCKac-AM`GE2sdW01{?P49{|V`5u(qN>|2Td~`cX=UhW+VXq*p5)9^g;^
zF6sDBgioW=SChV5<Ae{XeC`7DK=fq2yC)uI=KVFwJ+3tPpTFH3NY{Jp;-mibFOx1f
zi4QCN+il$A7>r(a=cFl}n<iPE@;hZ%&vIu%q5)_K``*U4^?BA=bt2Tc7oW?$oC%2p
zU3mG=gv99AJrgoL{W<E~#28f0%;Q4x<x|ian6z_A;|x));BV4CO4`es*Yc6HkC0YK
zqpK8)vudPFgfaoO1urpeokE&uMtsPm%^~f1rTO|ik+lD!y~4f1r%4kH>&=?}Z(2i*
z(3Q^Ki4Jb&JG;i?M`iA9h!aPuz31#LuD;~%wN$5n4UF9HhV-7zv_+fuV?Q|O>X7>b
zZPXEu;av{tkul)!?t@QDf9XYNPx%@bV^Ep)BarLJ?gq7Wi?=>y?g+8*8>`Rpj6-WZ
zk$TIRZ`jq(@33MMQd_}CM?a^WUq639eE>hvOxUAi;YU%Qj}OjIpesmUzeez9jAl(9
zAzglB!Bc5rX!aq}eyOw$^eA*(>2A`CrTa=x9$qo7N4h9F{moh8IWA@F`8^d+zZN|G
zaUt0AH_LCUchF@2=v-w8J3#d<+SUCbS^RYJxkyjHnz-Iv|B0!01BY&Gz#Mic<@3Ih
z4M(H5;pfZEaQ7X)asarj;(zL>jYjIpPjE;~!wlB)c+$}i{q5}xlYSEE&U{Duxe5JG
z{(W@5R98Dbofqhba)Q5IPL@mN(~rtY{+E)0Hu5xktk+(-a+0mg$7!#oOnc}xD<>g;
z=oeYJw5rBhcrJ26cR}l3^gHXVjoR0YF_#Kp=ETo{KjK$0{2cq3>&dbo*fW*9Gi7;1
zCr=;pU&t1+hKDyjfnPaCTe6j3^U7H4jV2hw0Bt>wpB21Xz~1131@cuuk80PRI2!)P
zvF9tjHcs4}e_g6{{}6I4jt%Zl-+*1*O~0`%R_Zp^WCiaEXnk5ZZz;Lwz^NP!@`k(<
z<EeElSC04OP0ULYx-GemQ@Fng+}1mIeV)&vi#wZ)U&<fHH0+Ial5eb>uWT0Wi3VR0
zUjP=GLzI0Ulm3FzfuGVdq#Jt8il0HRg*^10B5B27`2g>ay<V(rk@e`|URFnzKm%r6
zeHxdC>lx&@NxxU=9&Sfp8hK}GqtZQG&X8{A@iWr>xciZphZp{?2RQ=1DE)bGI07!i
zkHO(7>2<t27=(w!o2-=bJ1QdIijB91c!vbM3#4t!^{*z_ABPrB>_e|gcs54Dduu4c
z+TTJ9hIGGskt=FPv?7{u=;ejsP3MNJlxX7YA}|_)pBBRXzlx*{6iItnycoD`q+P*D
z>m|7STEF1%_4;KE68dG`Z{XLA?<C%wHRJxeH*W2HU&gn2hf;iWF6T29Kl8lDcLmFY
z`0gT?@5;xIU&-0Gb7E@Pi_Ee2F^bljWdrN%0B`7Z*r{32c@iE_7zek(l!FiNgkOeK
z4xeNpuibVMe(tT@@7$rcC#9cPvoBMVuBN=hvkQ3ew%PCi=3jVc*<#v}Zy<*Z@sGFa
z{iLJ6?-_7;_RTxMH_ACYp^R;sJle+-%9U&O@dWCW;t9#wlryrTOu4AeFnRQlEMu=l
zPo$hjXLh-A@8cbM=e&wzGfa--^V5FD#mIHhf8m?-i)R5Zbei0`qv5zy>EK`Cd*6$X
zcX@B0_^n`TcvTts6-8#npe^Laqt(#X>Kf5-O*%mv?Zj+J4u$dW41x=*kwdeQEf-GZ
zUi}WqmYVcMUYTz0pi#e@Im4N~z+F@O-KEz6T%Ii-i`L%eyVP3c@OKy-vH31lPCk%!
z<`JPic*@c<>a2wenU8pe^rPL=T=}Ybo#2f*>B-jw^V-Y&jC_?2B>AecVXtf!{WIZ{
zuiKHY8S*7x>%1}{#U3#R$<_hdGxGI1={&4&G5NYd`VDJbC|}QzeuK;^l&?GAH6ma8
zo*$8~alxJPf@e3pvlN`df;;`GT)0fRI6f#Nue;00*Bo%)C;7SvSbOrd?|q}?t74uG
zE_dH?e$JDz&HnNFWb72=N`8Dk8GD%0fuS=$pNy?ky2p==ykZw*%~_;rEi4ZojyuX-
zn|cq=7al)?=NpJq@#|Z{2ZApgd`Q$;8(n;GY2x3!vcd=HTEdBa^tGDbg~+59jRl@&
zWbJbs7@wiTzl_M*r<87V2GULW$CU2zrs&fn<^QO3j~8V~H|6hFy2pE>&y3jc8Pa7p
zKm8;34hGT2XgOV-zGs{(r;|<4I{A{*iDGh^*gR;esGN=wn|Gxnr>oNsV>7B9(VS>c
zba&<R!<%rFJ97F1z@|_p|5Fk9yQoN7v2vd)Qm(y7+66_@it*LU9zQfTwius%>CcCj
zlg=yt_q6uXy!DR%dARxG!UxvVxpR{B`<DJ^y>8Vn<s4lCJdiF?2%E7*(hd}vi*v>b
zoHO{}%G&>ia^kOz*bgTCRMLN{bojGBeGcjWM!MEc=~_Q~ytUe_>&4!>DrWpC_+HrK
z{eK~b*Rjp95sLA>Q>iCCpcvmfPItgEzCymYP4))kE985N@g<7i%C69UrR)m9dj@BQ
zjl9X=S185zx)tk5f8rmRGIz^n&`FKFiF$Ut1zr@|@mgDz^TY9ZXiabwA9l`H!mqaL
zfB5a6_#OOVX<B@|>YdSI2%cSv7DMo9vu3ZNQ|QdqyhdwCaU`0%!Gn7l=lx16z=MsX
z-(3Xf))h%xQzY%{q#62O3U87BqS~W<-3z&aF$rD=m#0UaO9`P1yLT1avjXfz$`5fT
z>l{TN&i&kC&Dg_2AC=y`d%(S?<aKP4fq{xtD?He}yMee5{Hz1)y&c0mRK9y1Z<+M-
zy;gS}5{tmwN&)sa*yFlv;9R>`XP6_LD?!ig8OOd||GCj#;<Owe(6!RZf(v`XjGwp8
zH75MVwsQ}Y_N=~gFEM)1i-nIj#+_3!^eFLw?5aTO&L-mQ(3S6FO{E|Fp0Redy7ymc
zTzlCk%*fV4f7;Bi=5KHO@Q~W;hL;LQ?J|097@bvhEb6Fil>bZNeH?vMW#8-wI_GT!
zuORg_j)4oTp{Kz~hc4jP@hWTMRQzTZbJkr(S@x#0>#+s2XU9BF6->Y*&IP5k&no#R
z_y{gt=!l9vKGu!vpA~^e9L4u@ybqN@7t`F%r+oDA$WRNviZeQjzeQHXk{ES`7ph-N
zo!m0+DRA!ba^G|fpBllAn792c`Xm--)(hZmpC{KJz;+ZLeQSx;`?avOdgqczukyDt
zpAPg?d`^$Xxo2TfkT*Oj8=sDTXxmG2Yt}Y&ql@FiCpIIPCN5$@a=f)sd!~wW_V@8s
z^#L5dK>JE3*e}&b`w@8IcHos|uT}cp9?A&5*}2xxSAgqyaO%lR+Gc8<UuB)OcPyEY
z4K&L}N5R)QYZ%^pNMFGE0<W*%)7Nu>vAZ(tH?OF)mi7tGYUBGZjz7n*sc(UUhBx$i
z_H>_TPh0Y<c>Is^3Z?M{e~Emc574fIV~P#<xuZw12E==uQJ~xD&Rp(IJGgwi6DOd(
z5B8iFWcCbi+A@xqM+f$n1N#WDU(3DW*<;yPCU$5M{@HF~f3*KH!`XKZo~6B+ce6(?
ze25E{;OP&6<$B6p8X*pb*wwH#y;J)tN$B^Rz*TLG)StfOY;>~&&@nOFOKR5N+VI?X
zYiSp{{&Val_pz2XelN9qGwq5;ya#@f@%rji+Da=mleC<d_AjK#FMSkgVJ|I7nrPx`
z`WH>;e2Jlj(0}Ppv8m}Ryu86+{VYQ>rcCz>!wcuo7W(LdR`6{r>nt2}>0qpDI}n4k
zgf<$k2+nK-R+}hS0elt1cQn5i@q1xwOy^3<gkBhK?!u=3B5g#cM20Tn*H2^N9m5NY
z)m=v2$n(@CuI5(Nt>t`ySJ%W9MhAu$7K<Icl)73k#c{2pPRo>J!}iH58zwQ%*DI~n
z;LpQ`N7?AC=Kq(;ds=c4xV^~tr5?TgjyZjbd-A$&j`VcB8yoZMk)8}R7J^2@to;kn
z)lByLUjYBtpI~i_ldrhhY;Y|0+876BD)T4SMrD-V#+nJf{q$w}&wkt*YNM|lYt}Kw
z+IRsp+zR}Mi9^qF&S!9IAf<KK3!gLg!)4+D_%2=#!P7tPypi^3J#F+hxOPMcemA%t
zK3_jLcMov_EtRYRw(_^}>pF4)9`G9Z7WrLGk={+<m_@8dSAh5maBBzrK=JUxC4(a|
z^+{if`OEPO9C{n42bX?!8ualBbaD)5cTP(z*b5(-_T|K*PkxEJ7de->uhZ%cF}BE2
zz>YOgd(FhsYAv$C%AU;u_%&xsx|rW@b`P(aUbVg9d#h@uiI1B3ZkSHr@U(jB>R0O@
z3|Sjv(6eZGBJ>nvU4*k1e!l_6Zu0(-xZ@b*#Rnq5K<%P?EU>}nyP0P<vS2!Q-PquC
z2tF=2z_*qzCf-AIvrfE``TA+9n=@58&U@}<?_&>om&(m|=+e2r40^6fANK>%WL^5x
z`X#1Id&M?m_!+!RyjEo{pl$85XwNEue$hH#e0<(^l~ex5)Hm}L{Q4TLji-PcCj*1?
z$X^kx+ZAfG7G6D#c=RvZ=gNi%JvsLp-GgEQ7oF`4bB}s#N@S>kwGzE8IuKkM<)X^B
zf(^6kp;yV0{f&tQ`ky{0tIy9f-hTdf&#Km>zZaZ3AqTE}yV5#R`&pMTrUSrNcLZkG
zKi*_nbG|)6dE6DixGvFrnNt)#>Yo#Pd^%e>TmDkvvtw6ZbM-Z<w~zY_s|5?nXxt~T
zX3GCLu-d#bvh*fLp4X&LXB-AEB9mSDl4TCEi#&TJe}7+ucNB!L(n-u7Sl1s8)t&7>
zpgU9U(}!ED{}DdWG68#g$MB|R(Xv+`ea3kYRO^Wj>Cl|$?WxHl^rrI&(->dO9-OQB
zg`hdn-YLK&1WqarTfQvO=8>Yk;o&(U`r`i11tHNUyhgAPeU4LpU~sPJGDJT5Pj5Zr
zX`FcM(uc4;8aGZ@IuV;?->(x3rd^kOR5bVGwaGlaIs4y?{rTWDd_VPh{(S)Xo&(>7
z%Y}O@J*;J+&6lOmsjpU!THhB~6WxKklQBx~5`Ky<6=&DVJY}zGA9Q!4wfdqNRw@Wy
zM<!T~JwF58CWya1zlOvEN=GQUhTcB+{w0+?&oFjF`)%3bO`4bJeIjEi9QS0>?t5%_
zV*=it5^raWZ`D|<o%c>WIUwG1IOUYLhrFx!-ZvR|9+Pn4dGrYXk`KN=cf*24?jrph
zyapaIA#iHr<hoN=e5;i^&T1mj$7&<dTl(R5A4eYU#n-%*I(IL;al!39-*DQykYB?O
ze@))iOII$KHgJR6SN{$9Jnmkv6+DGEH*0()XeohCAwB@D)LtdnKraKV$sE<eCTL=B
zw3Ry;+rUeFYp;c^iK&5MJX)RAJwK4X0N>h*Jeoy$;p@TW8+v8{8^xh&pH?^`ew~AN
zRiJn2y91t`lpVC$wS#nqG)%g?R~tw-DIOBLs2l&2xxX>TzB)QwPxkPsJ;d(~5ra6C
z{ncn*d(%Hb!|Q{oy{jr5KW_h>!Bha7MspYacF!xVBX)B?oyPs9;`k~*IkO*K>Qjsh
ze*dWAclQOyq;@Rl%oS&-<R8eK#aTOigOLjN{D0_d`j*a&tj@Jnq;%i1XmWUX(#+u%
z+$D^ClnYj*<o6!_6=(mqgd96<I{1FuGUUYs>m138ne3q^ei?0vOtG5pA!cg1_$6{b
z*=DD%eU7(E$V*VZ?;ot@3%P4azB&uOoIToVz6~Bdh^=T5muKY9w$s3~%1CbuW66HN
zYF1u|Sh765u*QWvFVsN1C4E90@bBrwLDZ)I1%I%{@fP#fyt(5zrMZVK>#TX!lqE^s
z;d?dx9%(fb)6pBLwwk4LiWi;5xW%*7&PHUj(q5*Wr0(z`?L=aEBzN>}k&ka>mS7x%
zCnwfLTVkzFo335RU4igX$8T5YzX+cSul|+0))~G_m5ZN6xph|R0mfir{_MG>%jdKQ
zgS{XeO3o=$?hMNP*z2D<rTXvwFy(&amW!4v_aVxy_u6BBr(}EcE!o2lJ2B6j9eoEK
zgmaWJVxEIjobwokaWw~*Kk3*uiJ)vn__*X7ItzU)-A3F(JvgPbsL%ft#r~qq$oX&l
zPeU&w_gHt~gm5l<HL)7th491R2Ju!7ZbW!jMmm-D-(<szpM=Cyx+bQq$YH6cWS@|i
zSjoQM-6M2s<Zk5EL*;JwEA$V2%MT=7;beH1@Gtbr@NDs;qWvWfbNc&@ufIt}`m@**
zF2u1od&vI&rqkbt;eDq6I{w%DHj?osZ3=1PucF<-{^8l*L8k9V?u2}FdR&vW5Lw@A
zL7PesA+s7iJdb#BwGl6_HiG^m`fLmmJIq`~qgF+tf!J$@o<4}bVX89*M`k;4d1D>=
zSeZKSqfQldRviyN0GDid-={cFubB5%Ys^`Tu!(-c7-fISN7BwYua(RvfNk9bo~-0|
zkvCrN-PCiMy!Xo2p<~s-&k{e3wuGJqek)x5l!Y%ofSk&$pila0g_o$GSBbA5L?^Ci
zJ#{y_@>;Ns-Te9`e<X$=v^CTj!p~*FKOO$Zd9UOIWD4<He*Ig%S7-ki`QcBO@72AN
zp(ecxUBrzOk2o=r&K)a^X#l)xil94TpIcUaXY`ubVB0mJLCGSu74h_rKKN824~<FZ
z_@+y{anI+fa);m(@>lbBe3z7W^j&cIUsx}t>kc|Uz9mS1nX~}oYG7Qpct7iU@x+GC
zk94ud)M+En|7MEbN6FB)c{Al=^r^M@x3cIUZP5P=bg6dc(+d5vhD%?<*HG-u6jLuw
zzIcP}&8utVZJqp`NA}*~=C8ayyyj<&wNS4r<$LvDlYgJ*IdEeo@~xFQ3NHqU-50KH
zf#wZuoeDfIe3dgwzw+@Q<g4oX;r4#YRgsoJMi%lr?d=PW^VA3DDo4!?KS3eivj;}{
zpH91q2TefJN#Lp&v+RxIdo0EY&P-^u>X&Tb-q`Hvu8&Z-YSkgn_+Mp0z)*A^*@`WA
z0d!Chm!8-Hy-?Q7*P=h&>1Vk-;YiEl36-RUytI&)_KIL|r|ZuTLrZGowQg|TlVzC)
zhMRvK#18RfRuUV=lzTzte&ph>{oqJ?R_UHhN|LTNRp&3HYmW<l<m?}qcK)pLo=i?|
z9V!1O(i<t?@zBwova98{2mlX*gAY72yf6SP^nbwPBRR^ue(~D$V(vGP%rW{`c;oOw
zN8f^{NWaPziSxXcwEgg&A@sAI@ZUY~n6}`w2`3Y?AbDi99hO2SJseI<O3gvHU5y;l
z`H1+6$St~4yn>j?Hf(;%F1Qt*Avq?SJxabm@0;Yg`c8G)xsMM%BAiNwOUv+NXoO$9
zZMjajy>8<4=9SQex{1vbO+@Y*k-3_m=IPGy@YF$UY%|V}ayNqLMdLK`HU>-!`Bmo5
z(em#TtmAipt8i$kcojG!8%Q{!{SmGGD*b|UVQ}qJeD4SDf}74qAJa>}@ICbZJB~*0
z9}Djaa8`c@e0=B>yLSusFK6(HW+zPUQT%G|c5A3n_kf%d?G4p4#~T;)^v~dY&c`P9
z>^b+ap23gt#@lAAcj#Pxu_1SVJmSXH)^fKNb*5l<1lVti!&eGrMHO#7I5MPjw5-^W
zmlX}^ZNO}*^ncxB;;lojTr2@H!pMOzGNIIZiI;BDeO%1P3hBHG`uZB|9AMzwO#+Oh
z&lo=NH+VfZ-s~aH8ywgyJ-Q}6__4Er!9Vsq!CfUgMT?Bjlz)Tr^0~!{1IXPtdVY#~
zOhQY!Rio1t_vrd>rlr5;%{!`juX6DuUS{4=&HKjD_>?FjCvx1u;*aIt#yHcAvruMq
z6-oOxX&Q?kF84?VlCJZsg?xS+eo({b_aICBd_IQ#Qpo2sgCl%?9qn!@GKOMtk3ZG8
z;MorCAOq~T+%rZiSQC$)@-nWyNZJ#s4=tLtTSecB{qwKqmr0YpCfqXRuJy_pJTQ2H
z9<_kSELL~W#`W+f!AtxW`NP>ccrLhy+;?m$kLR9acrH5E>^|;*2&t^c>lbzDT(9?@
zGCmpYg<CNzbrt7OW6+fY*D|<agBvmMQ00<*m!t{Wh=G?*d*#ZJ=f7t{V=(e(HZU=L
z;b+XtxA!RBYdd;yxLNfzKiyxZy2mg_)ziM2%E>1$xS4yz<lC4EOuD(p!>`|UbKg)H
z8>#zm?waS|>$1JfS#kL_?rODCcL$=EJu#`ab311>hPh|Q!UuaYJWxK6y5aeb-{VSj
z-%_wi62GGRI_v%qYkvYJRdN0Q<F{vqMMV*2VAzyta6vR0bx<%1-2-khnuy~PO+HS8
zJ4wvAD<<@SM$MRyw4xX_GA(Y?i4hf-aqWS`Eye|n8e@{~8H^|<YFMNZo!{$Sw`%%M
z!)@~Y|3428Pv1HBRMn}o)u~f;tHkp?ERVR?H4Hy0{Bb^By3Dy$o$P(l`DGq{SbUF{
z!A%I4bt>VhTv*$A&ctqFEk<}M6Nc9!JnYuUy9{1bc;p|2m*zRFzRp45S$&L`!Al6w
z>SLbgu=>b#_UdCx8N4|29j(PhxF7E3U-K;l^3|Pjuk&5aLwr}$bdXPbzRdR|5#BZJ
zYw<qjEDN5UozGp2%#r=C_<q~TKK=<f=s_Ia72ZX{aq`wXo?ZEK^)4Xe$fvyLZ_S4$
z%Py=;TLkCX)tOK^E62Rv@$BB6tany+@&E9SXZP+ny>s%?JD%OUZ|j}&8QjmSXZP+<
zy|Z#j=pE1Q-8c0PyEMATJJ+|#!1b-sW$-vQ%}agnxcJ#42aPoM<V@ubqdLBk)7hLl
z4<}5{Y5a-SC?b3pH39jlT#UKWt;mnL{j#P?zun+>QKM*A-$m(sOT{UBP)>PQ?a9~o
zhKhGw4o1FU*I)Z*QptyG#xJW**M|YrrJT9?=U^4UW&_hXBU*z}PSTyHpuK$HvDU+V
zXw@EhdCn>38wjlr$Tzo$_k;S5?GxAsq5aZ{p?%@^3XWV$_bN>w7HC=S?^QbS9sgcR
zolT!$&r$+9o2tBnqZ{X5pF~E93idIv4x#;~Z}jvmLPmwA{+`Z2xjs<=ZJt+1B4^Ly
z{L$fT5AD_X?f{<b$UpDEKTkyExKphV`?BZZx!}9^D(B7~j(V{N73-A75L@dni>+?%
z-g_SK*80EKR`9fUzIPn7-x=u+P>q$+%QWMvbS$krCOq-`;h%9?j05~}LbBGL%RA8<
z@l$fUfihaNqp$F?I@1E5=84zzTXjt%PSiR{12}Qo6yG>!Bol|f8pqOi1n9HlwDy{{
za(>55@}JI@JGVMk`)8C9C)CfJ2d=g4L>XL-<uhl3Yi&JJ1~&?>>^a6-IPuP+^O5U;
zpZ7c*9LHnoll5l}w?lJ)jy(HigYOT~`#{@q#`@s<19-p6$g6m+t9Y#a;f;UumL-?_
z>lM@CP15=}HxH8STY2^7H<0Nh;mJNl<0$G+S{_B;Ei;Dv)vHfh{zTsi$BX{OtG^Nc
z44cW`0cca)unV-cS=w64lub~!&C=3RhL!}hv^iN(Cd?n^-{PKeXnCaGTb6~E&pGEI
z>*)ALc)7&ii5(pse=CCrjaf@a3p9n%k)Y3SLC2#ttPeuRUv%EY9bW3_FF5CKCblro
zOMQ!H<z9~v4BWQ|c+0#M{=I&G0^eIgZj5&$XL%`azL)x@!5^9Vx?lrXgREqK0q<1)
z5dJ=dwa6HMPv`F#e@kEYMqgvZi+Y~Gv(|dQ2cF6u0v>r>^DfFet<5%pw=2(zA4l-_
zC4Ye?aJh59v^m9=-8)d0wMSD{ZLq$$NaY@T%P$uN&$DeX2Uz6sF8ijptRK%BYt+tX
z*we*3_<Yj&qT*8}<s6?pp2epxS$h$mMg;gYUwo?deOSxe;qqufFFgFNd|k`?W$^w9
z-e4auz9t+m{-IYd8908t4{eT@>^1G>2WRmceoTJN=f~f`bNpa`sNqM9T{@jS2l?@t
z*2dA3*KD6B!*|KyPl58wTzUBZ0MFv%!QiRf3h;99N;1jtF2_4P-^25pJU_zs7_yH8
z;a?Vh-vj<zl*`WZQg^B>>sxmSMjf?-ec4Q~vbhbolg+OT?ug7H!NA?fJ?>72#{^^(
zc{QAukynbc=`16|PRY>8=DG0t;?MS#O%mFiY|f<r(sS|RG@hlaC#~>#dl7g}Hr&%-
zWYe_VTXr(fl8yNLDE*T?zsEP5IqO$CUkInA^LgSk=WEO0MTKYmN`85GefdtWUVL`?
zaAbhyuUeYbx3BOV)Q73yIeplJcTOM1^DKQh2>X*h+)uxx597gi`cS8`=)<mpNgwb#
z(y@vB9i(Ls{&xJ^F+j`qmX;H(ZjMoX)FV18EiFwvdpye@82yCLqNi2#SU$&}3g=7w
z$)f*GJQ0qUc)aMp<Bx^o#UJ(kx3i~@^&PdP`AzvFYfrE9Z1_jtvhd_R@Uj-~CEjH%
z-U~cG%=5!{_+#Yp^s9G#yf>VV#689FG4h*mynK6LeB?Q7T*_0Q#>aygm&D%#t-SAn
zZYS?M)mPcSVBjvo-%95vfGgj88}MHHH@MipVBk(hH{_?Z7eeKOKJs?{c6N9r{BU;2
zJtW2s-@e-~yAV95M{{_mF(Y@Ex9k$0ogF&=c#Uh<`bT~5?#lkqmX)5J&2!Km=78tq
zIg@uzp1SWfXb)@nZdCSgD)^2+-&a}qbFyIc`7P@ca^O0j5Pu+C2JxjupOEG`Ojhap
zi#{RxyKubdeSLkxbm($C&^Rsri3bxb51btyqJBWX-f5f`4`heC^6czz1LKhNdOzD&
zXAgS^$_}+<RnK6agZ2;w&)LI3-Z^{d$FuBV(l2~_NWr@{_}mZtM`*8Y9=Ub3L9W;n
z3_3Y0!RYMItxPuYU96MIXFN+L>jeYX=|_aJK_B%6?;USe$zNIC<arM2$6D2AdGn6^
zm9^uycvk-$Up}zyIljCXDECsJ+zYncLDo<F6+Fk6<-Buzd4^~4<-!)9FGpFvJOjSt
z%advYzC11%G!Dn+B%^2fTYY!5EEk^b1AE<i`*63V<pfL1W8gVj7F$}R2O8(42cl>F
z<<LVL_t`dGKiUIj7ud4WgJ1G&<U7YNw-~%OOUuuB*Cu{m<}I7gv(5leJNkxi*@gc6
zW=Hy+bmQyA;kuu`h&hTKUpp@?gLg@BF4MV<`ZSkWKiTL18onLv_0yMy*PozmH;;+W
z4abZAtmvoXKP`iIx$mb>7~|`_=2Xu^i+s`7;ic32DLhN>4;D<ax3St&;L2C;58V0c
zeGTr2%szsF8;qkL0N=&Yo!5oa)%m~0SS?xxFDg76t0jIOUSHzMzOmXcXsfgHh0WNm
z8zTxln|Z}W{ur?Xc+QUh!#mk=7TwV}9gL%0ymqPh;o^vvaC+j&qHj)=kz)cmx_GUn
zj2v5#W6=NnjlF4(?%!LwWiOpP2mR0M+QVk;<#FCQ|MMu%@;?{Zcx{^1iATYAI<ZV;
z(TN8IqYf9ZJ<Z=iS{~<bM@u?Di^gfu;>L-ks?XA*abC2@KWLop9VcwOrt@X8md}aV
z;e1Y<Q;gU0=Y`|tn~U*Ugy*oaGV+tY@!I?V&F5H}#pg45HvF@`?^5ub?`z_n{BRPy
zAMh-{R6*|5ocj;_c)mq$Th4b7d{?Ql>SW3~pM0X)!zUjv7`%GKj#aYTcfgn39>Y5)
zqoWLdZRSY9z<1-7$_Hh1EPp#0O@<~nUQH5x(Bypm;i}KdXkXqrebG2=`g@8$MtsAz
z=gLh9l&cGr+r^f9<a>U({lIg48qPcMi94j1RrBopxAFJ*AMxndmPbP<=XkV}+JZ-e
z1cTP$0Uo8qBda(0v%}?_KdY!W5uQW!;mo4mq|4x?!3&O=>-oOi@$p^xOZq9j`3uj6
zk28FJtO3vQV<qp5-W=;Kdxhs9KOV*|#E<WZAGUuj-wUU^<)q>`lIJ<Bf1Ewhn-5EW
zKO8T8ijDWJzCRV9`%X)@`p5Sj{&)?Z#`%Z9YqR=v3-8)29~SYfary$r$0Yq4Prs73
zU!AcsbW9D5)88zE_l>|f{q-_<U-NU04>OMue<N1kE`)BUZ|CtWefx=E^yMb&Gi8(O
z`Ib^Pc{cByO`c)!Ycr<_2EL2yKLj`DWLJjQE%4gS_47Q3%I@Ui*pWUy953D2ckDO@
zx|}bVgdChNIDqG%zn-psSlR8(JLzx}GM>P*^VbJ`&DY~8wy(|~ObV18W6MfEM)GX*
ze~MpjZ}6P{59OWFe{^Cn&wcbC8<%{31rOyjcch$?&-Q8y`3w{cdQY%%tmIP-ENGX5
zg=_n?L4L&Q<652#U6Xve`hn-@`iOUiE^@)#-`Iz)^~`Ie=PYEHwp~2Cp1)oBcWrrN
z|2!N2X6<7Qcx{%RmAq@S^t{5eu@Amol6{;)zmxR)74UDQz2rPE^%BooV|!6B>KJBy
z=65ZReh=L7sMFx`ow8uyZm{F5cr+b+=QATmhU-z}h@#KTvrjuzFQ*rMW`yT3yvVe^
zKJ#ADXnAoR{dcmtmS@T4roDXG+zy`O?UlTfY}zJx%jWUy##rYscN8z2Uug)Zr88di
zm(enKQQ^6~{Q=?iwd~*5Up5D5KFQK7eb6`^)Q2;{bNZlh-sywJdFjKtoqT<Gi*Gii
z4@ZIT^x+7er4NS*1|R=y$BdW2bv#Iy+k4M`dpGyUj|=ZxK3e2Kgy&HCvJXVM=4?Xy
zt)1Lz13aj)JUHIk#2(-|9_(m&AiuLc&%N_I`X;-$QGBrSP3#v=OJd*RxRKu{9526j
zaomX1hT}!}Mq50dWN9vJDAJt6cR0EIjc3WN9=s%W`!RS)tK)C-F3CIT!RtJ0f1cKM
zwXQw*X8&AJx7MpO`RCoto?CR!t-l?zsAo}q0T}aE@x{UGf$t_bd<nw$1%5d90ZSKx
z@Cm^82Vb_scPX{f@8J77-V^VcwuA6dw!YH#Yk(iDdP?Zp33zlX^$Y~AeX*tWQ~=k$
z-_m|;zKQ)M?7uAS#|Ger{*wNE0-W>zYO^K%`VjbD(335pa~1HBf|u0uci`IrFXhkM
zz@MW2(*CXlPM%{6{Fi`_-U@%71-=7t%{z~#9m(Sx^i#i6;e+6>Q=fi6w(m~`uJ;#%
zC;0KUe2aar^J6rBcDivNZTyjUK|Q(`7~lGu{yMxRz%taOxx9nj4lGXDTtEkZ1?=Cz
z#9N2A5ZE-^ZwI>$*cZ?u9y!=AR2G={?_gH~<NUimv?PIz1{S1c4lsOwZ4Mc^vKIkk
z{#u(0)YlB`Nnp|yhxbEZQ=~ruyfcBZF50IbGlBgS9t7$80k9tf3-aJ3U?T+!)OQ@P
z?F9?8dknD8KkqA#BY~|1))wI3bYRWmRRA^>821VHY4;Fd3*k$!jY+`f2o|8_tH6@t
zAM2Km2YUmXD!B#l_5k(=^*2Cs6xbucf@Q}5dtqZ=UeyB23NN59LxEkT{s!9J5!kiB
zg8Ul@>?Hb@4A4>u>~`@WK+Bgmf(I-afE9rK0$5PT*8%%Y34I>}dr$HWwDBP@)?oVZ
z?>%7Tu>0^Y2W$_O4Yd1LU{3)H()T8?j|B^~@fxsoz~nc3_s!USDZ#xPk&3O2HU54S
z?a64eW5&m<cbk19>;($jH?mA^hV1)z<3(?o_HicBEv;d1bH7JG2XCid6IaagmMLzO
zewuag7q&*bzsD!>ydMKRvM;fl#V@zcnFe3+`lForA{|lvar&<qqiHL9QaW|_7I?vN
z=>q6f?&EFFEz$as%OA#H3#T*6y0X@o_||+`oy|9<-wMZ1zv<Nn_ey-gH=Hq>Z~Qqj
zirMu5z5_6OCEWV{KftTAc$^v5o0sIf0e^je1$jx^eoL8sCN1nU39gB~5UBTzK)rl#
zZtA@x>*qV40ng3-zRx?&{gTgk%f836#t-pPbHGR8o#TH?XE+}cSv$9^>dWgq`&Po@
z!aVzKg0$Zfp#9(g?e&)Sx1aNAUl5@EE0*@$v)(ek!#1>wZqDB5r8|m@!f1&8x$m6#
z(m>tAZQY8?s(B9P$Ib;WXKj)1=X>WU+wpAXkF`ZT-<ICW9)f!N>_VF_;QS)T`~0%-
zK6F0h_u-@x-bYu4mx*EnLEe9j{y2Snn|1R#tGArX@8`*%^m)I3fIr%oBE88z;Vsj?
zl%U>x1}%>EmY2inX!(=nKlA5aeSf74K6N?0{he)J^7#$VLHP^_$mdSp<!pSN=Gn*x
z-iq(WulzQ=y(nws@<YM?@a=x6KINa@vOoD3%i!ZPU4JeM^ylJ|{=B}nsBb?B^yf#m
zKb%EX><@bq!t_1f(RZ%>RG?n%OL2VSj77sIH)neYysXvt@A58d`N?@7{=D@T@*j?$
zw}iJJ{gposT=f5keSCR?wU2;riryLCW@O3M?IV6~c$ql+8iMw5KK*z0u`_*k_Mv?#
zT1T49J`C+sI2$}C&;GoVeZ<oKzLY-p5%5oG>^Dqa=?ASoF>h4;#|G->K8N0%-5Q>Q
z`hPfh&Ofc<os(;xXQThhU0Qi{-dd)8WVwa@|2iB$f7_P&pME49KmBk~{~r(Z=h2e>
zR0sOAG|->>Y=1W3Z(M)kH;1<uU({Fszu;R+$ERBY^)9mY9;E#WmQRrf!t0H&@50%~
z)s%Jip?xVPuhSB+k8Q*;vZLU5&~SsFtGj7Xk(R_S!)b|M>-Vviv#@fO_Iw$e%wv<m
zHKNDhiPPcZq2K5*K6VDr(y<faNpHP(h0~G8CLM35QC2#r{7sB!^-p@pU6j52P23b-
zSK>x1w?NzJJHqkP>0;Zv*|s%KXkUuj4azlIhBxw8POjRQ;^eA*DU$1j=N07|xj3Aj
z{Dr>X3+ibCIfdDMqIJvuM#|`Q1if~=Ud<i|XYcRvZ2F7;$dY&B`;=Zk{&(KF{`{3^
z^=JL;Vt>-}!|6-U>zmWtJ5cZQfqI!o`ucx%vEFU<qs@*p%s2h~*_qz5hj><gLwaNK
zXs3}!b9Q-pIGvHx{QTVd{fq6lutpck_cQ!{y~*0F<~CW|#<u21!gF)#6RzJfek-?j
z9cS%Y_P0g+hR%f18NHzI`1D848*t;(S@6n@Pp9*2_Bs5>A3r+5bGH3IypwHbf9NgK
z{aby;r(pcn98O0I>*U6FV3#g_i~k}VKYmTo-+$A#FT4C2&%yC)5p+6zuIHW8XPuWL
zeSRb`e#H~v?M0h>I|{~c@gIic$Jt{L^o17&_%$>@?_fu7z#rvX!t2c^i}vXS`tyZd
z7e6TA2h(NxleYaiIM8lnPI$YK%ZlxG(U#-mKWw`fS-<c#`sw`K+q{!sNFtX%^DMgy
z?pwH#*sblqv<u-myI7F&$FVn&UC_2#z7tM=;+QSvmng%Z1pF!0$0#})YDec5_3;+^
z>c%?lO9|@Z+E0r5xPW(#kH6$u`gqZy#c?cMW}Q8K;+B4WTl)!|9h?_v_gvfVBXQra
z{}K9}{LbQ?<d=<k%TDLn`Azxvhl!b;?BZqC?xL*MnKc{yKu}hZAB6KV!dkXsMYr~Q
zcYtTp0<_00?Kd6i(|%ik_9>S3wj;b{2U*(9xJ10{=<Yl|oQ6);xPxm=R|e`HXX}=~
z8OyWkb?Y{Bz-zPP&IsPM@lJTdc-DBc?5oA`rjzxtFnvlNX!j8?emHu!HUAf0Fy4E1
z!Pf00PTgVcMp=U_jng|>rwzmJJbWv5a$GombVkumUS&<**~y=@J`aDK%=dziPG7Zu
z)Y-`jo{it;oY$=N9W4#v?X|?Ww3C*j%iw>z=;!VYw0oCrcLVFfihm*jeYl->vJ;PY
zxANS_PRI{9`9;dCC+5Fm^$q_Ww3Boh+e%|w#!do0Jn^mYz9m?TcRXzl^zFyCZ#V7d
z_wB`xi$35?+qX9It*6<(mD*99Jv3qZ5ob?L(2gDo)csvsx9sC+o`ZJO4xY24!+7WH
zh;<-;9|QN%B(40nWf#H=+66b_`FZDn4@-{^??cNtzYiyr_^{5s!pn3{=<CBSq(6@L
z+Lz+=S^H9qK9BQxKRdvmfxMGmWuttT#&b}wI1{p0ui|Csh(kw^|HlRD|0J+x{x7>`
z?)=!10sjBfu9-_t-8{>WU4ULY{%h?zO#b;A8#lu{X9tPh!toQx!O)9NXRUmrlf&_&
z2N&m6tjigGiO!Ca{tOHBNBd9P=!5X?xBcP!@815TcMoqb4eh~o`ksFm_4Kwty}z>c
zx^?>X;3e(2a6RvmwtekO39i%cj&AB3_uxAH%?tXjuYUJB?to-%O#BS$^|yf2?^@{z
z`}((d-@tpm53UtogXO*sT<e_468J&DwH{pB&R2n}ezo%jYf*~#2e2NfzjfAXY5lu_
zKYJ_n><av7>dBR~I|BIsXw9(%J`{LCYm6oELBOwpj#7Ak;7h2dtpwi#uKP-pCGbuE
z+q39+*12*e@O8koc3oQkzkz?g6+W*9{!6=t802#o@Hx<5O3%B%%~?Yw?Y;?o74(<3
z`zml^%q`$A0^bw3<iY)qMjq>-Lx2AoI`ylyddW#^jrtXxg70qIaWVFz)V0y}*})zJ
zM*L;?<6!pzW8ZC`_0oHRF;3Uk1@;Ln0d|Cyohy4gutzPQ9PC%XzE8W7frBjsc4-MM
z*8wB{(+BStz?Og~{<^YP0$UAzL0A&l6SNzI%>mX0EE_0$5wK57+Gqy0sf4~C0(%C$
zVA(T)@ts*8*i2vt!k1j2jUNE(UjjP`7<;ArlsyjEjFNsF1MEcFO$O>a5*X_)edIA6
znD&_j+noxm5t!!Mj#q~O+qXnUlYs3)8*PC$z6xvy+6dOSH?XrxbZ8G?Z&NndMikfu
zCA5qImMUqt7Fa#~4Yn~9n9fNH*0&=tzNhO08wl*0k~S)VX+J@*zAt~-v*=LT2-a5s
z_Pdg@>wrC2(#FTYt|+PRLtt-~$nrg4+_T!J-5jv5P&U}^Ux5)1^^y6Tz<yc+dkxt1
z65V|XnEDay+jGD+l=N*mu!n$cv2S2r@ob7n#n#5Y|KIiv+)aDi+&9492CbcKD=!w@
z%dvoZ&AtKhd5V>_KSFi1ys$OeOZE+rztf%#;s00r21b&jw)oqMGlduQ_h&$-atLpe
zr!e~l?05d#YFFz;1>&VThrcSkU!C1{-vIGa%;Kj%3dc{c@#<rCzrfE}V~%NEi8yEu
z&pLx)3VEEm`JC(gQ85pA0q^Q89_JJK>;KEi)7kc-W%d<B-M#|obNz|04yP~vzRqFx
zX*wa$?s2x=$DXEL=;O@d-u&aYdFLtr_>{NoNS-yGNe-G%J__%h{36eVx10ZioyRi&
z3d$<_$M7;y)?>}uUZ8KC?}g)cB1hM^v4Osgv3(oyd%thz1o}42_N{J(w@l|*sBh|*
z$wNB5EYmNYInbMjgm1?M>i*KLD<XgHkMrl>^u_Tj{%&|*;(sm9B{?ItcRs_pw|*Xr
z`B~P{7xC)}+ixShpxxYjZD3v2))6hU_7{2B@8e0>Oi*^(OA<CONwD_byDke~c7!iZ
zHjmK<r|+B(>FfKWzHBN3{B!#Tl8^ZN27-EL_KjHDJ0A_FqmzCG<+El@QLk^JZRxe_
z^9G)K^CS4{Ja}$Cc`fg9c0O?p&nAzkeF?UGttp1_A^*ETzQ^KoMpY=j_U;&Z(GzF?
z`7-*KNB=x)&z#fP+aKl?efo1>pg-)%>+R3+wm)WHf~7BiUpRgF-v;L0@M%$?-iAQE
z?0+?UGW!z1`z3f;J3pJuyR7BsB%V!PViEIK+rHL*!}u9x?NRgBi@5*C@qb(6MydY4
z-D>qe;Jea`!`p1R-ReJk*n|3?zbm|q)>KP<SA;z$Vf~6cRrFn-ux9D(<6k_Rb)nmf
z`XJoUdY&xm!`~@u{Pu0$GUj7_{C3cOTGHY5wY2rMpV7$C>D#lme%a3oo`d!?B%l{h
z^3K^$2hYZSv_|giVPSati5s@GpUyI}>a?<&9JC+yW`yx8&t3u7pX&qtxvr!?fBUfL
z543N<^+)>#)E~1xZu_&Xb?V-nqQy_#9Zp{Y9dmx@oIty0+IG$QxZ~rJ@OoPADCTk4
zyW4Aj+BabAPv7g?dbVXx!V8WkRoIhk(tKxU>xf<*PD|t}U#4c?gT?Q>HXOf`HTF`U
z7%juIC_HmAWp35$6G!nZ9X*j4EQe1zD<IQq-btoS=<?1ytA9qWjCoE^qh<6oYW38t
z_qjfm*{{&aeg!Ajb%AxpPkC0m&TmeIM&~y_<el@II(JHPyO8x_C%4W^!g-j!*!P=3
zKfkSg14d6RuXYLWO8W+!{%hYrklyM5y-x?|eZtbao;ii1SKr)+*`>}>=*_Dlt1mt%
z^5Nb<y?5DqC!Jobx3kQi8|hh_9fxkBY#Tg`&0_rLS@{~t-RxUvB426c7)gZF8DSk$
zbEWm<_FcbPW`*M?X8QelleJm14&m&@#&EH%?3va%ep&Eb9$~^S0{a$R`P0MO)ZPl&
z&q*cmTl~`SGI4Y%7{C1*{@2+!;|O@=#-~GhHv8(%@#D7}z;m|OyKjI!CE7R8Cw_yL
zoTWWoX8%O`f-P--Tjwsg_IIUC7vGKMIXFI@4V}*ZYIx`Lc?i$a=SKqZUAgbJ6RaW2
zPJ-j<w$3Xsz6`t4JnQfPzub8i8c%heMUdWa1n4E-)=TeuJRAFCUL_sTygTv3aJg!K
zOX>KNK0h2keO}Q|y%=csIoqz;mw<f^gFfe{vb>X@O45&~c$QuD*_XiF#o5ZX@)E*x
zdVkI}cD)tZ1Z^k6-h(hdlK=LW@k1P&4a1M0+Be?$$LgX!|AM|aed0SAUp|5PT>gyk
zdh^())3-|~>-6nHo+ZDF8jAAkEVFjs8C<)E?~g*Ct9NFgUY%QI^mr=uf_EQyPCh5`
zPV&iqlkZu1c79LeiP?8x^{Cvp!1)I2pRwaUvN$1}2NCuI1jm%C1GKYl(#w;tTG~%I
z+^79#0owPnv^O2*E!)G=F1pQnoum7^WoTdzOK@B{Gf?+XTes|QFwZ6~!cN=Z-w(iR
zv*X4<-nG%D@cQv=_8qW(o3!nBvc?~#U+Mkrz5~9OaW?S(8gJcuwY3A*SA)EdvsM?@
zZuFq7_^D~(_z~nA^i#Xgf9F@9XRXxP!5_443NOsQ0{B!7p3}#tdFS-}37(Cf?_JdM
zM49#zv>()!FWxWKyS04-k7(Zj?XLyT>ABlCklk}D`v$Z&?c`NveK+macT4sB&@#N6
z-k0{51GHZn;K@anCpWQYMYR7uK>NA8la00!SNxD?*=VVrZ)@E)sOR?u>ORTVE&V;7
z=b)Z10nh3AF}!nneiYAUU7EPX>G`(wR(QdA!ltVN`vNTQqq~&h;~3voPblGi=ald=
zovdXC_2yjq<MeS9eQ^3%%d_-x!)`wBPY>{CXWohT9`APKIp`mQenxBQVfL07*VoS+
z9jJdJYtpJ;{9n&=kpI)bbNuH!-Cq8$;o0z?oQ30m=aBIB(>n+D1z29Ezgh;Ly)#B%
z7|*f}AD<D{Kb=e9?Cke}{&be~XK<iDI(N$H6YJroKkJaK>rZ^2@b=<+2lfSED}{d+
z`E+NX-n6Z^o_@G`<#R*(0Z)?Fub105P>atk-8b-yt63X_S1vwjxQcJ4S$Ap!7S#K%
z19$rdKG@3pdfp$!x>2^I+`hogzJU_>1mNdtjj9Ab4!G)<zVf|``TYaGin}>q&CnX8
zYdH89vmUQJV-UWxZMU@k?SYd^-=f_r;nPkj{a^mv|86^1Lgz-{??PuO{(peq$U0zY
zyB`5}-vS5e{3r0EXt%Wf9Pmc^TUyUMz&Q_h3;Z{LGp27r&&$9Qz)S0Y9{8WMo?6nc
z<-o7hdSVIuN#LCMX5{bz<s^^qfTv&1+cI)`g?{Vr4lBPat^B(ARX?1LwNuxJw$BcB
zC$Ph9yAHM(*iFDBTL-%Z*l%e+2)hxOSyK(Pu>hF%F{t0JY%8$EmKP58b70yB5v;ET
zSOu_P*~@{E$25F#WiJM1_6-EuI1gB*)eDFBBVcBoI)HZ;umR8#<jX8zX5BV`_dmeM
z&-H2dd%!*f7NoBc80U`n!TSy{a$|k^_AOw{WBZgn6xc~6G{=C|melt(V4SPnr|dz%
zbY4M_fBOUDoV41yfZX;0_78m@AL!ejz)mZX$2ef0QZ|UU3$VYH&@uwp!6kZC4J-*P
z8E9iCU`tALZ98Bum-M#^80Vq(>08g0oRd(Z8=HWYp1ZIf7~etkk>w}A*w@{MFKd83
zTcVTy1hyY|u>h~~z}nzdkbmz2TT#Nlw}A0|WFMMW0vk^oK_2`G*d^cv>w6xU{HYgc
zcLgx^dG>)l4Qv-+!Ll8|-h!53*=4}q0PnxPH>F>4#tP=bx*H<NT^qVPg*%H1Eyymx
zT`39OzY%iR$@{Evk|QX4*9rHM_&D6*@qc;OiTY>m+&1^Wc-)y1X-{3@_hT6}cURVA
zlEg)<W171}o`ep;iKVy`(0{LcMYwD8`nYHBXyI<F9J#Zx_HM8ydpBj%=E&9Du`?;>
zdG!xfcm=oL&)vZ?|C*j!)qN%H9ZIaw#{KDav>UlL*4{!~R#(Nn9^5ZA`wi}Z=kEmY
zO^kh~@tg#AJ<s{de%!5C<DdV74e0qwez(@%nY8!+BHyE|e7AZp4)@!&RK(h6LjN@G
zk!j#go2g#xKP}_9C(WCG%S`$U&pNX7OZVGw*W5N`{uhVye<btLdu`r;U%mTc>^(F?
zt?cPbVU_Nr;hqyG`-h=N@R`WI64~p$WIqep&-5y|htt0kC>xM{(#k$*WuHa%x}V0$
zUiZ!PLk_A}_Ym#&anGXC_g@gxZA(u1TCWhn2D^v}=Z%VWnEQ+5H%E9Kk)3_IJnjTV
zC!6o(KEHX$DnXm4BBOE0OLq`Oy?M7Jpsh_Z;tZB<$N#O|L4<xAoOc`!eE4tfA8IPO
zf5_cER4SXdk&WW2t=XrC4J<n*es;~En%3$;)vdx?Tv5HIuEJ|<;;t#>8+&tjJzL(z
z$#?vdn&`X6^Eh|VT#C$9KFa;PI{Qp_1UZ|WH_y@WNPAa*@6|m2<u9iF<Z$j1inNQ*
zb=>*<`T70Y6X=BQtB+8p7vT=dm#&?${H5QXx4Cj)M!beU9nq@D4$%vCJ#O6P<8E!(
zJoAS5<t<0yM><YLE@uz%8Y{u!u2Jr!8k3ppMP?`3T1G{Y+r}2;%3W8neX>)M-o}Gt
z`^2VrO(PG8?c+^RUutMGLfLeG?nNG7k@~#K`(#e#kd)48Q9ed%#G8Pf+`V%u|23~L
zl(S@?x!P-P<DTbdZuXkv+*8#?9bMpzxIFeyLmPP9b0RwaHP62@OnhF*{p4zAs#h~R
z2friOM@3al>!D{QE_voQuNfU{Jo1a4#%DgEZl0gn=ru?CbB~j)yH<5)Rd=na`%UUr
zo$7<DH$i!K=a=Ho96Yaq-}&#5zXh+3JKF1pc-+xG#>ndP^AF{oz!&e;eT!MO!yRP9
zXh-kmYo4<7zlKg3I=E+Sc<=k+nTPHB7kK~7<zDlhHy?djlDntUyLrblM{9l_`di>V
zc4FkTntqL65ZkK@drb`VhFoz;>~-#np1l|ABx-XU@_TQ#*U@Ta_TKDRhx#`SzD<W;
ziOc8SFbkPZtMc%TRjt#!2>gp)GPlaR^j>H%eLxN)#jB)vHPY~^)zY~boXUZ*4&Bo^
zi?*dFM||AVsC#6iv=O8s3Vmm9g$~{GwR&1bDlJ{3Ew64!YW2Zh;XUpF{v~7o2h{x@
zcmA%Pe^`6^>#^&D_w;_iUCmcuGpi4l&k~OZW>!-sca)#&Pgj(g+u|E@hx>TZGI)9L
z#Iw_&Q}xPDWv~A`pLSe%?AY1x)xd>+lJI%2aWSa-*D@cJ{(dp%iS};vDM5Yi9=Nsq
zy^eK{rt=OjNdISH&sFm8dwTpPSMq;oLu?3lhSg-c=T@}$%&lx+b-34|__-T={QlBe
zO+!)*$syeR=q-(UwLWfZMSH%dvi-hCp_#Z$ekoq2&vE*EJ~ZU_WX!R89*cMn*C8YS
z4zxcQ9amkh-`}F&x<9Y6w|~F$;~DIp^EqF2K5E_kid2@m<qJMT?(zq>G<d0v=&*bj
zw3&N-BlOqkL)*|4_r!5Wx@YF$8n1RhkH&I`ZxsF4-{+e6g8LfP_RiS8?zjd11@N&W
zyk_pMGk+KC-wE!^ZQ4H8p)sg!jMq4Jpw}GRh2KG5a|D}T4S!W${wB|J6FHTC@+{a#
zNx$vb=AK5$@lEmRI@Sv;pK|*a`4sdWzHeA*_@?^bRsX2(#<{VF_LD9t76G0|j?vtZ
z)CuUd`j{N*HHz<y?;V}+*U|PY^sF|%t0wbTXwuo{t7lcDZi5Fo{L>ihPjZe{huc7W
zC^leiC0-_97A0Ty{dL^Y4!!qU9(vpbto{qOM6eqC>)ImkHi>sr;S2p#zaqxZMKXD8
zb*$}M+owH^<LTSH>g0_0M_0^fn#o;D@M1IiA|3zR3*;Ek4c*6h2z^XWJG78vT=VFc
zWOvQZUSl_XmY>U2R&p=l(xKgqDPQ5dwFGfLHh_<gb$B-3=>A%)FoAnoTT~DH>Vi+g
zUo{6C8?aqF?Jn(_;}ss_%q`)n&ZRsjkbjc@BcVb1pnJF0wGo5W9?D&Q^v8>=X~O5C
zSH`v?qr-U~9p%-Va?saXj`@jX)j2Y}Tz-UCf1BDPmKy7gG3{N>d`9IWwc+KW!;vvG
zzf<8Y+&`c{ze4X)MyE$Qy?Zt44NW};|D|^xV`|Lm-FV7LPb6<=@5fN~$?l$d_U_h7
z-yHl1;JWA1>FFi>9m8Kr2S%d<=r^(*or%^BP5s)ng&jB9wsa@5E4w3Qjs2km{dtZA
z-sx}iZl;&&!5?g59x9m!<$adb56M`v%uhpiB*SUGZb-&IrB3-5*XFlXFMb<(`syuo
zN4@IQPb|&Zze?8?J5*;5WXzEs`gPQ1BJ{VSpZ7^atba;v&!$aZpK7=>y)yIhT>o!x
z8ha`Edp>`Qhmxi65<7&;6CJB}?R1K-(ACg1)U<PKNjrab?acDqIXlo!bi4327^{t6
z$cbOjgl?NTWZfG*jpCh+k&msj_hL7_&Ri1x5PmoBE4EM0NZ@~(h%qkryw*Bz+^tRg
z=HSKRN^eb$m`3CEPmx=W{@yk%l9Em*h>>$DProADCs#hq`zw&E)2#>iTW5Q^zwhI3
z&Q9z7yPdx|b8U-zL#ws|y9`)RZzZQ+QC|F4>=S%<190ZswZBHr?*3>qp5ZTack4{X
zfI9Sd8e>=Yejdl}C0FVm*Ccwieuezku*|NMC2n8p`;TFn2FCWT9je;9xXV`iJgH}5
zZf{=)qW#LqrV80GE=yO^JQEl0pM{?h=68&Tz4u#2s3SMt)>jTs^+Dg8_+&HY?^hi2
zn<^FC)=VtUL!R}=edvtSN6F#a@TQj@?(}r<!vuHjbC;)+Sq!-D@l+Y*34~MN_b~V)
z|MJD0WhQPg^91<SaQ@*1#ZT+USELMoPxbjL{)_jbU2(%q>@qJK&25+Z99yg)R+68&
z7kk!k1Gb?#lC!fY-#mx$F3MVq?rT-u^|Bd$P2Jg{se6Bh-^b_YiARFI=J~zRX~s4W
zy=N{osio8x?d!i+IpeeUDAWG#$i&u_+})dG+D_J_)>c*+UAhVy<kMF}<FlNtESp>f
zul6wGV0C79=B48Y#?SueLte)fu|o^1u*)TbDqHi{ZP%V2RME;k35BO~)bS8wBjbK<
zz_<Ll8T{MG|0&(osn5E(n|yptYO3d%yRW;z9gcqAv6FbCdBCvD>CoZN&4y)W@+^6D
ziZ@gH@@4`tmT1+O`(5@B`Mj;kYzJ>m-<oPtGt?*gA>Jg)jDvB;!5ndg@H8fd$uPk<
zyKY4!)yX~E^3kK7RJ=rd1r3$lt?b7P)tT<K-lfkO9jVSd%o$aRM;eGl#NQU;lG~)m
zPX28*sR_`jzHBzSSCi4beSUw&Wd1CE7#*xh?HcG$p7<$@&d$NC6*8u44y8UtiB-UD
z*4R~JW4QEyV)?kW^Y~`}yQog)+4Tdgj%0@!{pk5AG~>rqUwlxpY^jfkGR{c$9`_I%
zejG=x0G*M{TR!P&)LNNr=RkDD^ebC!>VIGLqo1n3rA&O;qWBWt&4(8!W5@YZ$s1H^
zjP_nk4(}T$Ykuv=$S)Zm<NQTEcFVcorXE8>-LTYiwBHHOq;I9VHjvof>Dt5WKXJPD
zV<(&Bu+*cX-|AX~u`WzD5%}(OEzTHd@YZda$BC|E{6i;$@lk*1zE%DWIRxQ~Kb8ni
z`$707Y+-A9@B#B_E4LvLD|0h;+46Dghd-2`vUZVpzvypQ0skiLmFBgyR_VrC)$tB^
zf7lA%eZr$&Cy!Ub<BZbYG5004YkgJrou2x&OCl*^l22rF4c?xqD0M$XpA}Pf{>9I0
z896ppr;bMslFtAqo4U!V?*jY1)*ft3Y0A^aZGzE`qvLnL&fW^Wju!8Yt<$o=(h_++
zKucY9>Htg2D*eiaq2(()m-_J!Ufc4%ah=($`Rt91L0`;y(u`kjzFSjoaz!06eAQSx
zRwuta^=gl?I{BrahtD!!Xxi7>6aF<!9}_!*hd*oOY_6s~eEdim{1*IZ(>Pl%Wy9)i
zfwm^@f{!q6D7RDr?x~j6En+?98cm~Yon?GWf_X<1XH3gSM9Sd}0}op^zNB2-%UKRh
zjH#x+a(MV7&B;uC#L8iPW-Z8^Lv89ShsXHX#N6K0S0-jo;N$(=$nTB+l01X<U4gzz
zc4Gpv;~cx*cxe+h;AGVa-0Ar`!2_~sSlcrx&sZPbJiYLg>a?=x1Rl4(;C+>`ypQ9X
z96T?$<#lHO{#U^*Z{zEW_!`d~FFOP9R|IEYh<Fm;P{e;haLcPs;Npk+@x`3q-zyqA
ze`a%GqrJkSiul<#GOv4dr`pzsck)_$Du%7;WDY%?d~le|S`^cAH%_D?x$?owxi^6_
z<fR%PA=my$PtUTfZ95Xk$K44{%1dcHe}FP3Co?)$*bSKC$_ox+e=_vE%ipr8+w_ag
zwCNYV-=$x8+^%1EDt{;*KA>NC##&6Rc+{a^c=D8fp+mVE(c|Pe4?120=GGC&wVS+s
z{TOek=-5E+GQM+suPeOBQHwpVdB^R%#w+j<Ca-^a?1pJg+;<+^tu_8qv{h?w#J4k=
z26?UHuZV3_9)YzVa=4YG#_((Xy#-fz6?=QkF|rk2q0`K_hWqOYobTb*IwU`M-Fyx6
z?+E4nm}q!LIpk>F6{DhF#SXtm$7a%xVaPA;#rN`{Z!GlvmO9tap9%O=y^jy1edtOr
zkG4ui+*y-~4~n$DLHsm}_sn}H3Vzza_+I3ik2=*GHhUkl&aoA`sB0c^P?VhVspOO=
ze9joiIzyCoh6w8nl9l=>{Zb#ji01dhGm@?Ao7U6vRmy=5PnrCxJ*WO%`eX8H&>uW=
zUgMSU1&hWg!+O|jbBprQe2)EX@G#Q;f4S}xg|DA8&V;S|R9)`YeYRX5{=cLn4jq3f
zLr2$~A|3dj1y$VZ(wn!2FO^lv8RQCB6NgW{k4`wOaL2QU7A~3N&kLjj2|K<lCzc8u
zU$U%AYR&5c^w#&MD~vx?dF61@)HxSh+8U1ht?cW+qHopo!W~~uFMRj^nm+10u`GR0
zw@0!0BJT!fq`z8wYe47WOY`&SCh_JZ>7>tt<$g>|>@S=O8wZjPt8YYZ!c%^2H+(|p
z;N%R}0$2wap87L=6I}20uEo7e4o|(zyVCl7{`v8XnR6q@G`S5E%aF$)HYjwB6|KpY
z>$KKFy_aL(nll+1c1X@hv-bNP`p>sitV0W4lj%fuQT$7Ef;VIV_&4x(9R0~br`I+-
zH531NenmxV7xl%^LE$&e&>WVvuBv25)T?Y|9sl)a-sSM!@>_{A>lX?1>tW^P$KuDS
ztB(0b6YCeEMf~*rgg;KJKIfxHQvZMOE#sk4>oZP9>)?a$qrJ>})+v(IEgI#+yI7kM
zKa>j?i|k%t{xOcVQTZeFx#9A$$3>CZdGI7lnSS)CpVzN-An(RTyyic#-l_8BjAm4m
zv)GRDZ}BIQ=I+Y=6VD$yZ`7S<jhl>L8q!eZrN%}oXCKXYcjxo7Ccj@<G4TxGi#JA^
zTkxY}BmHN88$TWgcIWfsCeQ8f?eDSfG0v+#O5@vSm5~&69IKpVqQ5sp^!)%GApSOf
z`ElsW1JitMKl7~I=J3ouJm<#yJnwXKAoR0zF3A{E{~5d#{dYcp#^hP7_i4OSS@AbY
zA3GU;g|kqyA^(%KvdJQwqFns7rHIj;;hBZBuX8+hhi}@K@Jy5UX=Hs*<Nd(Yug4V6
z8@qp8>uC$LMi!LYTJ*Ms_N1R$Pcu49j!r!9LjU6YHspq<<hQz6Pm}NJnOoJq>O`;O
zbjAw#65%zlmNwqYu8dCB+5x$OyALaLy;a$szpkqNt);##C2XAy$=cKjlvTN?M;^GX
zHWkf&CDlE*=|N*Bw%iLU_h0I>;TgF($1~}39Xv98!(V<e$L8h&`g}V4mOh^gkG`1m
znDz}U5O2)d8_yeOMN-}H#?4iflROQbUPb-}KCYC`YptUZTU9=;fXxrX&sX5Dp4D0+
z^o)as4d`M7-#*HVpWSu7*Kx?8QLS~vCYvhzw~s_0DzDHQHTx47&lBhc`GwgpphGH~
zBbU^DY0si@mHxUkaYUiXu1jw^P%w|UCej)wf82Oh-6fje5wl!+@^~+`=|Hcrf%Z-%
zr<`TYFMmGqC_d4j^N%$7sTlPtCkMYK<yl8kd#9pPb--Qxvz_7#`6p=mEBuP`&e`+5
ztb>fZHnx{^FV1_db5Hdu4gIQ1eRv4^RbK^lupVBBLw^HySOM)GzN-TIhq11XZ@=^(
zs^7Nt3D4qhEoXv#CYxZMowGLK8Gkjh*Iy|Yqa4W>bDlS2f${}T?}Pe2k9wT1iXqD!
zy6#Dq$WHc>$6u*$9`wmyorRD1Y<$G7q19&OmlcmFMvB1GwbLT#Ju)}4VvP~q7tZyU
zDGx?ol)vRC&g$`PU=?Q_<!pYsrHqem!IzZkbX$ddwB7eYEGJ*ltJl=&{Pg|!txpZ_
zYBTti8FQfJP5v&;al8m@X)m9awZCWe|1S1$*tLy<uh)@G8eZkeE#r4qu3FOH#1Q?)
z#P`|@oA`h=$2}@z9q)Vnj_UFH&;HRjyv9w$BEH>JOk9VrmQ8IW@0>R_Kho@XQC>RF
z9)-Jz--lrz%d+*YkM2~{+IHCm8>N%ELzGLEPS$1`uvPIqJK1Yo#``%xi`{S|<Kj&f
z!_2;-ch8wKd2QwBiE{>MJz>nmmGrrZJ$#E>S$93yYrL(0tmAzA`rL{!v)e{`jki)R
zH=lelw!C3UMd~!(CH{E+<f-hn$yR!eQ-2a^j*_!p?2VaSH^OVY;E$(GK7V`0lUpLq
z$^FQo?aI6JBF(YkUgKUn@%-~hbK6(>{Y9iX!Qax`2zoF9U0H|Ds(rPc9p*KPZnY;G
zT$?Sdm#eKT`gS_)Fh6+hM&3UOZ=}ahoO3z-8#D1X)4$OZZ?XNGOaHhltg(~0!o&-)
z5vc*RiH&x=r+9n?eWZU;^jW$Y+#eF9?)S)bkJcE5-;l0)$w;aad&`|-$FwrvsdSEG
zzImdL7cYa?G7-FK*gZY~KZec63XRZnATs_Z^Pc)jucKd8e6J|_v$!HMyOo@t8}DS-
z%6oo5zAJ}*jsrJ>&T0Raa)*qk#$KC-c$37ZU|#HB@JMAm?MXTnKS#TD#5!#gyob$x
zCCYy>$IquO{)N|^8^Hdj<=(L#@h7_0ydAR29Zqc4KRIJPeAN7S6+BhGZ#6cpIa{Ut
zJvO%LIIr-<B|hI}_p*8MT6~{|9tcPL&LSJ1*TW32bsk?Yugm21JC)aWye@}V2i|d3
zc4hMaonyg6M_Y(V=h82K{y8FZInP0TO@HX`V@UY=wZO}bOq~nP|BHUj@9nd%U$X;!
zR&I^)YO8B>336$!&n@K3!th$ikzqHVbRkd8cT06AhK^`YTAlp*$2}&`7(>TOb9Zh3
z?wRxxeB$Djk>>1RuW>tK)y3~%<Lvia+!blQ5TDb=xU4mO&EFSS4x1hOtf#SQ_Jxzz
zRSuh&!0*QJIntGR71c*s|36Xw>qT@!zO$kNJ4HYCWlYR#O%oZ6g`Z9b(q+~{(yWE7
zMdu`+kI1PuK~EL&17j7mc(Zf=>1j;NZo*G^6Qf!0Sk0rRN{`8Ttb?Ws@(TVMPnDtR
zE=Lpksn~zJ08N`T|FJ$GYU5h*tTe7o!!zNz7<OlDPV^~9z4&qXh(BBWVx+nAJ>`=}
zWYV<NP2IxLIge{AMaziH-!1GBV5%=JUJ(~>h9;*2k-ru5ej9+VDZ%|Th)a&&)v-o!
zYZEPj-2Z!mTN`+q_NO9O{T+qI$1OeAs}11*d)UHsE~j8|U`s9RY70vM`;CRox3E06
zf47DGOfc-&jn%)0hGW$(eU|@n@TY+js~NcCZ3nQVV1e?>fVESn{HpZ6fjNxZSLOWX
zgSO2lRTe&E`CSg)J;3#w;a6j|;v$XH8kaNJtRFvh^v?6%z{Zqs6W;pDip&OLKE+eg
zXA?6s=EoH$m^Iww%EEZBpcwjo<6orf!!k|qp_@AVb<yD_KGdFo$I(TN?@8u+h51^O
z96>BKGPB!eKWD034*uKBA<xDJHBb1{=dvO8=N#v+VYWQw&#RlzEzLhCHF;)zwh0~d
z_puJkd~y*oCvJ{VSGvr)e@i94hxpy#{Wo#i!Ns|Uw?lEhX5!NE8fTs}ajEJI%6U5S
zGjT371>xTWo|C-HI5Q%%E9VtH&fgU^tQXX=zm>e-w}?MCp2*+m-1YES`L`_n&Qn)g
z1#>_4SERS^8_!-%8TrZz{3L7D*jaH+bs+O&<&pF*K|6n@j)&Pl6lDxc)Oa1jjaXlh
zWR4jxS!>OcGnfB$I=mx&xC5FaU(a5uI{t)j=z?B<eY`sJ@smY)y$qhMZ-`sF{Tr~-
zm{oJ;N_6v!IrsJI<vR3k1%2v`>+yTD81sFd9GE#BoqTVRM_wVhQg~O;N5!?XSo@c*
zUr8L&eXdu~JL&E-<Zm?>&fVj6bf51Pjy{ICfO*T>S(RG5Taf2}gEyKv>*&<{vzjjX
z9`&wet~CNX?^-gj{WElO{rt+*24a*Al_Mr<Kf%Vz0hvPOcA2%6{WEVW4&8@6mB`|(
zQC{QR-PmWzzPq^-*xya88KXY6Ge-N0+eWbmYD`A9bK%9l?rN{}Eu6zAIVu*)osaI=
zJ$8BMmCi;R!pF;a+^ZK4lJtA5H+=Td%;D6(7O%E-JpK7>doSf^j4=1>A_fvo+UG1f
zB)=KZ60BnoIhM~(IkJ5%y4MXoP1K$J8acXi(I;ZNsb0lwkC>U9`B7c>_<8k)QQo9v
z%xmmgQJGr5q>??Z6?VSFUQhVB{vpPR?#k41`e|f?PtZ7}dHBZhRjJF6-^Q=8CO>;{
z`w8$vJ|j<i`Ky4<CHI6(H_i15S8>La%3Z17IlfItCx`Qg`9l42*%5tJjQRL>?0KL+
zCs$S+^(r*wuJY&gn$uTlPCq`<F=bGdnbQ|4hqRCNMy_dMeIh?T-obpnUUOfM^320$
zzj%<>xVduF#L?)=NXBlB#}$>MkIFN5(R}$@`0DS0s?J2!C;B0Iw$z8yn>f&KV@&0!
z9n_9ufo~zx&(Xbk1H5BZujZ%`;?WWK-x1j2*viqfqs%$FD#w_1-TNc(kG$VMj@&mw
zlOHdPFgO+Dj!p~ER}eofeUUQzg;<lQFH|1eK82h_6gmp6ULg<9#HT#_WX0oMjf{q6
z#_)@OubE5SlEXgc)_KjH>^;^V9%mN~vC*lB)y1XID?L0Kzc81%TOD(^Ysdl4W&W1f
zt!PWt#+F87Oa8v4J8U_P`E$R@oDbhOx1PBo_UPKte$0lf>~A!BH!O1_Wexy854{ej
zAz7s5m$pu=|GW3*8;v@(E8QKIxx(T^13079PEPG;t~)F<$Ks4oTg)|FT@6jew$8IS
zgTXnPKD)8;$cg^gI8O5B{{ir`6Z?r`GZC-vSTK<JZI*ZP+0wE2o@I25{aCWm9JZRn
zHZ{JAR=#j498WvS*`OaY_;zK%$(3VL(Lvsj4c&v=Nt7*EzXSF$eoSf;a(`Rn|Ha0(
zj80vE-?_l6A-7$Vxdz=*z4M1^4qut6C%3&D?-y>G`+Ah`FNE_LI3|9eju`sfbXNT(
ziUn5Vcg8`3a^lK|-@@4A(^#9S!u~{CH@1HTIHGlye!Z$4z}+Fbvp3{H(M8)Ta~gHj
z(YA7`vuL-5+`8yterjmo!}mp~XlsOem48>8%D=1K8n2@DI^Jtfw&=x&OgxUi^R&It
z^s6RwkS+73=~pFn4$sUJ4!E+_c@@K34^thKF}}Ra{s6N_30?><U1r@ss(ozuWm8`{
zJmw$b=OLUEW^_Yy=S9W2vo}gPsM;;^ZvNh+*G-Hwmv3{fCXQpQH@d62clQeB?bc>j
zTnMjM@XZQ7Ji>fv^(^M{m6a2J0DSc<U$6A7$~P1P;cG>6qRjq`1pIMh(LXBiv48C8
z9nV&s=@m4lseQGv5x%PJRc8_hKTj_7lz@HZiuQF2w5U#f>nu6M8UGa5yp7%E9KQp5
z1Xc>}_{&}Z7X!Tn{I{}W-qq0$<rJ?b&oJ(`V$Sq^lQSJ)ze^hC$HdTk`UQTSqF1z3
zptA$ewZ8e&0VaQ1Y4fK$KyQ9NHi`^W$gocI<D(rt_d?IFZJ!)$2{3*Cu714)t?I|C
z{JQtI@?P!hZgbT&HZV_F$h!n(75iMMI*^wuCx3Vg^~m1jE98?T2j!9X-Ado|U042K
z+F`uaI)rRd<F3jttf)9@VMXMqh1;`-7e0~;Xl`d75HWREXYPC)UNQDZ1|~Z^*3~`u
zWX3}DVaKO>8efAp#c%KEdv?B`=*Ex9pNUraKgqWnzt#lJFMul?=NF@lmuhddop;Fo
zJ9+PX>iyu`c`<v?{4>or(3jHK^)B!liGjtxo@v{^MojbSDq<dd)6g&GcqX1z-0J5|
zBbiR~t;=>MSGs=Mz*O!i=z}l0!z1Lfw65vTyH*hcJtBX>-`_=VIZrN=+aYf3rsdE`
zc-~}sM0pdwsp_BF0B<(157r~5$`Lmu;JtJxdW7_L>YL=m&Wkf1M`%|uf!+;c&gSR3
zYBG|iiI?zYhmQ0X_O{PHqOiP8LO$tr-@fB6$3RSCdD**HJI%gn;W@pFLc<37xiuO+
z;+Ey~Dfb-qPRt;h6fbt|5Gjle(3SW`IA0Q9kJL-P;!PJi)$^9uG5&(-1;L~f^u0YQ
zK2_GV!*l)*=YMT`ZiW1q)<Mws=e$B}P^_b8eC4IxuXu{jXD6E@jag*sCC8^W&aX1x
zc5RxEt&&$qo<qA=RHZZ@>1Gbn!}oo;R<8s2jGpVT8FGhp*}B#k>qZfDTXDYpiKkc&
z-Mp8$#rPlWAwfP&<Ih!}F-{@3+#IhXPi|VU1Y_pn^LrLm1Lt3F8R_>|$ZM-^_OP^K
zS5u}w#=PWxuknM?<ilBW&35yv^;G64s>|qS-5#m$pnICT=e$VcT69VJEd4O=V`EZ-
zdB5sw%9#>RBa?34<&UdOjbq;0RX}f^@qK<5I@|ROu_3bB`Onhl>da33!h{;>Q&9dF
zA^&D<tbk2OPCeaKm#$jE+FW&{P=RcW><*3;YLJ`J@u`u5$r~?0MuU%Q?;ac}bl=d}
z-d!6htQxK7<J-H(^7|;f9Z=n#zp94+!`kzYf)72SWz~4z@5%osz<Gl8(7kzvcJ2x<
zta^_51~Ttj!Qbe?s@HkHU!>4=V5D$ht+%jiYP_%x8gj3Ihdy+7Prp?2hi>!(U)NEA
z{+~+RT}SLX&fmvy>^QrRVIF6A8h^u{wt@I3+4(-ynVaw1PSn{BWw)>$$_h_@PIfZ^
zzG=_$PAbp1CK}ZKINN@VI;`L7{eGoQb%1MV_-K0Jebr&dz-_h-o@;wMm79ZYpwH4(
z$<vJOWxnTVAx9${%)Lc?I*9#M=z9)(oMrY|RnCsT&-~#!>|mcry>j~O5tyM^B*!??
zJ)AyHixpnyS2|$U0S=F&-|}hRi{6<LVwviRU(AWM2Xn^w=9IosF7@9N&^OWT`txUe
z9%moaPF?Law>;q6gmhf`pMZ{|u`|(8oz?e6S`(<woP^Jm{7!m9zy4a`V#$>L$=;0(
zBafEPdM5o-btjqAJcZpY<=acXbzIFnLiNX~Up82;Hh^75tRx$3%bS?q_fv~F*8{w)
zd`@;;s)cs6ejyvJ1n%ZS>t<D%^-byQLh9SFq{@7&C7Q>Xc7|tutXPb{zki-j_m}tU
zcX(#A`5lqjjsB!vTe)$mGiXa|+J3)lGV;Is;eUsdn^8UgrrbsBiKtWkhxeZn#TOVl
zz456Nw^H^^`e6JwW&c6hY{U4J@?PH-@2ESET}9Dl7h_$cu^QfcZIRT94dC!BTHxKv
z(ZFN_7e1yji?I^;6m;SR^@Vyo>On^WxyI3%2dP7CplgMx%v;;A6NmG`gowsP`^`j6
z=Ffa%s(R}N8$B!BrFtnBVSk{;0lph*%oBe~SC-SShU|b;47wsFKCa2Uj$Wy6>SK-N
zg-<{Gn2?eBblwPWp-(&CXy6+aFOB!`Kk#Ca+N16p&2LTSaOh$Exi)bdb_^fl)a~Us
zAAq`NN~fJK_lBq5#YWATaVxqA?&nJ?Q=QNl#gA7vMN(cr_9W%@H$FbPbMhAP@$*x>
z!cCOhfRA5?UoT*D5yqLWi{Te_D~5ZV_vpjKZt&IbRVJ^gIAUZbu~Gc;?c*T%rE`%L
z_E3SnN3r)=<czeZU?Ow$2F5|jC!USAD$aX(y|4E%c-l=lwbw=21UR#Z1sf>eg}<1Y
z9oHJ=+nyM7xY)$`uC`5E#vGAN#2oO|+4?)!#UI5hVDed!>%!xj$p13_GA?+EO^J7t
zU-u>%|HD|sSZu~46K9c|GH}Hd^SwfjF=UI_78!W({Xyj2#e3PV+hY);j}0c?t!Uj>
zeuWrGK6*UkUls4jyPe&QzPRyg9{q2DXI+eavg<r!W!K&n9j(LQ`Q8m3**zomn+L}W
zIqd&0$o%u}%G8u;yQJ2QuOc?AO08eB9eICpk>oQsABBvn<K$Gmnuo{9?pPzG-W>H!
z^@gp<{SN!1&N}v+v=K{+7uhfU?^LkC8Sw$h8IzF3CUl~0?8bx9WpYh^ZsuYW%QB}Y
z&b+zV@0a+JFSD1wllftM0DDSI>@ke8e4nne{A#WC=fQf)%zyLjb@%gcqcb-!Zuq(C
zn#}K@Nwg;WVMElnEBuzfZQ@*xUKzq``PAez@~1y3(jDg;q_7w`sx{75U+$e{#=%a_
z%dhhB;$`s2Wz?@nhLVluUdnqK`%UhW`l;<ho$bTF_*;EQlB?XJ53{_~U4cHx9%Kt~
z{8X*R97}VHg-3x85!}*9-q_#^z5{UW8<KuHd+HDDZVOW!;NTwc{{=3ZMSC>2i-|AW
z_=Zb-7d+ZjmHL)wCr_WNT|6pBtgQWRqDlLUhIy60iIM-TLg%VjyFn*bN>5|>f(EUX
zl8e^(kUnST<Q#jmSZA9g*%C+Z-(u!?j1%}q!N|!?lrMb{pPWO!SN|Wkv)bB#Yv*R$
zj?ND0<w4!9sh#L=&g{|B9>l8DPT-wqX>q)JfU&tvFl69hzXf)Au&$;tsn6+K(?_yJ
zqZ_YAn|4iY0LJ>!#HQw6KEE1m+ck9(?Pxp@FJd=(jq7Js8Q(7--eT6Whi9sdoej%8
zz^~?>$)S;D;@Q}hJ&TSMJyz~<<Zw0gC~nvIz<B?v*ES|~3T^mf8EXqSc!k5QUN-%}
z=;cx~=OUKLpQtfYK4OH~Pc1((nfjDJc6(QJ9-rEizv!G5Zg-tCv8P2oUOo|ymu~{^
z1|KiNbC?}RIQzR>z7wB!VV#$fFN}EJj6D7jy=sosL>kwxIa2e*%zicaTVitg#I~Qq
zZ*nS?X8%hi<DA$0qi=bQBjHsAK79O&@vZ2=tDL>_>SpplQRKI<VQ4DG_o@eh6X6Uf
z+0W0BpR)(A!khGuUA<46V)$Uy&3v@wvWqsVF4f7}jww&x=Hb{Sv&>#AS2iXeO&RtX
z4RJIru8hon@ldZ(b!OSy#n}iqd?dO0al@<8*o4%}*sYlZ&hTZX`JJ2d8Tn}(A};9G
z{E+zLv<=9du{5^?*=bHj+#;Dp?hfa1^e$v!Wt-+XOcsfMfXA6QZFkWZ#?J`y@aXsJ
z>v|SVP!0<j?9_pt@Xn2=!cktc?Of?%b*7Cm?R1`9dx`tYwD&vOdx-OZmsF)BQ^vkY
z%47MuTAOLLb*kO(2I`FdHoVU0Z>ZDO5vfzWTAR7l(Z+W{-wf0fxi`F?$UT92Vtzem
zx_VgK-6v3w_#4L4=$*lOd|n;z>Y2yh)<8X-;D*)Hxg=0elV8s?SI-?@YG9zAd^)_I
zd|RL%&+pg%uAYiWYQv8Mvb!m~p2UrTdU8HJV_iMtBB@n@dRlG>uczgD=Bd*To3dPU
zW#Tl&`sQ08Y`^QR#iJNsmv&WeKSg?>*e^;<m&4a7J~>+P7kaHVIM%W!%0?-FcJ~tz
z=DZP;^U2R2)sAmilOxWRy>~qk@91J|Q*0yM_z!fd{5-zN);Ov2VkY4m{XOd=GCOg8
zfb(}z_I`!QC$cN?&-|0yqu4|KEswd5w`Lu5Xn&$;^{Sy2f0#coZr&+h;IC~}XRi4z
z?a>e6b@9Fno6nQ~*psspHXnZ2l+DtiTZsely-m={{>zSauYkX2ys)^!ThqpvJrCWE
z;|HRQ)zH|ynmE$sDCW%z|1Kuk;?*bbh)r2Xex}Lu4sPr6Qirak&qrx&!0xW&d$`J~
zOC^U@<bPHT9@TF1MEu>z-=o`Yu86;n=kGE6KY{<dw41yUIU(^iKY+Z@0P;cuhPQY1
zc!hNX0{Nh|<aLmJH)GW*;(z6Z$laTKka9z-KI8Aty~6!NiRA~7529>uKB#hfpL|fm
zPm6sm%?HiA96rM1-%yXn!dLjNw(X8cDh>a02mAArD0&?x<0y9#wehWGC*^Yc`S|H8
z!tvAdX>V_fN84fbrssf%ES<c@fqSam+gF-X$}R<WyseXRVRg0$Z>*0OEr*AH&W*P9
zT^3$nr|@cRedX}v(}|%qCZ#V8uP-7$&A2bTXgRzLcy{iXz9hW9IKI3zx7Kv-mh;oj
zA2UC_xESXhK&;-ZGkq8Nc{Rm<insOwK8Uee@tWr9E$rjG=Tr8UDZiljD;rIHZstb#
zBAXA4(ifc_fJ~b2y@K<g_Fzmy-`1_DOkF~K1rrx54kNEqIdbBK_ym2=1P@FdU&pV@
zZ)C5*H_+!~C3{OMsh=_4ji+wzE&s9AoF#t5_2F}k36^);EC-&8egCC$ttOANe;aET
z75Ef0CQp-pPR<yN-}U+8=iw6YB}z<d_~MOAJq%w=4vTSJ>)u`1brXG6Kb5PlAm5@~
zb+2FjpK!TGxtGQDAzkK<mh>|4;Pu@@yoKwKN6WZaN0RSm^GEd5;}ehNe=5S5P{n-4
z!$*tH-Vr@~7aYTf4qwy6Ue5wPZ%5vT+7$C&`Lgx&PjZv*%^s@rnucYFi%qQYKR;rP
z3tz1KOc(I!_)kZF{EOmTa3MVY7y8x49A7+j^RGHP|5`;}*+UOC|BAqW&&<C(Gyl5d
zoTkZ|_ct*A60L6TwZx2D-bBSq9G1wq<rO%0t{877C!`JlZsJY$c*v(Kj@xRy2`?3k
zE{C?~7!S6#*0BC%+5m4YzvO~Uj>qZH_vzm+Wmk-OP9IMM)=%_cYYsL8*aps`mVP_f
z(ZINCt+&27d^iGF8h&-U`A>59)M)yme3zeh-E!Y}jyOT<Kl1fog*OG|iph1!=g3AU
z9LZWce`_7jUz_7Q6=DeGhSrj6|6X<qxv!C}AN<f?udAeO&7J%_$MDSiigC;w%HNY-
zsc`|`UzyQwO=iCN9iC}1zauhp`PCWuo%jzkN3W|(ok9GcoxnPUf$?o$TU{yvtnO0u
z7N28mDqENO3|rDX=<oOu&H1zr=ARSB*h)X2+*vkR-8;YY_ic{IJl#v9zlZ!CdnV2I
z4NbL~lPzs0ncv}=q>*V&=4a-2SY{>lYTkUA`FnKcW&Lga9l6tvam+hT4H>KIH19Zt
zJU%=-$CMwHIg4L+Cd+#|TO9s(y_M|H*ykxH$3BqgB~2Ui#6We_kKUVgx~tD7Pl=Ai
z(1irKikYmnMXS8mSkGvUYt4;(KjR!Rl{ZngGV`pa$)^HKV%O4f>FFYPXL6*(k{i&4
z`W!yNd^aB9yK(mOEo2Yvsf+{IoZ>Ox#|<~@22tiGdt%!zFJG_uv-Pc<Hyb(*=lK>#
zV}|5?zHPsow$<)M^lbw<R=z_s?eB=~zscTo&AHy>dw0#Jh7THUzI)gFM|P|IWhS1&
zzq|zve8W<&`exzd)W>e>8w`)R_rux!(rDdose0O0`6PBPexS#!Cz!RyrO~F{QtPPS
z`GMd%qvoE^{fB<9V2nby&06CM-+!<Flk^<>=lAwtdu`)WBW!zZHO!@%?~0ddvlCwY
z8GFhv4%D~UuP;wM*Y>GrLaM)`dw1in7Rc5`XE*hk`LV_kXq2x~On(RU-wM5=^-rP?
zUnAe8Js{)xe=7O#rn9sjr2Uxw9N^R0(BqHmOTFwKseZJn@yqB9x*|Drp^sWWm`Us?
z`!l>o{@6h8`oUH0e!Exl8%5`hoTl}k@*C(liGG<p25W9wR~CJr55|_}+k6K0ZqCfq
z8Z~_i>i)o=`0;?s)YFF_QGfj<J(F4-&E&b>Mt(+Lp;NTo`H9t4#@`mk#5^|q9dJ~~
z4-B2vnN#?^A0OQ_zoO$K{B6SbtxG*`Z0h&m`u+6%%Tjbr`jbBzd6F-zh0a>9*5nH-
zp{bHNm1oDR3OioS<$Fx!3-gRu@YCcA+5bLK{=y%#YBL+)wen}!72{TI=5Eo*xOGy6
zSA$PnYW!p}ni@m<$?x{muRl?Gqch5eW#+;^KUXj;bC&5Zu@(J2)byA9n&~flF-(8S
ztMPlj#wkDlvNW0-pZYO4s!M&7ekPCe^)(7__m-aC8qm{QJtLcgk!Kh8321DKAm?g$
zQSDX#Mq{^l(M^2pco8Y##muda-PM_8@Ik&yvNQP;c%b_ydTDLiBc=Ji=&U2pB{>><
z(szNZF;(#{Xd6MBs310b^HX2;14C@0?T3ABVxJP5h*5u-P5j#Md+Ro_{9eD^EWbgU
z_~%PKi&DY<C3j2hVEdQ*rulXq|3qA+{^6fq`f;&;vUAzLY+ij+UvIbldzE^P&Ev0v
zHs5we-~O#TNBdyR_{zH6ZYF;c*1yxs^zRq8e^;B|;hCkhe+vDII9tk1NPP<J|81Ni
zf48nAPPvzSq~a9$Bj(8+(s{)xvKPfF-NY)5d;=Qgy!fZ-m-M+9t7yJ4Jo6;F9E?@o
z=G$%Y_hdsi>+6>O6U;B)X7jtZ=?DG_{^sDp!;0OQr*`sfpw0<;=tq1nYv)dJY+v!)
z-_?#C7t?nX*D~G~9J-(0$y+#rdR!fMPzU#fnphA0Fm?P%xQxGw)6ypw>v&FZ<tM$K
z`nOBs%`ETsV4qkpj(h^x*`klSTx|IWuo;5w?ay~a_XDaoIRCz)NBc%hA1{Nx-uX6g
z*Uvju#?7y<EW&RW+|8#0@S6p9^XH!z@vj%$&6fl4YXx`n<Ex7JKNsBb7r5(J5;$i^
z*D5dJU~`09(*KKqy(``Yc+w1vI|ci|eh6$s3G7T@|0sdY1a@Z$><7StdEKUCd+L|N
z&vnz74>F!A*4Ey#NY>ZkuB*HPmrSJOzji`@zlKkR&x(DQdQIa}QS3+iFZ{h1IwNv~
z*<Z2hI<IgLe#+0~Y0t0^AHuvqK0q?;v!;tr{hXYfThGnyFv`zO{naacoA0?*?|;tL
z@5s!;d-PkAxn95I46_G#^_$7>X-)U@C7!+&SQ9&dv5j|~jD5->;*ZVxtj?gFPCqo?
z7hHeKSI1eq?T?R}%6A64?GQgCy$61rHKzz;Mt*OdBcSh9YBERDU$u1``~LGwVjY{`
zV%&jl?yIO(p32F$5<Y)l@<ks6ll^=NKmM}5FRTD;)P|l~)-M)_CsmAX@(;`ZJ-rb9
z<nY2>^jUd}F5-Im6~!KP(c-ysr8%g&I?ljkJ^p#xE}*;X;8$H`F;>5KU$3!l05O4N
zIMJJ=cQJT0*3J`3&#7x-t~>2}<YmZlwvh+E?TMaAb>bUw$+PHI%s#J>p3#=;e>ZW|
za{9*p^bUOsRuTBd>%)D>kI+x$*OxQLRy?n~!^nXivA3tVt@m7<)$IKjU&b`?orUyr
zP~Z1Q?1le@H`xkL`wkW;uNk8)kFh<*_g&(bM<3L`*m+y|KDN0>`xq8D87XdE2;JOg
zYwjO2`>u#-BT41shh_Sqb7qZ)=W+HMptY>mF5!Fgn~`ITeQu_0ci&FHcP;;J&!n62
zgQa`09>6z<2Dc`tI4U?_l<sS8a{zSt<Agt7JO;a94?giK`2fb5m+zKc49mP^en(_p
z<hN5}blce8IYnOf5B?l%!0f5z`NJ1`7S#mD``GTO!T46iGfgf298ET&a;84U{8y-F
z6@1Zn=H?_bk*UU`J3fZ4djhf9J$`KVD($F_m-Wk7;l1)@aV-n^*8Q6p5FYl%Rh%XH
zFWM0uNxmi9Vs1oibzguEwH>4-DLR$}=vd;@@jFY$Z!I0!7Xx%)V_*J@?^i7y3G{n`
z{0_dcnl+hez^4pWog*`+89vu!j(~=d=&$xeJ;{6d4AHWQ7`R}^<>NH|;S1*I7rXqC
zei=iW^-Iq9Sp70)9j{;PVIsfEJ85r_z8BG%BKlrrFKouUrKkQ;jVFv{-w{4zm+HsI
z%-9FG?14Q1nNEDj1L%zW!SAt8`Qj*Rpw8#*aSr@Jw-kdkAiMvepPwtv#XoC&XYWbq
z+&RwvkKFv}Q*v+i)T>_hluT5;yQ4SmOd;+<nRxgk@Xprf@|@nATjqWff5yjv=lsV*
z&~`U{s(=pWB+X~BMx-@g?md~Pz4o*EoXJvS#++l$qAh&3V#_LcHjOh`;`o7xIg_QT
zwF18yfsYkujlX0n=d!elcY!u<qD}3GQvEvTPUDI6^|$)gpL#v&jSXZijB#M?U7Qb&
z&6L`*?ypO;4xw_Jz>#m;9l6Ngj+6i1Iezwgj2G`=x7znSop0=NH?VF)UZcCR-^8(A
z)f&aRb$m||Xa4Hd>04Fu@a#F7=CK~fc%!<nf+p3ufIigq_&%qu$3I)te7DV9R(qW^
zpB(|6cD-eY+kg8I<w{}Vcf@|zT8mCA53c#O`uo6+em-3Jr4)E+^d-x8P+oFest#Q3
zBQdxKLo;*nxx|vn#l3JQ@2KM*c=4dd$Q6n+yuxp&L;YdjYhknXVKeAc_pPyxQ+Q{6
zz=CLO&(ufguzWz8Ib1KiZO_y{Ej-D7CEq^{%P3Cigsy0E&(z(#56(x%F{hBv`m1aQ
zTa00wB|gQJyV;a0`Zd{x%H7GBu%f?rta7JYv&{x#gY1nx^*2)g*4`hY_qX=c|AF_N
z{`_WvmmQmWmG=DkJl{T?$ar{zhhMGD{BDP>=M9(2A3=}!t+P#Dl78}h3_RAn<J;zU
zMCM!k8eRnae}cAz`#H8E-So$R2=)`}n8`Sat(kKxO5=(qWVMMgX6k3~PUE$WX<mR9
z!KVO^ppOTOxBeV{LDZX&`YG+1dGU9)7)K1Rzfr>Ld6w5dmJXn6X?^F%{_MHfrtSpP
zH_rN=;8Df?(i_^=zOWJa-7n_cZN4|rH_{uip*G6uyOVW%zmSKv3cf?}b#^cF{mC@!
zOW!eIM=QI=_cPxv=nMeWuWxnFfi~HqpHn8kcCJ_WgJ84z`8vkA^XtIZnA>%VSNISb
zC((|^YsJyu=S;c${fvjuAsafBHS*o?0XnDsz5DqV_=ZTwd~-&7ZF`H(XlFh3_!sEc
z4e^e;`bd2b-)iRuoYcNkVBI5L@_jlsQJ-7E9bA>fsL%QSLf>qtZmpwawTG1Y@S}z9
z-6Hid?(tKf<lm$CM*Lv&YVvnA_!z-D1LyY7ke*R@BYDg`b;uW~?s1+sqf7Nuwr$@?
zW0XGUp;hgxO|7eM>h70XH(%dujmoS$(<_XnUs0#?tV31z@>cmr?U@~s>0)j9sjH=*
zqcXSN$?y5}2fEtoB9n3lGG~xox9vr~y)w1p493A)#<`0<_8xHFoA57Y+-l>@&|M=3
z#hrg*EpQ`pQJ=NexBe8xEczyu`&>?y&q8*{VlnN0UfIvAHH@b}UF=zC(fKgozF~aW
zsLVxb1N;m4O@M<gk(1m$m7{*mfx5w!t}KVn2KF?`7FW@y(}+V<&lxIDKR&|t;5Bq`
zCkns%7Rkja_^}zvBQBib4WX`yM~ilJNP4?uP;!RH{<SN1O3pZp@$E3LKi^sQXYS?I
ztb$(hTT`ajc#}PH?DJWF(mtdJcvXCx*-trn;s<>P^9(W~CT{f5`!u=u_*r$P%woxo
zoV@M@Yw-I2@ziYnnxys)!m~WN!C#;cq9p>2G3t$Z-fx&6G){xw@%RqlW=(7ydKHC+
zx$Fx+dzVOK#aW5T?8%;_@l||UM;>3i^7*tY-w{auKCebvUX2#7Xm{H4;@#*>oZl9o
z=L<a6VdmSqRJOM+)@)oo18hCpQIEF+dV(A_F2NqjH%k`caRu)d4vkFm2K(<nDS5w%
zziW0z_xQFyw_{|IZ^y_O`ZqJSYM#7#7W>oZdWAQ%pRH^A)CurlGv$s)|FmCv95ioa
zyxU0sBIxO7&^uD!*JD5H=-(99u<D2d3Y8<;M<K`XbLafK-G-s}#Lgzh(HP^tn=D|b
z6(-Ipo;{~MJNWZUr?_v_vE4lF>Kpa!_RNp5X~h+<|BO3&h-VeQ-3VVzP91vn_l`#Q
zM`EL+GaEjnZEVbAe$~|9n<W2g<}BEcFT*jJD=D8dI)X2$3XdPtI*Ua5DW8K6!<TIJ
zyreXGm8ZX&$Bo6`Y{%I|CLSV2dxChvuCw!vqJKBS%NjSRcdXri8%G{>*xSd7J)kQH
z9|c@z^ZDPxn{QB7?*3c!1)I#%Pn|!J+eoZBh`;HhnM<PEqT?FirLo^LY6IQU_v2&v
z_FDYuME(`%iR{;l4Nr9~L07ON<1c3U`mwgxCymamGQ8v-Gv-3_75aYu>ykOYC!kjv
zyBp2#=*$d$oiFRuTo8Rzo4ON3_krv-D1Nr+)}A1hPZMkAAMy%mjX95cg@2wO>5$KT
z>^bT^pFE1kx0BF`+!&k3rAB%aQ##9T^DO-ML(uZ5&y%L_Fy{t;7<_6t2023Kiqq*Y
zXK9y?EziH;HCAJ5l5;e$m!NbUi?e^=p&y`A<F>40;AzD=(#I8brL>OD8D9N?$5974
zg;F~1{a&$-_|f5YB);v{zy57v{KHj8mF{0L=R0*_!)M6<;lJFO2AZRbe+MjsfAC&?
zOr(o-Tixva<}=>r)wgj*d?{_K+sKE&qXUs!njA}hKHvTDH)Cn@+5wA485{ZkczgHw
zsEh0W|Gk??5by#CcPhIHA1`RV1~lH-4Jg{1<>K9z-2@fo(^`rb1S=cxhG{GBg2k#W
zS+GjBRq4lTY(H%xR`JqS(Q2!$?k0#RZM6l2D45^#HShQAzOy9hw~z1l@%tl>&Cbr8
zIdkTmGv}N+Gqa=sw|LyS2B-Stj#78V5>F=6-^RCQ&ecA9tJA6Y#3bIin?G#zsPa0e
z+Vf9FWj3wxcxE5}1Rat0P0C03zDarBH*wzT#Wz8}h|dz72Tn5<!}HlncZBFxRch{n
zXg`HI&`kd6A;^g8H-U%ZL7t3Mxr3<h-KWHF<h+HE;SSoI{xjYYmuy07Ba8D2ajRl`
zmGi#UP2A<)#aozTo#ETk?9(+V_hYit*~DFiS>#ZA-}C94JBY_?jnTTF#z#CAUUo`3
zzkwb>rw)!V7qi$eyAoR}g3fiGscejJ{(kI}p?O;Wh?P#8G!EUw|6})r<~4J7VLNAy
zhRMdkpRsQYM(r3m5B4g$C(lc#z!Qw`P3R_iTmnwQ=OTUHD!%g0Sjm=?tQq-CjCYsJ
z_TD$@AU7rsjpP$ZA5?MX>S<(HXR!3v*wyH8k7vs>M=&<oMk}OKe4a%Y^s0Yzk3&cC
zQ-5cg^xmAWk~?MR79T6kIMUpaUriZj{ow6TCa5P>Uw0y^Ec?~Me8s#t*|eCiw;g`l
zJ-O6f@l|-3JNAoZ<nVy}rY|huTPzE07dX{VaGv6X3!Mo`?9C?r*B;V!;3*nxuUBpc
zKCR)wp_$2#6zI@!a{+F#>?X-2RD8!_EY8i&1oDgKwPXL)a&GJq`j}rk#^vs2&W`b3
zqWE``bT@HZ^@XjeIni8vncteoecESy>4JWWo>su4czp3w(Ubh;ptl)YYP=g`Y}wVk
zVF=vq=aA1821kFLTK9AL%$yfmTk1w>^VhAsA+C3HsFw=V+n8YwZiC_-oKK<NtJKTg
zF`XFvXvN2;*E4Rj?#i}vN(SD;I^ThO<W|KxFGVH}<*%N*L?YOlQS8#Nf4@k(`hnNl
z&ymfC?!1RPnz)lZF{g4tf_xJAYM(p5uU7rF@fz{6&eqv{-;;>TiT^c^*TMUif7|XY
z(5raf+U_aX8Sy^q#h;`exEWnbn_le^WJPp~Q3rW2HcKI9?%k7+xEol|MX+-G-y5vl
zV~*Y#X;FO(E8)KrllaVomHH8|R(r5QeZYz;$8ODdH_crAN;Vt%O)*Gt=*+<zL7BYm
zyR6@N`YLv(yMTxT{;fdYu>txv+}`^blFJJCHQd%my<4dVzlbIc=<VKUlKd9>W>dVz
z;ml5YyzC?8oQKW(6EA@`_KkNAm@!FTd+&CU$3>3#L-0)-WkxQrwH87LjnnhZhGD~c
zexJs>8T#B87;i^?fuBO)+8cg3bc7v8s1JRSQ+~0XH~#MpUWj$wJ4cI+G^h7^xyz_W
zZina>;{RUZT}nOHfyFvIxzwv4kM>?a8lisKd4>1Dun*g@3uXJ})|1b4ajf&$-vX;X
z*7<l7pR;0}a|HW3bRjk-cc-sZd?$7vdggN8N>LqTbgAfx|Io~LGiSPU=MS`jA0xW2
z_QAki=DPRUzw6q&bLY)<I;*Z2Q=E0}Sk|l+kC1}{T-MM{YtXl~<cC}dkFJrehc1sp
zmngaky3Cui0^f$Y{w6qRt@~4em-8{`U-S@zUXRcG8`gZk-y!sSBQZkz{Xo8-@L*Rp
zIQi?!5pGWFD7^G2b}RRoW~3Xe?%jBY@*2FDfb{5)_dVJOx2ZvXLxy^tPh?6kBk<%{
zU*8mTgct9P-NGFDvSr7YePG}5#UJou0(LxaLYJl<Y~|<g_wL8_b!pzWIyOLy7is&*
z8uB15EmBqPPb@9)1Bz*J_$}RO@dwrytIJCRw21a0D^X-cw1{Ev_C||DYF}C;e!MR&
z+V1U6i&dfpb6C7CpM7t>ZJrK)CB|uKxJ-1|&^4inHMO|yoOy*cJ-uIHj*HjyHvHrh
zHW6dX({jA~MW2>}o4v>Be10|S@rqj3MDpTTr?zbgu8{>De$}=DT_39Be|T*pZMDbq
ztUg)epE2J@XP)MBzWinMM9?pu$(TN++>Y_9d_UoL<aNlut-?mYhOdAZk``a~1IL1|
z?7#}jda?uGe>mtbd%n803lk4B7ub!qKiPpN(C4cUcc)1|pC(Vx&vwNp0<yLhTIcD*
zZ-TL=h(=oDr27vI(CAXp2$`2&ZM(8CNBh_jSHM@kK9BcNuYq$A2CvI|=h29Cd6B#(
z*5&yu?=Q9$$?HFmlb&qjvypYpU$MMezdL<@As0oq@n3**!UO12-(FacUXu<>V|N$Z
z3L7u)*;e?YVnMzwRuQ0KyuNoD#_>HZ4ch{-fPHAKa|K28X-e-)pHRBH4ByYVO5n>J
z^C@}+d1^Jk$rqGQD1Wf&4(@uj{EMG-6*Q2Ypg5QGvuq35y}SIg1B&Bb#5fIq^ZWLn
z$e)niG%DjDN9t2;wiAb~WL=Eto&w*G)_J#V*$D5f8$P1qZpm|<>PqS>ujEPiI?Ni{
zHkmba1H4VUU@RX$ejDdn&ED5C&cx=<M<=i@sz0+9#>V@1M~=?aVDoUcc}SMAu93fs
zEueh!_Q_6Xt<GD6^8#SZ{9f0DQv-TT@q_cAQTdJBZGep>I+UBZ5pOfFAJzOY{W2%x
z=u<GN7-J>*Z8{GY9h7RRWB+11JhU0yle&+A@g6Td!&p-Z=97Jl?HfwnT}w;d-D^v|
zvo!nr=l-ZufnBhqKlO-1rs-oK^U*LM)na_LRoJq~E^+MX_TKp_Xx6~mRm`t*&el3(
zeTG8LeFt;r&DZdZBRcr}m7LlKzn)p(*W?*})SE&*bh30va&jN_YN_Y@1<80H^<vb6
zUQR^!7(wq1*ksUEe2~`NqVU{X@SpUy{L$<*N4amFO%fUJ{tDeGUM_)N;$_9e1xK{p
zjNSYichPlh4`1I88n>6tXg2m4b1nZ)dLYJU1NYMDUY7&NxfRdve5)Vt)m4n=EhOH)
z2#pW!Nfpa)4*ym37)Gwao#A2T{?^}cXWi|k&P-zH)8vnecSGRU3=Zto5nCEIcL1`%
zxt#IA-~XKOes2ozK2f$*xMUdj$__JiK2B;*HNMfAMtIulaq{r<xp!&lrXFy4kzD;9
zz}flMnZ&nJLwq~Uz|98WUL&~lvFpcPtkvV8VVNUXTh#AQb@z&|2RDJM>i&(o8p8+X
z6TicJ4$tWR#S!cs3(w$sy8s+}iVI#bE3fnNwuj04D{4PSWAtMau|-|g4cNT+K%9dc
z@7BNz@`02W<BbuW#T-kXW(VxiwZa{^W*wZ+J8!meXRnnVYil-Lm&Y@|c7?9%uA3);
z<0Be7K8#)GPp0gT+Ajw8AU&!n*B-h036>vCxqQRe9oPkoQM$w%=b>&Fx=Z$#_RT$>
zU|$d2^x{L_oZPB8SmDV_6L$*-Y4nlW`hKEl)L~$FKC%47Q9hm8(OZJ8n6UKedH#HV
z%gpcS%s2V8xgU%8U$K!0XGz9#H%IG%&dkS{6Y0Rm!biHu)TUj;Mt035hmhFv9(d@e
zz&>xWOvOhR=-#k@@AH!$MZMMDJcj;VJzr-vpm%%oKiWnRYhoNLxnDtJsdXIA!&J;A
zZo|7G5wmxtJ;oe1YB0vIk?~5#J^#Gi_~*|uf7(BdEB*-06|<5~_w=>)0EcC)e*YPK
z>&*o*_LAY_J-Hi^c|vh1=0LvX$FqRp^K6{AM=f97hx}R|Z3~qDMCCqh;@m}M>))kv
zpB8O_@*hYK^f2}~dp~<lBzJ<CmSQaTao2}*>_6`9T6KW<mOg@fn*vT-4|2bd@?TJ1
zypQxF%8G5dhdHBCT((0wm-J=FaT)Obu6~N-CPDdMd+7fn%6V^KxXuslU=5D2-e|39
z2s_iYPq@0DGcUzE?&LU(mp$?}wpB5%x8f5-Um_k34`@DDLxa2hzF3n?&UlP|?0ke~
z7wCSn$}JBD%Bv}tpXXfa<yI>usWBd{`pkz}XZg*J`*6w=)X(PYmz(;Ps&D7}vO@ha
zluz(+v@nKKcBbh0n*u$DQ1(svJkZnDJAksQR0iI*tUqPfsw^-UC6vvj%#RHYPWkUX
zKR_S8|2{b3m)%8K@!Wn}e8gCTeDn|W%_q!(`VN+FrThbx(|@qMopRj`Tg(rCq5Op&
z=JJ13H!yy!XUE|O$_^1<SiAHR)q~&d_%~ATC7<tY*#^oE^5I!N_%&sAK0-e%%*T_I
zKce>jJgfdAl(9y4!{;H&{<o;CnX+wa8^HTM%FdTx8-TZ(vQLWI-c8xxROZE82WS2H
z_$Kg*`TRGO70=~Mw2gcDIQjP->L@F&w^)6kClveAzQgPHpjTLnWGl3TcRTjA?C7^C
zzX-f1JLqueovTtjp7;^|b|dFbPxQ~<-Nygc2k5{i!v}b|HsAxCgzoIk2Z$S8H9B)0
zFs=Yz4n3y1JcaVBG+zN;pALO=Uwe?(zf9RkmBE{KuFs+@QpEq0DZ8XdKb=ll4Ro}A
zz*p!`wq+BamdBL0w253U#TKEL+4EPv&$8TS*uBFuH@A1KA_ri&vAKvhUh{P?#`g|u
z!7kdRIX9iXjyNG_VE#paZ-GOD`j9=u9a}q*OXY8PG2u}eLp$!{5^VW+*BiTTRAv!#
zaTER6+>k3YXS7qUiD|>#V`}pazy4MHey!^Jxh7xZJNd7fT!%M@zmuIv+e<0Wo)TC7
z{ifVx<z?~q+{LlZ>-{r)3342FJS-iTn!eI;9u*H)uvW5{gl$@p`E5`5bH>o(f3}a$
z7wO01ax(vS!#(EVe!5>b#_!7OQ;yGYeUi(y99k;>?E8Fb|Nlnl_$GKrzwBM~xXH8A
z+a$ahwO()LD9=vs=<MKK!6x3%@!l!XJ<#wsc8<nrb4drWMkEH{D`_8g26<!0bhjP0
zMx2>R#Uf7VUVa-n;Hf2!o8+$woD;->6pIqCXibRv@!xg4tsuWwxnOOhor%e(V>Jo<
z{#-|>CX3xxT>m!i0ycXk)DMktCMJjjX32XfuD4Nl1W)zgCM&2%oKyE#7uP#WZ>+H=
ztNud=I}<f;Z{4gp941=^+lBiycd~y*9ldLn1pi9#4|5mbtX}djv)l)7`u6MAVYBsC
zH&#Yn^i9aG+s^mi>PC2j%+Sih?W3+Ul=v&Op98N-{zUU!zdmfoa$q0h)l2qOZwU3E
z$*|vatuk-;Vplcc+eg?Z$PUrn{N>|=ciHY;^n%$R5Iw|?lKJQ}XLK5SFfi`A-CYyx
zZy(B56i-;1*x%3-Tlr1nIzBM2WM|=A*THJ*k0VF9)q4Xd--O=NJX$==n+luH=zNvm
zR`Q$ri$W*t>v_+A*fsM>a1~Ca*uW*c!54lHzxyv!I)8RaVK3kEL*0Ph=PiM4za8GY
zf<DB5R##rJjdudVA-6n-eDuPfM^H!j7Hkf0uW?2ZtmnChIMohp!RkdOmQkk|&WS~E
z_TLPgHI6$BIG+<u{58|wD^CvEK4k|}R=fs>dMNu?>pXLQ3%_Z88}$iqy82|!?&MSR
zqj?EI>u)eGqT6W7@5dhz9rSLzc~5m9HV!(>A>T{9-4^bHw?pjRqQ6ux-bcL<zXji%
zPoUSL=tA+(Le?$|BlKC<1l3cy-l30E=i6V$R-}(lz*TsLIsc%XKjJ{0m7JBT>hEyZ
zLgB2`I^ri`aIYLh42N>Z&jC1#98T@0#k`!0!7=}AlFI5RtEFDup3>XyBS%wbwUoCY
zej>NU?6X8zi?YD*=OcfI_E_Z?k)I?u4t4a|jh-g=x<CH1lPS~ML5$M@N8(N9tWzrN
zFfZQw+#0jmW5=7dZ=ZA9;G#7|cdo?27o5p2_3pe(aOb7gu2{D_SIRSIYOOTuW_e~8
z^WIZ`!q*>fCu>zpE&W(s8TM#1&Az=}i(MuhBdlq=-ci1J5#Ll7^vjZi3UG?)mO{@b
z>OyXN7xO>f<Dn4s(Gfl7K*rJ0l4bE)18sY)hkllvs$QtCdKJ`TJv8w8c!MO4{!WbY
z;q_Gy{jIgwz+;{26+hlaNU)z}@awDI!PG-e47@(>wT(lwy!`Z4PxS8R!$YU`iXUV2
z_z(K^RS(>|$@D~XPGPxh&T}Qx%q_lOes1Ic?3!R@{ySfz+@H&~K>2kl_vbGDuR{HK
zD);BAEl@sJ<^J5nw-@SPs&aoW+5+XXRPNJ0&KoZlp9@v))4DBCK11bJzw!2qt^Z|}
z`?PEeluuQ;kzMp5F_)k&Q`<>jLzltpzec}k{7>tX@jk0h#`l6g8IRt~6aHFPh41V7
z1iv@+2|jP@lm3yN;p%S-pL-Ym%INP><WhF1&dU;`8=srxv@F#g#dh)(%AL+TStlPm
zu%vMgdf_J8c1%jO+)CLJ>LkfUYG)5)3wsyuIN@zEa_!zFRwaE?8{yty{#2etf89qv
zQykqxU$8mfXMd)_U)LJ^oVH*)?cem&=gsV$L|ad2Tnk<~`hIuNevOly{kFBCZ_DXB
zO275|sZ4#(rtfj|y+pbSJva-yLVYjs_4txK{cgJ-Js51Kz9mcXKGvxudanVRWT8oA
z44Va-$mY^{ft}^#`jex+chNIOM?d*C_ktL@2lZb_XG&PxJX@z3Tq{`<LeBajcOeT&
zV28jP-I-sP`s3>a<w)_{`P5@x^K~`?N4cVRT*TfK?Su7;?StTN3E!tr_&&YzzxOWs
zUvHhy^GJo(Isff+@Q*N`&_Va0)b?*1#d(U(_-moj^O=|Ag5+-H#DvTlH15@bHhPnE
z@1hNcCQ)dn_~qx}Ev<7oXs)rO_|w?6cN3$GI9ZGKLa=#eZU-lCz4Z9k`cM`p_FB9%
z1EbkvgKqiz>%gJG++Q~|^E`GVbR#~>*)e~uL#E6fXwcETH&mVQ?o>-Df7D-Z&3me&
z^@gW6r;oEHW0&r8{(L{^u72w^4#p@yh4=UJYvev_8+QKHVctYzY{4_%xAR_U2%GoE
zvpjgMz)SO&qVB2zPD{gp?!2*;`mz(0JHMppP0u;pdnbJKo8I(%4HzrybWYM4j9=Cg
z2geZeC_SGdRvY)^a+-aEGe?Y9=N4pZNjHsvhP}~6{m6FIS=zU$r?I6On>{D_JM^9x
zpZ4zhzdS(uXQ=1*osSPmuNCvHbfCuvzC0OUI%LiUNoGXzHNIWafL;*qS$nA%R`9nd
z`*@nW^%r`3rI#|6O6E{!P}6*_MaCu9I)kcnr&XK_XaoLM@NpuZ-dPRbrZ~@4=Rj|8
z5p6|hXlwLNVSM}D_EYrEzi7L6(J%9I_9$~G`%iD`dNBb{PnffJhk0l36i0}Hk9b^g
z&jyEq=oqtaUGANw{mts`JUt=d^ECQlC9rdcd9oJK8z}qBXJp^nmr>=G?OpU+Bd0;0
zG;hsL6|b<D#Jar`JjIte{+gKQ-rkzEeEEO#)@*|J8H)L`4d2r8WnA|E#k|`EJuR;t
zFJ1#*@BTQ>fdpvspS(3Y2N?|NoiKAN-DBUHoxvLw38&oTTz(#1Q_I}!LI=%w>4e5}
zU#e=HU+KKE3*A)8`t(m=RiN+E%md}@k14)Up7~9<e4BLKE_94ye8^YchqpSX4LV1F
zU5QR~*h82fc3zzS+2j?A`#Hx+SI#KeePV?7ro!ZZE)Iw1z5p%}cw{U*ayYuIN<0G(
zYyC{1pBYC>Wl2Fd73_D<x2a_PBL+nrZCK`f^qO#!T@l1hWfnilkLuP!XW_b;x~3oW
zhURAg^P@Y%tsh|ND4ClKZZp7b{-E;4moMmAwS@L6iz9o=kC=_jt!6!G3#{{^-z4Nv
z>%8<%mDAn7(>h=9*F1TPMjY3+v+KOpa_PQSV26C&XMODke3+n)u>WuPOF?eM2a*Nx
zgeSlKGi$-8y{znr6tdRd!8~JA$==$G43|QSgy9+Ii{C-lXnyu*uEzG~?O#5%Hi;)T
zenw2BNLE{otOnOpPfm@GNKQfmIn+9-^@%r1Tb{1v-Loo3>*>6oGrl^0C(p;dV^7zr
z_o)|S&iHNaQLGW~VmIiwb>RL0v|qz~Y<Vf#SQ_VzD(sy8`=?scgNQ$3_tiW7vHL>X
zZt`_tg>QS^1brtt{mh&!WxW5Vb7I?RPTs8|M;<(12ltP`eKxqt4vzV}EF81Q*Yk|$
z8(ru<#+ii=)$SGQ{Tx0Emc2yTb?7VEGob;g=_Yo;Tvaf3*}0lKhd99_VW)9rIC{^c
z;flt^;fifp;7jf`7xTHJU=%X28aZu1PNgrk9*Q4;xk)ykY@2Bp73?MpTYTX_&qu!!
zzoLSBt;*qX!4<3s^PTwqtlc5TCR<8;h+n=BAEt?SB$yZVDOozv$0Z8A^19o{A$EaX
z9}D)IiPM0Cc=ej;@hgT78rmpae#1E1ke^}9U#~KN9*|sz!l_N4LpIeWMw=gk_v2k%
zkG6uB@DG8b#qS{S6Ca9pc3lyDMuMB_+j_E>#D}7X^-DxA>4X$#^MvmY^|^sF%d~qM
zdDxCFmEJdN;#hA@WG(DW+%k4|4!$U3EOpdH_hAd@e23Gyf<NhDFQz^;^9TBs-6@#R
zR(i6t9UfAB@s^p7KJ5QEbM?Apb8M_r<B712LX*b|WA*Gr@ueN>3&^@?@*3-sH{Qpa
zmoT;l{=}1$^Y1=#p9SO7x%wn{<=77hG3QRm>1==LyVIY3>F3|x!`rAy`jyU&mWBpK
zuRdf(<qehh)b6QU5x=3~i_-10&@0a$?A_x>EQmE_OlC1TO39{%QBiD?ubhvbEx}hg
zs<kHNa0>INSdEhyd3@|Br$+Qs&V}>?x`p_7*nNxdnh)6}x>w*S&P-iYGT7v|W~;*H
zP2j=MUT-iHQ=hr`E@xhHICd%R)=<~HgWPm5Yo6{<8I!4nm(-7PCDhMY@+7jzLkwAr
zmsXf}$QR$s$p-SEuHcN=;*Z#0M^7!@4P5Nqln-|}XN7881y^h7n9NbY6->dlaFet*
zHoTuVpMvHU%CRSQo}!-SFEv<p&=|w7US7QyH@{|a?2&fuD;m8#CR5?#E!*^Zep4Hr
z2i6#CQwO_){NLrHTO5Z8$E<MFJ)L7RC4QYY>MZ6A+&ae9z+AwGX1(6XdOgm6AC`QR
z!QJ17_0BeTkhA#L^N7>Yu7kW7jaTp8=zZ7*?sB<_IW9G4oXfZ?I@DOg`>?Ay-%Q+6
z_iePuf7HD&;)$)q+OMTt{3QJ3iwb^}zMtu#kN2pnGoFhp!t<O8-tss&wh%s^*#r%o
z*pY6V-~L_XOt`&AUwWT8d1~wjiaVE*$0D9A;mp~4#FsxsXPZ4B#@~ib(wi=7lT88~
z;W$xkw7*1~WFKpIk~LhkxeT0D-^$|_e-08VC+2O-vy^LmdMmhtcZC+vk90)`cQA!I
zIjhJXu;S!FS$GFuM{gc){b$$A#5nKl-!lFeJ(7&kNgV0^iZ-6yKhdmQAG;3eP7LV*
z$<=Ojo9-B?g*WA6sgJmH0Q+mw0S%nn5#6L4-ez912kbr(-9A1|KibobwjSyJlK(&M
z2)X#>?xL!r%sm~GscYnQ@=<OJzmEY%Wa&}nZW){Bc`|h*n<tsiQJIN+)`iEAKR9N5
zr{>S_ZbfD@dPDbEX-)V8Hi{<~BQwHB`{Rf6sXYeGOT3RW?Q!NgJISlp*PKVuKax=g
z-ds#9K(VG9`Z<F|AH7{KT8b`r)30ce>g<}R`pV~)KOkJ<&`$Gv1#@fr<lc?^dR0$(
zun+DUXI&kh5nZFLN4VS1^=R`?K6U4_^v4+K5BN#)C;j2<SJ40Rp*$V(yz!&dr{%A+
z=<8kZ0`|*MXOzxNoBilFfh}9a<nS`K1%|dd4>>e*YmlZsuV=~0EVfsb%c=2-&uo9v
zhp*9}boK=Jbnl`kjlY>+Ti1qMt+}!hboWau>zd}5`RgPmX!uTi9EHwK_9)}qTnBwe
z0n3~F;h9;&kGVIp*hefqX=BEzSWWH#XF>z9$*r>I>O=01TlZ@geREZk?{e;o<DLw3
znch^t4*2RbyChZ<8|+LFe!|D-8|U-xF4=sBCx>TF4d4>(1D9w3m$Yypt}0q@tqQp-
zpLW2fU-R#T5596SJ~Qa!YVb*cPh^lYVdvx!{<w1UhGxL&BPVu}yD5)TMP|5gI?|Vk
zKJo{-Z_JCSL!UOicShf$X)bUcrg+ZVkg+T@Gxh$B?ld+Fyx0ov;@MQ0*)Pu9Xr4c}
z(c@X>Gw#dHJ;;25HX-mz{;R7xg#MQOuw3#*-$8y`PWcv<gL|<2cFGl>79CV>Vc!&h
z-LTt(eIjLA8^u$$-oik=w2#B*Df@xyAuqz|2)=7x?looHAwt<W%EUYKDZ7R_vH2L{
zdF+Ib#P<#Ge5GtaKlkE9Pv_6$tq1f#dFDgDH!07E|No}n@YPbh#hN4*Vt6p}d1G6D
zydmUDj~|Aur+qTj&#_MKT8lpJ2)Rcfiz=5c)f#B?H>GP%X05dF#Yd{AI?}VY-f`5~
zT_19j$c^Du^mPe!q6u^EfBH`GnXgl$)}O#uFXoxF-Y5#_q$+4+_WQN|vX9l<`kPkn
zfiLIrKI+8}^=PH_f9yDCUMsZf&mAgb4`vUP|HqEN*Bz;|2cEC{mhhJBL5GiK@;`k@
z-;Z73%zKHP%5;gP^U<#218S%9(e1K3p$|MVz2g+<+|j>zie%P@`#aIpr$>lf-`>WR
zBX8G^pPZK7>nZ=kAAegPa@@unN?AV#BHl;6_~(e9`{y~0uOGBWKj*C{Hh*L6;m*AD
zLD-4Rx5snGxZi^o-Z>oci+4An_(3+pX6P{wx>{P?9-zg4!W;K$Zm`*;Uu?Swc2F@-
zA-fY)&&uof)y}6uh~MmbbQ|S%%o`-9v<d2il-l_;4*k8*ZlTJNr?2`v)$n)nB+#`<
zc*AKrn)nKqsB~}Z=iN4Jt~2wp=JA;Fqkaqw@2!cUne*T?@rz{9@X^wcD?WOZa?egL
z&zvTj`D4ev?UgT*=x2*_LmxIzgKQq`SJ9GOYY*N(_N8U?AJCF|4?>?fV=?1OeBK?L
zACvqDPq#b@zwdra;~<CM$OCVGFpkqjTj*%%KAy4X0`#`!<0x0$#Lj~)KZNo#RF3=v
z_4o+NCs6L$gTpgz(4Rn0=eLC$w2~Z)|Dwomw89yDiD-Dx)aKc&<s(Z|E%n@&r5yO0
zPZz(+or%~PocChSpcc4cXJliVwv3l|Ay0Dmqbx`N8i({~*4QK1;eF6JDjNH9mi#w<
zK__b$aY8e8JMJv>RC$NW>DTxN@bOng3%;M_)5O+)jrxjp=KTR^@fP}j@1iG~;hC3Z
z=SPFSJ?o6gmt$?UZFb|&%RalC^=Kw@DEmJ3**pDH<<7)&`Tl6F<LZ0UP-o&jz`TgE
zORBI@SW^<i&*<!gcXzH0xlRc*f-f3pcs@%Me_G!^WN!4?pm<}2WA0(mcN2d^7dQF!
zuGjDAXyBN36R<(Cb^UkK(aGR0yP>IEcEgB*-O%kkx@Yrx_tceVW*dF%-C6fF{?}fY
z{jDYc+nCG%aFn0L-QTPWx?ih2^Ha+7#$~+TF?Y@Byjv-4ymg}@^9FZu&1S6f{X5J#
zr=gi8=zv=1Sho`1sbzgOaURZJh%ZCH`Y!bo*j7pCruAC+!k)a3$fSeoU>`PDS~eHF
zVC1+Dn=7r@nJ@35KH^Cs_*CP)*`KH3{ya6|L;ghk28@?KL0{>A`VGosHS{q4s;@^a
zUmi{Q8`L*rG<%)Aoy*vNOIf>5E9fy@`aO(}c~Y>kqpn8(>225sPY%(i$GF=ihpe~o
zGyGMN5l{XQ_~MNQ;_&ic#iP!5&+M!v20Ruz8h-tt>_pX{1<cq7UDas|Gkc6{{6%1<
z*{@WcB|f}#od-{F1aA<qCWBi)(Zs|FpD_N5?5w-!e;2Y7nonHN_hE>kbdxW|5C2#h
zHh%D<OFTJh9p+3_*`rT;-yQN(&3AGEg*QIN#GUZQpQ)pH5x+^+Ld=iHyZ9d+<kp(C
zq9PNi3b_}7=SZC;wYsMd-y@0d(Zb)4!2fmnczuoIezG>?M&L=w{-;aviCC{RUiH6f
zx+fb}o<9|zQm*wsD9_9E9eIurGqe08c_y}HzVmLE$wkeEoz5ER4f=?1r+EY$Wvssk
z67lZGoo4UHRer2|*%8oK{;pHv>44ZU>44$;=zzV8isT;}S$Vylad>v#sLaXCr+9e`
z>xASe*@ql8NRE8EHvAi%elP2)@g0if;Y#rM)y}T!r^M&<Yvp7%<%&T|#%!7RRb#gH
z$v->0R<)2%<nhAr%rf+%;yL2mb;wlHKf0=umbaUZbr199C4H#J+b;r7vXZV08CkKs
zeJ=G(Tnacp1WtAv{tr6KTknr`hgvv?cyL-Qoc8WAqWF$kpMY}{a3b#`YZgxAShvK&
z8Ro%xz`}v=B)b-$<EVEs<FfjB8uh%p3VDx+-=s@hvAc{;W8QMSGi>WlG4TrN`O%qk
zsB7)+xSg-}d$4ofho(jLg+rf`cN@dr$lBz^D|@=jdbEjE-ZPE<G=Jb!ifvJRm-Q0j
zL&3YOUj@Emo66smynTo~X&-(mbHx7K5F49Y!S@|Yk#qb*&2>F-dE+OtkB5!3iM8hC
zIG?pnjoYy}+}yReq<QmH-c(@x(Dh}l|4Uhq>RXR>Yj=1sq8FUe+0hto&UKYE555h&
z%e{3Z-pBeN8qU{#13tC<aIL{H_8TJboVO?G?E?yy<>80m1MN3F$=E!-S;(8w{)*%8
z2mSE8_!WAaOM61^gokcR;g@OudKI|u`fN())qU*^DOZrav4<~X%^*)ra@<#Lrs6S)
zO0OPzzgK&@O|co`F~U(W<9*bXF15LRYS*ieM;@Zh^;4VP>NTjI&AaTQUR3q`T);H{
z_Xe+xT+4iJU?268s)t{%@#gx-&kU&^JfM0Febf^S>8sE|sZGZqA7*ax!5?AY?h*Fw
z5^F;4&^ws7qy0WVVvmvkE&m(>|7dPc3e2r?Gd0iRdDR=LI(9zw8~@w(2kN)L9EQ-J
z`Yv1T4gKclV>YOq|1C^Mzxg?tIsL}}_P0*f4?8!?<JAB5w}0t3J0JRu|Lt$v^qZfb
z86s~}|J&a->o=e7N&UwE_P4+4H=ovR{AS1Y2IbAjmf~g73&DNA>{q>9OI!CP>dJ=O
zyJ&s$O~{mVi|l^goh==4bHF#akG}55e%Z3v>Fg)H!k&IR`y)#t%1vT#z~6gIk!$xf
zdC76!%KI4KDN25Kh&&1Tz>e%M_U2oOU5x_PtddgmCMb8AEZ<dI>SodT@}si#*hG^(
zUn48ussmdGTUh(2I(zjG^l%z{K0#L~AJ4&txOlRcx2HXW^ZfNd`=_}LVK;{@q4<Ap
z7N4xW@<pHFotUjl!>;x#WA%=^xhh=qC(3k|`_p>rUCy57T<)>n%{qhr-dx2St21Jq
zpE6e6M-nH;|4ekc{7Kyr*l|9&eSF`%{eb2+?R!q~_NR33))wZQod3?v?Q!<g!;Sss
zRPH|XB;ngHGcMum7OYDA&vDebg!}f`J0ON!+IS!HvxPC{=(p4v)A*-3r!KgOd-ixM
zk{EQVMR)ZT>i28Bi~5SWq!ep#O5K}i<CMmlQ>6{-)JJhU-S4NqZl|5-HUjwaW5y#_
z!rRDkA9_JDo;}~I7wV&42wjzB4F66qL<NsHlj=qNwK?_CzH4*tL)K>MSy>nb{^E-{
z@P&9nydl0wvUjNUMfOq{-Vsk}d{O2Mesx>Fs&=|(U}UD@d;EWu_SsX@KPGQ9gnl2Y
z`<=HtEfZLOh^05~EIF`QZ`bCwvzCCLXMdDuesGTH$2+vZ+s^+xOTN<lSS7MF-|76A
z_T-8B_r46z=spzTus@&JUF#j~)hsUfud&kZdo|kA*}LdvFYe8p*fIZAc7;#-cu@XT
z?$bJ`7ha)UdO^SC<)1R`xeAUgdyX<|d%TR_<E_sR1ovgu--&K8`3`<QL`;6oa}GW@
z=Y8=RqzjZ+wg4Ti*n!jaPXEZc&P4sTU<t7Rz9**p-=FrrH=W~u4~Na~*)RFuYrXH0
zFWC0p_rz4&-uvD(#kMc;+Q)5s?|WpDZSQ?goNC*9-<xV|`%<s{MBCo`9;vqNz3++R
zY<ur})6us5eqQ?{ZF}!~<Oti|`<^(|w)eg_RoV9ay!H{>-uoUo#J2aoCpZsj==rqw
zy@~UV=6krzYfn7Je6RJsM~K&W^!L6eIM3*{_r5nBVB7ci+7Gbpz3=#8etYkGVn1i%
zW6Wnu<$i8IWa2x>p4OX##53$cG?=&z-;sxMY;*mVMIUeAcW0_I!R+@uSJ>}qI$J(l
z_w#`s@Bi83ecJD)58c5VGkc&FnH~BbA%;&}M(`D%A1j}7s(i|d%+K+SbT7E#L6;(%
zsZa2~kZ<(k%T8pXtMyf}gXA#YH>J*P@V;a+xu(B-kC(0QF@$wru?f|g0i4!dd7p|{
z;IZx|3+F%&&b1a!U3WOLA0GDM#DU}B^Z7p2%T9KJ+iKzT^We<3a4NgQ`3LoW<ij}z
zI5F)xc|H~ROmH8va6V)01n21%PJ3Cmas7pQOMN(>6Ma79PDBeQF~Pmp!ui;P6SHvE
zbcgc-^~iTK^cg7n1Y<Oj(XO|?K<9sWaE`Wc>bk>u5;*7ka5~`|hqw&-&YQ2;1b2bO
zXNw1CjD=I#9nSsKi~Dfi15WHc?l<&e)zG=xz0AUS+k-Q}!fEf<jXo=>ccc&JkHAT7
zX5KA*nyTHI7S8J)oZX_K;h*ksmQZh~4`%~#T66HBg_9WK)>=5f_uy=?aO%3l`4;uM
z6#HdPe<Aw36X56UVE0%H=UETVYZgvrcQ{|Co{233XSL|_7wD76r`kQl!uhoahxg9B
zakcN)jXqzZ-m5-7-xGcQ9N?cwwL8eddEA4u-ojba9nQ(r`(Gc<BGHGps6rN>><R8C
z%#V@Nhdekxv2g0T!#Nx{5BPAd5Pe<?&esX<Rtx8T56*Wj9CTPv-iHB4ZzGA$=ZikC
zc=s0?y^%V>eci(Oi3ew)h0|Wz4NfU=%sXMgIYadMeLi-{9R?@3&saD=^x({~aMpB(
z^DpXM>f>{Q=<{L#pV$fR|5!NR_u!mo;na19lck<{XAFFzqR;aIIy)!0O%~2A9vs;-
zhMz0D!}&e+YJ7a8-($}P#+5zZ{l0~BqX*}B3#YxL8-0F7y(%Bh-mlQt1`nSm*{`vF
z?hO{swH};^g|ntRoDB62@ZoF&PHSsGZ?qooUTNWc(}Q!Mg;UoZ&Rx{orMokr&!2(g
z{5n9N)bZ{G7S3fJoIRRT$$MpYIJc;t59c}H#C{2VEI-GNch9tNzV5;Kz`|({ccahM
z)O*o~^O)%KWI(>0<K1ct=R6P2pDdg;-Qm<x&%7(kxYmk3j|K2)J<hGPaK7TfdDg<I
z>kj9u)LZT2<BC4q<(nT@>Nxjc3+GG^&Z8C%c0y3TPN&{7AI@UYXMKR56UVuqF+WD$
zPxs)gv2fZ=j55D29|fHGKAdleKHTY>%dZ#5xqq{8CVFs|TR3aF!x;sfulaB;7JV`S
zIFaMrH!Yl_JvcX7ICb6O^asvV;B23aFN^)5e5sZA?B52a@_SQDLhh@&JFC(2agsLv
z*h7AQlAI2`Yw)=6qQ14yRrWUU)>E$d;CtwpPxAeZ$_xZI-K*8ans^ELC@$Lc1ZNuI
zQ|4g3iQ$*%JtyydSl!tby?RRLr?(Cu$FJ0F$4CAL?b67Y?(I^{^eglyAABqPqkA&s
zYd!cS)*{|$HGBKDoQL4M<Yw&cv}N70Z70#zv=dI$G4<;lcY<HPochA$X1)v8IB_6-
ze;*w5xrp&;A0fpZllp$0zH495>;qP0=Ic8)U!>Ce{VM-^b{M%C@UPk&%$s+D9pWyt
zG(4oTfqq%e?7wkW{x0|s+CHNEleNnEWiOKNPQ~g`S<ba-zseg^MdrM~nCAN9*xFIz
z9)*3E#g`jR96&y7ypMf@r1lM#dVHW5YHu+*@xjHP^46T}2kKis_!>CegFS2Bs-aI?
zem><Ns4hO;Ovb4E(WjPy7rvv7S@xAj5*_aCsSJj{&~3~0_F%4xKjI?FZO;-H5&cHm
z`O+OJeE*I=UkBOws_@DO`ty|_KP1h%rn)~L<jqH`PkYfd1g#JMGW>CQ%<xw`Jl{@V
zxkjh+cJS|DOu}c+h7wmerO|PE8^!FsFY<8O@kO79biWJzNMGyo13nE8k@KzZTl5{C
zN#c*#IXw-!Y41g{^L^x9{F1=WkbJ1k5wuAo@0PEZfve@~59rs+aT$|&i*uurgRg<J
z7q6<wO!V>C=;P6ZybI<=A7A-JlC!PQMd!cLtlRp%&ZkqG$@L=d@?&t|cZ>7E0X}>l
zSZVwg#V^!<8+u^0_Wbz&WN`T<Hn8Ys+lEYA@7~*|XiFSxh<qb&OrtY{&G;n$_*uw?
zmuId#p5d7}-_RIGWyXoGfM01oM`t2@9uvUty8#-d=|goz&pLQQa$@(_@D+RI|1`2;
z<s{cfURQ|UE@6*~bDP5j+seZVa8Nu$@uJ=AX_WClx^TJVL3hna-zz?JF85hk+B`)Y
zPltwG`7`2$$X|&=8QMy(kIH;Ua_{T$XdgKr(g7jfpTl-s@5Cm$_plzE$=oQ%U410j
zPi=?CzbwA-;e~vCkb0|!*w>rHzNlx%cQLqblI;^HJC8ESOO6<{-d<EJj6E67Z|Uvp
zQJH6<gZYjBjhqef<ZL$gY$<=ej!)U+qLbuJZv{jpYb6IX|492nw7Ybr_}_a=yAB$O
zZ_?OPYX3B}$xRlod3SFrk0HwZd->d>GLL_O|Lawkd$lGzoj))z$7BwN-*xUGR^_-4
zQYUKo(UZU2(ooA;wx4#%$LP#D&B0Q16MdVw@mgRKFK)u`{xLMpmiMbsy&=FIXky0|
z#(x)2zpHs=U1{~#k)QEKr{*~Yo%DN-{*4YmHb<*%K=*z|zkA;3s(uL?rSYv)|2n@t
z``73U$w@`#P~=9q#fVK`4?OYz`HWTPa=m<{QJEv|RvpRN@XS}{dbIue@A#Y?>->`F
zate1S@VQof;eQG4C4OI;Q`^@-+ZVCyuls$SO1t0DR~mmy?Y`1OyS?ZXgX3Dq{i@&Y
zXxeFANw<6JXRL>IAKG>$A-C3V7opuROgoPz$M?`KXWLbU+-kqw5RFgm@H2$xINCYP
z1^3UlWI4OB6}_zTjha*bPh)Ru+=pxa`4k^66D)Y$VeNI$1=+b;TfO&|9P&CvPx1e7
z)f0?%561934DQp`Z|Dxe$d+OU057}L>HN#B9*rEmojowrqB(i-dtToi{AT8$kv7;v
z!gC#C6kcj4{(IAWj>-H<pY;7r#wR_MUgOy!TL*Z&mmoL7&gUvir=^bj!Py?XjkLdz
zb|&u(xV88c9pIc>I=LoWR&fM(lUA!gtpQ1N&Z+z+9!?q__sY|hPxQ;viqZLFTr1qL
zd&CRRnK>*obJ1pT3-I-~EN&YdcY}{xn)b&FH|c~8VfSl{Q8rNfIWv!lJE4Ig2U`*P
zC?74o#^aBS58D~YxF>mYe2(Ur|3!y1@u7!}-Wb8#VrA|+bhVLD?1nD%LALzNni%tB
z`6Gf1VB>P$1ib>C%^uZM_Ho#=+R6Fmc5+0dpA>KJc!a-!2Q}**y+ip;ZN}+S^CMb-
zLn&j}E8Y4<k9Tfkthz@u2QLZEO?=<Zy#F_4vQ1=<@J_Sg)mQk<(4Mi0CnjiId_Kpg
z^iGp+=YG$pfou`)?Z%4CY`-jq&1>zC_YKXZ3(>DWzEi;ST|;x|LyR!t(<gymh-s~Y
zMo;j&`fXOfijDgE?b01xtDa?Sn(rp!DAR1)otzW$+peRn<;R`OgVpB`F}8xOF*<WU
z>rKem8qgh?Jp{aR(1kZ>t8M#tO?#~uBQigseZk)F#<UZjv~~ZqQ|qJm#)H<HZ`~!@
zjmY%Zyf9Dw%;%U)DW7+0ei+|zj7PkjV_v(jccU`{gb#DBw(a~be$c$H`?}zb$=uK9
zO^h{o-vRme%eQwpu5zFAd!p<swIAk~{EClRzqN-w9J=nT0v@@#`u-R(=bXuD<9sRi
ztA7Yxl^c<wZG_y2R;PQM+umnz4RH1@`l<3fmTMojo_(SA8Jw9`?ihDZ*0IOZ{)X4L
z&CS$#EcK~97Ws9{nTH1Kj41CJXRG?@y}cpIr^vE5`A4JYDl%6=XH!P(UGf>fwRhVq
zeoJAGE6JRxF9Y8>(f#9DwyzV>6Xls#_?~6&Iy>L-_V4_=C2os`W@hL6I`xpy1g+Ou
ze9SC+qS`YO4%koT9*VPgV^)4kj{5E3*A6VbrF{D>!1iG{{}r0BL+iZ7B~{_>V4wCE
z>K{JHEpgoMtNwMK{)ZRlh7JMlj4w1V<-M|<YxgrYvi9qCvd`P`YWVt(H<VzPIm?wV
z<Rn7w@zC*O^oI8LN{|KVQ|0pSFf^#hTqgMHi?ZR&FL$?Q+ShOnSm&l9S~JTtN3w6M
zI!}OC^13OV(htfttB{V+p5v<rHR~Sjalp<!A>JICsbbHulC$j^bCmmp^cKU8C!EgB
zYwcSMBb$Gd0q$Dvcs?Rj%|6`nJyopjFX|5KvgX|#_(kN!<W3Oo+;M&}cN?kB<?KV&
zW5aFcH|!(5-(>dTSr@r4-MrbbhC97dybpMHE&Fl)8-Zs};VdimYW9Jmc{&rFhCFGH
zG|K$x3?BaLyp5Dc4`UrfriLQ#*tp}h9`O5k$?xgtHSsKS-l_H{B)q#nvKIjF0nHb@
za8~d97@g{P`6b+6K8v%VP3-eHv>8j^M|{D_-%}*||8*I;()8t!W75tX=q!z7FcI!P
zmW{kes4*t`buT~bBFf?C#DMPQ8&wYPCJyXge%8g5V{a$0rGq@ZQRU=`B!+b_KkE|8
z$t_8Y>R!H4<>aCy4#D4szCl=Lea)GvJe5!rXRyBJOiWc$ud;jlbzh?Wp_Cumz5MVm
z%l^mTV1A$F4%5`p)FGY~gufN|OX|qo!7iz*b6S*#^LN$V6t8K3H<I6`Y*VP_gc7GS
zTXtdLU5gi;&UScIJf*V_yUv-~EIF<aug*aB*TrjMyPXLO$>;lcZK+$2Jk*lo+0l4#
zbM9hz;d1OT`VkKxL%dmA<L0gcH^$#Sxzw#dCLH8J`6iOZYVHSUuMf3oPku+q&}PnO
zZ;Kqx`09BF`7m@A`}pF4pHKD9E$#*v$)eVmvp<r4mVG`na{+u|`pee1Y3k~oWzi$~
zUhh1Z+=6Wx;C-Eo6z^}{LVUyA<-|TEa(FI!mfzriFTY&xVcfXCvr;@sABO)=@%g{$
zJ@_B_lz((0x<&dR1sz5@r?@&pS_vJ@J2b54pE8yh<BpS4lPw$0*hAZz4ndBWdUCu2
z*{|d5j;|k=M-wNzS28y7zI@K$e9w8H@LqffU2kJh@uGW{qBlF$D|st3djfO$GIP1i
znIQZ^=w9_RU9=lO9?*tTSF+f)Og4{ME0#yIr?_9>_Z)3St0*}u#cvGExvya7klVrh
z$R-$?`G|IAei9XKjr#ECC$zeNYw=m1&`%iqJ>EPv@V^~XalM8&sHgD^+Ltc<f8xv>
z>c{ZX*A!qB)1~cdr+UIQK3xvp7tY3o1vvlit>QoGtzzL*u`it4rWfFZX7r9vbh=Z0
z=X4)VWM4REp=a&5^uDU4P4T#L=R4KsUf{zSw=bOjUoXIE2)zGP3@6R|PeZ>B9Lo!>
zlicUdWF9rnZ^c?#>&fjVS0MWg=kBzx|6633->PHeo5N@PP7bf<|A&x+e*K-5E3t1H
zmUwHd?&Y3=Jm>jhMPW?E^PO|^GO<3|8g_pQ9?BV)O?W7_kzneL(jD|Ke3!I4?#afF
z8=ZNUy3*Cf^3(tO1^LM#BfZfx#BWziempv?k2aOKH;WEs=NEM7FP+YI<XiHb&Jhnp
zA3U>;I+k{klidZh*->(C^U6xCyQ%3re#Tmk9+duz{)sl1bN>@(K=W-9HSS#Xga1-<
z6Q8#t7w8i5gj;G~EZnc;-#wPU4>tA!w31#HEMM2DP5AlV+c+C(13ee1KYZ_3)OHrJ
zaP`X={z*A&>_;Zw=?&%|9T>qLPHZmZ3fr@H%KK1EZttSE{M?UG=x*+LVazv|5z|IL
zj`ZcTt&g)XIpT7Eexa*c>wB>cv;R~1*cxy0c=smTu|^rI^fdE1Z&?fX|ABXsKXcbJ
zXBg{lpV}E6H?{Lv#-w_-ooMtl=P+m4^9txuhdjuL55JXrT|4nTp3t5SW3Vy2D_Mtr
z^xLj#a|Zc=LiudU6X@-bZ||g^<XoY~f=w9I<F`f8x6GI9(Nj44F4*SxNP#Dd<smxO
zv!$&4bok?nL6>I^^T#B+X(j*nW;bnRzeTtd+fBlyC%ftJ2<1K4O&eLeda|45aQAyp
zc2j@O-1cNQts6yoFLu-6<c(XqDfxKWiL$HgxZi(_do#+;Y}VYWP6_k-)EQoU*0iB+
z74tfooYuwr%&YhQVH4|Z9rjvJ_E_^H`|??;2m9=Z9_p=xPfEBKF%;o`3GCh5+1C&s
zR^dY^KcWLZI0ZYq10Kx5C$gWC4sRdy$4=|tok#k!A2vUsd)+)gwPUi=IR@E$7x|WN
z(?LulO<x^hd=LDwH1{vw_dwUGQQ}qVB;onx@T2&*j542}^0LztFYM3zqx;nB!KPmJ
z(;n*ez$^RrRIdk{d)a+G!0W*V-@m7NJ=o;S*7g9e7hc=Hhq{*c8rF2@z5Uk^Yw`8U
z8vHi#UI-se^+)!=gC&3KnjrtKow@rwbJ5P6iSO!&T@=&#z#<(p4f{#Dq_l^+|0IS|
z+`hVpdWZK=*3&)kLwcyEeV5`s_VmziPq=L9q28AT@6^`o#j9_N79}H%uPHzCKHf4m
zu@U%I<B)wIT^l7o^&se=_h>{%(OI;7lQPj#XPT`}-jA|7^;WT6f3v5$cTEY{vDkaX
zc5MHp1v~bbzZdM-)0xW#`8BcA+*^TR?Um@lKJ@eTtf#&m8};{toQLy#n17!w`4Ia-
z)U$ZMfzIyDj(q>Y;`ahP{bg;!_=AOW1iuB&AIYc4k3V&qdqHsg*r~<i-*|mt{2%_U
zF#gYIXU3mB&7B$;e+c{8+Dtxg<i{17zwh{C&HIi&y{`NCSK0CRVE-P$+pJ^B2QTnp
z_whIIPOGJ(?6aZkyzwW=M~X&HcSi)r5B%csubW>O|HFat|C)9NM(T98EHM7$+}_8Z
zymH_1rwY0yPp90P?&Ck-j=u-H{R;F=U*m7%9acO3Gk|mMn!xz8r@Mce9N>T87mt6=
zm4)$N6&U}GcKiwKe_&YtPtWds{AqlHV*YRa@xJpP{c-p457+pSSwnC9ji0GM-`{BB
zt!Rxu&(jg^&h^J+eU8+<d7fXdJCN?t@5YB`f2hIY9zTNnw9UP$53;v%7qWdPfA}WL
zN3fs!SUBvitPQ)|WwlBDdGUtw%x%ExKo{A2FJ@y~)DhdL<($U7Wt?{;-Z$3h4aE$~
zGdHMj>Q}Ol<#2cESZB=KpOcedWC<Thb>>q?K8*U_!5Q1<*vGbW_!@d=LStYKW2d^8
z3nuh1zBs;b@f`LiUS)l*&$emoo-clYox`S6-SgBZc*(|0&+KCk@l}iGu<4e4=P-0j
z_c^>Dyv>~T;8QQVIo}@J!;{~`0%PW4h*hsG42-$yWOuwjX6$p~$_{5J0x@TNYmM=b
z)bZr}B=?ZO_^j@YEXenpm%RqPjp?r~aprn~#T(z1w`q;;^!V^(cYk0e&?7cxvY+}0
z#7t7xvj5Y_eB9yS7ZvVJUpEcgp7~O2Me*qg_&`s(%nLfdjvRHxwWeSX{+I03{_!g|
z-@{(l+EB|{?mx}lF`_vQPv!o=n8mxqdQ+TNRP1gicj$dePR{~x8nNLN_tP2PzDeQ$
zFD5(`TGeu<XAL$(f_;$oRo&@!_|f7MF9v=*ywNaFG4cxY9&9^%jHe-o@JDBEMfdS+
zJd*MF>slMRM!o6(wC=N6<?&d&k9xV!JJm5_iNAuDS#T6h6;o)%-d$bh9Or0{vt-P8
z;Tp$go-4ZFI=wl!bV#%KH-2RAI3&kw|HHfQ;YYQ!TY=w--<cYVFAr||zbWEOu=2fJ
zb$pzoynWHz*mMq6u+)FFkMpDE+*A*7R_$-){?#?}Q*tFF`!A&E_YNPPwH0RX%dg3L
z_?3EAKfJ`e4Z{|)-#7Aohc7!u$2cYK#f(Y%qH@H(veUoDlbwFh)YMOuxaWulzHYFx
z6YD{C(nYe<Oy5uHeLdPrmW0!Nl;wFPSy-EXqH=KRDRy^uU4Gno{cr$qi`V?8c?Yey
z?0eKJzK8uy>Io<5aZ4wyXWtO6%we#60p%-YZ^8q?@^4eF{Y8yM<#v4kt#SDL65_nM
zg?}04J@Iq{=hSyDEp-iFD<AS!<{Y_?!bdg^eHL$^rHMngSMf$3b=yxtCWxi}0+`y5
zQSO4)pY}ygOFKG2zN6$+usDn8wl6aGE^mv;{|4@o5@+r+CSPq>CW&0D-4B^>)#E*f
zyj<NWK0(IhOJ1ur*q8A%`%1mZK^hqejzRG?>drfy^PKT<f<H8~v<JK&?E`PlCC$8-
zT!TIJ$|cd=Q)4nu;U8!(J}R1V=Vx}PWL9@CjmhXO`5(lEyC>(X`QOTUHrrLL`O4c9
ziBnt-mXL2z>YmMblg2JQ$yNKjKHyA7zJAjwZli%cEOT0*{w<Vk$EPXvef!n;_T$N;
zG(J7^B^sZB|Ixu*iO!qhvm|pA!nY6O+n3_oH%NE*`=*DJ*O+7e$ct?$WeyY6ivZi<
z_XvKx?t>`i>(%rh_u~BdHx0h4GIXhEVtAWaq(fX$IvgHpiTk>xwU>NlwR;p8mX9BW
zPgM3WW#R{0{t)FEmBIVAteLXOzKqzi`zY&)KaSvB=Vh#Y#6n&!MW@SeewtjqEt7~{
z9DZi!7oe|rsRNoMkPqR$WfFT!J>u`#5X4QY+i&%JX|?m_o%bSu+Ya1m;zMAlj&g8%
z?4P+)|KsUj^4P6^=CbGhz1XAr-wEu&z%K4z>#KenAo>u?74N<q<17c?gFM7V{vHp3
zZ~Ic_0y*pu&P)G256z)%Up%Bd82Q`cP4Qg_TSvTU<jC-;)AD=PA?XvN8=&Erz%STl
zhiF*Trmd*W%d~0m`Le-}o9b@=;<71}1#Pd9@JcmyV6d!$GIDskl^sM`rl{Tk$}TM`
zGxnLvtpA^K+`FLppUm5>c5lmZS5WpUWyP{Imwt=OxU*^>Is7l`70c!^^jlmeoQuoe
z?P0x2^ic0xqCr6Zevd9XR`T~;LH?en%*L^!$ctT1t{B-hb3u`;g&V#2_qQ0k>e+UR
zf7cO@pS4e%)Z=mN-|C&j4<Fx+j_`HgEOg%o@SbG3(vNG(M&A$K-3{z$iI+PQV$XT#
zK&QnS=;<P>`{rQZ?Kq!(hI*ZgC;x~wXv>Z88L=PPqjCB<iMFaAM;BhTrfbzt>EGbY
zI4)-Hg_BEJ$mct|AD}#X8)G`dtV2VIF?svB1H;~4uHcwE>iA>~>!Y_#?K~5h|0_O0
z222?`Bu?4SRJK%l+<PBIF<J8+9i=^P?Q7fLwvsPDbWo~A>$}dM>u!6eU)RjX!xb;K
z>s~v?{5o%Jv<_*#NI5FI>#^4zhdYr+W|T8hyI|}L#lm(%%g?~|omyw!=ZPPu@J(f}
zDu0Rmpy}F6(0TM7)H|4ZzX=c9)*5Cn0QetM_Bwk_v8}pWf7rGp_x~T%1D(owYgTzZ
zby^Rx-D;h~Opebu#;kQWoz<Ja#wRB~rrdpY5^LzJSmy%xCuwqKPIB8Q`;<3oi|62<
zl;zuUckL6@6K<M^YiWB8f3LTn<UUqg<1YUWzroYW5!mgY;jhpce*7WP*2@<d*?geR
z@Z$?bSr2SHJT07nIRl)e(|*kN9VHi<y|x|XH|z$6_Sxdf)u;cFoMX=8l{(3FssEmE
zWn4izbRbtI5Ae+Z4HD(<&FYW3CkAMcqU?Fm0Kej6@!7?^{Xm&yEC=6I!VAg+u>1eo
zD{NyeE@wPW#BnuO@(r@&_&tr^7RC<XErOPMcz-c=mEIkh43F#kWdEJWU_0d?%4Yg@
zhlg`hS%E*ri<S>_ygT|m<~;24t?(7DGokUV{{g<*$F%q^`48~5?JT}$`uL{b_3%IQ
zy{=W`wLT~}>T>Znw&2B1=f&bv=1zQ{Ltb{m`{H{pU|M-0zpa%2&iE(NUUK;~Fk}Y=
z^8(omT(A31bnlXhCmiOOd_eoA#yP+kOP*zjJ`&7>?nY`q3_FDJ#n|t}AAOAbL&lqX
zS<3Y`$8XIZXAU1*eRJn@M(>6F$k>gtQ8~YY94Wu@@8B~R_<I*Um4BDX!-uog7N280
zd_FHcI430>D!|3u(R7T5M?`lt^%EZ6TRwXiJ?r5>PPY0J4!Pmb2AoENM|QaKaVs*%
zGPnNk?mtDVDs&lh&m7L%F?{tX>8@NKXE{PT^EB4ef08}<1+gCP3QvE6pGrMz2UdcE
z>;m;?%RWb$=y4c$wDCqn3HEWFA14E!xi2CY3Fb;?mYk4ypnpbhenxMIt%$Z(HtOvj
z<)Vc6Ef{Zk9vLWJXaDK*0ePL~ow+dMtOb9&&K2G#@@z@;aJ7A3blDc=l?LC}14hDe
zf7gU<!d{qY*3hF}>aCd#!0PrM9&JPemBrDudOz&VnB~)=cU7Q?m%Hk{KNqDh<$gl<
zd0ICc{I}<1ugW)+-eX-DFTHj#YiJ!jtNP&B83E@>yqg#!-dVU)XoKOKYoW8&xx6j@
zEN>xW2hTa(%QdYBP7+-q`=A{gz|zg9bAEq3%UKz{%O-nI>vk++cx&zlCVxGgk$=>M
zENC85z+A&0yxchvpNMyKyS<gWjyA%75<Zb|Zvd|F7F^{SM16ZeZ@*}+grj*M4&2X!
z9>PQSPR6l$^=_f+PeGUKeoABWLZczjNc2%Zx;r$6Zk5j!^W&0PpKt#Ec&||QxYn5*
z{5v0fM4u#o(yuY`H1BE@zgO6foO36gd5bs%jb=Gc=M-o;8CoWoD~)BWcm-LC@%!={
zx`rqGF(&-=L*=(q?&(QSFNx>G6VhYKUlxsYcYg!;AUmDyzK&}0@pD*bPKfXhF!$s%
zao$7s$6#}=-!<90KV~F8>Hg;Y4tF{p$-ea#?lq+CtP<8bY)8S}ZqCq@XBM)ie8!q8
zTBI1aew(s%*6#Xn=*0_{j@@0qhj+=)SAS<r4sh##U-e=g_l}Y0*}OPhvW@d~=FOdP
zj$>pK{b2M|iaSPp+aw?V&GDvz)kmG^MvGGeI!*M@TMNo%F?XGydt1RJg6?f{3U~Zi
z-D~g9+75r)cMw#D9g`u>yIwRMTBi5fyf-)=`|R9C(e`6#9D}Ah|Ky+#oRZiNln*|s
z^v-P^CH<PW)8`AEHF)f^_zLgrZwR~3srVGQv)OZ4$$eAz{_TcWx!?DdM0iZ&h1<XL
zYBD^s@j+<lKtr{^spLm@kA-F{!*}0ZA1-Z7UO9XBYVPApEL^lZx$u<Ti7UtLZfAYK
z=b5SV6UyDec6hX%7@hP2dCIS>#(s>Vi-ouFjYHoo{<84;2KepT5ON2B7xVv$?t@D%
zyk@tvC)QZE@M`*~-d(qF0^j2+$oI^A0UnV}wBW#@jo#ZjBQg!(TYq3hqmcpds1r@_
zOB3{?7#MxF#PChv=i^$%&mJF7i}`P8C(uh;FGhZg`<Ny%PbJ=5(I)?PlAX`Ji@bLT
z>JJPxir$eD=dm5cy+#alUK!DKLF4LvcWsOA?wYyslf|#<y&q($GpTWai*QUZo)&b2
z@aw=97k<K1I68VKgL2DP_3)MSp{1p07^Gj_!fSUw$M2fk+3=3Wy&<o63h!x%PsA6>
zSJF7eJIcjUyVt^I9m>C{aSCH!5gzTm;U~X=bJOBQ?u8q#_X2h^SG8s2yxbTnpI;@r
zr95+QrSr<dKU6k8*3X%yJmb$XABw$cJ|gA}%&5!=UoIo;F~sR3!Cw;Jj5Vcm5B%fp
zHI?($M|tJ|zix<i>h3D%70Hu#PHuE&5AgTn_lr~x{5UeZI6P)sJM-EgxQr(mCLag5
z^U(+L<DQ{RIk;Y|ez?i&-@c+>Gv{MgX}qsee|})h-+;%4@{S`p%j@Ug7+Z1a0Oyqp
z(HD=wgCFBB?cwjTMc3@sT5$cM3A^QMb&%KJ4({C3Iep8A{hAL1w&WqiymF^!uW`^Q
zw0sPCfp)L7hT#Epj`-Apk6XR>Z>P2T@89CzPf*;_^2b}Ov2Qaz%|R=?B6=iP`x0fb
zW@y`-;WzQE=6saT+cCx)K@VjI6?nUlbLa84ImZRepZPFT+IL)np7iG|wPft>6~OlD
zjmpS>Qr|J|g)XkQO!z?ui}OR^{MhcU#}wlhZIX<Ck}sFVI<|qk?a!qiHvcQzjeWuy
z3iL#8_0z~W^WPFdo~^7Wd>STv8p3bYf;XuQ-rm(U^JaMCPUe3J^N-!WNn=d${Tld3
zXEiQl&5)ed-ZpuK=JwN7{hC*O#@r&O!ap5Y2d-mmrhhX}!}9YqkMa)apfOuI{5NIK
zi#7pyznn6iSC+heOTMG=KYraDiiBKq_bc%a<>WbI*#C&}{^2R~M;=R3=Qdc2-{E@%
z9D_EawLh$nVq~AT|1aPDs{wDl8yIEHl^;{^Z#Jx}J=NL=MfNE;XkGiidG~MZsftbf
z`*;5agP-o4m7E0a*U{jH%;o2#jC$`=&!hYQHrI20rjl5Sp*=bie`~qynFRJsh`6)v
z-8JuL;xEA)n>a7(c9io*IddmFRsPcH;F!hNGkTy8|0s&w8$S(y3m!5u8u8!mvv#WB
zSpNCTY1p6Ox&?dH;>&uwTz0s{SG-aJo{obr0AAPdyK-08kk6NbS2UJ-`bshvvd^Ce
zhgrTX7Tf2oic!<QY-7>T;-vPnozuX)75ep5=Rd-a9605}UGV=JKVZ)46Te5zd}D9r
z&)`}6wU&8~;DdYqRR2u&Dsn8Lsm`*=?h1!kZ=gd6e>jKEI)S|3+|sZMznC`@7Lm7p
z1Ap_e3GU@>Ldmz*W4&XQ>^RsR4Gf*z8jNn!JB3-+OubW>#x`!^H)2ZbN8Z3&ede7)
z?NtrUjDW91*F^(mJC7!Ar}!Q?;MY3NXx`OJF3>xLt*i(3ox&LQvfe2~PqM$4+N8F6
z|4{I?HtM}X!43giFdNYO*6xvA$2zjy<Zu(a5>G`GONc0zP<W?#@1mECPt^*1-7l&)
z2KBpQZQGdB*Wg*%GwOeM{<q<o&HVN|e$#t(v+w%y!W8Ry!hf?)?+~ULTLd0Oug}}c
zm@1dYjxcwza$ojMycfuuyL0y^-l4uK(SaTFot9so?AhfV^T}UlZgdBCoHqz-@omE9
z4Z_mKu>S@je1H9e^e?<ck5QsG?<RV7$I#5L!0)I09#y<6&<AV#;B-+xTc}qz#+k;Q
zqAl@Logu;nUv!@1IMZ{hR*!;i<H^yj-nusIwt;Jc{`5ZK*2zxiui;U%e+AAV?ycK8
z*~r)Uj>()+z*cO(m^<>p#guOdyOQrPFml8=wz8JoEq!yor*GO=2PgHiwzjbjDsE@i
z;6C<gL;U95S1>fw1#a4dQk%H%8##a5*EdRT!%m@|_|xjE_26|bbTKhFVi<Ag{4>gQ
zM`Hy0#342uez}quIPXuD#`H#J4f?cYgX26Z{i3mNz|KIgj_+WcDx2@qstp=I!<U_=
z{an43^$p=U!|A*nxT3K+&rO}&leI0A(T}3n)~VjUK<>$K%X`rAJ>V-obR&Jd2mH;@
zd+StU&GiKuD~`0aqzqnlI^U!HB=A=q%|WiDwnlJG9omn8CoFxX+cgg{__Nr?N$bub
z=E2hGvcUZP+jh*eZFhm%&G6>t-?pQkZTAJWJEwcQzV6+%?M|iLLd_?*f6AxTY4R!J
z*yno}wdCWJdP`DzRr*tV4^yy3rT>;7(>J3>-aU~$ANU~_iM32&?jr-7Y6l&<lR4(o
z=u6(99G~Lso9>d<yUcp)K8EkOg7&kVa&wpTLU>@;Qr^5++Ry6UmlsX$=X!VXlxL*>
z8|YK(qGBUW*!efqda+m8vd{T;Y#KWTeMl^9Smra{rto}|VVPAmo?mk|bKAy!(T_+D
zu@U80MVb3Vo#TG<Gu6?XuOl;)s3-lg%x`xJ-;>CCl(Ta;QKmc=V;A`Rk>x%4V*ZFL
z9!fpQi)jBgeaenGim_-M8jr@(#@kntH|cAutBpU4?H$3Um9BOIZvlJvt3GFRwc5y*
z&>U+1UV#pF{#14ybEjCuyVyP68t7!2wEi(~4tR0b_xN$->uJ5@+&j9yG}BqdnuwlY
z{!ARHKe=B&LU*c+dCS}9#dbzwf2Vo}b4bv~+_5fQXlMi+WN2Q0@<Z(TpN4?misREq
z;hDG}e^Y+RNZw@hd_L}-f?jp)*k{Jq9LC%Z&79vQT2^Gf%v>ZY<s)|QYvVX)<_K^$
z`ff}?mlpSx9PL#9X*Bq9wxbwE|H=Z4WO?r}8hFEQ_Yh~oE@-U#E3(Y1<}7wt!A~=5
zah3KBym`}|-c}w(v-9DN>v?B{wbqR99KEZ;IN`aMqpkhi_fGQn+!AH(X8V8YKsU$#
z;^8FcDRRW;w9e+|4g3XLZ((X5AOxRtpCEj#z0i@FTcDi>zs&sua4b)^aW1B}wI>ZN
zv&6&<U47nf>fx^M5O@EpUT_^bgfS*K&rwY0EByPuefi1fe_38><Lxp_s{?>>A@|){
zI_+0PrypC|#QM8;+y9}{DoZE&FQ(IN<l%@uqLXO!-vJt(7NF5B0U9Ma6V@Az*ssph
z$m;W^9^NWZ?wDv~$M!lpM!7Wh`zF3G_<LcjFYF2O#Qtub#s}X@m+UhpWX+B#%9u{f
zkEuM<-;OD@zdJ23rue^ko1%E$Q(O1ddAaxYo%bfjQ4<)~y?nomJ9+IKt}KjeeYCZ|
zdz8k7Oz-YtT>S@iA6F<pt`V6{YG-ux{_g0&xZ3(SYuJXJRXnbyclI4u=$(DXbtU6S
z^q@Dcc)RC({l6<0$J2Fr9)E+flpmW<`FS%xRgMSihUJ5=($5>vPh~-Q`U2(m^iV#9
z^5H#{pHBHjl>2&nusz>M9B!Yoc|DW~|Khekrd~DrS$Nrag}0VCnVFoC^6UofjfOLi
zQ}5c>OPXVppTXZ0{+z_r&O;-q={J!>G5}xpr`&0|f2`D9IqZzi{;~bsvTQ%MB+=j8
zi4uzRbFVzqX-*iMdw@HqU#K~W{dW0*;pVG1mGVa{^#}d<EaR_#^JT|}uAe=9Ky%&y
zI4xKIU|{p5n+7#s{Y|IyHR+*mJDq9I_FV5|2e^Mw*|mYP)Ij$I%CzT{n0`=m&~Fai
zfPQCfX~nOu#4o8m*m)(kG13^BlXy~lQV#N_PrKi%b@+Ur7TQ~p9hGCP5S{Sd^ZP2q
zJ6DZ8igWnnJFa03k)6f8p_|^UEpbm`9mlRFmx1?7@fSsJ*#TzFL5J8ir<K@Xg#K-;
zMC*>-t3dCwwv5VDApe3dAJ>CfKKDWV#VL$sa%nklCyvS}FT4^sSI?QfK=e|K(80D!
z9pVgG{aMMpE3^;8@7kjdSCzX}gHqGuts!?a-%GIbrZ}-0e1V#=PRU#cpRbm=C1+@x
zV!o|cdgp*^%A9Eq>(y9ngBW(sZNQWdJSpM)6MJW-d~(k&A7%FOCZ0%sE%j8V=9!wt
zia9k4bnoIy{IqR+rWsR?eWu_VsQtw4lg(Soo5;7>^e(ojY_K|b=qA?I+Q=aHrtER9
z>_Of2+6t{7<^SxF-R-;99sBBpDDO9@o|V(fpsU^qE|!rjWtz(?PxIuY1pY}dHivQF
z#5n61kAweG?}YJbor)~`;&lrWPxAXK%Cl-Pds`k)iRR)hPu_mnJQ=<sewBY;Y6jnT
z5X<WAeJPDQ2_0%<gSx#hRfbPcOWQbq<e99mPYiNv`%mp0=d^B$?w-;qTg$vLwSqmq
zZ$O`N-v;O-E*8f=_)p)M8VU^+?;8uP?7Pa6pIz)>2tTV&u+zuuO?#_r$d~Etz<<;n
zi`F|ggp417U$K7ACt5d69us#g4RTjb#0RJ&R|kHIZzyw@>pOR*$lh9gHGF^%DBW}@
zv{sotqp@X$(;_{!xvZ>N=QMOiqXWM`hd=oS?Z~}tX(Bd|Ejz3Ediv#z#`>C)1Km&8
zhTIWL4>CD3%FSt~UIq9rA>O2M2)9?k(dIJ$H~2J&m+@7DynGh>FKyiaqPu{C<y(n4
z+4DZ%fNo=mciH`m2JH3T?34!VbsG!M^$~BtZ?7f>2Clk)r93l5_zj4)-0#yb#&?a`
z!MBsn$U>8LXeHk!&3;<8BjnxzePYnmym5aHF(luw$?{%!P*)Z9GhQ(MO)$p(eb)3n
z#O#yMHQIEb*}sa?_Y!EOy|_5KB<lMbw-GPX9?$Ri-PDgA<PH;_%&qZBeA_kA!@I+6
z{=36guD?aUZSZ7pFJvxdzvw~M^)6Gf{A<6(_dD`A+kd7^@d8hd|Fd`0w3hszzN7Xv
z&Y35$Q8Z?qU+Ik(be<(q>D5d3akixm8&Uff4*J~q0DaU=sxIfURZs1D>pRDJCHV!a
zr#8LSYfwG>95a?a>P1zLbLgs<=KtQ{wGE^mc{!>V@1tH)_4;}Ba{S*LypZa_i-OnC
zM?Jxi9EG^6;ja^Ven)M?eC7>V7pz>-J8CZ>ce)R13wIUSxh;N2ZG-CA`7C-z?N|CO
zFo&VQJ8Cz>*LKbtir!IsNbUT2;v7@AchnxxZ~ojAzoXWq-|T!8y`%Oc{pQa>NN=U_
ze;gey+53Th^XZ<{Z~Sk6Yt(N(t=j_cDBVoC-b?D~9kuUIAP<H%R<0LP*Lz3psb;M$
zcJD=Yt70Kb{g{dDHSHrPW}QTD%hw8lqt>OJRonwiykr}&$nh|`d<1Kl?u^5KG2gZS
zxfr_coa~+b)Nk)lCx`7IJw6sY;0oell}EMKXuVOKy7q>#Got9SHrmO?Q2aY7y%#yy
z1vlO%FKuLRb9}p9Kj0&4vo!SK?=;BYA+J$<73!-VYf~%yBb&%ch1_!VNS648;q5-w
z3c)n*&SR6Npml^eNE2^kIjjpoJ#TGN;T-kndl)pdxWxl|vj<Zi#N{LS-r~|0sMn8r
zIp%&Gw9;Iy#*R#KFXsPHCb)moCu2~&tPC5^i8!xdTMgg4=s^?jl-<xtJJ~?iuFyN%
zvN@QiPMuR^9A@6DS-%u-`;_?EPHdxgY!Aj;h`l7(r|E}1@I|LOLS6Qq4DB?hA9D@~
z9Ww8>S!Um-CHs{^Os&b^^KSC@yd8d1j&@YMQ}1-1@ojG%HFvsShaE5w*eeRK4P4Fw
zpUW7uZ<F2N-P^dPmh&)+@NY!B72Z5XFYH~HMY(4xN4!13`DCZ{Q1@2&P-jF0vzq);
z?D9><CZz8t7vgV1pOeV_w6N3X_6}QTkGsMnwxzK5m3N&Z_PPkXA_v7f9|KS9jf`^p
z!|-S=^qK{&&YJ1nU1iFkDP<-fs1o0qI@2os*kRolpcnVJWzXmC%rEdJH~TO#^4p#4
zIQP837=*jV&;kCpfxqmr2?6{==k$($h&eHN{o1oyELwW^702RyC$8VXc&3WZi#$4O
zPL|2HL9R94@6(_8jWu*Q=Lb$4G(3NPpgB<Qra-+B<Z-L7lLn2**UiJE&+AoJxB#;h
zn5PaZ&DYDrq~2A5dddyY&S%`5Q;=MD!?QltIa_u4T`<GIjOt7>c9yN1hfCcH{kpOX
z!mX>H99uGcoA!E;rI#JrHH9zvL~*}t+3Hcsg_`A*Y;#IikJ1^f>>r$#+)_T7JHv0z
z5R><vt!Ey;NO=``;MkPP2S*1kkG2kWv)J6($&_OY=h!dmdeLc7UlI1+1V4A{!ObD=
z!_=6z9_Gx9z8bFy9fq87#yE0>=RadJ8~v<%^3`vsiGI;{-#r06^2J!^>DBNg?VO{W
z3F4tp<RtU^P5ON@`{`xQ;CIoxah;!FU*JZS8y~wo^A0dYgC_B~_M+HV*j4Gcmr}>{
z<&+y(^Z5P=bkRLos)sI|{-xc5qx*iy#{vffpS$!fqi$Zl#`Vsh4OLF{CuLI=XL;G^
zi8~zj8Aff(MxB|T)^oooaCPRUR`B?&qR-mD-88*{H;w-n8#$)jFy{F;<Yozf+3F6w
z+jN>^?qRTFyq__OUf!HkxTgb8@$V*RLfLxV!%!0(AAM<j6@l@+%kO4<*$Ve);p6M3
z<cQwKm*iae>XM<`T8Wcb+#=ZX<m^ooKEiJ?xCt+PkH&_&!-0J-<C5NKo9N8c*jn+$
z)P58=X?#wXVv>rHlxMD@J@5wS$CoO1`vJrLetEaCm%ClZ^V`}I_ZQS@V}EHhG|-%W
z%G_$q%KdtsHr~9B&OAUpGj8VfBiiQ29oQG~V}<#=)j0bin!i!lI~I>Kf_TI#+`j@#
z<Bm2}xNq{m=_6L-zQO;ZS;NO&Gr2Q&n#L^NZVEXQBK5`wIZks;KInMshen9Yw&Sa@
z?~*UOqEln=<VN@88(vNgHN5<5jpGha=jHksN1M(MH~RJZ@JZV6Ep!%3`X<+hz2AoI
zo-3K!OkVN4Z1{pt94G!sni#G<vz6{+Kch|i8R*4w&KgTM57y^(UZ3$k+Qlnrhu+&y
z^{?{k3l{putV_jn7m7O7Mjn;Rw+eY;y@_BOWh;C0e_!?dU*y5stG`DV)XIjTY;0hE
zek0{(KNp>3<~}vpt!J&1E)20Y8okb1rPyH>y)e#+eG=h(uy7FHxAG=}d|Tb=dM@pr
zQv4ZMxf!v}<FHd7=ey)3@eksE$cxbh?{-y-hpKzP=RWYs3I=m$@r<(8{)F-$sy=fc
zEWeBLTT~A3*z!2_e?a-QDn}mU(y`g2-2Z~daxcbODzOXN(fKzcM@j9GamMTre)}Q)
zwt<)U(s2g67oyJ;YyK%QUcJdH+e>@HTUlGujJ=c?u+1xo0y9l+$rfw^<r7?aBIEG&
zQPhtYr2c2$IAHD<!~p~IG#k8A*n$a_%g*p~CcaMj_jIPy*ah(;%w06BM-F>6!U=n1
zdJcQ#KIVWJQKxVV@!gCiGT5DrU3;!m(l}*K)q*tx92erRT64Q&@=#*N#yQ#jGG#g1
ziidO9ht@U>`S?4(+!z1kQ{C~e2FCBf)8c(B->pq`CvT9+PP1@DGx671_%BAc`L<V?
z<f4dnO@+Ji@;WW_NcX;n($@;nXla4(4_5!@$2!Mzwq7!NxIP)5^g^hkus7IG_3Du;
z{qD<TL*Vz%;FYmHzuK{NQfB5PFn>EJyFfSu%08s*RMEt<HwTA(d-Gz-3VS-<*`Fw7
zDbJ1{obv7Xy?gep$KKU&jl-Og0^irctr*tND3jh0ZNu0##ML@Qi-$EvpT6?_UFu0j
zrQ1Kj##)9P{2u=O<PWiyFG?2iYxFjZ<g06G=_`8|g_`$HRvu?bGrq#hopbkVmL2lx
z{C>@+5<g6v{fTfhTFW~xhYcZnIb7=9;mx_cneqDCnqBp!%?;yu>+15_n)6CZ-0e%r
zi#pn=o?IVtFIY=%D|0j!{&=6YC4M4&qkL;@izu@9(slS0*ogSsFUR;TN6yGH_I<+G
zkPi0d`M_fRZ0RJAXHS(=qr4vOwrPCN<Y<&<-enJaa!1JJUGpKz>v{jM{hP145xSh?
z>+hQ0^>Oqh^fxx1cqo2iAN3~kCi+s(Z~ypMyMC8vnp3Q;C1E$Q#&JKQJYL2BVeZ}5
z|KORZ47nfhe=XyRoAYh|A8qd*A9q#m`>*dzdZ8_sHffTkmCPgs+MuGe1*%&+GvOv|
zWz$wrVcVIcV4;eZf)t8mrUfkqr6ZNPt^3ua6(yr?t5P6dAZZa1*heS|+Y6hSq$pb5
zBJ>t$$$5X)_q!&OA&LIZIln*hO0vG|@~r2+p7pG?xOWOXeEXm9!SKIYjz8~k3|tZ;
zUD<n*S^D9Rfg5;W5ocqP?C&%{n>esJ`MQ^Tz~zTGP`0aN{S(9*i)XPq@S!8yV+#jZ
zZ<=OvMyy_Vt<2rS8&(-`8=HrYWgjMqJ&4aUz6_l+#{AC)Ptfd~O0!A6Vzd2SlZ*4)
z_P3~{KYV#Blg(rFmoW2fJM2pl4t#q{2fm?8Mzo))c+d_Xx!8_1fZApFHd?#R7=EGV
z4Xt$!So2=WnnLY*`8HZR@;m2SzJxC8K7F=b10_CYBn#aw_}<G#S%0p>_fAva#Ya>4
z38RgXi3+#Xxk=zM5@DS>&%04~w?A?XJlqzuFm@taqqXmxYvwBsxL0R7Z}97nHC|lf
zt@i5`_<OW|GpAEe`ZM6S7V5hBmh)Tkozz_!^cfkw&(u4p2QG#8)L8XSqaHe3^$Of|
zI~t5Bbc}3)?Qg7lZ=)W5jqUHmG5UKe^)3zi8>`-_)LY`$>m|=)H28YS7dq5>HgO|z
zZqTKDcg6-fiHGr~&f}S8v-9ZMID5*8t^=3ptl2r_Zk^kOUe0Q7ubKHT=kDNyskjil
zuZsR^aB1t4v)hx{f97G=yAkkXu)Xzsf9XB!ajp+#Qz6A<Dsu^Zfka1j_H=AkmG*)H
zcs*br4PFmElm5QWFh6+mifLw(^t<%BbaUqE!3Ayj*ROM4nB3#38?YrYV9@xA1H{qi
z(hrw@8l8tuk8?gT_GGl(0JHqX<Q%ggHU*e<{~m3=fdA>*|6J{9qxP~3=LUUTjt#hc
z3U}<an(SzG-|fbOR}<9NI!keiZ{hdZGe+PJyeJ0rlwv@?0w<R@5?8p0^Gl2=z5pky
z9(#umLku2mpsy%>NrutC*}e%AyL4~Aa=uM4=a;xgt&jHpT4`49(Di<NjQG@m`dG%^
zSDrY7&ZNbXCi}6|O6-#7(;@lPn|-m~U*Hd6zv@f;`={PX9uWABlM^f55<PPEz!rR6
z-MOkV{m&y#oBQ}*w06GDF4`@Vza!mO(%+9Mw?0AHIQLWjZuNmKQT@2=J-+J>%AMXw
z{r8Z+l~Z|%p6KJ7gJ(7HIK7Y}cgFSg?`jk1fkH|7W|aqWpUMx_&#F9-^Fm2^yUH&M
z<h3wV|2CBea$KO?;i8Rl-ES+s>dJ1SYzOmoyfwtfwYhtsr)>9S@WEwMX11>_=Rv;7
zE=J+kuLgDFMIMBY;lW7(4`zDENhOwQd5~D@{8ApIAIF2YBL|+9quShU^eKPI@#DJ#
zeq77h&p7ZD+9v?6FMn6jPJDm&tMEVxPcEhp#oTnpUj4MelS$SZ;>jdDx$EuV3Len-
zZhaFOVSSL%`ha>4Z*K)}zrc4*_VGR*V>%z>4&Fj4^)bAk3@-hfd|YhKYT+JUS)<?B
zi<|Wun9}+U-R(VV(0POYhpu<%_ocCcjr?}w9>=)P)1Tv|N&H{xOY}0H-hp=CL+<-|
z@H0M7=Apr*NBQphdkz1r)HjGfJh(IrKe+F&@O@D51GkljK-MHbMIUSDgfkx!tR-@{
zmv-L~Uj=zxvEZz#`ni+-9KZd%Oz%w;A3;CIN6JYSAAJZqIi0FIx#Ht3FTHGfre~Kl
z5^t02LuZ{^Nv>l*ig@TZx%bBDeMj3EzE62vqEk8SC9v-Vc7x4Y!Z_jJuAeq?P%hx@
zwj<;%c<`}ewv$<F^}$E|@I@T{@(ky@IfEXa$hjEtQ?M?4j2K&?IX2L^X6@ndl;Pht
z@GTAx#Aq8~EZMUNcl}%@ng?SqW9-jUZy*?3YllB0KUy~^HpN(W>=}&B9czN6IQB%1
zJ^B2uhBYmRLyTSe?J@GlHFmOWY|aO=R+^RD{mS5G**ISwXXZMu^L4PhSLih19GFyB
zHsE5uiw2Uj`++|N?S+F>aNhpm5z3TP5cpHYT)g8nW^g}tbufmrF=sJ`_Fy!I?uLs8
zW5k0oemX*#&KPTrb|LgC-e+NRy$$DevHJONw)Gb9$eA3)RBq!u&XwTs1#IG6)*;Kx
zxRvMgdmZKE)-3+n31*Y(FPBZnwpTnhyZyQqvmeynUXn7=Fi8wW_gl!9QTx4&(?#xB
z7~attNtd6lJvMyo9m-$TUTcu&lWT#deZ=*(-t=?Ul`~h7^U~OD_DAnyF0$<ray;bk
z%sS}5IjY>b2(Yr3yCZoud3mgt>$&?P4d1t1ZLFTl)Q#=~b<QyJqs&qJmwo8oH2xaA
z`FQL?os$agejy*w&#CkCxKrDFnC=W<>P4ngyZo}xQ^x%-*Xj(e&ZF*RKJv|!my$3w
z*~gJJ&7;HWZ}I^cdowwJPk<xU|4Okw=er^`*@s+x@_-K5H7Ri{`a&jczlm5)HpQ5Q
zdGPfm*eBL^sZ0EMyZFzjI)FA#@7*U~1s_m-W4HXi(>2)(g1&EHZJQ*gBz3Z}V|eh(
z|Cj#1M*rG#&>Z{7GwkGk%B{>z<7wRDm_0Sww*_Nf&pIdB#F$P0XJfVnW4iIgN9!0<
zzeSU{aBXU{R|GhY@gA0Z8I7s^B-xJ+&P!?h()o^dhRWeG#kibRsPXR}sR?}Zy6lCH
zmbw$6gq9x?e*jCUu{QfZ=($W-KD`fPB37Gy5AAB?(?c)8(K$xmigHkd)90vT@fz?`
zqNg_d9DQ3pA;*NZRFRIoW2_4ctlK1Sy~r`Sz?-AYOL)^<Php->X!_28cP&oEI~_B!
zC%CzC7EtXy{Bh0sp#whur}0UWXJ|gbyRSAL>et&D)al?}Q^y}gerJE_9_En(h5$!T
zB|6@b-486&OK=n)BVQp(Zrca3fo)fY778}zvzU1I=C*4>3%Pg8%Aw{G)m&nA+2`ro
z$}IQ1seY8Xa3|*G|5jaSB0s^=z7M<IA$*jT|BiB<DHn|$T~;#>`f~GlIgzi;?qaM`
zTF1vYZx64|zkxNU!|!dt<YbsRNrs<F^qijku%r9wfqppM=jY5A`)!@<w>jKfJb;fx
zY)1B6`cmIT+^1(`zg&j<Xvo*Md30R4?;*U%H#zY1;QY3h(84bSICS{?5_pm>bpL;m
z{}1qg87xl;mc|iaxwZ^{nPA=3GXg9b*1b3U*@q()(9DhdDaIX88T#s1%vZ9kT#*m6
z$Jx+7HT$7}Ck#AMD$DS>k9T7CuVc$oL%7-@KD~f;$*bYJK$d&Q;L~3CRJoC75Aozv
zo#M%KUG}VC{QL>S$1fD=UYGqX;|FxwVdcln%Qgk=dh9#(?Bl}w_|KaiJh~r2e>*(9
zU3dV7MhgSHPyKz=uP>w9Z0a4fb$lBV_u<$f{_6$~>75(!Q<G&p7@st{ZB8jy75s~j
z?S6HBMm9sgKVdBE3$WjZ3~W@NPG6@vhmi{S+u5i5^KV{r$DbcsCmwj);AXvBQabOK
zDT_h>5*@xHL5{+2g0a)D>V9X%i2eB<4Dha)eIinuy;*bS@1mTrH~R!_OLbK57`$14
zHy7wU75b)t?)@S-7ae-FHYuUcqriEvjCXq}v-wZ7-SaBA;=Q&We0lZtzx2P}7Pj}i
z)a1Tegu5=6$k%1Jx%rVpf1q_}erJjApo4$zd}j7+<|jGO{CeqQQ_zk*TgI85n|PIY
zuQCU}E?ySE{v}}d&uLcXK0;Y5a7(5-Sz9?eTfT|S%BF+<4CjqX;dr13FMN@lm2I$i
z*7;3qFMU2q&&tjZ+Q)$>1q_1aJ&dV(g%v(7uMsYN{@PJczsYxITY`2S?3tI+HxtZ1
zVP<B>G3F)wZ~GFxrDtO^vrB@u_`(*~^tm{~n9}>@<D4JV&6n{}={Wl=Ui^8<P9!)7
z_^zOxhY#WA9LHZsaQ1DU>y!NJICI`@`L~1z(=)S8L7g7%QV~v|-Qq*+`Tvl*hu~-B
ziRg^1__~Gt)Py-X`*Yy%^T2&s<PD5$ts9HFo#@s(z^UN*Jiph`*M{K#&)VPI!3#Xk
zGmd!p1dDfc31$C9na(pEv|}qTUiT{6ebH%`y_NM9ye?Q$*KlVb=XeVEx2x#0oi?(&
z?)*`R^A%cKXnhlBO#(~{40F>O#oc|OHHYrin9lmgt;gp=s|0b&Wou%uc>EoL51MJ`
zLEkigUmzH0m%L>t4tN!7ix_R{X%k0I%G<oBqzy4qosI8~a$YFHd7&8Rh1io=nPknP
zyEp6^FV0En9+Sixd_3l_HP_Y0noUX8TpGKNZ<>?JLqVMuzPIrGCBC`2sQ&waEfmZr
z!x);2;B)h-1~$#b+Yp<p{-WdxB<y_*p_QM2j@&cXq&1u1cpqa#s3SQ4gK<1yD1{N(
zvM}myN4LJy+U*jZ9S82+qpa@&It6RHs@!|vuS(WL*n*{<c5PLaJBu>u_+DVretIYC
zt9d~^t?eXF4@zd8PBJyw)#yF-legblBLO?Hr_H+0uE5&Pu*QtAwlnY2+OE>S*RyPG
z=j1ezpPH3!`ZZ%{Eq*zD6IZ|10Hbgd#Rq&K5zbCRpK8nqZ{u}bomhC^F5bh$Zg;$E
z$hYnE*QXnK{}FvzW%G)4uim>kcb`8^^@d_`Bdyg`Cj&n_oBTd#sD6}R)<hqoQ3t-O
zWJ~b?!561Y@b|qkxValRg-d)P3%dvGzoT4b1@PN(qWElv?eBNw{HmWH&`-yev4I~p
zgtLl?gF74d*IgbOmp6TxOI_}aPx*I0tF9O34KHGh>~HSV`7b|)QI)%AuHUEfuKhBr
zN31;^4_>V;CvGFS3-I1#XeOLSdGmUnoyXZ-ciMT?<v#L1%$>hWV@2$xEq(1WKTg$x
zf1`VH46qbf%cnzT;H#5NcV-gtCgxy>RcJ5beA>j|Q|+&>JFYBF#9CxK^U=2yF{!Gs
z8Q7$_oMJn~s^auh^ev=o{g_PgEPI@@B+9{a^m_hO?wGdl*W`X!w4>Nt{J2M<rT8im
z=<^iweF8t;@-e<$=SPY4g~Hhe$sRn=$r@j|=-a<fJ`8Zc|29|lUfv`SfAzPT?&Ci(
z#8;hT<XY*>M;sh<FoyG=lJH39N6`=T-C1(}z1)xQ<@~#04_>^|!CA{wg89Ab%j6F2
zKg*tek@<<fN&FAWtbV^Mm|qMZWIr%>z@Iv|ybszHmIX2bAJjClmZI;Xj4&qqHt!s9
zU4e{5$v?|4i!Y45K4|^s5HQ_G-;LmO9eIv%@*O2N8DJupF4wUxl>NvepEnQT|B0_V
zwt3{*S2ZmS%IzC>L2T|cc(o5c6W^=u#h)DF{Ul=z#pe9GWj{$-d8|)9PoQI-$_Q8Z
zT;~Khf;X)UWSIK}0geoK>tqfc4WaBab9`8zw0`#V9PJki)<x769UfIVcyN5T2)<Kn
z9htLu=T3XeR~_)0?XxeGeJJSj0o!LyZfQ}cqNnh~P6RgbVh?RBuV9CV@d`FsypkgB
zAleLHXZd(Q_U22rQ_QO>fOQMw1$o?48-iHozW}R){RCiNVPUVcu#XR5Pvi4j*b|}b
zodN8M*;<`U|3~n*tUd;p{v5sRZ9%<TsOS1W3~yauLW{WMvSUWJk8v%(TK%QG(CN89
z&}YXriG_x>xc-;^yyI_vJ@2>jqkLO)3b~PtZDpc0fQfz=KNrB%@#_Hg5Hb4zrVrbC
zzF!p;46(XwFED5hvITZtjQ1#gh{o?PnZwVRgYFC*=9_iYWxp4+k31W|M*I6|Z|8+A
zvVFok+~Hn?_e}aFhPv@p<WaKQfgMvURdy=-UfG+<T;-M6QpS^AxexzO{q!=wt@Lex
zw*z>i<lSu}z9b$Yj=#_BVa~*w@V%OJ*Mj=<=tpy@3vd(#7Pr2cPMPo5b=mV7@+Z!q
zPo25Z-K>fi>u!@>==Qz`jExuD_alMDp5I`ME0ELu+oeY;bB{}A?HNYjUM_vvmwkQP
z$G1#_e<$WY^S8g&tIW*+e+7Gvr^?35f6H6es=paKra2$g_XmdVh(#aaPx$w9yLXX~
zu6@qN!mpN}Z2i=GyBe8?&KtD`XISk$JBoWh?9b!XM&1EpzWy9_A6+H6S>w8HLk8o@
z@68{>d604TT)h0NJihSbz#^EI1Dh@TE_N7sER6A<dg0%BKZX5pH(#C8*F9BB;K@vj
z@HRbn?-k@U!#6SF9j0Sewn91+UtIpEzW05X{UGs0FkZ^@Mv#B^UW&*04015Z!2z$i
z^~d91vftML-S^XH|LV|<2bz5w@Lr9BZq^v`PgTbg-h**6M@P~#!TsAuh~<Oh27V5*
z|84hbxm!T%iKU$3Eqw0SuKnakKEoY+g{{1yMBiFlG~(Yhu-95(PEpQBw6OoSf2$eT
zyV~p4-Q#@|s=J=N9T--}yE|U<$H;FFXZzRtIR(*s&l~9Hd~l%^oU(_}*UDUfz#V=U
zP2>zSx%co&-=&g)kiEy~bzn>KzC$1VNtSdDB}BX}jofgDmhTT@*U_h|9$SgLuJ`jP
z(%Ap>wfJFL&)-7%C!sa4N1?aQtEv9IALG36$+A&3xq9>i^lBR5NA@a@4?J;_*(5%J
zM{Mrd8G*kRx!x@8L8grM<W>XAc)s5`9F`TU>6<zc#&rIm_OFG*C-;e8gmcz)v*{xk
zTe^fCL-c5MZtfp_9@W?yYhf^UQggi1=UeZJ(dp|gC(jMP&b_gnUatEHe82Q|&Q<At
z8_O?d$F#>*5Eo&dhVz#Hc?$Z5zte&pUrzE74e&eXUyXemJ2GK-`D5fdrYBK<^6>H%
zAEEp>%8wsjKJmkpa~3kf`m(hDdoQJ&^OKR9;pOLFLOJJTBQuAWzr>lR4E}heAG+4V
zkKnr0&pUq!I<_9!>4+_CSZvNnH&C~6cps1b3w@tV`6<K8S6oEj3DzggUUtWF@|EGY
z$Z5mtDCck;=j1c^K@Iql5%lPDs=Ft?Faz&Jxf?I?jJNRDAp@_*>|8S!j!v`81=!39
zmvotk=7GHZ0Qo?!v__B(;O>~E2QE6lOL{=Q*()2Q&-^&!o#+Dnjqc-I$y>79PcHdC
z`IhX~(*JwjlHJ1pwl4R0e8v48J2Cs^;@^|9UvhtUoS40nzkMB8l{<m4bk|g9yW~lF
zp)&WQKWn_I-1n$wjt9QA!*R9Zzu>vGzHCOGWlw!K`d|roS;9UfFvsOfncD1k(9vcx
z?c0X8pYx<yD&KS)dtu78F6dpxWoF>l=)1y2v4KnJBY$aZ;Lx^c_H1Zi&qghxe`H0t
z<X-S5$$wbyrp)uY8@QjK5B(D%UsgH8TJ!4sqHrBsfd4(u*EgAYIy>Q?=lK4gN^olG
zvlj>_v^(PCX=9Z0Pv`i5?}#SrvkCszIiZ7}M1~VXdf?s%eZ8|^V}dio9He`Y!KOSp
z1Jdb##EvT8*y*0L0{KsOvrm9rzge%;=I#eRebb%Tk%-O!u%;t!im!YzKiODt$6Nyb
z(!Os8`bhUeEaI#gKKasv<QMm_cH4!_#*urgQ@;wVl3{edaAk<mn70Bq`oC0mU-}C4
zg)d)1U%!k#b2g}R^XUBEc{jEd+Y)2FR?pdsFMQV6J61f-rOBQdez=1qtFs2=`n6Bu
z?vE=!^_C^A=%Y6D`iswPt-CeyXx%+G$D53)Xo_+l$ZhETvsa|f+WH`OfwHF_{mvH`
zvp2ai|FBs)@iyX{AHT!?Z}7ivUk5Hf;s2io7v8a7u;1d8$K*o@hWzC037QYKCJ(Hd
zGv7zG-_ai+!{lDT(;K-wF?$I-p>_Of@d|qVCnp7RmyBe8$ltodX}|0*a-enHNw%JB
zdTp*6A46?+xHdhJ>~~xn>40T^o7$2##{_M*yEc(%wu8SNJ>r?sVUMSQJ(y!Jf4_N+
z;`<Jr-=<!m&(vnrdcwtO{~Tbs?R~7xmx06h1+Q5-sLQ<<*d+sstLi-p;o$wHazI}V
zfgB{$@Edq5;3u#ryrZ_iHhXR>^8|j$yT+@NtS|Ap-!-MqzLE4=xJqZB_Qi;26qdxh
z<E)Wm$cushA|F8~A*XMG^MgK|2Q7@%x#_?tS+)BWi||#@@o!8po0N9~ZxsE6KF$`|
z*iH-WWlMplXnzAg;BjoczG;mtKi~~)uiv-MA6Dno_bGqyb6V7&`j;=D_bk;nFk6|^
zorEti_riB2OJ-v=JSSb*z?gbhsUI66*;kHc9{<el)pIsbKGjV6T*sX(NzS^F$APZ%
z&-dK`Y}OA#x1Rw2Xx((2{au}#!tW$_16Iws=pRhHz$~2wE>+fh_7Go`$9xLSX8z@8
zn*~Yc#G3u$dii4DBrY8;dzPM>eRVdp^zGS3ogMuv|0g+z_chKOQvaROUEIM79rTVf
z`xV5x`uU%`@N=&0v-nx%W$*XbH1Jks?!C;hIA*LN`>e(s!Tt(go$PT)zfJ!fdtCv~
z^fa3VuZ5R(eWcO1gRgDJj=*o?F^~KR@u$w4=)N&$L!yis%nKV4&30?dyWjzAQGPT0
z44=u?M<e9bqQ_;Uq=yRFEPa!$679Vw=>O8#z}x6M#XV8#b5by$XwQjuJ-1DLxA{7&
zGdo0&^7vHeM&uORZ0UCA==FNPNWF_<11B)1<XW;Ke{0<rM$dmw-$9!|u58`*G3tJv
zy3nsfaI@w)$k{s0s}_EXuuie}Ge3;H!m|<O9ew4^cX{c4(4%Yr%Rd{4j&d=KpP?hW
z*h>lK&i!(}F55Ul*}4(RZlEm6e51@4eYdLXJA+F@;9Kt@4#j5t7*6X5?JpUj?7|Vs
zVk49-7@@3bgtGb(%Bm=num3S{I)T3za+Zj7U-5m>hC$vuTyxIAJieoQx&OO_uH^48
z3*uDe=Ni(LX8yrXnt>f7oZH$;nfxw?`xW3mg3P$JNbeSSH{c)PQ{xJ!=d;f14c22n
zqK$N+Zx2|HVN)L;U*Z$dzA+i-L1N!&t--b$%fnH(9wa90>w<9ZRPijfK|G!sBhH&5
z&MR1VGKbRq&ZZeQUh`CA@RnmgV|{6^ubVri!<lc&n1P$fvm|~y432ww5AjA|^<kNj
z>&Ne1-7>iO5v%)W@;`ePtR=UHkab|s5I2AQHqLwsj~B_t)#P4B7VI4F9NzaI?<nrq
z7kRp+4EE16zDMloO5hc&@+)P(<E-yK%-fU1mWRQ+qRK2q-k$P^2gF)UR`iJ<@2{^K
z!JqZNpw|ZQ9zPyBu)b=YYR>5YByveRL%S67`62T$k{RZdVot)n+Y2zCEy7(q>zKN2
zaDjMJedxVO_0t6(oFqKZcNAW|hyTTQ(<n>&`6C-=={|GLbNFv|)a1T~jjm7|=<Rs$
zXVM|ibrI#|I^YK4bftSFP3*4-j;P`w;wf-f1McFqm(8=dgVvWo>sUFhiKR9dY0cf<
z(7JD#8K_SUZr%&e>I_HUGN0ZF@bBpTBhIvn4?X}aPCk`C9OjH`bpE*m7d8g+Ngqz{
z(tcF=jFDG#aJ3nDEBy`4*Vj*a)63=1o`cUJ+4A52s>%IroG)XNPvzw5x5Wi<n{$PG
z`m7n&r>{rPFX{6g){m*fHdk6d=HOmGmeB+6okqP<J$e;qrZ?c@=swMIJ$ls$<LG`)
z2Ya<(mrW#QFB$n7u-mvEykg(c{jN{{C~M2}p#O2aE9>~7ng3_~cyK=We>vLmE^9BJ
zZQved(HLJp4zG$f(o6n6-i+KjXdu7uN$NTOHyY%nbacO&pS^B!Qjjw@=E;n?8yze?
zpgRNPtH{31!FTB!rn`MQap&Zl_DTMm`E&2W#cC&C?O1T9zvEi3;KSSlY`>-5N#b9A
z+}m~Aj+{5}B5P6U`Uj~aneGEmapW_?TwjC-lFX%k6n&p0$3}8TUPz7F>Fu~q`s`&+
zDnFBQ=R3ai`yt;k!&p9Swb@(v+u|Glbge5l4cRpTJg?7FzxcxVJ1>Ew#mvpunZzBz
zz3qos#K)=c)-$O9|2_DF<$ewNSa)7bodj&E@93bi-PpSd$}7-QUL@ANl{Mnk*bCuI
zIrMsGdUl}e_kI_iN2k09&TL*i?@mh>B=JK!&;#4h1D)sr;nBb|;BeIna%sMf9?-d4
ze_j>27muIVrTOen4sPCsEJzo;c>MWYabN&1Q?H<}IC}EtThSHJ<Crq|n(*1BiyVBf
z!2g9i&+XbPS^|^c!JcwAIdA>|Q>F~24eU!fy`Ba(@jzw@JOK}s#?9_Uhh?VtakEg^
zoFRHUy)Ian)4$W}g11z!cYI|8Irz$(_4+*c=7;FwQeE(K-lEgo_BNY=_3)5zy|)=W
z4bu(dHt<%(0_m{w{lcFIx}lGClkj;Q`bz62>o-%T*vefM{#s4tvMJvlp`S06^>YMR
zZ9nj)TbK3r`?g=@J<#%6+SK3St%}{k-Nqf>D#P!XWD<IrNF+N*AEhw_?-oC&4qo3A
zffrvzH>Iw)ZLxQ3$F+)AM2Js#$9-{emwpFj&~<4v5}B&+oT0b<r;ruXQJ?)o(EoGl
zXNup4A*SQ%cMuCv|L$9a|4ZR}E@&^jN>&7y<YfT4bAD5%Z3yO9RgP}6v`-J^2mVFn
z*bLqM<H1+(W6{66Jw3RTdwPfIrO>zVKe2CjMc-`S8aO+<Y!rPI;k>MD(O;$00~uZh
zUM8LH%W(0{ZDe;2a-ukkY=z|3AR`{Ow|b;^w@)J{2%ksyWgfKpD1@G^&YiXldNVK4
zU%t(U0^2RW=1I=6^}(yZ1C~-flLHs$Q#NFOeOq}3WpUQY&EO|NTupl@eVo<41{^5%
zu6SDm-`++1;&NgaTDx!6xp(pw40p2CLK|adJ&{LFP9i22YeeQ7@KeCG_+B<^1NVT(
zPNAGL2&Lr{(Mxe++G%3juYHuY>}k|t&#|=5268$QthM9Bv)8ql?lkf3DD#iO>v7@)
z>1$25Va=P_<1Oq%J~ypA>u`NIv@ePN6rQz@@FV6@IM07)^<6909FBqabZGcE_X107
z0_Ed}m!B`#CsR%yN-10~kxvvmp7P^{mv2BX#wsbFHoSZe`2evR%BzQ$>ughOCgpX*
z%U6(pAFrppkGY-rX1(|r``p@Z(0)S8{t0K6>aIVMn|RBM;AjL|{G4y)JTMY%-Zw(M
zFC&lTe$flkPr=zHw~pO2LYdAsmDkg`sPZ!1(^_8kjS<R}dstpi=MT%v<jY0E*uub{
zFdyLU(Lwu$?8T8mZ$l^gJNbU)>(0pCPRx46YlAgTFG#-RvxM;V!}5LcSMG=ex&eJH
zog!P+!kLZHbVG8o@2i|bzo8P{Z~^=#`#BrCAUP}52T|nt4D><y9@a$iZk)}Gpclm7
z(c|CD8*|{nD7-1&;GEr?Z03jQe>9t!ju-i(xE3nJtj*lP*gM=>=t}g7$DG`{Mmjo+
zFSNX@><-HQP5A=g3x8%u6hG}!+IC4lp~Gw${`_Lf{!L|ThkT>Y(DrjGYa1$)f3}9Q
zayox)z#qedR*UFMe&FMjmCD7>$(`MZ|1Z8P=i~cE;2msx(Z4?tyJ&5<V!_z%uZM!Q
z3G@0Q^)wd``w`LD*n*D>59^2Ez5uxY6+A?AW{CZH(^H>)3w_ECA4}cx`K+U^TU!j$
zXK`#|pWkw0Gv*56mi?>w;J-nA6Sq&8Q|x}$TWF`;k@#F<983JW!L(;pV880^e0v}G
zDIfP;!sB;`;GPBCGY$_gtD)>Qz4N}^-$&1D-~3WDaFlx57oQ1F7tb%Uo>%^^!H0A5
zvWxZLX!6p7oF*qx7rBZD=TUk_@TWb#mA=22#7<dWVy*r#@VP#`HwG7|p8N-$bBu$h
zKSWutGsbJsO*yw=_K}EV4m9AWHsYtYFgAN8Hb3tr@@@n>`%PA6LM7i;;14zETat6$
z$XeW(GjxtJfnJDHPqy!N{GM0)83!GyKHXhJuP}B?P}UOUQRzLiH{p%GpW|Gen@?tp
zHAaRt#xR^PN6lMhnz!bEFLSRauSM}(?y3EU-=&`Ruiy-LwWcV2mwF22>Q8VB|H_kz
z@=nC70o_jq7bo#X#BAP&Xyi?Z2HuE>@<xQYIW}-*wdq=ZoY&PdK7?yYoW6RDcrS0b
zByS4%VvKs74b=OzU$1wJcV9ZA)Vnt5Z>)L|>Rl7`H^v<zo!o1pbF7*N>yXj+p}4Ok
zNsek!7KmMrCJSlqv`dmhdg{MIe{wx--_(b%%JTJmUoOs_b~;OHaT(-XjwCyA-cd@f
z3uWWts|$jD$EfesQUBbaUvf1^8{gwhZZZ+{H&(q`>b*DUkNX8j?T_4=<Ss8;BRKK<
zbl+H#GeZ^+W3<bNSKc1<KSq2t1D%phL4RY_1LsNdGAv$+$&LnZ1{^B>;bidn2r_ev
za=`ud%g^y091nYc8oCE#x5@*a&6Je?MCAdGdc5@~8J0Xhpz?qxGbQEUQ+dFH-k*oo
zLEln&3D2$Lo7I)vMRFa!v3TrDm-9Q|G4_j!V|`6+1D?uIuJHxO-71HNc5s%@@sP*c
zPY%W}>U+R5nUeAiDi3(X`|D8sbt(^dB15?w=Vq0|19xj2cwm!$2Rxv6tK4|ks$M|z
zOiB62RUXjT<L)(A|4NkyG|f=%#!FION<-S$h-UJAMWcVyZ)l>obVLLE#~R^WzJhS9
zyiVb9hkk=M`4z&C&glprx_?6R-=*Ko_fh?3K6)EP@XL1=yt-db@coA0(yv-;eG^-c
z-}dx9`kgdSZ`bd%d79jU8q;B(-pcQC`|(xsZ#5q;;@bh)fKyK#Uayk2s&nTEbtBYu
z`dzwRdcBe{Re${m^{YmzAM@+qFhc!_Bh^p(^;eEi|HxZLfG6VDUp7Mhmy7j(+|?(4
zIj~Wh$2|F?#MSb<P1b)Cn789Y_(}Et+a$_I!KM%N&t(10*|Gd~liknn0_(CQ^&;&1
zr44t2VqcH0eZ=nb{Z2lYwTJ(A<Ne2F{&?T!_gLfg6vrES_gUvC$S=<+wxGOJ<=}V`
z*5mjNdS5;<v9~TvK2H3X-ptkP!>87y4im@O=i%#E-skL<@?qWit0*>HYoR#)s{F|U
z@tW1lKg~~yAMF9hD2w1vJRCABqw;wIzIErk{If&<|G+i#{{dXW6Yo7WRf03-#L*kG
zK<k~o@OdRU(QTm$dmmjI``!T_>jN8{_I;v@)4{zlJ@{aE5nFKg=Q|t<SJE*Vbmw{X
z+?z?ALz3}Hv2KlFILk#I)XIj5@tbaE?Vljei1p!~H1#*1IJkK|?d3<0!&kkMAKsYm
z9%sh2>u!&f8Q=cwV+(i-YFuusnZEMVrn>zR?)qpYPwClh>%aPJ$a{i4mE2W~dn^4Y
zcATbNJ$3itTc_U|TbO!#Y@wNT-ZP$=F)#IYv+xmMYn`N+a&>#lc;eE;_F5imXm1IH
z+7re+aV{{aufJ&yd{<v9=}U0!4BBqHg<Pqg$P;Rt<P2S6|1HlXL#F-ApsngkU;6U0
zvy1#+>pzNDB%7_|jVqUZIW*bJ`hvHU_F#jFnWgtEB4;egc<`L$uszCrURrN#{Jv1h
zz6r8Qy~T}ukD74%HtZa7(Uj+#^&i-;8qJQ!SzD-W756O{-p$=;{2iTAHEq!eu~iy#
zQ6#o1&)sU$8GYnENCtFQ9P(w~$2q$834hO@u|)GI@IKC*_c7OBvNm!0w1M?nBYjJ+
zCOR5fGe}4K>!oX<m1M1h@dS(WDYU+jj5bhKU@iBxSvH4%nlWZroug}i+@-!lCGSlM
zr~7$ZS8xkv?(72>+}lz~t_Xc;ziOjmW#B1_pRfD}<$-Nsj8YxcgU(Z~pyhGq=ycz|
zGq+L3<vsVY$GvuhaRvKw`us=6)_#tU*B=$%!)3m9+(5SNTW(SKr-k`P;1}ulesXQY
z;DB|f<b9*ge;JQGaq1L^Sth|#M0$Q=$(*fj{Haf4aP);ipH{SAx}EyKy||a(t&AbQ
zJcRu?6eezIaazNkQh4&+z}ruJPW4*E!xiany@jE7#i|dtJ)?J*qsXu1b}hW4oUTsl
z=Alz^#Tjdo$fcP`{E2qr@dRze=bxgka>zxu8PF}y7~=QB80*FYI!kY`=-jcR`6Sxf
zJy+U0-)IJXt6n$tG^c1lZ|fKMGHdZIyQ4SFh>Z>O!DHZKj|U!rVL^m*pYS>HkH+lt
z@OU~D;JU=7CMONy+VNJN@iY(N5V>772OZfDEJ^w`{J$LAwH!R0ME|TU@46>FJG&hG
ziMPcUnKj8Zi;j4!9z&iQZVoSrPBhcDJ=Stod`@p2{C*~VJe_}I@C==q6(6hzE_)w;
zFs>KiuVaL_gNcJJ$ODVR(=XoQ--S^gTPcP29{SOG|G;jOZ3O1ld}G!>*T7vj;HyBq
z@omtckKdw+2hNT`M)bG79mg1gQ++x(1-sxDo;rc)x9XqyKR~;qYacAi#eCYmiad%=
z8Aqo@Z=%x<OQ-zI>}u$Q-X5@T#Sr^S!-tZIj#;7;>m7Sm`!Qc0P8&|Am!Q+$(-_Cf
zf>|}2xb=GIq&!;5<pSou9=^S2-E8~*wBkpiS8`2iO+ECQNQ@=)PtDK3>(jO&8;MwK
zVQfxMU5zo*;H5L+2l>Bexbr*8R})^~2Olp1JdS?(5#A7s4?sU)bo5&WZhs2y%IQ}+
zj~D4j^y`H#;%O6`ot+DwwEuaSy$W=SJp(haUgvUZ*|(XI+dIz;{1Y^NZMT;#woA^=
z&ZM2>TX~HKTRCeL?Coj)@g1W1yL}nXjJ5XU&V7xuzmEFz{QAU(N40SteHCFav$L-u
z+k)M}?VtCpwJ;wK%o#V&$n5N21AQcTOJN;X3hUp!AEY+-^AcF&<b956k2$|rfIbhx
zBhxJ$evbCr;3e7rZS0|&M;7Q!&o%WMIAg<}@ulb*$3NkKf5PE#duuwjFbV(kgv^=Z
zGx@_2cvJq%x7o+sOwP7^-Ckm(3z)a{dy%)(gTE8}?E%BdtP@LlPQ1|qKX5LAe9r3J
zF516^Iy)zsse=6vd^;2}*w|3hUj7zM9l!0S@2tw8n=5;WGOLfNCpcaCgOqEJM0HEc
zzfZaDVU$ei9Gc{)oAKp;N0A5ZV>mr6KQbIf2P6N|4-5Dn{mR(`+a5n>U@0`w`a$cU
z6n;NCyn7eAZ`mk&pFP+P>7DD4x6(Ts)Lu5MlRhs)o<^!8_$8}m(>X=m?itf9A18<>
zZggu-!5k$AOR|=dY{yQ@7NEmF!;4An*)cyWhsl$&=c()#-blCWvR(HI_YM#0FUoj<
zkGawM0?g6+0yVxbU^t_Ie(R1fZ+~4l<Oi^y6Zm+$eSNo{cS;(`J2>*f20ND(=MH#B
zwr&v4rDvm$oM-Q(j)3b11DpX)6Wjsia2o7I484oQyIiIBQup%zXtGh@9wLpUd#|G_
z&Ot8^AE$-3qm8qUwx#1Z9hu~8e4zV^dqBO1Y|Ln*z0>xwa|V77zsV2K*wIHgZ_59r
zePyse`ey6%{Wp9c3(mfvew4m{L0!c?j<NjvkZ-pFznHz2Vk|rg{G;K8J+$IGfSqIc
z`t*^6R~=m%#>ivS{Sc0)#G|a;Y+PNkxo4*M(AT@2M~31_PpZ7M|D!%$TtAxcU9;>O
zYCvmd)je$a^&#?eOiuhNISt|!8(W}rDIe`(tuh*Y`{3VX$^GVW>W+r56m=a;nwzC7
zuzeg_l=k7VpQ8Wu-PP9|T9||6*_&bpeEA)UM>v0D)79iKp2i+Nb0kwhd$L8JJBdsW
z`4YZt6@H+&ga7u|wdBfV)DB!IRuLoK;Gz4a3*h-;uG1gU;pMqFf3o=OF7tm(?lycM
z>B}&E2IrHTIQN;`#{bH7m*3ioycU)j*4X}j&in8mzx4)dlGWJhyJXuda~A@e@|Q%r
zUVawP#>PbON&RyR({m4cC!BFRdeHh%<bDVT5qzi~eBB6o%*6{z@2mW2ExH)k-M;Za
zqtV&ym6PzP20q4`9G$lbT~}BZ>(<&$`e!%&ZU-m21EYJqH+S141CI{*&G)iKk#2T(
zWc-S{J2?-AEZMwR)s4doj!)vmH~3b(BO`^rA7D-JIB=ETl`#!ISGnQ_+P6FiUexDP
z;vdGd@J5JLyf!$$VR8_E+Uw2ybV>XvjZf9jT*i?{qL@__I*8Ui=%WT=ON+vxm2qNA
z?74Nf5i3y~N^6t=#^QUek5MLE4S*Z>uD8?o+%uF*26UI*^B6<-a(K}C{zuOn=mFM5
zIC6#ue<BkL479Q9d~A4%Z(8Sj_`Qx^?rlVmxxp`sdn?R>o%Ex9So!KLAM*2@9pCDH
zQBxc1RxCg|$J%OOWv+I=a0Nb%c&XRso>%2&fmh;|P2EAC{=1bka{o-fswem(Vcwcc
z2KTqH_ixB|NTb)pOQOkB8f&)B7FXpa2L0*&q8iRIc>K7$%)Up@8Hmm~cVG#8Cq7pH
z5nyBt;iAYB<+dRMPjmoZwJ|n+t-lNOr8!?NzF;h)GZWS}F5A!mU$}ix!4Tnp?w#q*
zqaQS%C}TQ&NZz==dh>vEhy2YYlDQeVYr;e4p*8<AXd{_3_<la_t8)ixh>d^?hX-s&
zQI;e}kCR(18QP6pYQF3E@t8vm`@o@zWpYDZ(Y3zTbk~CGPU`lA&^^*)z^}WIx0Usu
zL)H#n>dR@4G1Nx=d%zTC-qnoLf}El=-!$I&<O>~Q&ehDTk9Nv+>|i{}RGhJrY6o4s
zfG(riY}IqV<6L|@*=(0r@JGuFHBCOgX5=2Y)aNPTQ~MR=a@7;GJpld%$FFIxx^|B6
zKW{P5-!&<a?f>#-USA^Hz0gs6AH-OTavdWdLvsB>Xh^QZ;6}3Di)?>?7z`B~zD};r
zk0^68<CV#G6*!fj=-z_WST=Tud@FW%u-VHVL3gv(V$Ql>t<ry2a*65w4LKDl@GPDc
zA0^S<DeSqy#wflL;z#in!x~iI5AbeJ`P-?H<Fp>0Uc8^m=?3Wm!Tht=I3L9r^~5V$
z(787>@TL!O#6#28eN}SC*!HfbtH70Dn+o3xPM_y1bKe8T!^}_m6do$_d=K?~J5!xI
z3!WFh{~A1%+l>p5je&q4$HR|>C4N4nWD~p(?1sN&7k-W1*!6epMs?T>JX>Zr(0xT6
zQEoTzWvt!MzLxm!a9|(Khli|v5M1z3lskY*?ZcW99*Pk&=?7-nhr=a&B)c)1eb73-
z)K0CK;oB+g%a!xD?1tm5tHF=_8Ml8Cf-hu4;?PNJCfQr3qeQQ79N~R0=n`WNarRcQ
z#l^GE<c_q5f!XpEwtF6ZMI$D=%v9R5&I$UA4Ws?^+?VL@KKk1ls@zwg{~5FwPiz2R
z;_<dn)xI=5x*Z<X*@hN;QSsRo@aft7w6Zs#bIN+VQ~a@=?~0FUPe5gz*r8_l$@SIC
z|JJ6lmUDX+y7xkS<m2J~qW|RN>{jfk@O9`1p1uF%AoUNh=3B@7`YwW(6vz6c=@xH>
z7^_8m%eO_u?t6&qEC+V2-xUv%eBBzzSG}p&*U`W|;K1BWd4lqK+GKPW)hA`gD(#)F
z1K|+&PtC|3ZVY9YTUnWbOxNZVugEvsvAR9(B6Yq@x!o$*dx3Zt0=xZL_(Jh^jiEl?
zMIZX#Baieo#*2L}cG!#{qjR8>=BInu1lMDp*`#}I#M1?Sigt<l_-}bu=Ps&dEyVg8
zyT=_ZCuO&wmpiH35yGCp2TAe`&=Kzx-2z{>_+}J&rSs<j?<Meq?4)81mHhuM`n3A!
zq9Nb1<5U};E9xWPw|v}Rw}Kzh)!Bw^*nG`fxM&V=p}Qvicatk~$qDgc^H-j0>AXMB
zyk86E9Y>d(32c_%xo6iuH^G~#{a*G2;PmgQtj)=OC{`T>57EfU+4q14;XFldvGTck
z#+&;zhG?w$>1~1@@YD;Q^3B*$aHYFuN24#aoG;wuiCNmZW5lH5^rQ2d!og|aLUBap
z<LiHof3ox?<99HAXUX`z$oXjF7g&2QVSM>|;*EcQeQ>kx=hK`Oztvo$@Rtu?dT}MZ
zUTG@76+y1qpY86)wo8Vj@8a0o1oscfHr@_jB(H8ci}U79F>Ip7&rqf@mV#4sZIfWu
z|G$He1-EReWWv$=WacPeKyS^tGVxV}avS$AsjE5Ex%%MJ@eRDPr;2jnP5nE2Bj4)t
z(EZ4I-}hN5n2=k^g=|f8n0*&;C|h#`ThljbxUV&bobOif?A9okVrveS*&65fM0EFi
z*%~E7eoLv&--k_H27IM5_Ygc@Dsu*0OXgzerE;0;ura|QJUvH$!qsg0%#h1z<v4b7
zwyUhqj-bzx<d`zc8y}_*`QW;D>wWxPN)O@v$Bbp~SHu7Fur1baMMn(;xUC9sD_>o>
z?FVmT+3^+Rt(W5VAap3V;|{m!-@F;Og<lWH?Iz%R{0-lxOHU%pQ<s2;Byd>z19Rc8
zgY(z9HQ&qL%$rJVy7?<M9o`U+zgA+?W1Pj4P2W1gnr|g|D!1L&36J;{hXNQ*4`8r(
z0tU{^5A!Q-2w;$o>fzma2Lt<bMgP=LKAK<AIRXsY%U0Y~I`bpYMRHOxB|cZSjd2EM
zPx0n9u&#)qx3p$}-&UQE+$vrY3vw&n`!gz2d&Pi^K^D-b&9rNVr`iJB5VW~C7QAm6
zgQwIkLVe3q#NCe6`1bq%svqJze=6;V`QQ(ACxB&H085bHda+yAB^)fOOMEPjt~iE1
zDuC@a=y4Kj>po-dJBfbQvo^(FxuBVttG@jddDA>jE`A$N`t;z=<iwxWt;4q(cgMJy
zu_^dBYpyuFRd>g*RyaqwCnjvqDhY2o6PREu`yJoLeOLTI{hmV%;RQ3!t}`^2^Yi56
zy$TOtFQ8fFz8Lb-0Pg)gWRnvO!2ha0vQBRV*5%}HM1kq<iM#8b{Ze@5v*bKP*L?c0
z+9t7)RmiXpkC)rTK1D5jDO$9J%)S(`bRZ`l{YU9{k@$girlG$|`taLTs@=ttXeVE7
z6Z&3yeLVkfr>$c3_(|O<U`f)hncSY%4c^QUcM5rHS`W8{JbSl}@_iY@&I#UKnxrlK
zGN2eHb1l9pCH?0G`qZ80=!71s=jgZ@TP(QccV5ol+xT0t1?`7uohm;PJ#ewssm_;_
zUQ_wd|I>579`O57%qSkre=ffKGeNn-gT5bK>+kD}4$^hnN0D5JUh+W?v!7Xs%>=Kj
zz5os-bF0Cd_Bkpxn(R66Al3p5t&_HIG5E$Fbdjve9~PcNx5gign$YAn^nvh`8b5ue
zZ2$gnWfL}dF*L~Tyru1~8SwEp@l!U9uWGNvj%|A7GtUS&tI2B#qr)oA^!7W!Nw38T
zc^bgc5Dv93Y}Fa6P<wPm%i-q9$j<Tpe!uqZ*FVzOuC--`b}`DghGy*Z?+&TSCC8ig
z6#OfHMDVz{lkdy<IS46emS_HgQ}b#AzR~ImC$4VlmgzIEqplwx_2ac}Z6mzO-@Wex
z@vEw)FxM%S7EfA_MDS0NUtD&07~g=iH}Q>P#o)p5%`wbR?W4%6)+(jzjcHYGo$-?{
zbeBCVJZ!&;ya&-+@J-jbz4W;Q+rD((z`d3KkN2zS^Si(~+I|(WIPT6g^Vze%*nsO+
ze6r?>aC>}qY>n1c_;ZsZH`gpNQ)ZHr<6U4rZl*=SjdYCa>$mt#a}1f6_k^$qvi;u8
zrc2)%nIn8O><q#NY(&GYv98dqex34j1Et?aYX1`L8_^9Rvtx1e1Y%DWhWjr<b2VOh
zU!&C<tzYSs;yjSQ`U-Even+d<KznrRo92A4<_yf9a5UPy%f1V*#r#*R$H|!?CkvT?
z7T6$sm1KyyLkB~@ZIeuQ>NsL)lic2={|=U7#L`z8d|Ua_(ru>)ZS}X>-4uLNKO^-q
zn>kfL$Bc9<wqCkjbF%Zn5AdM7@SpK@?bOT>|15F&_tN<YF4=&Gr?DT8Tp7_*Iu9Q@
zS#7M|b#HmOc46Sq-jUvdR@)@{$UM@}o+M}P{n|@YyI`MG@YuMwIeaGbZ_@w&gYFex
zN232@%tv$;45EAe38uS``sF-TUPmzn2cK_mIs08gr{|DAM<+|8H@vyBdA|MFb+67=
zI~vuN(CFtuJ4d6b!M9Xdd#!s$qR$5A6M{CHhw`_}Y2&_i@eRLa0H1ZBvxL4w?S0wm
z3~1YVWc-G2V7LAD{<qTkJG#CvpsVKU=<4RIy?vj*hxXMf(IGCcPWRcg!V~?$9`<YK
z#RBI|rGF#J)iH_%_&Iyd27eFyNS}$<&t^WvTDlYXMHzS`icQKGuRT)f#`W`uWPhs}
zSGlr|cKgHOCf(I9JM7Vq-d;t<_GoOo4}-0y-1;{gj<dG8JB$pbj$=K;TMV5cZ*mgc
z>pg>J^y(t~xKCii50eWcn<iWKIIt#<i_g_t7b*HZz<x~Yn))TmnQI}JNb#-oBa!x<
zp)j`8w0AtZu>Ct#lHXe9SCe~+xbJ<B&Tm&dLHPZjseD_1ZdYoZ=~6C*;7g5>gTlR5
z^OYl{dWst%&o(|&Zu8WKeYb#hvh0;`Z_089-G0Q;wSLYN^=#Z%`1&L9K@WNI=Uu6L
zXIDi#w$@396o6TEytno&%pjv4dArf%jMKfhnuV?7<8y1kMVpzivc}Z3=fP(K_{oEZ
z!lRAt$|pWbd*NL8md+3!_Jfmp<VLzgy5MQ}O!$aHKiTbB;Ly!G#r^osmRD2$D0N+b
zU*>Q2W4jmWJ&xB0m;OTifG_P|)<8SQ@7lX_eA9p(4fDVFpLNZG+ktQWr1;!SC^5Hn
zk~cRM3JsHc=_AEF#5<RxyQBkEUp$atuJWTaPx(@B2fpMq)>-%<X?`cCvA<NJL)2HP
zJURcq)2{WWTVK}6iC|<u((=16t0C)ay&D*|;%^=+pBa3qzm}_0XNA^8*FdlA3n6bM
zay#Vfl;qS4AEL2*9Q7}p(05amGU;hz3wE6#nCBaFqtgR#g4@QTLpg_6tp`HH+HIfU
zbv=Jy&pN9!6kCWbn=kxH4`}SkjFAF|t)t-Zd31<y7=bqGBSM>wkXh*Th<qf6BP?vU
z^4V*lq54Zf!}ZWG0}YiU9*2K5=Kmmvo^q&Wn>7W>onP<IpLrlNjuuOhgVmg$_WgS=
zS9P4ZFU>q!xvRaJzKk)8@z<};aF%*Ie7zgmy#PI8`c}2IuHICxj1Wtb4tgO}xiS^1
zzVJ`%$tga51%B{7russ|`rvb{4eseVqy1dg3HMZtYwtNRvgKCRm$#bn?J;zT=<3!7
zTZ8q%rpZ1mjK8Xny&%D|Ot5f98`|SzPq#S!KJ(Ss%I~|HZz0wUGZ<63QG(-<X$!YJ
z%ewGV)*<l~%Mb4bcP9n>{Pjm>2mD;oeiO7%ANk|btZ}MWwpN&S<-ZwlnFN>e;WxcL
zxKm^Mx?_4y?==|4(;7(YA?cL_XKSJp8(9N+?FL`agv<h`kBUBdNq)21m$qFvaUpGI
z*tXzieg||PXp9Xk4f*_$w)_$J_ViP_P7%%S2F@6;2(JddkG;ZM<>Sq&Gx%2c+i+Pa
zZCi>{&QV)je22aqo<9_n3D+x$TmQXzvzN3$a6dyIap0-6G?|`zX8gP@OH3tpqB3{I
z2}8WR9bWE)m!<Q3z42qaA0l4WdgLJMuWi^sU$?Q=W^VFp-C3euY=&f0bM8Q%B-h6R
zv)-FmetQRU7*RgRc-iS{e{E#x@W{QA`KU3IEnRn;>;!yK<^5)8lZIcG1HX7iYgy^R
z4(y<>2MuRJ!nu9;72=&MsK1>0ozzXkN2(hQc&rnCNWxQj>K5qRa8{r<WQw`PvU?u-
zT6QlvLJoAVa%gGi?86u7M}FEb*_ZhlzwgGz_;?G}nZ<Ry^CKp*)(){Ri~fQav_}0;
z_EvTy*TR+HZX-uC_0*T^61+=~Z!&oq?=fv!x2{fchZMKX`#RFk9g<#geU+{w)vsvg
zVg~my#;3u{_1MoIe2DpG`s9a0RV$xmJ>P^a{sHkE>5myzejKOgrqyeRF*Y6GhqZLJ
zK5bT^%Px-8o_*8p?5`^4^pDuy`l`^XiW5G3Qyv-p1GdQSE%EnV^!Mx}^K=dUsV~JB
z=;!Iueux8?^>gV>igEoa=qJwK;@wPW`h}YF^a--%wbo{p%FF@u3hV8a+(ocdcG&T)
zVnGfk_>eoqm&$R`+Ajqz+_{j#c5)By40ZjLamAxazKKUWhWU~{f1X%IU&(>rw}0+K
z{&oxP`|wYp@192d)lxrm!|ROkcl_0Hj8Ph=EA2m8)<0`UdoDu0z^Z?s@Bf+Z`18kI
z4e;M^{P=SyEHO6<C)UsATmyc{o{y;Szk{3S=-a_P4mh2C>j1`j?8p1z8}?3%{zWDI
zDjt3h`10#it~?gr=|FC;9ADYKj&gV=JATUe_PyLk(TSb<9KLbKiYpJF#5!+0_0H$#
zr;nUOzQVZn2|qoBz2FJ$e?gxm$v=!RKk<#^#@TQEZzwM<bNnJ)2yWj-o1BCDZP?O4
z|LqX`JFCxO|0=yFIPa1>o;gSd3f4Yil+sh{SbGZQ7Gh!j$o6BvlqWCowvxHZu4%5V
z%(aj5FtN-|=(v4F>tXH?w)#%Kei9oJIy$&h{b-DB$glcN5QF>v2y@lh6?dLQ^VI*E
zv#&RNK6d^{MG2kK0iC{pK5%p*uDi$iC5j`8US9`Rzi!pa|6~s0@4JW-N;bza&OBmh
zcVSy@xH>*}4gS<s$Q5Vtnj}}<+#9JqWW^cTCvMU_#?ii?whugVCUmT6|0zB|p4`$>
z`dQmeZ1CvXpISSixwx_+divjddj6;@jLbX!manPzOdK7RFO(c_2EL9y&^U^r-^S02
zoReY>tm(*Enq;uwLwgwavLDq-JJoOHJ|xLcs=;)7I;(Vnxl#V&E64ddFov&eZ60T<
zI+%9^eUhJ0nosA$+DIShiD~%V>~Zr341N8P`Rh#(7nAuQ|0_Rcf4`q6s`Z}gzO>t9
zuhci_t9|4YFuC(X@_|QNyLo(5`){cq^s8)M{O{R3>ItvT?mY$HDUW1mKgZ8odXTbG
z`}ipJUZm_P#`5VhJkQy1uZXp|B{?<aYfZtc*t6<o#+sLMoXNGY{f$+RZ>6yy;Vur%
zHMg%yo`SJ@;XzlvN##M`adeB?tG>Hy<&G2V8CSawR6XT3`|}-&V`#qxx>z1mJVWvQ
z*>}Va%T`O*-i92saMta56T9(N^jS;DkP}kzL_fJ!iFEv#lhDDcC))KkfD3%m>t`=$
zzn*&Kdd}%#=cj30jU(H15@Rl%7`yT8<*^69!I+9QYper&zXu(wdomMd+!GozT^y6O
zBI}^*X3uZGE*Q`0RDYg7>Iwz&CK=P*q&LWW+>zkyxvx_v=JLqfuYds>aqiIYJH01{
z-s$9QZOAj)KV127_M$qVK?q+}a`6Lvl&ERgvNPnhKdiVqI_DkeA>lzX=<%M)_c<S4
zu)J)LwIP|EgYI@b-Z=(OM9FVh-D0xppZs^$vX$gRROdd*{L{c|=(C>K<_hjhJj^)w
z-Nn7ldu@H*hdXv~bFD!JEga0LBtO0a{&D?B+2=SUe;D16r*G+o*fB$KE331~ZF9OV
z66~2qg8Q?dgtv@;x7Sn?-0hW@+%c|`&zFwpoD*fzUxFLOy>!V$d|~!F#0N{z(ccAL
z+1O^v;wQwf(py5yr&N&lSFx`b->woIM<d)BK>prV<L%3%)5L#`%&~=j6RdTY(Km0B
zFCB`7`tjY;b}7DFnGAGHT5*K3y|)5u+J9p|OuQjpNNYa8`3iV*Wos#W2z}@C+fbZN
zIckpA#9!jIZS>>E<orEO7poJmRRZ&D@S*dQ9z14Z^PbRowAHsnx9CipVSP~b@@Jme
zw97m#dk5W~#=qQ`hR*6&x>)&IvUjt&ORtq!oN~96OFuvkW&;0GXW(?7VGHX6`NVl>
z-bvdQcuZ@#M%t^5+BV=LXbkyqr<3oivCus}j}TwW(=H<Wfj{cx+}b|q?P6<dig@`+
zm*mFTz4^#l23d0ZU1@N87jk4O8n$dgt~6FBw3ZJe{<QOiK7v)T*(fwq?2Ek}Vk){@
zczRCtI&4e`IH9eDsU$|?)5q6)HZBi6QuH+synh`W+B1>poG5q~?G&4cR(S2JZ;5P~
zKLXyxciV+Ka2Cg}NU?^S&HA!}So87#pX&k~%HJxGgQt0j@1(N?pVL+D9a!h%Nmmi)
z-QnW8%D0qESp5V&oqiI}+*-yn2LhfEpNVH`fc;Pj&kO=X5A#)j20bO7al8_TNBTZD
zu4@hck@zSApUkknk?tqfTc@?TOW}R-P6xb`(fsXPtA=<7T$J+8cIK@yGw_bqO?r<`
z_o?;JR{Yab#y>~b{>=JPg8wD)DfV4<<Nt(z*m$!1qkK)#OFWY);Th@a0oI_Jk9ek(
zm;MvD)lT#(=OvwMaCRku@8#@S6uuVi6w8+%E<3Z==4G1Pi_E)~82dM<^LylRJT^w_
zg^-cYHts_9FIRpWyO0ia<6L6!NpM75GV7rWD?b#!N<QovQ>xov5I&g?fv>93{3+QL
z=}6Tz>>2xWtIGZ5u>3avd<3$#$=QWo{0FC}Z^2)5ZR5<}+6Cgt`G97utA}LX`t^@m
znw9GMPteC-(Ty2oOflor$WgRDdN98^<Qm*Zf6aWu*R*dfBXfIxg#IV4yD!4I6Ulpo
zIJ+Uv9wE-Iy8~O{33r~_*>uBM60HO3_^rF*rFVO2n^=9`z?qCM{MmRAdm~ym>Mf>7
z0LNA6nfz`q%losNbuM&}7-r$ot(;5uE;R7E{{O@*;+WLo{Oca>TxHGT@%|idNs((b
z1seFcW&Hp?jeH3DsmC@M<V<-dJCTvCp_-M3oRnvPi}^0rSSfU1IAZq%+E=6hxD$N-
ztl56dh5P)VQ)O;l*jyml`%GEi_<KtY^I|+}OYJ<Ucf8usw|s?n)7QSBpS3|heY|0H
zHGLgH$4Q?E4*Z*aG5D=MT(vR=%)bN1G`@sv^i}ZLI&voLUJ+}Ja(Z0^z0_Av$PA?A
zf1)=9w+T0F`C3>puvxilClAH))=wrb9S+SEUTV1;*x@El+)#3+e8$00?Mn81mI^k}
zu7Now#<=IRhx61Qfz}1=QY`H26?44V>3kODZ#bJ&`j*2a=BhI&4aChAqZ8b>(q4F7
zZp^@1&WQA*Z@F)AbN}bg?b3OZ^<k@5?U|GN#NQKu&Au;QZO?CCZ_Fm)Pj45yvmV#r
z_XzKfPbLNU*Zkxo^-v#L*gd-Ufp22I{@d!{pd8<?PT@UKaIL*V58bW!a_xl1Ew!eW
zb?Ok!i1XUF);;DZ`BFd3b&q7Mk3Q61{WK#V<LE>2aDTt9I@fx_Nn7Lx%tvNRX%N~!
zxWGfkq8rZ}I0yOO4(!;BZe%KWW4$`JfcfuYKI+r;r!myO>-R+ZRm|L@ycBmQ2W^!<
zrue1C()b#0F5`WUGRfZ>eoF==f6Jg<fw>s^4~b9k4e<Z${$L1yE}@uwkfWCvAuq1^
z*ufgnUU50`T8y7o;UD@pL;tmhv`_NGV*b5!i*jjsPqj%prxF>uE<~;*arA-BTkEzF
z)3<QLOY^V|ZRoNjG!=b&*-sfwUl+)aeieF123!omong^DkFY<5zUY?DTNE~{B;Qf&
zNyH>>;slrYc#q=FqVLtvSFwee&_Fs{d~)-6L+(keyAD64&CFVPA$KcZkN(**;oVyV
z`%E*FHQV&|_fg&!uCu!9Ab!<;?n7{Ax;CN5&O{d4!d3g8<?lGL(p0$aiIxw3c~6wR
zjl>6czLNOhuU?5BX?`a0!NMyVJ9=|yOZ4T~mo#=%Z@A%8?L5xo9_#SR_hXk*_<mKu
z*#a!liSxIl?0U+xIFnyDo$*vhdO~a9s2Qr`X@5`i!$!1lhf<U~lp450sf9a~B>U1O
z_=NUcemyvg%#7W1kosw4;#c%3Kf8xMe~HhzGZfwOE9Sp7G<{zRdTE_88m&6fMZ~H1
z#i*D5Z2Yij+sR(1v!DL~{`DRIbgBFo?J4LR<L&t--vpazeH*Ze25T#Z(_rHM!KG`#
ztLE>&fi^SuYufD$&1~0vg-g-!FXYHpLtD+G^+VAunaiSEs*u}iX#9eF7koqITU^In
zr&CAvW@~8H%1z@JZ29tp1zWBQRau%(rk>y}FdxAy_{1;5pYoqa!$X`Ld$q$KSlTfH
z9zG7tiaCtd9^Euwa3<k{o)Ow#9<<jON%pn1wiXX=JSZPw`aXO)OaEUoMta>x4~y0g
zKP&jVhqAx$yMy1lk45(*k;A>utwVIirU#p>^?>%4C0l#hvq^zd$vM7#_ou<7<o)hY
z^%Jsz9yp3{|4*9ur}YaJ%e3oaKZcot7ntv=pW|1gpp*2Q^y6Q(M+WUyhpL{qp8mya
z*Apv!FjU#TA39GOgWo)2NZ96mkx}?<8hFxo@tYmvjpn=dzUqB{7r&Q(@XN1A54TpN
zyTwn}-BPio)l@x^xT9iAqJleJSRXul489Mr=?;<*FiT%7HB}c@RhVv_;Sz2gZy&;z
zD|RLwt@*o{uK1=@PfGt(p}&RGG`??(_!d0(<NJb-J+V7tbFGiedi{Fko`APD@U{V7
z91KlgDgW1xKUU}Jpm$R3vDLB}4YZN|)BTFAlvlvpTK~52EeY%~GkZ%C`b?pnd{W6L
zx@T0~8-)*3^rJI85&G!I*Imc|tlJ)E4K+0a9$H56c^!;@J0M?i`pU=H@3FAT-foD^
zRbI`ngfHN5IQ#}UR2)QWFTrl6%-#|M-aLKiU6&mGf{)LkdxNx3B%BJLtPM9}>n)Ee
zuXZ<Zdl9|I0S)nS?Okomccl9UTkU;=VXNO2SI|0Zpw-KchyPYH=QKaUX&XLa5Bvr`
zi}wmH$2RJ2nm%HQS|7F&C*6DJxUNI(<GbFEeReU0;yMq1tcSiLL7YG|8!j_`4vt{>
z1ao%rK^GU0jW>+>|1uBuJaE62HBppxjpV_?6T}Jr<ro(qeMoWojpO*K;77iabcW*W
z%ICX>*kJ_v-pX17x-D$J!*nf)_`XB)9h_5~kY0SwCf0#>g!!r9XB<D{yPE%rI|S0E
zyZMfZU1x7Rrt7Rp@FzGa5MOt(-+7aKJtg_ln4&j(+#9z;W8p)33LR72C)8b1Z%p+2
zX#^&GJ$pCZ0%W=#KPUwaJ7}wYGVzRP5vx#KZ-^F7h7S_EmyfC#qjc>Ze^$TMxvK-(
zdg$r=%s`%kxLJgCNO|0hwf?aE=sz*f7vO8jsK&hpc$M4uvidF48|*7`k69?E`v*05
zog*f1Cf5S&edrG6w?}bY(e7r+32XNZx;71;8DtlmyujWYgA6AF-b>aEtyi5-rM0DW
zd;#8zpdTdX;A_>y8urz~yyFZWt^I{I|1JH>I1%0p&CsqujCfcZ-c{S*=-T-EB~J%!
zUL>BHChzX+z_uA*^!Mn29{xtBui9G|yQu@)`3QQTkDQq8{FV=QEBkA67{8Uc`>l_h
z`NTcg^he1rFqFwowEdX2_@8E6TDfVf`pJR8UtQID!q&P3cXEZvgL`C6%bN3;({_Hh
znTnN3_&rJ<Lyeg*`EaxLb#%XAZLS|U3#S6pxybaXW}x?6WA$ZxjI(w474ymEYZ8yB
zk3FuB3xYl_@cZZ;L+9eN&(DJ!>1L1qu$d#~^ns`OPKV217_}bzn6kt81T~r`Np+Kz
zFOp|&PVb%%AMPnDYo<&(w^TpBmooKrjmm-1wU@j;Pgw^ri&u1B<biZ-F24Iz-66_4
zdZp~X+XMLJ1Z*YkAAsJS&^FH*2IxF>8}>vwAN}xF1A4!4MP$vg3UlL)0UW{!^R(}c
zg|L(HiDs%|N6O9g`=4(27=BFu7H;|v(|`Qtw!5JJ)DZm}ct-t)7$>|UYWu&K{>$U`
z=ZsKBZn9mQMHyGNzLWm-_v8F6nF$r;cIduG-#+>I9S6smmnFC6Z0=e{jwP2i{u12x
z7-5YRMV>uxxE!qjpNe^E55fexs>kMUmg=gX+E`PjA!K>D0hxFRoo;Opd-)y6X9ivl
z31)s4nb67}Xu_I$An{1F-K=O?Q;+;)kUPmhuwSlR*J(N%I~l#1fsa$6;jq0#eV4y_
zkntQ(X2!VJCxedEKKB#gEe}p~E;32K%E>9G!!Fe+@e%$VIMh}#ukyO$SHayu?8Vog
zLv(nRagu@V6dkP372sWaX}ic1K#y=Qs^UH)+~eBMJ<I67arB+XX6P<U`Gd+?>#=sG
zD)-*N9z?+Rv-EdAb8`47jG;H;%HyR^5B^S#QLj_`UI8CC9Uil}Swp#PZXe1Ym-}LY
zvC35aL+5wXBc9)_$}N{33(g$81aJIVIDjS=UUICY2cqEa4Ef8!JPIY{@1Wf3mw=9{
zdn#oIL|f_~<o7)K)H-Bn4MGlpcw;tv8^{XruHxODX?Q5v5ZE^GB42u#EkD+`ZO(?r
z@sY7*oNYfjyBB>W-$i*dvb)-wR}Rp1%5R0Yk|(2+;G@*Z#@G3OF9(|(A>kq(*!~!6
zvU1z6yD#(96JI*L`6u|s&B5rdF$ZJ*<m`_ejKF4L1lB%ax==7GCyBY|fjQOS!`M59
z4JaUs&Ob?wQBU7Acj=|{fx!jD9J0v<FMIy@!Oi!IR^Z0L{v%+wvI#74=&ADiB?r_I
zE(#_4sXH{!px+*HD;48XJ*|Ov!dq^iM>_N{G}pQ^MBGw-T@0G%i8V?#<@YGIG=RKD
zDfi0s<h|sw9$e4853OESap*q#R`-mY{J#u2srNGv)(TCriHFaOhGPSD=<Wz}T^2Sg
zbLiMcWaT>SQ0pV}xwnx_{tjZ^_;K7PiB0$WiDEmxPCt?HhtI4sl@}^6X5A!nvF{ts
z$n|1-e1A@N1WeDpz*@}Z@<+#z?I^Z>9b=O}fL~W>$NPZf34g5$7>P+t7G9aNwe=D9
z3CejaLoU4PI~pwp@8vkSKEQ!FJa|T}V#8-bZ*UQj{~MD3J7d^d#E%jCdrz8&>-*jG
zt@uK@4pyuo22FkaJCs*h{VzkgTD{~$^o%EF1;0h{{rJgx>}QAZ;j}-1Eg;SWT&x|m
zPm>JdMb}ru3*cub`*2%NBL>Ug9(*^8IY~yYL}s)We1X^^ai^tsFJ@mYVX{5MAv;R$
zujqNhe`~Af4gamJ9`3J5e*k`BO@)r>PEZ%W!}?vp{EBy7pcm$+v4f&TFYWM0M)c1L
zyibxo*RK~Js~+!@+|}o0zubbXVWVxo+?zUDzrDoRRyUZZ9|kWO=9qrF-==en_h&M^
zJ(6w;>W%RZOon-<kyF9YIR?xb-cd=Te{8+6-aO&1*Yt^gJ$%8@=fpi1>0Ktfi*ujp
zZO}`<r}^ztW3-DicA9)3!BH6F&W*U>m=yFkRz3Dh((tA2Zw#Fuhdyq-?)IuhJ0~00
zp#wG}2L*Il8Xk<k<J^Ho$V(}Yg?P6_-=p`QJ#d!31w5tqOyYq)ZJ{5>Lwd)=^?y0#
ztLb03Ewv|?s6Kf7RDj28O7K`fpSynlS@i<Er4A02pR4i!Plb~5n92jZq_}faa~CX%
zhpJEE;LHiY15cE~bGq6IPI#)c{H>IKO6BlmY5B>NBkMKd>C*BD<%+iof4ZwgxOzap
z&y5Y}?k(|(_C++O|I}~hpff{)Suv)gYws)O#S@nzu7Hh^twC4x0GsSg^i$^z$hKG?
zW0|q*Y3(m~CO%i|mkf8J>|Y<s9%v3_pMgi~@FkwbHhyINDcKrq&MfT906Hi#;iJU8
z<8#qtE7QtnVxJ(6UH=(0ex32GEw?(}&xd*)+jgYcyRi~o|N0U$kSxhn(mRjb-AkLQ
zTs`02ooJGe{1Tr}JI9cZ47{GdFyQAg&W9DSOBy#xo%%qZC4=_}lY{;{PRwO~GxPBC
z9sE1^8?dYWjoyuWnH%?Z*?sUr$PDC}hh!)-hOg0yPl6uH9^!|yBm1HU*|*jD23waz
zu2~m6H3OP(kEFdzFe3Xjbtqop_JS0PKf3lwf1e!~oQ&LsO?U~~YyPh6i<D`edD%(c
z7Ix(uC>Q?-r=@(ij&hy33~(_u8RTzmp)9WV@_4`2L{7>63-ix6n*s5XY)JU>_*ISM
z2cJ2mrhPC(OcB3?4awYV+zlljdbKf>J<^Y#0x!*kZ>EnC<4$R95YW0X20pchSlGzD
zzns%g+BKQ(+NsLD-tR5E|7GQ<Dj%pSH}hlcabI){=McnKb-7a~V@J;mc;xjV9n;L*
z-MFa|U+z7WyK(UG;Lo~TPr_tpiYJ@>e&T_T()0T_`zX=hgL~?g;&~2zo+|tUhoecO
z#;42+ljGIsWxp97+^n23!Q|@HQAcqHhgaeAcl;m04^aQ|EBoN1p*4lazFl!G{!|nn
zLowngJg2-z8z)8{6(?4HV~Utrd0tMw<Q)L%KbMyyeR8N7nj+&`FYBDB;<tYjZ-9IG
zpq=2Uk8`Pt4LwkSZ-%cXn#4JG5I5e1RiXuD;-SjreqPJMDKpv^g)8?d9(G{8mz_Ko
zuMiWGOsReZA4>kGzqekKTlNR(4_}w;;GPcWlXjNmw>&z|&u>wCKMq`*d%l*s#EK-(
z@iEr)QD|;uveDPkrM}`0`n5hk{gl!@N4abB4d^Bu3THdebw2${)`QS-KWib~jqS%j
zC+gml;#nreKD8zflegsdWi|gc)=O?pk{SbkXzj19S&zz=OW!0p|1BSL$kzLNS*7cs
z8=1o^z`h=skFNcGas8@T?W@SVU9SN9t@J6l1!n_(x8)aXQJP#QJC9HL`#<albw`c4
zQ1O|+oTNLq*eeQ$v#mX+WDhrov!33}&YzN%ZR-Erc<u=%AD-AKZ`!o4<DKL<YnVc7
zS&W7_YugECRg(L!=Aet(CUPEe8o#HQRh`8<)5IIq;IKA#@@s>e1xFf~MR$BryKm<q
zC*s$>Hq-ry_rbqy=y>Y%U<VuF*(f=yFRtWnk)DS36tFB`({lKVH4TUNuH?Ok5Om<1
z`WtJ%zZZL!Zw>fuj5w**4w}2*6mAp5_gX@RJ7(i^g+KN)S6)c&%y#^B*@$`6U8wcW
zCx`4w@?D~DWs{??vnfZ{{x9F207ogmzJbj4L+dv1ks<Fnzc}43nKD(Z(T_9jzd=^y
zceK^Ar_O#|+bpvRnF(yT)`PXV&;0)H<F-1$ZBHNXEHk$*^;yMQ6n{eF^{`fG1)uj*
zUcUYkoeM8ZFH<k!Wj{<kduJTDcY5<l=J8G1`uf0!>(YM!u9wgEY2MS~!?oV_p?e00
zc!!I1|1R(Rx9cb5+4-%aAIX{giB8tncL1~EmWKKEu|AEVkL$>{R2|uyJCHej@5CqT
zdpG>Y_nF1-Gjq2F-!t;Rq|1?+S$t2JIqc)ig3qVt)&_NYSocR5SG<&8Y`R77BL4+;
zEdS>>+p#$Jxv5?$fAk|4*NaDxi;o0zYNX$g=EdIE-I^EvRn)F;886^-Zw$L$00!}|
zV$_0h5E%bUeZzbDUo_OXhBdT!a3MUX@$FgnGWb3KZ0hU1YTwMAg#m67kvZ82_`$!h
zxS1c|MsVtl@(x!oHYe)^cs@0#lh$4+a5(&ZkG?g=63RF)UK1<%meaTwqMuxU$>HNx
z2Yq(Zr~E#{8bh>8q=&{m){TpAtT9>ZFWf}Gjr{#3ey7j}2O7iN!Rgz&sN(*_u+KZj
zY{Kt<Dvu8B!%x#2d;K57eh}j;v`^`3<ov4mBFgVly>~k?a;Nv+0pIG|r$gy(+2|1Z
z?pfX*Q|_tsn)GB>N&VSD{SbAhPf2%waLV*zy*cceJ&fObJ2-w7y*rj&F9dd7YyM+|
zZ(z`PtpAH^!sqahbk=<|*gas8F4;!DhIDu%FeNrLKO>#3vjn{%?};e?zXu*E?PCS=
z5iLJR-@=3bR{Ou4=dZ~Gi}o<{mzD5S&v3eS(5K|Jz?t~`r6u&w53hH(s|RgG3(-Cb
z4<yXo?47~4c*(a;_$U#Zo81t6OJUnwJJwu#63MyQOz;i6QvBAdb{%uGH@We!ftL1;
z-+Ja|SGzt-+Qrq*G-W>?d}Do8?9&VJEz*>|!nLz^w)%5Osa?7$`%%{pog+V1a9IBC
zXc{JeOM`ly*pU21oUw5AdWP4#AgI^zJa;+a_Z85cSD|Ah7r)T`htM_-ZS~gPPJW&x
z?`0=Hj#o>0`$p(#=?-5Q+C{h@xcbR6+NVFcp#2i)yPH0LNT2=uevseI{Jx*xt^B@^
z-||NitkVTYhIeMp3*h(;-?meS_X%p&^Sg`RN7wEgT8|@>2k`IZhie_Kb637^#JxcH
zclk?=js1!~+VB4Id;R+%3hc>7kOB0b-JgC5TJ)Vlefn!;oWb+Zi8{-KPkuH&L4N(X
zuKfD(UA$k0Z$+Nq`U(6$u`7R(8R*|`x{pN;_g8vZ)%Wi?tITn>3Vm3U`#k5x_tH1I
zuse;f9%ak|{U-uHt(`cW^Rr*%4AOPjHMLu_&Sam!9wr;`+c_sJx!FYQZX$ng4b|E_
zt?Q`c%0srCxSsO2PW5HHa}1vqJvm=^+0R*CyG}v2dXUEmzN;aYTk6*o-~Xdu=Lb9v
zjb4Vf<vzrJQ1%PfR!7(FDDh`)+~ld3Sij1TZD4JVj4iglYn$)8D&Aw)jPOwP#Q0Ux
zi&6Z*0&A*8rg~rGWOUv7uzg?P(DqRF@a|An{_$(*Yu3lsr#;di%Jwpc0(38>?}}3-
zYuwokZR6O|3*mj%T1~O2?uDx1PA%^72;`ygPg?tsKVsiKs>x}6uQizBW70!CbLeZF
z*^%emkM<t(ml3mA9r&iFjvl8>Z7}mYiP67=4<VbPaR-e0o|RkV`fi}_dDt%Xiy!W<
zyJzI)@!jW<y4;>W(<T@%I)C)>ym>>uaOXQlua`NEde}?Jb)jkWdcAY02W$oGp5Q|c
z_9dI-Q|dmV%G_K3GNc2d^rf||Y}$s?I3IhmpMU=r>g)`e3p5wxq)EK{)C99h`)Oh1
zRXU`Nehqk#ua@jE*?#c+z~CF3`x#qnfMhNB#t%=<8p3;O_ULfOKSO*99mp6j%g;;X
zoABdi0&}fhS3fDg3c4m)=eRQQiS*$@=p&yi{WiYg^L#nzM>-;5PR(}Q;{2Z4+$)~n
zPw&4{_dNC*8PC>>46pZ6P>)!E{A_SgoBJ8#6c#ZjY)G+P?9{+ts?BW=VC?uYZLpP!
zqY1_+HZ^*JnR+HX+K;~`JGz`T-1Lex_m5Vzd;GogwYF!ZlRWmCb$7-r`U;UFnW23i
z7){Sxvo8RX|2|q}?uYP~)8(afoRb`)<F}|&PREaqK*!{Vhtu(#zeC5~%SNYTbn_5D
z$H%I7H}&9A@pC8pBk<sedn_5=Y!|*%FFHoO!b<9)8*P7MtSK}2;d#~@&tk*s(O12{
z<%|#cF4_Z=Piu9XU|K#pOueo2fo?I1UA7@-$b|H9^4mlD_~_cF{PiU;x%ER7zPu6|
zD&|$Lk9T1+efcI<DBdvB|DpZ-juH3sr{_L}p2XLOZxzSou6lgxXElb^N%-=N5jNp(
zC9#PW@aJr75WG6<&hM?nC*(gQR}8=NyO%QYXg@N4NidG&zEAp=@;=Hd@KsB7ZswOm
zIRqzx1HCCe>^#cZ{&^I&{S1BDa|zO8=pciw(O7-&HUnpaYn@NIp7RO+o47ZRkFvV^
z{?9cNb_6jAVQVuJa3SsjDsIdK_oa6QwChtQ305p^Ev2<A-pvfS-KI}v6suLAG6C&v
z#@lLdaf!8(0NSdxH||z#nMpuUN~r?MxRB@lxvuLZ7ef-gpWpNQ{r<>nGH1^6J>T=)
z&pF>Sb366iI-U&r7rx8>mA|O_D*8>f!*uHFofIpN^KW+B)FEJL_i?Xv(i%y3ej=H#
zz5{YJ|BB8{y1Ax_&m5m##&}lVFWk59w%kwPZQ>xgC43U=vExOpkNHv$KITjKm<zh~
z_1_rxR>4!`*S$`8QsuxSIO9H?FA7e}A6vWU^(V?tgU-~qr9ZWKn({gHvxT+F^H+jS
z4G&DtSj8UI7H}N>kFyK&nTzzoQg9gq_u{E7!i7JNR@T3GUpmkIl3PQjaHU{GXM)EW
z*E3cH-_?)KbT%=@Rp49oE~C6JS^8z_N!};X^OC)iw^7;O$s^O(`oDo!_qRR1JeHqa
zlRGl~um10`AA53`ceM7iGj6z^vy4`*W{z^>Cp!OKOIZi&D_!5t|C<+>g3GVq(3LA!
z_bwBfmgrod;tr)*(PdAvd0VnuHlInIV%hv*zXNq_X7>KF`EQ^0tz(_KK482S7_lLW
z^->ys%iVNA^JnR#pRk_$=_GXKDU?~ARNl+H&%LU9-u-)+H%ZtJuq|3=>_6|!XUsc#
zN$>NH{uFr)Ke=l-tB-ovAU)ydyw8cBV~g>F&VC<VYVq^@yFJsz-0yVb=Sk`m)5ZKA
z@DrQ4KYqUY8Te`H13yha?#54Fcx?I+^?Vz&sSi9hEdY<mq+&Yz5S{RO?Vq>6+kUiW
zj!dr%;Bs*<xV+(;-MF0B11`VV6E08LAD8_;3zw($PDAnU1aR3$y|%e#a%a71=?PEw
z7vU)suoEvKZ+Fm6ytx=pxuepT1n_iRFL*iv|H#_=(H`*hGH(k?2bZ94CCgUIkBEAB
zN@DMCMi>9?lYO^sM%T*TPx|(LGGOnwjqe>#sYExP;(gR}X1n!TGQa7ZGLL;RYm0AY
zjr!6bt>8fV!#NU|FTf56+U(}&E}Q)k>V4}|;wZe~5XDwl2M^2V@$`CG_Ga*a?#T)V
zuTw8*vt&>2wpqT6z5aP@mc!oJ-)5=e`{%J)Qg?Ts;dn*1hA+>Yd%AW0e^GuUF!rU}
z7qezP>Gl+7j(W4fiMhGD{oPN{*?r)$-p6^YiC9Tb{4X4RPXFgE<`UrljRsw_k}@kx
z7lXH+bnLyOy6Jizb&6%_7yb1N`myAa+|Q5g2aaSr_U6YroVDr=SI&jqbZzav%uNT{
zea=nZ-hyn+ICfcrxh(*{vXx}7S$nA(oXTEm<hMODiPP8Ye<w)yd1|qPl<%Q8nA#3E
zlT|OGxU!!=pR;prTsg|vamLo~x<e;_;Ueb$N5->usp_0eoyR}!E)&d?C@WPx*4obF
z7|MP{Sqb*H6X9+!dvsZBI0rkk1DSChwwY|L4&;V-Omd`y_*_DA#+bsb*!4+l&Tnp`
zo?B;3R`TYnd>5Z|5G$2!uis?b%NGdR_NlkJ`D6&Nbn(ewyZNLa<=Z_QcsVw(`$lz_
z4GcW8fgk+12R>oURAujLU;9OmPqOqKloNw1yXC~$%>VPqiE+#~=-Z6)=id$tefc)=
z?cMWy4jK7B@Bxqq2hP*C^{?t_p3r_9XB&H^C;V{H<YDq-Wk;jOzEm{l^T&42dC=#a
z^QNu)&-qQhe;(P`w7z@If6koknnyQu<KhO&CltZ>?&xk9bIASAvo4Pm!T6t_6UOL$
z-7sDjfU${k%R93vPZa5x8`(n=@5nEH^mD@aKZ{`ex6cV<{8!zuoCYj=;Nu`2zsuf^
zg=NL(gylO$uzdS-!qSxO#@FZozJhoxRk^iC19&{h$72F{A>2xS4W#T3tiRRse?$fZ
z_5AJRrLcN_2=$8P@E>U}ntzD(kzD)&bwp>Jq3P=Lp`t#Q1^P7biu$y2eU0DWCA62{
z>if7GYa&ObpXWE(F3}skJ^rrW5=W(<_J522Tj#99fyK^eMbX%E0%L!Xv2DE@i|Tzn
zQ19OY^^!&Pz8t9c%|N}Yit3#ms5g;%eaW7$eAI)CMfUV%i==#8WPra8mUot;vm(%I
zU*nzH%Xo46>`m6iIjf>|zx^}%p3qC*`9AIgpnKfDr+!A?2ldi-TOV=GHsYLudowz_
zIM&!knWcyRMeFw}`AH-PWm}c{d|+vIfKRjc0&kF(9lv})QTfNLiC|dIc)|L6{POA4
z7Y~gQFTqoX=#%f{4|l(_=jMLC>3=@x|E|4A)!*xX=WSg#b}AlId5rJwIWzX1v}ak4
ztP0qz?%rWdzz293c*JkDHJ!7*@sYg;?Vc-KZqF5RPigtCdd{-=XVY}XOZl%N2A*c`
z%OGPE`*HZx{WR@&wsX$y4*G7VZJQTw+Gt`&r*#gooqK6IOZYgrlicy{*Oh16bq|%h
zy>0HEp}YT*t*7mo=xMuO$ewhs^qS&KyBqW6o|+5KuYW$HP;mLI+VzLryMLwG3&BZl
zycZLx?c)wAdtsA{-;R%Y_tCn~RE<^MJOBO&IMCThgWamTwHhN29&*e}@t4$R>~*%)
z>29NweuLaig1;&NXP*00R-Uf_A8%;A8N-&{M44^>EbX=LX@8HiF4yzBa)JmZ-NC*I
z814HI-u-gr8Srx9B(SrWl5>U}Hif#ursc6M*dnXQ!@{5TT$N|^p)K0yF3O);=Haxh
zk9oEcM@{%=@Z){dbNJ2PjaM%A1b1UJ56yQLbFqCm*z(2sPcQs<Uxj}Eh<VDNH~>yR
z&+GpyaB@c9!dd+pa8~sOr+?pHcYWADbN5)P;5CQ6is}5-WBb<|XNUt$A-m_l!#Obh
zru{b2jqVFaGt1ofOMbg|pZnfKg!fC5yk8Q`s|NqN_nGG)@AQsNl6{fNgn7^4E2Zd9
zeW}kV<E^A0)l;2i{bS8bH6D4TqrmlT6Pvosgc@~keKPSH?SmXjz3b*yEnLCgUexq!
z<epacFz^vJWsSA2E#SS=#`|x|q4->s{H|{xFEpm5F|9lIcR7QIyx|_Sa^?Mzdtp!c
z>l$Kg;iExkA%S1@Ynan)aB?2sKRKhb0)G}d_3}7*=W3yI;a4(^v(l@9rG3DliMn6e
zj@-&ma?*<XY(CaIC!OFe$pq&hu0)Ph((fSlj4C-_8t2oqT}rb@oany;e5@BQis*d8
z0r!`^TzReB&Ct1xM2MVE%;QzQBcEH``^d<|bv4LG<b}>~{E0c#QBQjc4{?7~_k!Q1
zjlQ>W?$?DK8Srg<#x3+w&$*Tu|8M>m&c*P*-gZ7~sA=i<r$ZZc|7-*KRM#5E&8J$1
z&m4`AXMn$Hrk|T9aT)U-Z{T@wSi_nNkIJW-@N>Q<{G6}BcD4N84h(|xRbc-B*mZAC
z^O1ez@n6sROf+}HnD(r&&d4~C|9|tD$ljK&$Z;?7|0JKuROYOFCT+}3`%6}bikFqM
zP4iWrlUMjXnmn_x>Tl;1UjA_3ZMsKa4=vWRepTRq9dZ)<yZgev4byc;ua*6#p5Dq+
zd+}ZqeZDEXsZ=@2yxd~;9+$TsMRNOOPi{NhkDJ!ZUbMq~xx|THy;L7}=bUlWJHhX-
zuX>zYPH+!OGAzY?yI#k|7f)3C{q<E3zdWJ)DeA9}J9`d$>WM19zrN~KP|v^Hm*Re1
zukdj%F)_yPudjN<&7{Lz__&AHYky_b^X~>aebr;F66hMYzdr6$y6fiaTc@vj;5O0U
z@2`(|r~}Rt(3!?{`l<&m_S4^|bnC@A$Wlv7ZGroM-%`0xJ8|v<T0QzzmHV{P7AT*g
za-TNhJG<*&sB)hc+5+WgtK47v_&>Yr$5igGbz7kP6qWmH8-K66{$!Q=YuOekKSt&L
z+QqpCZs9*d<^Ec=1<I>b?ypUJS9kq!D)-l-El@sE<v#A?<YX+idxjOTd*D%>hZi2*
zyItUIjlP4Y$Mgwalv_f0Xw@h4-k?wBsT}&6mvVY*9vk%u+>+;lQ|Gb;m+l}5jvSwo
zCz5qhaw0j#6s~wnc47CuX!#1|$h=imoGYR2Qv5b_%f-^ce5R{7KNm(9ai77>X+4R$
zQFM~d0w;*c>fEr-V3iXC)Th%g`Qqyzcy<EzlY1X}E%%`_*epK+##x=6Yf>TQ05KP*
zLZ*cn1wKJ(wjxls4V@*pWoLZlE#=jOo_)Eyv=6zPl-zaiM0xMssGa6+%c5_cQ}|cb
zK=aRIUr5(W{_8B7<~u1dBpv;3+&z~@UvA!0E0+Z$zR-g;iKE@~hrhtq)jj(wWJ6Y&
zbS>ZA-;+nD=TLSDc5nhaT{ehYo;f=GEy~xZyiVoZV^M#(qtjodT;CH*bw7);$T8`e
zl)X%!vgy0(CXPv8Wb3Z;>n4v$pX-*5%qH6Xvdl5*>69fn2ij!eYCR@>hFh;ZtMj1V
z*vF)&+Wu<%vdFRN$+oP{FN+<UK34rL#m5AGw{7Csv}-@Fa?)+KEOTu7P}N)KwbT05
z<c<Yj+|%WJgmC!<Z0Zf*Jv^|a`5N$EG7vkiB;2e!jh`-gr0cxrOVp9ho#Xqo(#M8e
z9QI8W?y+TM4=Fw$W{$E^_AYbMdK=^<Y+^4@gHyeS*yPAfyr~>EQ*>rVa<Q!szorTL
za&w#z%TGW*5p2cSFx}Is==Lf7Gg+T5dDc5eMZcm~`95)ADZ>_5j^#V5VucD|`T8fF
zYhE2(^HL@D+H3t+j(P3l&dD`l<SlnNbF8<C9hd$XyX?dDPWl_n=`G|4IL?01;iQwu
z1NN1w<+mzl{FU&-haCf(mG7Z_JpSlvawIdx1@PRS>89W$)aMvzYb57~L)gm68Hw<;
zS9SJKbC37oPsic?+%&IVQy=l0CgL~B|Em7-ebiH&N9WnxdVSzrKBw^XF?Oo%tqWF*
z%QkGUH&q5)w(JSYB-_+?5buvrF5g+O1<N0#T)BCK;}+;s{I9r?wf&U4Z5Q_<^Za=^
z?n2q;^8TI<za{3F$0iNry+Pg`Sa9Z~M%it*g!Z@F#OHO3d0P^?l)b1pRd03o_jlbq
zYSmTPqLMLnODh-FwpT8^kMR?$Di@lo51yG=SGh2#t3%`5_b(<-fL0C#Zyn*1>}6+~
zh2xEp{9c58+~WFXM|i$g0@*uTckX;24Ewdv0qvcMKRAIl(+zEo@Y{@{4Rv(}T=mxX
zP*3@CgkRxN^K@lsGB#B?_{6v3*=uRLrNVn3Cj##!BIqOD!@G=f`EU2g|5P1p?Yp6)
zYvjYiA9INTan`4$V;OlE40H>wML*F#=qGA<wxXM7Te&;w;mp$o>c`U0QLN8y=5RND
zlg7RKlL0qyA8krIWyibp(fzKv<WBb+cH}dj;JwWm2X^I~bKv(J_jJ+UuCJct-i7?n
zBzGM%;30pw7awrtNO|xK=2NchXtOdPb6omw$PMpJp5!5A<PVZQ{R?H<lT<!S@qE66
z^ZMLF4Rdch#M*DJG=(SNeJAG8kNEx$-8m(WB)mC&*}T}Vxk|5IsxMoXKI|RVK5bt5
zXgJKYSX{Jm|FLU+=J@ol1M~Y4?;B};P5%6p+e-Imdz#-h`^~Q`TNjw0?x*)=tH+5C
z+WFP?A@^z}_we0?uUceQul+%T4b`UQM(9MaKZ%?s_EG%{zBhU6xZEU;Pk%Qs&)s`F
z*QoA8e%<wI%UD7AbOZBKzdzD%tcRu3rIfpIMAkA`|7yygRb9&C(4Xr6gfctVpv^m9
z<^J4c^V+`WQLeSR)gM#*pn7}x`~kkH$KT!gwO{65O9<Lu=IdkSk*gIC5Qh;D$bTlz
zJfj_6sDl?~!^=5%L9!&lJxRr;b>BQn8}6Dvn;IG91uynei~o&2Ty9#APmdK2iOtgY
zA+Nv-A58ahBbNL0B3=*=<j1SrdlPvx{8-pSJJ(hlnT;lrGhQSAQ7w90vDRtJ%~Y*%
zz7L+riznb&mlpb{CqK*bnA-G4GvdDpcoD8GUdUlWer|uRu@llc<dL209+xk8KZ*Ii
zLAiKecL{r%>yuq`<=!B3y{o6W_Q4-*;tzkW`9AogP5j}@lcqlSBL#oBbA^_#5j_F-
z9<3uXDt~IM<tEDFcHXTgq*n#z{bQF;%CqlKUp%!|?ThGM^R@kdSHA;$kS`wL_g7WU
zS_jJ?r2J{W-15tP!kwLaz^A-N<^Ei2@f|I{tfX9PsPTX9kFEHi>gwL(YWVxpC2L*#
zHFShW|8exK^y)FlE5rM|#+VtOE@^Y+zQ<o)egWPaYJuMT`)9<I@pYomDKs@-anf1b
z>B{fYJuNrh`{M0~m=&VwGTNwagu0c~y@I-`b1wB0{9b9wwkOg3vT1I`_j;JTRT+FQ
zgYT6InHGcI^l}xHW}E4=`~8~@o?XlOt=ufXj=LZDb#=Quy=nbNZ(qWDCr^H)WP<Ff
z5VG*{H@sYDj6cPT!}7i|<+YSo5<8u9NNjN)*yJNv|4cTE)?Rr4*b9LUygRgNH#5*K
z;of)i>IK`&uNGd-INjMcYm_riecJf4e1zALV;=%zn7jC1J_N@-M_3z>WjceVxuw9Z
z{0O@i!tZ<JCb%2iCL_o~V*eTTV1-Zq(h2S?mf#Q9N60C|nZ#D^1TLW8mB#axuc5!>
zerr{p{VV;o(4TT%817r{hVT2zIi7-N8_2POKjXfeBb}*u^A&#)zP$XvRnX`r<h$ae
zt<+o0+CL6HVqR{ai(_HVF~P^)Il}U6HES>VExvJpFB-_VlHU#8GhP$9R@{7T$Z!+(
z{2~*~z1`&#d9qw|SOtHpUpMy#KFLs*md3cW^k478XW}2mv^@4SV=1rcF6`Nd`TR4o
zz~htPyLft=(aGwLi0HZ;oF;snKEvJIx`FT>`QUTlzP3brB*;$ip?vS>Gf%}yWV0H-
z%{$byZSvgTolafsD(~GJ`K-{q>L&)9?l+%f=7spiD0iuy#^~hO)HdP{+C$d;&}rD=
zsSx?3vBT{c&v4(?j?u(kQ1KX>17p}WSHK&#O}vLTuLas9z=h^&fXe_^-Q2|9D#xr@
z222TT{3P%g6M7DsTx33p-(m)ui{TF!H&Hj%0}o;!%Rg^8MDLUCkAo)yV_Ep-k}pZV
z&hJ<!jcxPk3*Y}7VOG?GXZ@~Nl|Jw8q2AkmJ;kxqM{un+1^QUU@0G5<5y+<s4eXY`
z=I1oI1o<ldu7Dm&z=!g<B>gp>NbcyRK3!yZlOyGhRl%N>_XfZQ#%cv#=~_EK;or7t
zqJ1$=egaNZzZJSz#(3gE?YY&9Ht;FxHdgUgdZ_XClVelGUmNJ(!t)MiI&I%={9oL6
zBG9*m=NW7$+olQMqPWe>K${ToI9d~6Sp*GOTAgy7nQHqxkMmNtzbJfD+~2f7f40rP
z!7H{+Ew-KbMC}~xPXn)<KpTy#@r4)RM=)so(Q~7FZ9iAg*7noZ1J6Zz7(2Kg#I+BA
zw=~cu#rR3!KsUY+*%)CR4C`Q~CcuR`7<mCdygbIVY`V@&{V}}D+PAcR(X?1yVsir7
zT(-ry*^BJ5YcHE!^dwpm4TQnRanO_2JBJ(-F6>$q<6#?ipz0{^aB&}%fj%-l{9Y0G
z-LthyvdYn+{*;?f{RtjR<3j>8KCg%0!-4+veo!$yA0O<^>8u`p+wK3>&8OY+S}{CB
zOd)x&nQ}`FdGnFkvJ*<tlf`&l1zxo_!dX~2W&LV4j&BUXM{)R9d#-Z^#ux7(zp=Fq
z7Gd)y!L_9=t?_yAE`4}!W3dlhJkAaNIKehopx<m8H-B!|nwGk2`a9;RzW>7f-Su?W
z+xu+|zX^uF^PBBc-?3$~qFdW<lKZ;FZSSFN%B2;DduhJS7ibefcNDj|-5*bQa)0xA
z%<7{&_IjUiz<<SkF8d5PlnbZ0%~d_XvD%k6%1cc=En7L+OqEV-VqF{1iPAGG;XCn~
zjjdaKt96nbiLgEzOY;L~1<`?(VbZtc#GS0Y5Xl|8wrY0>?Syl+vAFyrZ}B`rU0ct}
zssYqhy%&1u#{~M(dtqJiI&4DOGqOL<aqUytUZvS_*xUM)Ej?bgH+R)rjX5z1E}F1i
zL+Ie8%-=!(#+jphh+5=N0zAm4@Nls%;1~G&zl^7`G-ljj>w}Y&YfpRQa>n_#hMLgc
z;y#1@MH9&xBdtGx|N9>E3B!*Kemt<;onMe&z44?&9eg#-K|K3ocsDqYq_w%QS(o~}
zmV_@;z$iU#<<5@bp3T*pZgpr=yf&HlJo%bneXauz;q_X#-_q>U(8A&1Pjh@~<Dtm*
ze(X>2M!VvBd|nT|iLUl=2Gi1&XrnREr((g9liDW}yq@g#?8G+UodZ9%yLkCs^Gf_G
z#W!VJyvChWy%*{EJx=!5tjXKN9Q0<SwL|cCW^E{8uc0XR7a7+b?~s16x+TW@&3f->
zk9cJQxwG&wYKF!Z#ZGH@$>2vMcmqqmL`=C@u<wNn&bZ$8NT~EVt<9>CazK}6Pl9G;
zgSP&(;pQ+j7f0tsp}Q1xH=TD3G}k=w68r(qw@gZ}M_<aW_545f5{RL6U^CUyw|rWM
z^^M{mPUE~mriWb54*Atp&)V*<fnUY8UT0sbwo1P0sO+Wx<jfoXmi~{jx2E-ZhjClg
zmbtX)-fV7C`rFW_d=+xR&Uy(tLm#{2Gxq#<uv4u3Z1c`|@5l4yj4PgRg;p%j2jzd1
zHpTQckT$B{b{)1mF^it$Xw`ACsUh~`qtJE}c(@FG<xrO5Jg!4oe2AGMeRL-Js1@00
z*X9-S{|SEM^GAX;3Br@=f!;TRC)T;wHck&Z>@~j)uy}7Oz!y<$PRU&d8L52lg7Y=j
z#Ob1OPhSlbPXd=@LGf?It6W=Hc`f76kw-6+(<k}#B0AArC09f*o#dBkqc73IG(Wyp
z%Nc;hwAZ?5U$1zKZNtopHecu6(!=jLeisgJ=QrsOOQYkVAJNc0aC`*6UCX%r-FTA6
z7n{TV+<Y9Wa~*p&*MQTt?AyFg{c+Skg&0ny>qk85#%bi+{{@~FKZ^$?Yn2<(JBJp|
zo&|qzImg?>5dSX>#TI?YoGK6Jd>MRRH!QYDXL#fAY7|~w!W(&s@6;}=Jd^x;_}y;K
z25d0F&)swPPMGCa@$akf>Uq$j_}J*}GT@CUN8mXw{kVINk&E}28(u#2XIx$J3B2|}
zxTM<Sw{h9UJE3d%Z4A5?A1@vpm;I&YEZ!QzJ~I1<30IDAK25xrnan=3$9p;W#KSXr
zgMjtn!R7_ok1Cs^96|$Piz*`n=jZS}Ht{ZD>|`@5N*)}SKFpN#1IQoAlXmtT)y}1l
z>89`#+U7+c)4S;do4?n1srXBHdy@6~YP~lH<%hZ4pGO9JXo1!o9gBV-w&cY>>dBF0
z;XOG3ufsb1ct~uK=AY4fFtLW0B6AZ9D^DXX&3!!9JzYzl7H=LWrT>+ANLMLuPFV3}
z#?E#4@#SgANBB<TwDY^>IIV~I^>tpVR&is0k2U4TQj@%?dqB<t@?5K)?BuUb@5aNS
zJ|5taSu??d@U&j}5_~)e|9TIr1Kj^ZI05gH<tfgiSXupD<{%tjMqB-^bGS~|TAr9b
z&9#5Z*gx)GPuaE$d^{%3KsVt>MbR;9L%gSZ47>n-W5VmnW`677n#Iwb<c4S6rGrFw
zRlw@_`Y41QL@tBsy0PBb2I2Eg&O~2BeZ2=D-TW~5!gL4b;eGL2R+IB6j15`OUZ{9v
z8Fu6n=HT+pnN!G7<LS9PeDBb=#f9XB^4-1<jqgIQ<N|u7d3?8Ci5`Y+TVzW%z)N}N
zpX)`hqz*k$ul$fUs$Z;6T$xN90DPU`;D-wL{e9d^9@%y2&z$tuP<)xU-dW;d;@t!>
z0+;_pv-sdm;L@en)|1jNAV0PMr|8(rIYpia=vA~UIk*LyUE|Kh;}g;C+yGs)y$hW&
zrp4I;*5LziCEW5BMAsUXfMdy1=y8$O>sad9HWtsfgXbWQpMk%u?sg&v;`p%7z;P{i
z6Q?r==Ft_88y&#0esgt;?;i-yVIRN0;hshDng{i88}JnO9rF7&zV4Rqruo=8aEJ1M
zHhcczt+`)sKYvW{7}mY@ivv%TylUkPWYo%<%*pAx&#`uA6|J4#MYlZN)W?0#Htu^`
zIg{t!ss1;jt@R#lmHM=mBmUACo@&2v;G7@x=iD2fn#LX2=DyE?Co^*3iP9}ULw8<^
z?IE1SIKS!AI`|UqWbave-vga@%V{sKs-^i48BersY4kqfjqkTs>$5z23!mac-Me)A
zPfShc;h9h2LGhBcjn#+fUGnq}zmIGDw&k=HpG4uuuurF!Pl9r24sYc?LtV*}9scK;
zT8j>EEq=jVAHcp6ujjG<<F1W0E}Qksa_~PnKWA7O(8`(#X2}7A3{VWV*v7hPDEUTx
z8*3wD7XN-dzl&yH`J8i@#2h4_6C;UjBDW>K`y-F99i=@DPv%~STo$gbMNZs~-E|mk
zgrD2@8{d16`|<#M&VKNFzt8sJlbp0`_#Nbn{eK#L+yBqzfB8PwfRFL4gJ3udc_lc`
z^kI`8_yKz@TJwL`-NYiBcsk<^-wzJYRzBT_<74KKLoT-QT|6DxKHwzQV57sjnApkb
zuhZ79Pvl+lVe*^o3S&-5E8ZrU1n&;b0Uam2JcN#0fPP!R8-qGK^fWY^qI|(m8(tEe
z5mVY|n1^)UiE}3{T%>!2=xeJl7E^x!eai-2hR!aY(=Z?Qkv+_70Ka{K^7v|x28a8!
zmdFy59K&8hKYUo`d#&b+AAxT_Mf768TP1$kQ2ZEIrs-TA`~69s@$qd$N4BwVE5vx?
zC}?xF>RyKDhi)|Hv~(1H6R(NqEU(F~62EQx09=6&@$EExi(gOl*6$?nApEBKi~dhZ
zmokr9Xj1lW%imoa_(4Z!IV18_#${gzH{z{Ucq>PLQD{W?byk?E6X;80r&vezX)>p#
zKSAb7##q_18#&|UPht;~w$iDac6jnd>neDEUj*wCVAZ*gMLx`f8Ryd__cm|A$FS$l
zY|OxqEiCuWEQYdL&+tIbV{t~6JfDRyx!g8iZdzhPIiF&%k=7b)y5x&bK^N>hj%eqt
zH|Gamm>K0BO#4d1-lxAGd<1fs^~!aWqy@Kfjp{B=Z6@X3J-T^2x@#r&A$N~b+&yx5
zuREF;eS&k8nJODbX9x52t@tbZZ7uBs%9<P4TT6h)dhYwoVecsCzFX&w*Z%LZ!o&&4
zFO50ApF8F>Q^H-RYuxd!Vm#G}`FEXSjAs}x#(2{i?<Lu2tTl6+p?B_e-f`CjrtpT|
zC7@jE_L}}@%-nsZAbBd<)EkeAoxBq@vm*Z7c}QheB+NeL1hYnOIYowmJLosU8=eb@
zses!D4K$)Y_TbMRHayvqzkG0WH0CJ&;O-49?BBmp`MKI$U#Wlkqs#T?Zg^q=pJ44$
zGj;Y5Gk-1dxBNE*OTTm;npM13=Mu*N>sbB<#*#A*!Z$pP|2x75Wk>PZxxln^F5&M;
zhdX?ux5vhqStBXezOS?J3x`Z&F1vX<v@&VtuQ+7onB9|j2Lc;dd&D_xszfNZXbbpQ
zFqk}nN0|A#<5Oo2daj1Oy*G%ngSRR55%a<~M!=i*c|4mKXQs>^fZui|XL5i$HHChV
zExFaEkYjAtbkTwc=L49#<|(?$3^wk3-FY%!%{59aXvgYUVJmt21aldG_m42_StnoA
z{Op`H-vj45V0+{!GfS{PFd??EGmWo6{?E?&&iv#gGwaS1&6Ljn1&qjt%_CxqBj*9@
zaC~WUP@QrfzomFzb@X|QO@=m2oG)6>=e1^j#+m+6&T(dSzC+zs%HDJ4n`ijk;mpsy
z&gULye&+9d-jDq}pU;OG_YZtFGnPIJ&it2vH}eDj-ve&&2b5>p;<T>9aq;;PvRAgl
zmdc^LUos~9?(l<}??<Po%%zcJNxA`Dr0@Fu7rYxyPP~>al@~TkX1+W8qGr?2nWgrX
zti`+YpqH@Y>T;9mmv->M{)$ZByS^W?P%$%j_IIog{oO-fO|C2)<;uePBY4A<e&3x3
zOst1!tP~&V6d&(eSFMNW?<mKVwR3Ku(%~Il=L;v?+g7=7)PUQ^tjbp|9J{k~@@~dc
ztQYx5Y;ZvO31G-Qs@$=>XTe&K>$Ezz+T-Uzk{Q6G`+|b6!NT>sZvVcij~uW~$^rYR
z=ab?W_8JGspJ*nxL%T6#NrW>Nk`KA*z{&h18@`S#{0*|;e0Zk*VDp0ZrAnc}Gx&^I
znSkuM_pQ!ZZ=t(s-=ecAl3S92=e<V$0_0*Inb^wjQOPX&mmOEbS==yv=NaG1lY7Z=
zy^HTbpCL(Hc@OyD9`5!G<GA&GnFgItb>+`noexW1l>)!yPCH`>-zn<{v<^rogm2ba
zI2CS%*NHvgHQtB4AIIJozATP}FN>!+l9|Mm#Q&A((bz;!2ITn^?c|xWV*BmTjDsB5
zwW;&ryie;N0MAfj9LNRNw^2;?{u7A(Sb8yo(#HY68!KR5U9mytvv;>28w}7!)Q>60
zun~%59!;FD&QaIeH#O4b{<vzl3z#bLm%UhPX?8KZrr%|gBsjmDZ=Bh@i*x(Z72}zI
z6guIop?i1rNZ}Y9C{}LZm51KpJNQy;<TGKSo?ya8c<~FsltYJou6ES3a~ZC7(zTyw
zJnGqYj%Uv-ck{WfWv<d?+(~HNc3@mkHqEC?UUy@I8TJ)e>-h=R_{s@p;VxpM4WR+s
zqc20p;lbGzf9{+-_Du3gBkv77o}kV+=pcgJ{{Y>TLH2(QTHQ*!FgzA>VvDxYuJUKd
zEoh|`oh99qAWzM-@Zjy(@Ux^7Du3Y2*V<~Gq`wUMtYp-Ai&NCkwa#9+b)b1cb)u@z
z|NZFO)djw6ul=viS!>OJ?d(IiaL#(BbF$9#wWCuvheuUgy8I<HDPD1uqd!)ez6DzQ
zGVtb+c`EO~M%#vdJ(TioN5)$^ra?Q%KgqpQsHZV<#6lkePYquj^}`hZLmSnu3``D6
zZ>gvKbEaiS<w4EwE-;0i+f7Ty5>q&j_1N}YtYznR<a&Lqu%q%KekWG41m7rZ*4zVb
zcG8db&>O<T=Os@<r=X+qyE<p_&Zn!ZQv9F6x7C`+PH=VYVW#C|;0n_JQe?{z`U#f(
zD`m<xk+L>)?2KMvJs%r28Y2cKzV!7-Dfm!-qQl<i(Zvt{I4~~R#C^aZJiXy*CUExF
zKl@h|(tmkm&qeG-BV!jyKgO{uBLicLbXKx5!dit_jyXA3xiC>=r{os!p6277le=_Q
za$tHmb9IX5`ueW!x!O799y@SO@yGU`(*$7uy?ia;v$C-gIIMhpgx^GmuDq5l>f`oi
zVqzAzoR^!Tm}xa}QkT|b7v^R!JX!0B{<HioeR?+QIgS3G=C^ml1F|JPzlpz$d)9Gq
z_WVJ5S8MS0bKwj1E4%ANK0gi*uNECO1C!)?Q?7HCwUZ(XpgnA$1b%>Qpqy+U**BZ;
z@s?n-o00R5*8kt&>?t(T1Wom}o{vKJ^3Q~0JKv=6OIhqNc&rzm$TK&|7|EPfUqqK9
zU${#+&q1F`#$-5mGY!~7(Bo`qU=TLEjkmS&e{o!P^t*lU_oZkP)X@f+J(M=BgUx<%
z*&5CyaV8G`8d`d$bIM%cwD#WD$CxSWus3Bxe<Gd4-mK<O1<pg*Shd7Cr0;%H5?i$C
zd)Sub6WauyBS-UzT^hrdy;?d3x;+b9qEm7NKQzy~6vV#EzK{LB=?kNN7{?dh)MDmu
z7!hBbLuR%v8gqy#aV|EeLH~0&`>V1x<9(mty@8bj&zpX4=CeP)IQdgg&i>|5vrxW3
zC+AF~+>0LuoLknLmX+aywoCr!*R$V`?1`9BC#Y|8aB2*;bIZM)eKL-z9yI_TopP0B
zoN>>s72V-W<gib3$oI9!nfW1pZz5)%TNYoGTwl3xX-DP4Pr}out~?2uhD|THWb+f7
znyml-fxN6V!{){C2iuonw|VjkpX>B=JF?Zv)hKk8za_p%cIGzZX^1{@4=`?hzx4OF
zai42@3>oan*xy`=jk6j*D?F@Pwp{z=oZp~M`=b{&Z@urL=55fha`fmNrj37Zdvqwj
z9n`!_`X0To?Q-mbg!TmnW;ed?+tkRzY5v}&9SghAwM}!#q+&ZoJf8njw;daw*+*S?
zJwAiF5Ba+Pf<Ed}Cwe}0AMon7@jv#~@jb#oowoD5^Y$6}qO9*QY?LH6@SmOJ9rruK
z8V7<)`2efPWn^VSW->AW8f`@$b>73;9nRVzPdk6hnnP1fPm)gpUsCHIn`b6le<6df
zkVB8|fETP^C%u(J$F@S_naj+=&5R>iBp>iv{$I!41B1Vj!QYUtaqpJS$)YvERgLVj
z{B{Sird3}vQ>>iO81h>rD`b;MPRJ&iLZ5l~E=1ekpeG(ewr1cd@!Dm&KL?+2CdPf^
zNoP93w7rNo1?U%>kn^JOxaR7@jSv1fa>v1TR9(FbrTTH|%ck5z-31z3x@kAM>fz2=
z((Ow$ua7!iUkbk?E&Rx)kWZyK>fI~(Bk$9`{iRsT1MAr1l8y)u&+fbuy8j7w#V*sb
z^~e#;{}}JIY&q6x$)i6MUm6T8E64NBEBV9bP@9R^t?0ua=H4_d+jhZM<KrzmPx?~x
z)*~-&Hu9y9jkn~W`=-IkmiBPJ>TT59dgQR?e=x?Y(EJW)btipqJ@QM<+uo!-ePsG!
zzl`7=7+`N21kWw3oVgA7bHLx^IK1&NJX^z?e&QSPafW_&f_L$vXkT{@#cv0dBwKd$
zJBV}8+%vOwJu<DBUz#|xq;^*4?O2IT1s(+BmQttXT*0~WB4Ea*Dvh_i`xC|>CuaNV
z_@X>GbY;#m;A0-aw(Yd7eTkg7v{BpSYVW?Jl~3wZed%oh$;Xp|bTize8_8$UjbhYM
z&!>6NWKK)(K=uW3DL6ksk4XOo?Wwizb?bbKU(I31JYpo^yvy$BA-}$G5+%oe7hZZ8
z(*ZX<^{f12mIosEl2=2E*ZOl&{`$+9ujH|O(p}T#mz8FBAa}Q5&&t=8O&f*3{tCTY
zKS;ja4&>(+U*0yOf2=N!qT7OcRle_u(5vEbs;_pkgYi$?_^|p^E*`bF<LX?##;t{J
zi~AbiLto2?$?ANI;!7c5j((Z*pe5t)>{x)jf`1*wCFfQ>Cb<;JnTe815&k5Ta_E#(
z$gQ)O@25u0BFUu41heROUY=OVfcZK4IP|t|dDn_R6qI+8LwVtpxiq0;Md!k$@HElR
z?NrTwXtO&v*3TinRy?=AZ)H!3c8b>sUpr0(SI~$0Q(s+pD(Wj0JFu_6(3gkv3!7~}
zH-M+jz!+TPW#DTmxWiVtSU9f%cl860xN|8!@v^z~k99Ej=@Vj$z7dHnnwg7D?0^Rp
zQ~4V7(1HHedNyn`^DQl8bjFGDUEo$SzH+xSzxGd_ua@L|{BMwxA?VKfU)GM?dgMXP
zj8#~#H-Kp`pK0rn7f}`~9Px1H<g008^$oU2SB%QaROy}XLE9IxZd#8E__TUsX=f*Q
zSUi8Pc)Wl2$J030@B1El!j3<cem2W5q`mbi_nsu$AKI+gn__bx5YyLuZJh0npPDHL
zjW=o0*+kLNOl0e$!<wCh_8Ep}w;?08-iKUArvDDR#+BP0$Zg3d<n+!*k=yrO+?)Yl
z8De>&ZG0bBA5}sJ=bi<QkqOcVqK)`;Pye^}V1v}waDV43Zu>&j&}2*QGP4HW<K3!Q
zp&$K5;k%{{QTII9KX04aTpKdaNf*RRQqM)vV~3#Qq63{F(gmT=A&tYaZ|~ubNYt1i
z`xco)W}9)_@4*H*FYdj8c`$Qc8V<QJ=8H|gA<>XC<fqt=I~T=X`e#3L@icSrJn5N>
zp2wdc2E&^-E!&v;*89*!;H7;mc)Z0Fo+HQg4&ocyAJ}qBtnk1f)rBseI<)bAr(fd^
zVo>X-lOuMrtpj}p?u4iIvGEq|r{~xc$f3u!-uI>E<PXi1ovhi;r>Yt?H_hdI=&4Jd
zvX)xM2jQ6=eymh}Qt|Ki27dpK9)8aReqYA#)}CeGC`-KH0Gsx^$ZXlPcK;}7)3$68
zES^2P3tvz6too=$&KPq>y4|-|zd;|0!CKq)ydL0M9Ds{69o@DJvOdguS-C6z|1aJa
z2+DTJv|GVdm;K|nd8&tczoMS(rer;~DWAyBizPeRkL}{!NJr;n@v61=#Itj;i)HV9
zi@cQ{uN>6uBz<1NuGqT76y9yb4uCdxDqgT1-GQz157v6;qZc)AU4oo!WL>A@!!(H2
zlP|90esE24d|JBMxtcdw*Y`_Xd#6A8c>{Rpk`IS_KHM&7#Kw-iJw`8vFWMNO7(IRg
z@%sm(nQ3VUxshT2^Ltgu3ZG^o<2^fDe4nW{E!E7&ju9H>jiGo(D>`AzN@xx{Zxr`_
z<x}Ua-@}>Px25CYZ3~0^kOy|!xIXXw0cQs~TE57<Dsnzo;MX84CHEr8_&ECmdE|5k
zT{M_Av9fO)w(+~ehc<tQzP91lzdM}$20zw?51XzAC$|9mMSMQQ=LG>A)%5>t96hO+
zk%yy=(N>dwjB$cEQoaM}vn1y>Qr>(w8ungy__(;2dCO+fd~NJtzMVIGtNBXaZ8^!C
zujBh(J;}W&ewWtanL=lUU5}^v-{PWJ4;(6-_<G0U#OfcNSMIG{MIY_1rJdF`<;C!q
zo7@@cD|=YmlkFVgt>D`3j&`rD@*2xuXvVKl>>z_2$P7GxapvHp>!S~+T)+R7H7n-T
zHzZ3>mCo|^f%f@zti5M_pp8ZK#QWT#=%V3OXLvNA7^~J<`cV8LT__$ogZ0l;vp$R?
zJ*Blar=qJY-y}ltidT0RbGG{QZQ?^~x#y5U*H~M}!uk%j<*o~enW6`+jhW}oilFVJ
z*v<b!UMAS*Ry+0Mjt#8{4%toW!;T&7tJua=UpEH&Qa_>}`F(lqccMFGi|K3z@Dz@Q
zZ(Mu_&X%Evl(%YxGtjg|4<$a`O#=^_95^_MSOfNs>^;%C%jfXB@bvIMy7^r6z5p7q
z^ga^$wedGspD?y~N3mhSD0%W)4}E6nQ#M}{INaU`EzhA|Z#>Wv(3jhaWO6(Bl1!F7
zwz9Yby7BWJj)?gACSRiL3}obc*aF9MmgVB7k8d0i8qv5iJYxH*DEC9K8#>VC9ms6$
zQIk`2$om2MYaicDe^yQlXLenG1s!SqMN3*YOQZJpImB^1`5nd%E6>h=20t&&HT7_&
z&jje?zeRIBoLAhjxto4n*r7LKorM@Q7RN?6(3kG)#yCqm3i^7Tb2LrfS(FD&q@;_l
zzQXz!%g~6Wsh|w?Wr0JUN9g(Z9%U%G9qkzf?HgaUSMOwdJSD!Y0S=2>`893q-4w@R
zA7x(3TW$F{VhnfTyZyhucr!)JznITg7vV{?FWwaWizmgOE>D6t*B1nDUH2V4zML<<
z)P0QDK=xvhVJ;2%Jb9(`IySD(Z>;6smF2yYn0v<Gi@~lLkvWXG$%g@ZCDXILvR;09
zFZN0jxs+cPuva3d_h_%Y!J2Yrwp*?<U)gOL^3+?r>U?(|KSTb-4&*?zl{1e4yShnm
zz+3%fH(@KwF2>fMwSyRve2HJuzwoEMj5_07fPwbhQP8)(hZ`Dh);I>AP_(&|c}xC8
zb#5(JlKv~-^VbLF5$ky#uKmndvj1(YLbkZ#AKdLZV19E0^IIu9hWJ>7b(MY3{TX+!
z&-xl)#@BH0HQx5igMP@r@LS$-hUEE8{{05vZ9@;cayt;yv$T9Z<BCQtZnd}8tN!Pm
z+1_NP;z`A0ObX0NXYz!5>u1>Ue-4e?u_LO(dRrYmKG2?gA+A2?vK?9Tue{xDJ329V
z134D~M#=wNC3?2nz_Xqmpq%x+%`4BltG&&Oy{2B<z0^m$Q^0#MKJ1)#kh4FC^AU`(
zA8z1J@woKn*}{)+171v@U2y^Kv&wc0##-fT*geGOp?Af1LubYo&PInDlez<WF}1Hf
zME5O7_(EeJgs(D%@pj5D9RwXarg0uLr9HX#Sqs@;TloBRiI=a%zb{nn-fbo?ig%8$
zq+0iyb(Zf#;;?(M+3VW1XEutnK&9-_ne5vy>V2V#>W=WpYQ2-Dvj{pP_>t>_czLyz
z3&p!1xFK*K)Vr^wao2FaM}2kYVG30n@*>tDAKN)Ah_C79Li`X|`ac7GTxnYJVN?C%
z5_95J<Ptrx#H?w>UeH-XbWa*Qxwe#-JBGX~?{wZ)ct|o&cdFbsf_ZP$tWeugjIoZk
zHMENrwY!gY>bKI2+HR2V<wNi<2YC5rbZ5zxts&DglKro{nZpO`l_RoTxX3CGr0BRD
z*f*bQ3P0r?M)`p${0W<9u!(zmz3H<QaU=H~fOEWawdkT}Tg#MRtlZ62-i=f5-c)gZ
zz<WFPx%v3>r|QlFcYCfR<_tXjpp6Oq9fqFHa|ZMS&J=WxJ$T|zxg)6@F&4J?$DLDl
zKp&dt-}qb%u3};2SpdIBaK2!#dyaH8XQ%Yu^%(AtniU_=k82N5f41SCX9>E4@xMmf
z&%)DWA5U@m7A#Z3UfjsWoRc3PxYw<B3RKt1rYo4c;8reL!8Db1)Om}L|3;Q_CThR-
zS>k^m<6B|}%y<G>G#z+H1EXLSO@s`2$!RmT#F>acSWqs<){x=+mKl-YecR{hb2H=W
zK9%q*JX;)J2Y!WTi(mF|T>KjH>sY@5oiWR~AvRI=cMWH_rt$voD&k@p{B&r3#-`l9
z+cM;@b-c5zC%R`@N0~!(mNnz$JQ|UK{vH7i$tv~Z-hbq6y$_hTzQ2q7(Ym?wj1WKD
z+c~*zNZXh&aK!)ajJ=8+?X?SQ_f{Hbdn>scI+%yfuaKLMv#FweXS<=i3VWm>9GVwr
zufB?yY6Gyc4?gR+j4i$sPAky;%1u<sIhpXl_(blK77RLY{6J@71pIk<i;D7qGltzK
zp9nsHt3`7c9vfIAd#?8`a8bva#CkYq8_Xja2F`Zq&z_090T|^+lrYY<%>PjKZQ98j
zbf_WM(FAgvn11I^CvS{?dy0K=!FX8LZ~f1&>g;?tG4QD|OTkyapY<CX8``h2X5nRf
zd8>JQhQ7~YytTX$5W&XOytRj0!&vU`>|5L4g*Wwk7P#AF`pr{5U=JVN_tf3DFlalC
zJ?|v)rV3j0?roavblNtc2i`$`j0aZkbF<#D!Y>A{AM@(X;jyp&G<HjL;Z=LpHp4!s
z&Qf^rIN24Pv)v6HATv2HW!!T}&`-gkf7aNI*WUoYi8f2=!)sTnb{D@*JIUr1oJG@`
zwDVoQnVUNv7$U$@MZ4O8tz)7;GvLQ*j6+W@9MH0KnCM8~o4`S>#x(|>Da{Iov(YE3
z_>|6YbLzrxx(5&KUL1$VY(53`<K+PGb6+9{r<0#qeZ0u}#{GG`^HJxl)BSQgAN?N8
z?`3gX3S2*ekCukal#K4d15+t-yCKwXdxG`M&}W9XUn+f{BjdeEaB=1n=LY67rIoi|
z9tv@uyC~mR0=%r`&JR3Poxg467~QE>-#XK6OwHm})<=7h@;?kd{4ewSZo7wh2+z<j
z_Hwu}!{=4~P0PQ-4^8+{{WqT2*vZ+JUz`4oX5-<F$ce_MGfVH#ILgJe2|mpL^Ja83
z_nEWkGIH~<N5UE_M_23zv-c){P`P&#bQ@(Ip2lXbr>{++0rQ@xT`e|bqCe|NZkdFC
zKi^Q^P~z-uNLD`9fE;gVtvtD5BY(NdlSR)N&V|+<6Ps$ro%51oMo+3e#!Qtw(3(gV
zJIt*=>nj{RO1b*i`JBP<xyI92QRb!bYPn|&p4>MRMSqoyTgkX8t7P0t#^t<{JFf6@
z8~we^9CVIFXO@m)9N|!JeF$gDC8>UpEw29||4%Y@HZtWq&?Pvk4kPz<r(5-GJ`9KY
z%K56bsABzPdtCt@B>&_$*1{)RH|y(Z{U)-0;w|RUb+$GEEa%ZK<hRT7zingJeJt(N
zhB{q$>?F&S7es!8-n@~FkZgDN^PwU6QWv31)W7Nm+p4~8t9Hl-x1HL=Xd~WJK6P)t
z-Ev2~ES?ZQTovF4@u<fSj>``b@dM|UEkF1%lkPVn;FVjLPfz@S9a*jZ+<Oh^j&+0M
zi<`OgC0vLXlHl<*WPD2V0v_#?M!?IDS!>xU)zJGUQ$BAVw0;G&vpO{XPTi{;Z^Dgr
zp+SvTP~Kn$Z;v1!b*9r`cWIvI($0LD_esiP%_ZfgdGo=smH}pPW621E4jbT}@vJw4
zpUeF6moL_{pP2k*%lpY+{^kApPikID{xbi5{nh5q`rWac>&b;zKQP=_!=K>bLI-z&
zlQWtRi`;ny<IgsOwu@h8pXod{`|2|$>icZycXn&#!r9o|;+F{gQs?ta2!5%9Uz%Bu
zBy$$Oq`<)`(1dXK0OgwJdb9sLw{fpp^UPrf{dec7vv?j4md~q(2bIrkDRVGGtL|Ji
ztm;njVO=Q1TmpQ^d@9}fz=zBSUR($ty7ST6=x*=l;j=k@y`UTxy;)gYiGILOpY;fG
z_|?!kg@dp`;5|3iQ%q+`Y-8yQC!Boo{lD$IO?mrs;C?sswE$eEm{$~;C;n~!v~x<5
z@5&?i5V*DNHv8>r(ZjN-of7iB2ITl#f7`bopLjW*yc~*#zSn#yenr{Pvc}S(rHz`u
z``#-!weP)JdlkMr@azchM~Q!}z509T-hB_&hsA}X)XQD>bN~+K+x50f89ZTOGVsYm
ztlf%G^v*S*vc`r`*=N2{8^`x>VFquB>*9Nndo4}=8?|wG=XMJd@C!eJRd5OCHm}}I
zIo^I)`mMco9*wk7{?MR&u`tTd>kV&OyZ;W}$Y12*%dTAzUyB3yYJ!#ycn?SS>qK{@
zrtmPoN6$Q)d^6`14u&3Fn}&6%^=W4vbk-XUwz5wwJp9O)ch*j+r@ec&l0GY-x1Q=)
z{PYOlz#{mL0=_5DE^Pbj|7G~-b0_Qd--eI<y8ZC?N8o$ptU~MmZTRT(4}HKlfi<ij
zXAa?9aUlim%Ga5Ou08@<s^Pa#i7CVb<@Zt^j+v>_iz)0l)lYrW?}mG@<9e#!3@^t0
zdht(6Zn&Fzw!OE0Pc}Q~ReSGIv~wizsto;Aoy3PbobRcc7&-dP`Jz#D`uSF;TYE!%
zp|-O9>#?mBBWS`tL4UdVpltnG`ct1@_v;w=GC|+!UwvaI&C6A+9AoQOf|s8B3yme*
ziT-be&y{Dtj(cmf$#Icm+-=|qnxEgs|4GgQFC&hWtTBsZSMGtgXOA=U9qNc~>WgT9
zHn|)m?`l|=*_^MHF1|tiaqhhp*;q5dTwKGM+u7``-hgkkjGR!{L`-^FNw`t{D?iWd
z$(;8lZ{1S=Hycm7rX<ujhw=Ud?~BJ&{{`yfmn~X#c2%R^f>Rm4`|{^M-F!HTT|EY$
zhsZ(W#kfq?EZ3bU;v&SJv5j7o|N1y}!o=5VD$a6slJ2Xv{|k9JhMOt1yjSr-eJH&<
z98T})2&Hv@G6HQGXs8lg-9Y}$zp#h@;rMWR>axM<kEVyI<M}l5Wo3s&Cz}zs5SPf^
zbU`z30TjlTB=J2<$ny~^Ecv+MrS|YxObVS-3}+W@(p&6f8=J6CbHuAo=X*QnPioz_
z8p%UOf9UA>QS*yCUZqc$W{71ZekDEU-RGVBloxNxW3PI71uL?fu#t7Q*WpubYKO`{
ztKd%XnC!{WDrZ&-IpEg(bWYk~j`48sF{)a0h}!=}{npE`qdqbdK0My^kpG1o;Zsyk
z{9|>-KIE?Q;^r9JmK7*de%%kjqx7}j3CX?1n}TNxr^K?TTX!}-Brsk&M)BgZ>@4?_
zeKPlRWcJH^y19MXGcd$IBE-*<)#l-d&sR2nrZ|yz$LP<lt!;Rxu>dc&hX*$wufD!Q
zd+?o!m?;UL4)i^T&nSBMWLYTv@#>IE7dh7O1b6&#+2i;W-4xTxGu%J%?U}B<#`&5*
z^ST~9DyCFh<;5!Bgr+ox@UUlmIK5>3p!6x=p&Z-D%Zpr|{f@h)<=LO1YqX}RC_F5D
zp|jURH+ksB;!N}`oDFheEYHq!+m>bf@!hNE(T=6pt^D4>dg<(wXm(tHX76%oc3c<D
z{)sgUnQ=bNj?FITdypQNZ}8|bhJS9?be`6fH@Yl*b*Fgn<wtvKx{1#SYnS_mDFpFc
z02j~lo7N-09)2XgnuBJaqAUjgHtBA&8Js2uc_ByqIOE;{9h}ZhH-)3Yon6xe_lhkZ
zOME`ckAz={=?TVC=I`;&=<LBhu1@gr94!~`jLsh8e{U+YcrVLdCcJ+`eR#Cm4*bIV
zeZc3f&FJhmRmYVPejVUfomJFPza{>7A;IAH)g?=gGb56ecZgs4O=}YhtWC{c<OyfW
ztUS4lwdg?ZD_=?qnW8fhb;!%ZDfjl_d>CeWFr<WASC)(;j*I;A*AAO@Ry*-%wV9^)
z7dpb7qu*`;?d+VoU`6g-Vqs;zp9SkF7S`#UPYuBO3HF7~0e0c^D;}(ucELK<h4q8=
z9-RqR$#S*X4_3e3xxzE^5HBaWFYK*(d3GtVijOkH-?a7#WbXfXQ*yIBd#c(%8&mmI
z%wK#jTI4P<{5Co(KD`cl(EnQJ4(1}gQTwHCxa+>;!EI%S^vR*>mp0ea)}xPc*}ECD
z_KZNgGrV?V+`41k{_j+snn0Zzug(bS{8f8W^!Y;<p0ex@+|TmtV6|rs1NnTJIxddj
z@BMJ(%ZbiWf~!1ROIzid6OIx!q4a3RZQ=W!lslu4t>6%QWB&8d196f<O~kwq`%|Pb
zLe6g4AO;<)&q_DW;=L!p9@K3~;;<$XBgW^wA3(jXw*<QEqaljL49vbw{RH{Hr7zJt
z`|DrUTCvGs9GH0Ca=n3;pl<PR#qziKcMr~BoO)mu-`N`<{qX<I_<?tbh#4y;^$>F^
zeupTg93{8M3Wu4p6E2Iz7F`~RO)bH;>0~|HxD$09|35{Y)wFeUsA2bQ4)?46fBF_t
zLV5Cscs{DuHitcE_4gq80?@}CaCJTFwN+zc8(f3Ev=V#ikI+d+=gJu+yn~|Hd4^cV
zo7CUzzg@K1x63u34=8t_vrm`Y*Y%E?@GzHLq`4!Lr{|ANp58twdHNtHR(J=x9VDCf
zq~z(FPfeb_Wm@v|x2Gph-+E5+^p0B&Y2I>YY4g^9XHS9{5c?YQs-c_WchOo)ygSIB
zE_ubZ2Yf$qc?a>U-Ng1E9()#eu#+=Zp;KyF2d6XGqQ}d2T2_*7pWZLs!QbYR<RQ7?
z$wS(2!iGeTC|6tuIjS~?hfP%5w^yFk{PxNL&6{sKo4<k0>f`OoaP#JhlIF9SYZKpN
z$i6q>Guhe7cPTj5GR~(<xE2}q_66`?musKK`Vhj4-e<~zlexe-h_!zQc_*ACc~epE
z<L1FtJNW4UKbyhN7Vz^n_}O{^<-<#Xp{)7s%JSw4@M#V*Yw#}?DZZdH%5B8EW#dJC
zUu!P;6<0B)_*>^O^gg@fNP_iM>@Gs=O}50g@uBokVDCV8X#UsGr{uVc!{m_kWz=OK
zrg0NGF-IMZ(ZpD?BU|aK`0h=d7^L2ad#$4Lwgt>HzaHE#1NZ!G?q_k|AKdG`IP%<J
z2WZ^Q;e#i>z4B~uKM=g1!{4Chgp2zU=H0J(D=^mjxW5|QKdgMW=#LC#%;niu-eGrR
z4cgBhE82h6i_Zpdas+#wpBE>8V7?Y7UHFI%NlQn{H@Gv14{T@g7xQ@Wc<iQDXu`J9
z+-l5_^i9-%Lj2<Ut&V?|?X4clZdQA6t-Y~{E?qs`EVzUItYl~nd3qG1n}Sc58pd1T
z&{PLBCBI4XRlZY{d`KT5qm5&__VNaC2CaK9Z_IvsdCh;>cUuj1U95+_yj#FE@w%23
zj8#kAZe<8RlKeK8@P_XF<cV28oC|x7`%Gigvh&E-0#1gyxs2tr<(Ca;&Y^R2*o2bf
zmo2_(;o7T-3!u++2Q)(7v9<V^<Zhp}b^<;xIVZO*BUchQbnV34ko2}moXzBn!2`&#
zE$oMu5HnJqp)j%1ZIiG|PK(_v9a=-1U$Yh}(>`+^91KS1%dQX&vwzh)4fB?+>}u6(
z<Nw}hJw+en$w{vajhy!%<f+j)3i&ISV7qF4MzTJl(N>>EW2HJHFsAE_fc%?Jmptdv
z>Ds%PH!=5t_~L7m`0DuQYj41h<TC~yHO^ShpTn2r-W;2)Nsh(;8k4>F4aFxJpS<Ha
z=w&Ur4pOoOvC-6S9BtIr%O^D^dzN4SsNJ2jUZ(yO@Dyjg<ug|z|L@h_=FegiwWk+{
zcC=SJ4LvZ()#GE>cj2yYy=ke0PGYp<eoIRTIikI>_|*-!)F6LCC5H2@;YN)c!fzIQ
z{pLn>R%X$6|LNsNw{xoKniFpa<i@yj8t20}l$@UT0i&%ux~uN!Y)z|IcZ8k)4)(kP
zbw_p89hI%gcy;^xbuavT=d4?)+m6kxzVq;!V0F*;gVRr#n_wQgy>nJ0^&}^SYdd%G
z)TY<>pTBs14>6v<Z|$5l<)7TwguZJyo33^aI9npx<Nr8iN#IyWebHi^@g+OPBhxI+
zrT*Tj{7Y$->-TZ|CU}1KcIT|iX;-|Des6o{tfA@;n#Fdj_>j1Y_-za_M{wvpBE2;(
z`Jvy4xhy{knIYLR5}6@dwK14B_5shN%)WQO8@^cwuS=dthC~OBzw;&bAzo!qa1*h8
z?U(B9Fv*(H%<T@&@(soQ?u}<0?rSfo<GrHL$nCAfKa%i<1Ac3XW#sXLDh8M-OI?2P
z=<x_*C)3%dbNBA4CwdfJiYA{y|Hv2Ax-4Nm)K_n`C_3a#5SIq^zM1SwtqZY4-;cz<
zMyBMB^!VQ4+=|8j6RekoIfaibzCGY=BJ_`7>C!=N&h@8V-i`yeXyz5x#`t_T7rxd!
zWAK_2;IrVI&Sp+-9oom?uQ2>&;IA0`6=OcScU}UYjhQ=s;YxVxA<+QvTeyD?+}d9k
zUW6mzSuhHgV*`D^LmjQ(&!JIEFDc%k6uqeYm;4`sCOlhaV0OHpvwG%N<5wgo&mD{1
z2AxKrkvQ>r(a9wCUQQf3(xs6MdRH{^b?UhEN9<(O`T^;_=p@Sfa0`g3ipG-2M9o3|
zAbMa*aQ)81_P1|y+>E@p>lbHl$>QNct)Jgl8?jBv>8Z+leJpa%m3_Rq8`^*UJlX86
z-&Y!94|(V66uT+Q?gn?8if}!NF}6~s`JL8<$L@XHTfm{>yLGYwmzlJyt1CQRecW;6
zek%3OlBGiUMA(zkJx(8I(D0$XcY`auI}H(Rpq#Pxv40MOKEGBVzb<f908?;(Py4uK
zi4ymHlyc5}3%{<u`$F&fu8lL^E2_*3D?{bmQ^epC*ZFOty|-zKn8}Hye!V{ONpUWI
za^k0-4MP(!Bo<T8-v?^vY&m+R$Gu2$22D;}<@MQA(Fcs=d`<i?&?nz}>oYTfy5H}v
zTh~Y3BzF`Nb>8^-^4`Z!RZ*`!l<p55B-Vw}PjHtru_}~)T%Sur>Bsa*oI>jp?PGl$
z;pTj=p77M03|3yR#Myp-ebv*N)cE~@=U)2*rUda27rwsg2|i+qZawhUTYnC?O7L#I
zTdxm0&A~QH@UFdE?~va6i;kck@kqBGZ!GjW?ojGgdG(t3zqfjE(aRU9XK4_fHoF%Z
zjA<@oygtbZ-+Q0TGcnSum&b?db!_JB>KJ(2?rVy7t*je??NR~1i|)TpexM*-*S*s@
zMRGm5=B&bN)C<yad*HW?`pu`?TJm+<zCS|lU8=s}Kk13x<U`ZD2;y6PxAp!>Jr{<h
z`<K5<xz4IfZUpOZru;+VU0NfR$9<dVZ<Kef$F9yPhiN_myw{Oq-kpy*r?6Tu`*_a#
zx#y)HpI09~UTgPsP7&?|r+jyZGabU=hS%9EhmI`#t+dfQTcW`roR3qkvl61=VEG!#
zXQ><>4Z{B$jcxg{qjQR#*S#vY{I|Kge3i;;JQ`>Ul;5Rt%U@f%*W(wIAEj}TT{r3z
zxuiEwwRU>vLSuL6ld+_m)VF*}^|e!<Rk6Ygtf6dd;q`uff<v7X6V9~vqxl5meL5FX
zN~}-z(|56*Ts!Ir&L6n(rgiuJ_|<(C_W$m<;v>z=itLFAU3-4)tztJ^OTSz2<2VED
zo^O{P{Se!8Z#Y!#=BLG`P>wap`$P!6J<hBtqm9n<rLa%shpxc?{4u^Mv8x%%<Dxqn
zYw=OP=kBG2(t6)MhyNJSJ_EMDauh8oy=9E@R<xrJ<H%R|ZobZ2mSA(LOg6_g*qpM_
zlv~!b&qlg7=igpo?@vAib<V^-a{~5R4Kaev;W5>+(`I6KR$`y64UL(1KlW^jdUs&Q
z-SVB<g$<#x^J2Wy)$l8F+YxJ%|JSe--xr&y;YRjmu{U|MX?}w5g1H#hXZT%qoou={
zSg(d3I`i9fR)xA6&(@FNpQf<c4`)wSK1e72=H`Rri{Hj)>BMJz>)^Y_T#d|=j1&&e
z1!o~_(|FJ}rR-ba?o{GG>R<Sg&3QGph;kb1%)02|(si=QygcT6Z!s;OJm=BLj8Z;n
z=gQ$e<ZBc;>Dp)bGuA%KxbKr!>}Owh?+-rf+Sz&fjsQQno`3Hk{MhB)eyrB8c>TW5
z`UxKS46JvN|60;0+{tgyI*w%xMNhL?N4>|Zvb)~voV;sN%ss!Pd5<cZ_mlp-%b0f(
z`WJj5XkBqQ;#K%ArP+_jThM;}faW38**q`SGLA8>qJNG3O+M|~>VAZ5_^qV}O^o?)
zZ!NuOqF{G`{oH`>t-Yli$x}4Z3~aoE_2b@uwbrV7?hy;8^)rjkreAm7zJGbmYx{2F
z42AFKdgF+m4h!JtF@E2RExDKT6E6R4?tEBtl3!TH_~JdzuDW>99M0nZ#rUnB{OEqy
zTW2X&&`!Rm?jr1g$MsfseSdfDx_k-6L%CDJosEiY6M3>Tz#5GVP460B()<{5Py0Zv
z@I>3q<ZYl%D|S;9II6(Mcs`Yjb1^z0&u`i%`E47tH{PSYR3COVu@moZ2fl&yDzf5P
zcoE+&aJR#aFM7U#`m}oE1n~GC^L`bWTI)jTHuOQ1Gt=r*{18I6U3-jK0sR-&@tfV(
ziDs0Cx*}T#jA6+p{{I^PTiCxDfSvOfu5A#9?_XuCC^-If$(rV+zI+v4e<A#W+cxlu
zzqGL?c2;3LV|K8Q>Ba^VL(>j1Z1>Cs@ikZ0!n^YIbXP$8ldpke(M*(j>ceD)rrU|z
ztzm8({om~Q58=OkrYU^+1#mpm!?ANj?>3BcxF<jMu6EM0p~~jQub9kvy;FvcX`CG{
z+b&sGSns6u`;b0j2`TJr{E@WUv?4cCtXCd5Bm)fcRdQf1vQ_tr#A}0HdXQWimA#ML
z4PCGXe8sj`_uXduOyMhLW-y-~V2t@N_61)QJKOfv8+-$i0~Wq^@ao}oRCZY}@cptF
zKIq7m5mm$-WotnHwd2hcty5vV-bNZN{&_H(8=AfbI!aML32lll+u#Fx=W5f@9$hZ=
z=`u&W&!fxI>=Uh>x9QAh@!nh(`YSHe842OKnKm87VcC~Se>~t4;)!M1dSHVGW}Jeo
zf<K2mg3sJBU3!H0EOe8AZzu3q&)$U2+T6L})W#@hZSG>u+TS#0Orv<aiv4u)xAxL+
z)o=8zH9b){qd!-_e1?Bv*S@xo_--veMb6*z$oJu2#Cd1saq!)R>)1i*iQqbp{)*Lm
zxb|d#cfai#AJ;YfzP}78&DMf9PX?4`zv|;qxcdkk3U|WcR3Cre?!w>b9`Sd_hEu@b
zn8pjc@HhGZ{GAoR-`mOo<KwS(SnvEB$A_}`YwE+NNog<0$DedMc14eSMk#WaX#F%F
z-4k#6y70o?G-%L$4-0ylIfA@v(1>VDzpwf_`(^O@d&+}>{Mo5bXhdrt=d62gW1-jF
zu{x;#s`ij(cgN?6zjyB;5hHT#3*u>?F8PydUue!&)<24F{6PEofwKRkY_#Y<P<B6M
zPx<w_?0@N1A1}4!x3zt)qWt@6&l*T?+VZ<7mw%ytRc`zFMWCN3zKyNFobvzZp`RNm
zclVaSQ?UPQDF2<?zbU+VFnR~sD?C4mKC|*@wrGR0Jil8x!#h9Ffhqhs(B`*+HZ%M-
zFY~){qHE4iX&gQk3;iMTSa5v0r2D=pak7or2OI0Z=<RLEMp()^Nk=8F_Rj`#Zb*7e
z{1A@BT2>!qrYul>Y>PyDIKB5Mv!eE=ddp07RJuLEo<^LwG<uA^se{rH7e<rayG-x-
z=x$_r_Cs{dk5{ozLM-zJ_->br1M+u5Ti5Vixs}>Gz)QW82LChmZW_>h<4fe-s8Nhx
z?^$BY;Y)SVAo=fmqro__P0_h%wT=IKttVQY<kNH?_1YLKhrQzV$KB;#`=gKId#j0l
zMYfF_x9+~TYH97`msx)wW@6x7zU&^A`!G7(OSScPs@#VuMY*NTcPLlvv|@r{(M~ph
zxG8K{3vY7{H-C7nAlq8)cI%UV|E^EQ-OT6Pvin?mdAJ$db0a?GM#ZR=t6a8B6q;Bt
z?i^^NdmnU_@;4<sdX{apd%9=uxV8>^B)38f32cZIZI|lY05Q?!l)3*WOVWuNlWyX-
zM#?0IU0s?Pmi{d;OYbD=$b0xAzah&LhY-7kM|rcTpu6^3kESDgUyr70$s)hc)?w+p
z=u`7jzopD0vCgCqwS9ll@4KqI@6^QJ`>w_Q>gqc;EPZWp-<)F{M&Iq%pVwU1zhATJ
zzB`=w%2J1WhshURyv3%bFA{!Mxiqh`2W!mm^tmcq=eRg?%Ob<m(^b~ae!kcC!J63c
z^cj@7{p5~GCqkig92<TrWnFM3hNov+JXVF$@4jH+8RWwAH1KrQ%?wY^vUQh+(wnI3
z;`~w{FX#h{^Hd-4=vv~@U47<;r>7O;r9G7XV;3AlT{!OUhGTg&cUbxa3r9^j{d)_?
z_kB2i*bRq6{IoY-%o7WhtP?DXOSp6uIXL~>CpkCa=5O`h7~Mt8<ETG+bfH*-zB|xH
zB#9lA<bP-^-<Pe!Z(TljAN8WxFcyEceZ;Ec?DfBK67P=#J9i6-dEnz<A4h?Mxz4|W
zJvoyLryn4Pj_RaB$wR(^Kk{LFSz7gX!D}DZ@wNwbU{w4+<S=nMLqGC6?m-v1xJV33
z<9n6q3}|vS_q&8=^kNdfQ2HZT$tU>G{QJ`PwX#)wUTj02_O>1=?2`rXdPAsUdklS1
zyL9$mt<9sXM=gGZWc(Wbk2GM1GGD{EmHvDspB6CRCUlP4oPun-iMrzBuZPX~vTd+&
zt7jZ(R(#BSGt|2}%=wA1+3paRDZv(ZBHT;m+|ywE0SBL}6T9pa>Z*^+sH-ur<-YwL
zLrlx-zgOQLUS8q<;95lJ>uT!B|A}x%*W$?W&#1)V&l}KN7AL7d`BKU)4jj&itKV_{
z8HOY<$QMoy?7>EI-+}PXF*w|Bk23Zo)=_g7{F;AhVD5TLUE^DwFo$v5RmOVSve}gB
zY*jP4mh2p&#G>!fcYi(ef!Op+>g!FkV836Y>|WU&)R*3{eV<FY@=z6**HB*Qq5L$;
z%YFE+)%gB6c|POFvlMs|uA<Pl;vw*YXTQP=ih<6ePfu?>-W=tQ#k9HJ8{g7dP9mHx
zONP^>oX7Kh_l+wKN!=lPM|_bWF0ujpryRd$DgCx%pD2zXU)PxO#)L7?)rDd$IQT9f
z)`0u+PvW=Kg-nb5;4T_v9o`4__L+KHOg2wh_I%dlLuf2XUj_cAL66YQtjQIeMW#>I
z@!}Nyq_8g%e4oUArRXX_*_27VCr=sQFV^=YF%H+BMt8T;SETq%mh9>AvZejF3HH(i
z;$^Za9dep%-RR}S2>HCAyTCWHM_%}fmjmKd*H0ORtl*7U%^iLSLFc34hcb9Tu(&w!
z;S(Q}0&h8R3g*2b;sWr)OIkbT-p?JIdy0(xN5&RSTH3t^8>O9bEuJ=1cjHOtwKf2Y
zx1QbkS#(aKJErAiOBZ@)`cA@DT)-M?&D=A~$Qa>0#9Hc(=WG++-lRCzV#Tb8N$Y)E
z=KYg>os(BH&$|c5C(19@of5NQLgUfIInD&<wd7QlpImb01m2|Q9a3cFO8Sc6Gu4qB
zx1Qf?TKzjc6UZOT-Jc3z(LEk$^+DaS5UnP`i}0a+5%1jG2G`etrXP%z0TVRMd6Pmk
zDS8XL{-b<v`Dd-fN7Oc+L2e#F4pqM&_x{FMt+m%zaNil7_n>g4eei8X`{4L2x8+Nr
z9eiAHFj?o7)hGGe8t;4pTH!az`?fyfcTs+G&y7OE(1c5eIj4JX-|m^I-(;XqVm(uS
zPHt_*?=(&$|Nn#k&tt7WUGiAh`Br?B2NlB<f8Ngj-Fb01yHbhG#v10((T4TDlruK6
zGjr&?hoGr3idnKgr?3u+c}ky0s2>xr3=@oFs)Of8yfX-Ybl1c6!=Rle`cdrDQH&p(
zO67O?Wo^*S2iX7Osqu^<|44q%y~r=*!11Ch#ntrtHsV4b{MWwQR8KJ=y;mt8NWS!L
z_(8FZZyzN7B>sy1_dDdd;EzG8D*K3>LXXq_&*13sZ^x(pNq7s4o98Z~{3DH9%bhXt
zi(t*r*AFbb<Suc**)|uZayJ$nO^`oSbU@uIV3Tha!~bIJL-hY^hnp4JpHe%0*E|%n
zRJ(Ds+ly}-;;fSyfZQ0uU9PaxXiBQ?92GW=4dGGSn~=%6qqC%*x9q}Wx5wb8hc1;b
zGM4+vX2wI8nwE$DJgIR(4R3V;!)RC6dV3j*!GUle5$+jx4X`Nh%oFb1M`s`8yKwU(
z@S^hTDHm*ysh#V$JkTt@lFw3wUX`Ag4tNM3#XS#lz310jIkI5s!ES7J_j-KVdh8`=
zsj!}y9`uDTyW9}R{T?`OM<&L-IPG#1J2<Ua?B$f}UWs_UiQir!J{2MktTpOr9NaAZ
zs&;yFO?dS3<nYcUdlsI~9-STK^Yrc9Yjkaxq2xVW<;4_7@SFM+j`Z92;H4&Fhl(pU
zx$*8%ZoE5FhdoVQ__nahk1b|c1248%mc8e9Hr`d1y^H^I+}Y4w4V_OBkIL`Xn~baJ
z-@AX|<*_=;g;TNp(b<3ac>lf&XKD5^;8fd3+|N<jHTs0tg!?Es(7i8nA+iKH6TOtT
z0+ul+Y|mT=pTxLT*PQGBK9ig@eBToer=u3f#KQNmS2>friU)P!QE&;D#0i#|!vA#l
ze#)}9YV3OYLSL0%7{6l5(DFu|jcU*t8e~BPTAbEPTr7Hynfx%aLv>rB(<bCup1zS8
zu1=F~KUeW>>`%>i2CyjpAUJjj7fU>O=>+22gRrA*pNen0bN%xF8GLOupAFwO-Es8c
zs}8{TTrcqDkv+xmeY851Hpltv5o5hr4}1iCv7zZw)<E?4JhY?xK(#&%N=JyMrFW0;
z>96j9*fw?m?RtuBYfrp5wk=sFJiq@qv2FZ(@%o+tv%BK5ll-`>f!}riOEIB5Yfv25
zzIDSC;<Dw9Z!=fLy$$c~7RR+WNd~)XS&>b;bX}1R`E+f3y52X$qiYuz#GEZIZY;tD
zbk>E7E%1tX(c&V=i|d$|><G=V<um5^2W0r?ndAL^%<<QOIiBOs@fppD@&Dj{j><lz
z&)NQZ69druwBn_a1CuRgXtG6T3?oC?FPLr$<geMD;O?K!3sfR+)sN2ho-Mfo&4@3y
zT@WkW{3+jk-e}@HS8x2+#QxHr%RPOP;aqGJ_8M;}yZR)<erIly#w^{Qhd1Z;#m9;{
zKo8)(rLVI+DfWvL^U_&U^_zgV+r;zp_UHM5ypgW=K1F|*5W~sSw|L;{@5fzQj3U=+
z!_JUzu|_%G0R1+0RH#IEn)|zVnlI5EL}b3bgLo$EAYY=EvFaKcZV@fc*>D;(TGDvB
z*6&JBzQ~?X-}3Ly(fWhK9KX%!>fgIF{Y|(3?)#@l(T8+VJGO|`Ep>BGTllQ*T>I;g
z?<3~W#@Q&1<KoXh+Y^VcUq#Payy|R^_3t*SJb=eMXX9Nw7Rk;Vbf474Bkzt1kI;wo
z$=w0CYWp~U7H97$2YtA3^|6l><s7177q24AMWb=fmFu2BseFQOU;~nmt;U!OWaAI@
zb%M%yr#s#KTj{)uu;1#}MH(Z}zigvC_%uVqjgKMIWtX@)H)tn#py~NXaF3#$@2WSQ
zHZk!GvPS(T;F-VunK|z_e(AiSu1!BW8)kj=o9qXJ&a9&Sq*?JRa^P?#`s)((*jmo!
zHlfQUKNm1JeUAaZbl~?ML>{~EWyn4#%j)+pfmhXW@I?%{N*;OM%U@P`jd@JCe`7HI
zDSYaV`J*#A+e4m+Z+bpahJF+KX5V1s-|h2qd|kqCGrwsHuW(l}<NbDV#{Vs+couzL
z!JSdX2`|^@sj<Rk`ecpk-On-E`x#U5oBQ~5$5p)JddXzj=H^+>86B`E^y!ipT$?<%
zWdFFr3DDi8J?ITLb^!fa`aFVqGo(x4TU$1svY9HQPh0jy(XrwY{y3s}{WePFKHb%F
zS0F)N=D9tL%h_o6{78tkD`)LBZ>`(wf5P_r26+?U$r!)I4~}2qkQ=UKXbFB@$@VtZ
zw3IcCMoe0|n7EXi!)G<}VZ1TQ{n=8(I?RT~-qAT=?ligU;@@cswsUEcSk-Mm@b3Pm
zpnb*CMga5Iissu6J^qC}-9a4um9kG%#(WQ>%`t8pQ#hXWvb<Xc{afCB*j?AM>`7Wz
zXvus3p(1-ZbC$gPH*65sfAam9Mex18C*dt`FQ_6ri@Ki8GRpNqKJocWGAKoCQ2Z4|
zr%G=m;Fsb%aBaNBsJeC?|ARSb?C<zv$MA>ry$ZSbygOf0_;e8S@$IA><-1OWZ(Vs*
zn$>-B(Q?SnDJC17_h>2q8twDgue!%5zf}DBuKMD4wRv9hTm4|$x;FKxrtn?AzkjG6
zI8tBHL@51j%H#BxLC+cJqS{}x9QrK-9sGj(kMb3iXJ`pH(%Daq_h)xJ>7%mjZy8UY
z-+O>PG|md?|CjlFf!^doN4>!RntKN{{By>_CSR`cqLH%;;veo3S9o?0_jZ717vH7N
zFK3->K3w@nx6;l%zXA>KX5PA6dE$3n*;mLD8+PE8#P?%`P2^OR-@C2`I@h{Ew~~$b
za<@!&L=|OKtR=L3ykwVe^L6D-%aC_c{RmE-n;is<ZL7!|Qx{HOMa(}x#GI(}m%rdo
zV<o{=@mO;?H)qGHV{ckxwZdb?W5tM1yL~UE?;j%j2ALC6>%!>-e^anwBgp(joijDH
z)Jbcf=2y=Vd&HmC{>+{HU&p?9YF#Lu<P%-u%Hj{!>uk};>@x7)K2~czGF!{<b=p54
zi{H$eUiB?xE`QQZImvJ2Y4JTpTPN`?Q{dA0npR)lw)*lmL5y%kD4brvpQYQYfJyf>
zuNfAfn6K=<tGTp)&BQswoQZY)LlZNBdz&_1Bz#t4zge7%e}Z_a{cylZVdT@3<fCqa
zKAzz75k6zS9E$llAhm85@1gfPr|4|#0d*M5)~Vr)vChl3`t<*uD?OP7K4!H-|F3cv
zQ~3Me)V+IroK>~||IAE!p)I}Teu2&;EzocinzjUx&LjmCJSwGtfYM0<a;b{71q$Vu
zNdtmLr2~}!MLTH)$>XicMWQHai-3ZMQWQ~CW|FoPi;DI-l#<{3v-k5P(=;s{&-s0S
zzwaM;P3D>X?7jBdYpuO*du`GG&zRd&v=xkMFZx{yoV$4Tgye;>_q#f8<#*Zpo^N-V
z=+@+0L9?patQ;+$j`1xmOE2YKB=%d``fua^T}~_r8a1&I*)oq_Kbu;&j$(~nS?U8d
zkL7=G-b@{!CD6&Djls_AHikME9pz*f%^BXgXwC@!M)G%9=M_bxI<NTR=+1RN>1)64
z<--+2UAAcBIBF%Ion5qaZ0Dkl<2x7qWkTmoTPAic{+5$H=j}e-HJ)v*bZX@vVXUr9
zYarQN&9hGjYImalJ}287UCYPeI_$24(RVj|CLeJ#G%Q)y&3+PQk7aK^V2_pmWZ#l!
z>^@8Xh8D>4o(hhYyR3MSpEn?UwlkMa9xf#hLik_vyF<h%k)yI1z@65>_)w4;ad=;H
zMKLD_888W%pxoZAz4DJ+`Pz$3@$ga3@>AJ=ckyf|zbP;Ck`bJ%sYjn0P3>OxRLM%e
z55>Q<&pz{}WU$pIwQj$e;w+C4Ln#5C2<^k(n11`8(LT)Ys%MSAeQqPTiRSccU^9N2
zBIGPS24MRtu*GS|*x7mV-6Q8t-`iKy%CnYWY-%HV`6P78I_~9?-#8#&z403d+hVgL
z==b=K;UoEqIZtP5B*yU_JNS(q;uMo6TfedLIdyjp`L7#ygJaoLX>aYi&AF-agXHDf
zJOZtqQ_Q>%;Y$un?}R2w9LMCUZ(|?Xx1_7z@2b7am-{+bFL|$ZzX6(W#CIOhI<uBq
z=L7K8#F|34+IM=O*)xPUy+du>8gQ(<(F50{z`c+)(f*}ao7V7?tf9s#V668VV~RIM
z31c|WihPk8Bf`4Rg4R9^ot#1c4$mh!Uj8C@N_@R;&tN>s4=x|LeD0k4pKH#(gR7Lc
z24RyMJ^1XQ<(>7kS(`%(F=*j8<VK^fo!4k+A<!0{9j2yfu%8wtK?^DL9Q3>!>juRT
zgu}(mtpPmf{~G3ptTFf$9h$j7zeaw6^DMX@2aWXr#{oElPkcL8>+%Zt6<w*HmF%T)
zbhPEfPJH|)*u(cuc9x5WT9CQ3;FYMcSBl;9Js8y15zfK&MEVo$>D*n&qd)P4Vi~Hj
zqg+GTxXQtUj-}USo6&XS`hT^P98bJVK6vFu>r?Zs9b%k4z@#zmqn+pl8k}=H&+hi#
zTW&t{I%h!Bc3*f@e&GInL3_fge%VFNEqr49!53M7a3mZ|eh}Zbc%bD@;{L~Qz8yP!
z>1b!VV3tk3mUzjoD%J)3Nj}VAZZ9`F$r(;j+gm)poae*viwi&cy;bkirg7wy6-&Xz
z&z{8op>O9n{`jq%J8}=Gu`qE!PW$K9chz$~pS&6Ei;?c}$(F}VEG`@1>_8>D))nO4
z=Rxx;q4}xM-8^U5{15Tj$a8YI@bBllF0pdSu@K`1fho^}vuWhy6^c1k&}XBWR}tr@
ztqvFC4D1;r_J=vaJ-O;na^YbQ7v{_du<Zs;pN~e;UoZB!*3;k<IChOYtTRHM(BbSa
zvIj(an$r}<(0S3Hvxe%In9nlJdG~tqWTKKOMQ$1Wl~B(}{RzK&(6OHcpFQaC`aj(p
zNNQaggHBfUE*^|P=d}H{`7CnBcw?j(L-<iWlV1@V3E^*6-o1DU`7`J3)@awgtkDkm
zN_3|D=*Wq7{iPG^z0LZ4(&(tY?3wyazQ<a8Kce*}<b5r*!IWDoy6=Jieu*CAIHhf}
z1LXVRtnV`Ue{S+}M}N-mb|1sn{%Bu&t(m9pm?(C$$Xn$V^&pG%e;S<h&y#t7#>}t8
zy~dmG#^F|;Zs60;t^AIMSItp#_$;vRTk@!p`+6pLBK>EDOx@>f4}2kcto=Z1qJ8{W
z_(QTemLp@IolM<X)=K-fl~?5GfxErnZ4a={L{6+ncNG0%3s>((zR13bq{k;~SyOwi
zxY%{zW#wY17N6*=n|G|-DtG@0y;!@k-2FBF3_oW44REz<HTsg#0V>?nz?1R~;McCe
zA<m)(l&=Hbs9nn;@^v!g7D*?|Fuu{h)bAnMcW_42*u(1g5Wcn!@{)uD;UwZrNbY7H
zJ|2DnPrYsMp!|V+_lpJ(HkaVy{pMTd_QBKsd=E8`24Lx*?;(6`4f3_go)`Rw$i;5p
ztY<&`(Fw_Ca^U~^AoxF*1OL=P@V}4)|Jp;GRZ{-54}a_s?IOx0_uyZ9h+OE%0Q?&w
zi3v#xF!tmBGT>Lfl&wKn;J))nE{zqst8!p&I0P&)!R*1(aHzAU*sA6n)<x*)=%!(G
zb^L}0>gqZ9KU(t`yeZ$u=Y9=sdbGTj^QFE&<SIRfc2CZs-59w%{(Eu#?&B&a$LA8B
z8=nzlXdm_4&&?SpfPdJ3{?VL%T5|lxAL6;>j>b?wK3sJ?U!do}ocsKAo;T>ZH?H4)
z2G7qMqMr}&{KrGIujctGp8GOMcD>|->KXK$>tyd?eRbE9#@E?P@wLgz2F@q-o#(&O
zC*O6>qEdSm@b`rddvV_q$H>eec8}!Y5_0ZjS2lRH8bmi$=nB1)0$JrwOHN95O2$Uu
zDe0uQN4VdxNwrji$yG+bE07%65J^oi@^UwF^g?9jzo0w8{j!mlMegI3&hifSB|0{8
zArf|y7nnBkL6y4i5JQ)|m@~}E|Brj0rtkEG<X^o0w3j|WU+PEw>7590*5&l|hS%3D
zua6Jr_7$C&d@iT2JH5UnpWA=s*Y7Ja`q^pV&YrKzcdK*yf6?pzXwz@8JH>pKxG(U&
z_S^{H1zUK$)ss>c&UA8(vNwV6pc9)qiTe3r?662mdr7gon>d>0VevRIxw?O>BKI2L
z%P?2f`BUG$tZNVYK_%-{<v3Z{cq=AJSKw{|51w|uoAE2`_~`;?dY1hxF)A_VGWKfh
z*prkKK{ilX4E^Dq^}*!UXEaxP2I?OV_qAW5+Kcolf85*b)631Ay|oVKCvVEZVa$V3
zXL;0CbLxi=SQi@j3fx!oG|v+ES`XgeoA0IW@62a~+xo19En&{$dSfN>lk;-MI*PIO
zfDc=%DBt}%u--dD_PB-h8gFg7O`iqsFT78K+wT12M{@eg_xck3eO~@t_IH~<Q0ne6
z`?PWg^4;$;hTs1jum6Wkzs2r@UjN_D9mgq1o}4od2879>YZ+~Q25bBKD|XND`djY3
ze`jt#@q%PHr=QpTe#WV;Zod1&oPLh;`dR9|pUCYeU634`)6ehdM}Ga5{5;doH~afR
zPxbowy!Za+_*{Z~kY6z+pUk9KHtxy!1bLqOmP9)T=OZa@g}g~BuhEwk4t^HlP`M<k
zWBX}v|CZz!&mw6jIR_Xn&Y`(1bhKN!SF|^4m!6pXvw>6ok|LuQi!VfTYCD+bUOrMh
zQQ)3o=27BqG~e^xQ~8da#JFC+@rlW2a{B!`xY<v(B%I{2{rD+$HyW7o-D5ob9L1-2
zZ6tj@0}bt4@`HYV#3IR8V3ZEJ6F;4QMrAj;wPb27{u5)v-C=FG4)lN7z%#I4>an|f
zu?2KTMie_ka%dm-;>0VXwFzq1r)Vb|%;5~y&QM;mgIubF&R~WMlMC2GOe~c>BhYB=
zC+bCJFWuJHu3SUuK6^ra?dF`v9r$(WE6l!~IL{%!tayn0vW>>aCY}Eh?0x0-RcyES
zVa+Oc7KDjGFJ`X0fJ1O9r*{}@se9D4zB+5anel&EZ1|vBcQdC?cIM8?=gc~F=4KW1
zy~5g3v&M0rox455UCfoePjn(bjPy(2W}m_uq2pzHTIIvW7ROH_o9cLCKk<ptuIP!*
z^xdn)BSr39)?Lq5lOvfP<xCfxJ>vrC+~Vybw}c$Aoxs*RI?xrY3MPAQz;0j<SAI^F
zWF>Z9%J}Q@UE!|moj$W~uU5WhYcQFI-sAVxbJy6;o#V!L7JBc6i62~t&wMAo@Me7C
zgX515F<<rhEoet@X-|HqKA05ld_4AYf8{3f=!D13?EjbL;*dS02UusbE-`Gi@ECmP
z*TM_qDyBA%aTXkppFVcg<$D}*PJFwz68nz2u8Su<A6SqmrsfiB7Nb6%rJbT=4|~{9
zwDbI5#f#LdhHfkkRk-_(Ah!)({~YjdCMQey+!`9@Y93kgvo>Szz1>9ZYY)G|yY`>G
z#ObvESeqf=Z5&Mv^-!>F`c92eYW7~)QLp0rlFjU(izvTfGd86BIa=>9bB1PZeM;6+
zV>Qut?+vUSdZUpU(NbW_cQ2={>M=&3f60laqxD(l&SWkc?>Xk7zSF?|Nq!TpXkOPb
zFSE|QtaH<W>%0O!6MbaxRjh&@@|bf7IDLB9bO-b>dVFWnYnP&~oj>QT;EDrG)E(8h
zMeZr^awl-yqguw`S-%VRw`il^g~!{pZ_-}42{0$!F|_5!_V@dES9AL9LpC1aoFIN;
zj?mY>U|;(%=5p@izMYWo{usZ#cqZlXM`DZhi!4Qkpc~Jr>n=&&#hNRYDw&hUwlci6
zc~Cp2H2G!PO{Secw-sLB-()<!lj<GxPP`;}Gw-PWi{|OS*C%}NU9pO{o_g2P*=_hI
zJ`GK`@p%oO{QfKE^CEjk%8S7qcD0>z_Y}v(Ag|LIQE;djjOKswFYWnC{6aT!=>g~S
zLY(O<rM75MwR|Rrq5CNQFL@dm<D4fw_gV5HCXGk7A)m@<Q_NpqD`zEm?^D?N8QLo+
za4Yg%HOf^>dN2Es=u&b}zD3dJQH-s3KJLA<71~rAhkZrAAIa}CRmU8Ex#XttcdZ9T
z^rj`jykyza)V*1)z0=mCn+<MdU*|y!7l+^hc&C=U)dKvd!ky@QttWpP$g4}k51LmL
zUtMLBYCKBED|4Sk=QO%F{-U(b2J-Gg@T&J0n9nkI8?+H+4Alk14{rQ!s_iGb(>Z{Y
z^7fdI=JyHcFiihx_)z*m8aaBN`eA%(nPor9|2-qlHvZAg@I%Ht7e71ORHq;d|CxGe
z^d<h$_wW9wul<!Ax*F!u)eXd^KE-qKM?bxWOOmg@(bvAz=oCfn%N5S@4|)H8(3{t3
ze2N|u!-+GaN8bgF$zGbS-@*SheX_3CU1jMhW&C>;?t1z%a*qBaFB`~}G4j$WPTq~q
zI+VOj0E=kwNUzVh*JtEqVi=4e`!GOlp&zim-xHjSFJAaB;pTjB#{b&il&6~ke`Dz9
z2F*F=-Ics+@WZ=Ww`?ytkl;-JN1#{H_)YLx(3hd}gzp3E`)&y#tE<El!;Ku>QtxEP
z1IOD<7LE)!s)NohK}K&SXUED)e7R<fVJ`Kb2FAG3m(#&*Tk7H2L9%*py~Zhbw?HSG
z8D|&!&8GR-oX{j|xu&kW*qoi!+N$>SEzXFx1qPSp?#?NUO`np}&jvKlBKK)Nw?Hdt
zVE-Gxix$_K--_KQ`TUZh6ZCuR=1t%(GbS;|=lg{Cu-i!{;6rQwC>NpBh5t{=j96I)
z-n$yT_xyJvhqLxM@BI<k0Y94eE*ji+?EY<Epsj4L-Sj<ggmco{ss+m0!>1c0%M>4e
zn>BrbXYw6hNBmwi^!@c#o{2v0{EnaFT;z^}ejBJirS<NCpBiUCEAU+l^OoLGxS?-I
zy(9WU-*jJg%2yU39;-QbvsQ!iRFuP#szg?C4%?Th!x;B!VAMW83OdP!|JT5;bGiGL
z*!x@LUqBDuAl=u*SgGA@bYAon`51ivtn^{YHTBtm{<aC4Mkm^E>9}b2OX$M)E9M9t
zZ$Z|omhb%+IW>1fFWsw-H1(R|wB6YhOiE5GR$a>HH2##UEm<tNwDKbKOk!4B(aTnz
z%~_eFow*+-R<`nE{EwVpdA_sYZr)M;POL39by_I@9OTo24C^$_$-gFop1Y3o(XWkl
z7NllzXX8X?0dim&bi2$+osg_c@HakjpX4k0$C`*UIhhCTYA&_(>(4`Tc!KlJlkm$#
z^P^q6LiyFH;~eu{IQ~w#vs}8l$t6NJCkOM_YZpm3FFHUsmt5Mn#NK_PzF5PW4#pM?
zk#Kc#6E=g!$%R4Rg-^jzL9H0!g}Ytm>iyJAi~HT2a}d1BRakj0wdl*yHQ}Eqdr=Hp
z8_>H8-H)MH1%zv0UyL3iya|7g@hlgA;az=mgV{cdzY_=HPq-5fogDl{tCEiZzx-P(
zu`{k>zgaoLS+JG8Ifm|<U_ZZw`;7!=wBEV#IkmfzwWLP$hgqwY*YXavXQNfo+9|;F
zfa6p@iM|#-j@TnIFH@!cTl-<Ty9xWa*T~T_>=*4p71ayr{|fH!?gdW|NAs&oiS-Fb
zQT#cQ6W?*{+TJpITAN_-X|7Xn)KixkIHKdYvzD<ZK}WjZsni*EO$=I7KUaWbiaAY;
z!()=`+GC}Aq%NZFD{Ckks!Nv=4-O*-%G?Fu!tfw?JrX>N*0ru0`>Psrp|hX`+7@0k
zX3I$MQ{p7gXa1X*!vju!bwxB#{V+I)!t3u$b*2lB`<sdPM4aijaQ}<up#H==+HY3Q
z!~Udh^2#Ro0DEI8eYeo({q!xoil;vrt*E}2KEn8~U#fAY*D>dM;(GPtoUWTc;!K}R
z>}bkWH!hw*pDnD{{q&*tp5VPY+N`9;T3$)?Chmcmt9`Iy_UQ%=!SD|4PDQs_c`5fw
zX)Q&g#g;~WSpNe!ucvK3pIWzG)>XO7!Ws14E_<^9zop*2kap=!eKmHkk$vFtYHD(_
z6#RziL-P_1bJnMN;gQ&XCn@jG(#tN+rHNiX0ljGa9^kclSD8C|cJ%RE$ZI|eTVp-*
zoPE{hi~q!2ML+j5*Pj&{Umkl!k*m99i=iKXzM7|O{f92#4p?tZr5~F+*_n^vly10b
z1@{in_LvFAhhuE%DCdJWtw6Wpy-CW=B;GB5gw{cHFfWJpx^?eO4z0zYmpbqg(w>H0
z-!lVU6gk}Ejd@Lh9Y?r(tOnT!jNPY`>-0zXcog>gN8n@Rq4P1z&tZKQ8M(N|$VKSa
z$i-Z~PDPTxc)icmJQ0mY!ez;y^1YQkMdQ3gzCAoTUG(xNJ}aT02=o&Lr=J9$r-Mt;
zX68zA0Os4V?x!CoRhqoNmA?=&WVNT8qerLLbI;3&(Vb7S|Mp&_{Zc$$VP$mp5&icU
z+zSlS3tz43YZv|+RqKKJ4i8Tjzk75No|3$Sc6S4-@K^!QN+u;f2z@~}qUG)E?~dcl
z@#!Z{?QMKM$rh_Ou5r>wCP%VQTD_6`yo`^g%<XM*vj5s5y*wWpDR%Rj|JVE8Z4UuU
z|M=ZUCa-0D(TGp~Ujvpp#+Iy2Gj<(gldDlJ+q4@Wz;?!t`D4e!$v3b$?AV;E%^CY8
z#+Kf-fH5T-HD-KMU%TM&<&J|coGW)e$Jkm!wT(oNNPY;|1ef3w|4ODvo?K2l(L-JL
z2}$nsHtXEYJ};ULB2OITi39J%(8VUR&QW|6(^%_#<gU(V3%9<!Oi^Dz_E#M;CJg>1
zL(r=hq>-yW+$RIKWUuxms}nfqMQNvbyukkI^Vk{mogs!I_)CF3#&>_NzszY@!*d`0
zk^CQ9k34|3qDy!e9X;EM?v0*N0PfQ0?@l~g8=maUkX~{jZKRV#@hNo^5Bby;*1n)V
zfyrmO*!!LWe(fvr1N6{`^eTOikmp{9zpEY|?Y)Sc&yo0&yf#KILEmbpHa(X**%Ptb
zGOL5hC@{WByEHT(05*K`@0rJ{wi-7=9^FOgdE!UKFHAlcIQq&y;)&?HF`mcD**_TL
zKN%w?JP1}`5MHDQD1ZOywa}7c7RVIYy^1MCfnT^%O~Ys3CC{ASqx=>~MQb~Xof(^$
zyX;i;t^03o<-Fio<DJe2SnqXt4rkoSDd3#;jhdTqO<yBD97ZMIJl=5FM`WA3tk<8)
zh`}I7D!qLu0FA-BW*^f2C0Y^hUS1ZxDabgYsRr(=Ff>Ddm(qviP!;dTJUOI2>}K9|
z4s)jei9gZ3Xnq-O6W;xY_25Z#-2z=lcrS5P{BeD+<oj&CN1*d4a7d<yqfT`NzpY>2
zSJTf^>GC9b3x;2$-%2K?f6!MW*`)vLs73P!#uNRD_80Y99i{sh_*`=2yrDJPK*Ixi
zMR#TLlkogD<(KnYzPGk!AED2F7~*AS-1BJr1p1{<3nRStq7i(F_z*l9$-N6_(N^t}
zx&4I8O+T{+^|O;bS~R78oNoDwyneX9qK3A6flt0?e@~MC`KgJ{a>?lJq2lT^FbN-$
z)%`F>E0a@r*OwVTrjK3liEOAxdERdmUpll+ESafur5{C3_h1LB-$*!OWTN=64j2xn
zAIZy)RqC_It%8;f&iP$Fk`uHpr*R%E)7L)A$nYX}4gVW?4&8pA|1aRV=$CvpBg3X{
z#Xo?J8|}eg0$<ozg~7+NNOwi@t<8PyRi-cRS-2v(jb|mo1^Q%SkD-kXqKluKcBSq&
zklBCnXyiU{t#y&Stb^u-cj;&8+g6rIM?<EbH&{n&_voXIcVpf=VcOMtaNL^Hr~2DY
zUp}u5=Ch;rgZ;?l6TsdKY|82K*GGAVA9){Zq&-#fy3Ooo-Wn~7pet*AL_=DmZ_~f_
z(k&6YMnB#6Zu^PMCqx@#10ZM61@OCts3%zFUP0`-w|GqFn77#X(9I?1GUWF!3>Kf`
z)6yi~7Y_d@yuf3ETY9HxOY;!?74HLn*&dI1u#-c*Adc^~NiiJgxQX>UlfIg;C!xJ%
zk<=t?qhSWdYt5WW-5+^#x|KP}4+L+szm_H+1g^pO+`~KXMe{yBlfY!gL_P?w)LgK-
z5PSC>^lf+zTkWg-KMMX3-$uV;^}*-^eMTRQqIbwX#<ubG!DV{S$<YTReqZ!^r2jwt
zmh=B6@^|ybIN3>2=SJ1&esiy1ALa4RE&Qf@dHEI=>by34L=*Nhb&I<$=l@OYKg66i
z9?f|YQ|AFbiu*AxuYTXYCAMaQjm;59WDLBW*$i=V>Pyez{fR+7<)`YKG<NEPf9`8n
z{w8<N)*^4FC#WUjzypb()76dtRP`)2gQv$DZO+6`R^fAi?qnMfsL$?z2bY>WRmCq0
zU0;SgO-@?Mt358;@5A7Wwd<O<IQp*`_HI2e0LR7v{z3<T;k(`M(jMQ*?a`@u&_@F>
z)R8B7OVoK0-`@Pz4OQgmhT2N5YT9$}_~?z#lcy@XL9kp442q?MXGI^*Rz<Uqb1q;{
zXjo_WMCV4$M>&lCoDx~iCxr^!r||dbGe8ZL+n(e;Gv=vt&pp^LA#w-)%Kx%k>lQl`
zHHOBzfN?aZ-}76)e+L{iLsz<I#$P+(Q|sr1nFs6V&<{FFfBl-UzkVkUtY4ZuX2qNR
z8Zj|ofN$P%5=Wc!6UtXP34fV#SrS2V_^NFEz5w;CcZ2sYaOP+yu%ztznfkBC;48o$
zgNK!;R^)z}_cQb>-;R@*l01U%(wD8BNBp`zknAN75g&B_T_OQ!fb|>FhZewRlm_1c
zWPHmZYV@_p4}Y|6r*{t4pZXB|@Kz0S+>Dv_&f28Cvo;C#L{nphHT@y$Aesw8LowEW
z0y>%h+e7;8*nxbkQT*n^x;CeVU!I<Ou*Gs}^@$$;Odnosb3)1+Uou1eyroaxlTXm6
zg?;Fi`<DEupAHlwM^9d(wNowkJkD44Qu8`a-04>6VKY8W)qKz3_lv`OVR+D?t{rD1
zyVR$Ahoz1)F?^ykGu{}h-BBMh=QiReIW?Ex7tLP3j+}60wD#&<*N*7i-5N})UO<av
zMZJ^N9iFGdOCLmc+Eg!JbV+p&ay<iF=}?}V2+evq)1>!{+^3*zn<J9%UP*f!>*Ic*
z?-E;J4$65dp=OTul0E3^Pva*L?yWqXlKdX+{8-M5#LzW{Y*MwAUqSS5@_NwYA1Fe<
z<=w;I0r&LRVZIl*hneri?g&2rKulXP4cS8}^zlmeFU`}JFF$zK`ahhbI2)^2+)3D6
zGl}_!N6tJ2UX7PodK)ZzI%pq&UL=21gHbZ*HTXYX=41oN9`Sj^lRc6<pT(c#%LM5>
zMLBpn0z65E2v@JT19&R(@U)A$-wd9_Z-MS9;JMIk%)!%bIe1cA+32}=y41td`n?uU
z7kPMk(tIy=f6nJ3=s<XBVIP<_hT7WbS9X1=&lsHbviQN|8{<#?G5#jCeSJq?`(koC
zoN4?an^O1z8jplm!t8h8S$Unp0e?wzHkS9Cu+DD>wsj*@Dp<>TPQ|u3XPFn1%P^MT
z!zm}Zv>0DM`CtP+)Zy;CW>2qhZ(4^xoiUV4j6J_CfiF53LLbc05eLrsXfL5|+<Yf{
zXQ}M1X!hQE>K-uetJs;{UVPNoE$um?a<}s}bW5`y*7y0t66{UJ`_gLW!Ml1-V|Ngj
z8-eW=V7`6S+BygObn{DmM>h7rH=FNpy0(y$@G0bD4}2q=O)<sIcd$1C@7eTqbjZn0
zq5f74>%Qe&;+2e%Ay)GazOc27qxZ;->$(`5j=jg$qr*3I3V09>gbTrv!9P6-zqQuo
zT4*}s%jf7($w!e*RzBPNuhj<mkv%(Pa>c4ed#6JKlSbpa!ryP!6dur;hKYNx_4`U3
zm0acZ6+jOVj{LrQuyxc=wV^5O0$`{_rpcz&-PJ`rH~c>je+G1|eRil=oARG(wVx34
zvijOl_;<x)19=LMLYo?^c9NAHhts!-H`7M^?eq3efJwg1Sf+38DbQ9f4VQ?wwYTc5
z`VGvLwFoQ6r%G{z5)((ze!p+Y3nsVcdg#0(=<j()CtqF{NY3lWt7_K{;9{kRi`U;4
zzva85!9~D-H+^*Sy#Dw0Uk~z`ly_#<;}zbO|1gTaqp`csu<MbYC|_H?yDHCFuDNCY
zXxIG{%;$HqVUTl@?+!eiW{n@GADcf<4It>c5S?AP>*o3I&>wu9sQyyG*He&Bl3#x-
zBR2^7_q?%<$nPQlWRW+9;!rnGE9N?2yQwmm3@yjkjr?ljOr!cIR`337X)yUw#`NpI
zN7&yD-=fEDB`4(mqlvB4_6pkIpFBr!%GQvap99Z{X2oxMe+F_vbe<x%k*IW%%M5M{
z+^=gM$gJPxJCAhm*)rPRtMWAV$%lcpf6dZUlH1vfO`om%)9y5Hy_V3|2Hpu!e^D`B
z<kp0Zywd|u3nuaJ=gBXUERYOP{5DVfH#m1ZI{zenyk9zRhKKv<Jbd&4biNn+SNLf@
z($e|)^nEe#H9)tG{N=%yA##)IK5$mHhd5s3&9k$2KVjuU2ROrDlKe{C`qFfc2Hjxp
z6LYwO9hikv*$oe}XX)8DdDi07X!MxmLmsZy_Uw<Vt=O`H=>x!W8SgmUTT}RRWb&vv
zoqNH{<zvt9%%|?#&w@_20Un934<ye7rUv?n_Xd)6`ac*<#zVp6EdEy<H(rH)q33lx
zuMZ|`&GTY6j!rQ{&#8?j{5M<~sQuG0=pMgq3ZB+_-wF(Qo(x_o8B9)s<Zmzd=!4G$
zlX4*Qz(o->B-=+dBO0Kq24wHe$lmy9C;Rs-ym~D-8s}uU@qcgr*`2~+y0yMG5p`-M
zgPV)VImwa3X8z~^zXL|;)35%e4_YJ#4VXkjqMtg^4>WCgu-v^L`VkEZ|1Z<d*U!XH
zq6hyxuAX0~b5hilTaE7TpKq28_FC}fe;GRtpP1}8>4n_$VR9xp?_4cE+baI*@>Z5z
z_Q$^V?%~cOiyQ4(-6g9Wa?_=&OP4Qq?`B_A?0%rmDE0H<2LwR%<=7|*corRc!PUs2
zrJmiTd@kudxpr3y8rVd?acr+v^q*UEY_A7A+iNwpSHcOk-G}W}f$jBG;$@OEf@3^z
zsK2GyUT=>c-iaR4brbeiFy9d#O%2V!2y}j831MtD#dUSIPQEzNfnvb15t7}d2gHE)
zEwN{4ef?__crSYQ#F@&UEJDsS-b77c=u~nQns_UcIwm<6`Z%mpI#9m599=;){{niG
zaHn>kheoV!oA1tlNcuu4Ypfh=>Slb;@>~=+)%FV73f|u`Zi_EtnX~4;k@1D+hxyI$
z)%Pub$)4Q)GkZQ>&(-%{a#!A@ooHnTv^|Oa-mj}DdQt6m(ZUVTjdH+|x7ugt=uCHn
zagD72{mWKp!Is*^oNZn~usRDpsNcQNn`o`3+@23jP_yYS>NSPA@16zX9$M<tux@eT
zoHZsU$-Zf9ePb&=gkER$_agU7=($4s4g7~3?_wPfYO_T+d-(+SQZ7WcYm5Lfx?1$L
zKkV&$v^P}l(WhdTCGN~V&T(Sn`ueEwpflC-2WEgPrhEW$uYDWN_hkqU-^RNKdVPY}
zeuUhuxa{Nb)Z~0*p=elsDl>=Gfn*4~7`mLZX{M9?81LA4kZKVZxgSfjR^Hs!0{_A6
z(GK!QWK#$Su|u@W&`#@>JGWo6-eIpML)fbgV{B5!)x2Y@rRH=wu=!(vyZ&=Rm+^d?
zXp8ap@~O4enrp3_prL(BR_|wL4$x1iIt@-mS2`;$xjqbf+WfkupN2c>?^yEs*h6+A
zzZ>sHR$`Yd{|9S>T+;cf6n{_ul>P8BbduGIy%rp_Hiq9Oz1qqCmVDrZXRjyxT14b=
z%fBGoQ{yZJPci5~`jX^R8u_H>CD>BteEsXd11(6Wi%yVS*grSK)<*cV(d~Mk#McQ<
zd>caN8g(8-{f<P|W%xY~Ey6?D8faeUs=FC4fn131VSfB3eg21+S-#i#jKr#F?IQM<
zgyYPVd|Un}elz-cNxzKw=XdOROUWU{eIn2YG_+tVXTNPucZutWhxu&{_CN#UC<jP;
zQ8#z|k~g$WwJml)o8nW|>})|V5x=Tlr_Zk)?EB-<e-}1d-bw+xl~wjW=F!-a+EZ0i
z%73o5ui@JgFLrpfI)6n>LHu_Ta~AJ?8+y_{k^+ADYNdmmf{YvrUmfJOtfl?dR{4==
z3(UvU7XMyx0+=<&c^>}4$d?3i;5p8*O7;baldXY{65e>)Cxp`vgOf&Z0$-WDy#zLp
zJu_75eh*l8K=VK49rUGTX8nlST?0Sd>pj!B$|<{oXWA1)1K(o5);jH5^046x(f{?l
zul;>J{6KEY#Pkw$2F6TZ=@>gkGLW@1d$jn+=P$*-a%JO4VsAU(m4(Qgg_XydJw^2m
z+nG-l^sN2lGIR;8MS|Rz6nx{L*Jja)MBBpg-qv99pXeFe*V~w;as_|)O>!TBQSlhz
z>qWlXbu4#JMW(602y5O0tz@t<Wp|~Z3GGcfGncuPT$A1Jwm;5z^4nKnBkNf%>{p?8
z>s{6T%zZv`9CZ*zvj!ghiatfdx-;q$qu*1%k-XjenHPF9dt_O4oVCR!?`qdGd{lz9
zu72G)b&hjR8rxRCEoN<{C+T;suf{kv;n@K2m-@H^m^Fv5@wuD1MWKaBPVu(1U`4MK
zE*|Wn4RbR7i6FMql4zIW-6_?R1D{_seH6Gi^J!{tUx}^d$qjsH$c+Qfd)S<^-x%4U
z@r}-qu1@ZI(8qhBTZtT0U2wDi)3<Mf#c5;x-nKUHaoGJ@pLhZ50c=t4%!A&$i1*|p
z7X3EzXY_sY6zZT^@lRyy+1dM;pKu-kKVjD3>z}gy^+5Y!YV(z$+kT5aL|dXY;p7|e
zl4y&(CFWP?9!q}em9!bW&nWgb_?h(W!Ow2uS*{NL>r!%bSP!Fz17}aO)3u2lfO2TD
z7r0~t_B2Pk%2?0zrB)YjK~_?Wp(_ErqqQdZ2@>eyBlSPAz(hX#4*v(4r+8oe#E^s1
zv2S)9{&%|cp6KE*y~A8b@R>^&4gWyCK@0j#d%AR@$W_jS&A_!AIAXpokeZt8K{o8>
zj&|Lh_YL$g^WH{s1o9H*Zam$ar8w);{HFeDd_Eg(`D*Jfo}U}d{scTL2j)-M?HS@5
zel5b4q2T=co1=G)M%H}++3eHDkF}4}-{<Z}ZyyQ00vGh()p3Zk$Q}6E)c5@(oSa&R
z74yFaEQ$4DQ`^(%YJ+(CYHFwrUdz9*mOg#XBNp&DKISJY9c+6Wmyyoe$luG@fsgYX
z8n3>G^Tl&{Z!Pwt(WMgA$r9$FylAUWarP2DO6w-Pix%F221SonpDJ|U`Lp;U-@Q+G
zquo7xDrPIbm!0|!cor>h!~V6ht-$@^;}%z6Gw%@J2S%4?vdJ6#wM-nF+=-m=VcFfJ
z7&p4Nfromqf(O6(E5NhI@JP8Es1vNz$u=;Rn=>Md%oru^7x*j{j#w98mmCIcDV{YU
z*PF;Gtt1W=pkMKtOTYU3-Y={iCT4)#El{4pTeR6&mp&=^OK`P;_hmCm_C=uSM{;DN
zFB7McYv#*D;pJ$-fee$}p8>sy27LOON3PRvY;0@eaQRiKkJ*GD78y&8%+UP5u^%*c
zLmS8p;j<S$b;bnSE&&$FBk`B|yBS!*?Eikhs=26IMjz+%CFUf1waJrDid!||PtzVK
z`=gE;Ecil}Nq%WhEZf9)?VIe2=(!uCaT}xD5#oL~a(J}YN-s^{HoQ~yKGM^i?A8%y
zbxP;hMedRGd;H2>`Rp%~$#vwule^Fj<~Y%5&t1&<u!UcYtSIco_m$_gskTV%@6XN_
zz4f0jy}ZtOaSS+MUm7z0l%Zw<`p%25q3hT&$ZL^p0}aHnd7{dHe?au9J(#+_%-h%!
z;2{u(H;E+$CR<-tkD+VrbK;j`cNhDZ!<<Eb#_z2&C-s)6bMJIo#Cy3g1mMjmd>`jr
z5qhYBJ8JEK^ZeRu=m<5HqBHu|{#!-+R-QF`?LFS64qxc@)qT{sq%J}fJQ<&-_C(+c
zqaUY?ejGf&ZnpcJcaN0^v-bAe(H$gDX2qR<cI$uEM0_N=7VW<A6N?|g6agmrV9a~S
zx(3hZcTWzU*bl0OtM7s<wME`#H7EJ|pr5&#qs3>5d*43U+UWfFK9MzZ!OemeYSU`$
zww;ViEMn4lXZaVPPorm|2bg^mI(Y%O)c+>>Zt?K7o><|5_zK>Rk8FB3_NvY-y+mIQ
z`E}8M*_f|*^z+_Wd5k3;WhHI)+XI13`=9JD>FpIG*#iv@@!5=YvMu06xDs9-qOItI
z`50e6^lSY5>*!Oo;>($B?Dfj)6#QDp0Q{u*+oRx8a4N4_GDQ7;8<{lVccLDrhg;$G
zkF;xnmej7rvnkUW3;sIt4}I<P^*`;T2gewvrwN(FSSz$<P0_Av`Te(&6Gl&dth0rA
z`Z4Rdv{$@R=NXvK2FE$h#GUI|(_Z8(`^Uyz@VjKh9l$7gX5+?oPwuTpuVIbRx2t_V
z$sFSRMTQvfljPh=r;8)+%$Z&Mu?bIy>n=S|hugQr-gTUd+vVWa?<a%rq2Xj}6K3n>
z7czHFT7BU-XTl$td+)L6EwqWl2dAJDOy;u*IZ?7-ZJ-kO7xb$+HaaD34dBV(Bzjyj
z!E@24_B`#Wb^LMno6f(O^UMwCd8TdRxa67ON&D!|)r!>@n!U@uYig>^QH=H&`ZM*Y
z8^wp5zsBB_yn1?v_8;Q1`UGZpt1EK|T_VC=PqOWPz#8AMlsJB<(C}s>YuSOHp)PuS
zayn!AHbw650sWphK6$+Nd(`-X>^b7Mn*zz*>}j_CPmz1GWCU;p!DaeHtDh&x5!4*B
zt-^Vk+YZd1fS#<Mt<X)bw&z`~e~B6d><=@Hzl?gE%0J^?v5Id?2e)TKW1Nr8fVW;`
zg4(Lj{<!Fg+-oyV_H2>+p9V*z?gaC_(7loG@&QREeeph>Cz9W($ld!GIA&iIUK?h3
z=ZV-iKTCUXW7n(u_~akp6Q8cFTx5S`jpm~>!5iR{Gn~BB4BhVL%!9u!4b;x`dHpT)
z7_GxcSO?)m_!C~tJsGT{&Yf7i6uB+Hr8cs8d|1`?4*Ia?HwxWnX(M_SE%$(r#*>|F
z2ArH>=3eNYZa$0Lj{<uKeQUpdmG#=Uq{G<3;#b{47Q8%Gn}N6c{n5)5r*#$xuRXi*
z*TUa=Hy92OE447koR<3pM?U_99jk*$#R?>^<x?8Djl03{`zQE2O)xg{KYyq2fBaOB
zE{=Al$ItNoKZgJ7?Ei7%`I7h28)V<f9~CFhQuWGq)(1_!6|+{*ZiM?Lz5)G+cHRb8
zmJZpYi7Q{qylnlcGWRU`a*=&nqlP))iP*@J`ZKe8M~vwF4(CRti#%XH%iLSX+WdpR
zZP#;XLgOUHCzp8R_+vc77=HgJ<o16d{a=U=jlP$8eSh8S`*U93FPpv#+(vAE@%4p@
z2{C8QH=Reko!E%vgvNHFCnU8N5$A+t#GJD#az9~U(YbSbKKAeUEG;aB?n?beUz(HV
z+ygzxm(k_T=O^Zqd{BLQV@8P?#u+nu1h{9d1N<QymIZE(K3tc|GqQ35@=A1e<Gt1v
zMZcIEzr^Y&<?-0nr;RCZJ7r8so9>QD<Li1GS$C*Apfl9uT2e*c0PUp@h@UOK*&C6Y
zP2j@Va_nc=WTO{Ax4q{ozGLNcO^$qC{&sHdHtJKtBZgNsKc}GWrmJceJLKaJw(~wh
zJB>M#IVH#`k!>eg+CUDF&$A)g_;6;>^E1{4+2D}B_giG5wS}zw7JW&E3x36<9!DPL
z%J0XC+i1K3e!sw5hx7TAPg}mrqX1UxAX*2%H3RfMAPfJn%F05!_64r;BK@@wA7t%M
zHDeXJr+8z|;PXV}fns*z*${S99WY&(wR@Gb$?9H$v&+~^rS4STF+SMctds9cDc3$+
z&>vTqY}>cwHRD6^<@srkS{#@1zJ<Bey^m*BZmGVLC%4Y!{4H&K`H;q^ZunLF7d<h#
zf_X1mCwXZ1fhX~ANPm<~BAoVhSUDiNe-PiNp1t!gjZGZ^KCP~4ZC1^-+?#6(U03t;
z*Wj1nMLhW=`bq&dQyBlLFQ?+z?)`F#8k6y}Jef7t#@w}rral#O^66(GH1K)h8rXAj
zy?2kr_1YZ+{ilE5S2GFyOL5iQwr_cD*-Pd=hOL}nPxg3pgW=J{3CUsuw?`+bqmm!<
z=tMN+(~5lHy_^y8>1Dav3?VCiVDMJxe$T_7t4~i>gn!#N{gVS@A%jm$*3i#lVD{JM
z6J~9wq2#U2J^gD_=Falg<{Mt$ckyZCmIFG|Bi?*t%vb*CemY2>m@L&;(5*k#2M3My
zpE+Yq_Qtx&8*A|pW8LeGmBEknRmO^ci!->D>fhXvGiTg4t-N#oDV{L+-4F?XAi3L&
zV`;Gh7zX06h3+T&VSu+h7%ui;xM&C%7JD%4KyUErQ2Fl0c4q(kJNvij!mqQVy;!)F
zy`Vi?xr3Q;qdKEYh@G=%lcQwffeya3NnZ^tIG*@<%-22RA4opv$w%v_(Ydg^q-y0X
z`vZK_YGq*T#DmAaVkbB?`S6U!H+JV8lC#$Cbk2}W$Tu><$^%<RCq`TALkPN+_ysOr
zPmL54hqC*N*0To~_F;P&7_jBgKe|>Od+@s1Deei5l3NvP!sp0Yw^ukH$T%Au_J}I-
zk$SInh-c~!k$|~F<g+vJmp6ryswLKgPk}jXH1SbjQJkY^HJ|8yvS~^V;aiAJLpFhH
z?G<aO1&F;jqz|HjTui~Tkb6Z2;NZRz;!ln1B5kszWuHax(JVRK=CW1NzL@6)+)EMV
zb9peoEi<;DO?n+THgS8C3&-AWc>vuHyuE;)t9RuGiw}1u#L!(YAhz|xN30A~&59Y&
z<r8&IGUdf){Qhi?T!owd9eR>{L`KF|xLeRyu*+?}4)0W@tgl|@YBD!1+7oBZWzQ#&
zp;nHB+{0v}v|8K*b`9*KC!zcKIBUsyek{+2!qFJwKJr!6foI{thjpmAFJtba{qtG-
z2JSmYkIF{6d58CY&m35%Y!7)L{kezGz-zB^HUNAHPl_o;p%eLmqWIDp!I|AJirlMH
zoGqeX;Y2xZ=~ifDp_4t_?Q0(jHrf1Jp(mr0H#^y@J=pr;LWdSyKk{&^zIzvfFZ#~V
zZxmST@qLT7T8JAQjJ7&-kBi<D4f6lN+GWDD^Vj1L?E-3dgYB<{vxW!lk9w&+=Sx>B
zbLYY@F~Lg?NhLU+jlJCZR8^bKp!|mXRoO+(;v*(b!v2jZR&^2aG@eBnNAJmZCfZ5k
z3l_d_VoliBjL&H`{17d+@Bqt#{muw*My;N9=vn<|1a`7!(c<?$BTzt|$~SaIfViD(
zboqQgjm()lPW+YF*h`Eebq0Db^t2;1rZdJ`#m750h7ZAeZ?Tq!79@L+ZS}kp^Ww^3
z{6g@F;oCQu>sII^mv1xPyP}sm-Z6O!v?0EdeH+?QJX&kqa0vUpg;;^|oYXFGh<35@
z1Nrefqb9oW^^^~zleKxzBtvx;vH;%HIn)sQNFYqE6uDSmL3VB4Hjodiobk<VPM6@l
zhkZr*a8JFR<K{M-6RUWnd_}F$b!&?In(>?U=8x?B%u4hR=Gsep)n2X{%^B6U4|S%S
zp(Wa`LgvK0c#vX2nxEQ2ONKtvuO4{EOzc(sdAzUvQug`0-`bkizhxeu<bR)MTDJ5}
z|AfAS1N9qweV{(-aOtcbFRbOck0XcY<R=shKhn>HqvzDt!+nfes`d2g=ct^*n7;4s
zQE=G<-sJb!`kxPdOSVcDn{xxun?KGLX!&Q}TKLa0JX^yvKi^3{d--VVbOz;8o7?$_
zWDPtsi{H|{$RPH#G(4JSPa`M3SaVW+RKcq}HQ}Ndc%Rh&;GvsO?aA7wwJ&a9J%z`8
zOCIZ-&75=mfg5f?Ua9TQra<ymd<S|*HU3t!&I3L{oiQqOH=XEYUqqi4?@JbBPDEe8
zKPsMz;|JuK**^z-+tyc`V4V~6oq@(2`VHgPcBr%K>lZ$r`+a}(+xrsZFpn^}arX6@
zyK?b2ZK&jYn(E%w!($va$Y!yzoO;Dc*gx+W(K!J<UH-2Owrh{z!#34#e%`U(Q@asf
zyD;r^o=9`~FUEVNM>1b$pQyVCT{l>LYmE~=DS3|8p0#d4-eA{r7XGB9>~iI&)qB6$
zJ7#rPX0eI=>}(}RlXaVqzPsmzk)6KJN9RFf^z)-1t55328Q&mviGB|)^Zm(xXur>Q
ze{MdD-JhAyLbr=g>1;mC@(1+-duE>Xh1RhTUT*xId2N?7*WSBEbY8A~a9*r7Lj97|
zp1$ci*CO1VlS3CiO=$0x4tzQLujt}JzKbSI{u=WAmPOY0s=Hl&$(ka&=OmCR53;UX
z(6@#od%LMowUGBsjAm6RnL;j?@_WPe(lbi8MTrlcNxyG{1K~;alOE8X3@=Wmzg7Hg
zCJr@+9C$-(#1kC$olUHX+R7G>pf9TZ!V_$pG%*wLf5##G(H+pC$s_pKKpsJK{DE|6
z^<B>oO}|lS@n7KV-pS(ofV<&a-1o%%DotKAaVX|^<)AqRsB5A5Czghi+TV^I<18-&
z2Q6Pfe+hBl82<2jaG+c!;XpLdWbUt}PA>Gq1wj3C4>R|K&c9FxjT|dC=FMI2{H@<_
zS?XRm%31y_a9ZDEfs2jT9`orpesWUwx{-O{HihjkxFX<P`*)l@P3JCy@Ye&wV^{BH
zZK(U1%)_T3yVLl=^M-MTv)G*s&58yGd?KvF%c9#tcY;T+<M@04SUQMPnp`w^Bu$^v
zYj@r@vU4>2x05|%H)Dw2buOs`8Tu&sQ6<<fb>K$(c!qtV4j6|zkFdR0zQTOBfWAy^
zVaCVTwkG17Y-q#hgN+6@+T{yI`10@KE%I9VE?Zw`0tMrjBomCB{87K0ycL_w*k;sz
z(*0u{tYPK`2U<&PY#`rAJR*Lvax-Z1d?j-;S2|sjwZGx>YXYXG@U&zjpLMBehVL84
zFTL*?!F6S{>%Ot<o5$maU`=$MOLa7N)rXRHE;Z)vv%XouT6pM22mcqcHhZu0p&5oI
z$jj7k;Yr+Qa}4!&(CM$jPMj2mXQ)N0J8mM#Xz6)2cQW671zDtb<HzDFV|?Q;oK;sF
z#(!JMx>~&knxx+|$%B)<yaJpFzSqE2&rI#}+>1`zTFrrH+7AMi_!4Oom>gZ)Qs>;L
zoZ3kr01k2;Ce={K2EMm&NIvGfk9lzHSshGvpW;l{-X!`q_sX)C+M6`ari+~H@84yu
zwC^AbQnRfN8r9xF95BNiP79Sx>^Orw4(74<RA+ia%$Xj8p2;_Di;N+za+Wh)Fn$fb
zs{(G$Pgj?dyQcM4yC(dTqK)2#)K1_|?OyW8^lla$<bi`FP2@#gggjkn&QGC3IrGmo
zxpyV*Uq@PB^BfOHcWd6q5&I<9M!aKlBFfyGn6KvJ=dgYOJz47z_12*qUsM|SqttsC
zybir4H>t?2HMCpk&h*Aw!dU9x`i9EfddAQl8p=fzUd3<X%hAXz>n~D$sB-sslRs_G
zj8@_sk-x3d^i7RNJ`H_v*AlUNbR^_0INOTO^9|O!(yz&fe{3ke+|s0Rhr3&_&yUx>
zh`bdI**?nq_hQ-VE%X=h`jb7f1v}ce?-b{c61PJK?-K0luay2au@3OkvR>pzU1~ad
zsMguq8@F)Id^z^7=2J3JpXKhGf8*Xg`c<91eDkcreVu2b{lpH{Y$$f;Av>Y>r0$T}
z1Px!0-yoM~{)WvhoT%2Q@H#M`68GcG0eQ8?$SYtwn7q;&y@3ptZ6f&VqBTj$C?9s!
zdA-8GPP++q4nOzcbW9!6Vt4u=I4=gyTpG*d_^f)c;WNl4t()lXtFPHPq$hCaH)|*U
zN#UOr|I~_qsx1H9cqF_tWq<yOsKy)oqkFba1J`@V`!3DlAK`Ehys~5jet!6;7Jd=`
zOowj$v6@59{O=l`sc?_*c;;5-Cz<gp^jgCU#2NKnV<78Zl&r(HKHw}^*yR6}A0#ir
zo(mI9Zybg#LVsFU?RN?AE&0|e*%7CIXUd8MG<GKZaSXhqcc_Q*zTP>7ce;RkC$d^R
zGWmYrcTHV<FDK<cnBP}uGni)9v(E3AW<Ckc7<x(6Bt<(5fpb@{Xps6#hA)fUCv$0#
zHV30Y!76$=TXZ<zqeEwg*^@*g{+_vBHkH~LIxKR_na6#SHBIoS$KT=s@uXzU&Jl-q
z7SX54hl1ZNT>JC--MKKr>w-~yIg|{svdi*(1^w>F^XZzT>TCLZqdJ@I2Hq04+`wDz
z{^QL7o-g9rY!7zB3-IsG+eUT%6}@;5e2_bz2>9HBTndint~P3hUYxs5%*()x+!+dH
z;X(3N@Bf3oRSQV_ndSBA{WzAqlAOB6z+CSBeLUw&=~MD)EpQ8mZ}4mhbR&FQxn0Cv
z?1y*$oPK*f`BxW@^!Mqn+XWsT{=oak>3#VWpp&CLnjQ`xNS6~Y2oBvvkboB+fES#C
zqYN)RV)layw`PRh*X{=<@no9X79HHDqW<y^+F!{5{iVG9CG7QgyVu|I^ryZY`kF=k
zBFW!geCL8uJgd4O`h5?w0@-oE@5&3;?{D#YFYWc7@}M<0;UmtxZed<i_}>|S)QSi=
zkHhQd0FN(|o&!hf<F(vA!0&tYQL8>^CmH%zGmjFNvjNM+GaqMuFVU}PNj#E4E*`N$
zvccvpyhR>_o}WcK<-6y$%g<@I#cOvu?Z^?MhLdzN$#SckrNQU-8OJ`?UT&ZNk>{%K
zvJqO5ezR}M&vVX^1l%3iZscuN8@r$V;cj#8G~_<Wd-lAUJ=3JQd~hFe6XkPZgEW9+
zeEBy<7gtQ2cM7>MJj2#rpgWKw=%r!cYd~K6cPi{#vfjiHug8AZ@A_>k^Vt91Lwha?
z+kTC5vIE@L(8M^C9r9DLgLH;2&X|)<cNTPWo?I~#bdoi1V^{00E<1;yyQ?XXl&@d7
z2smpd3id~^xrFm&tc&_oE=vP_%~D@Fi-^6L(YZDJ7HRCC!S!SDA=KzS-5=Qm>^fIu
zbvaurB#S>p^`FrH?Y#iRzf-h#=vRB?LwjWdYR${sYdzYC{Qz5hn&hKn;8FiROynFI
zm|DDg91i^rhN*#^IQdItqv~C)ui&d;-h#0N{AFeWL&*ABnCE`6-TpgA!Npfz=xbLW
zvKfUNgAdOq*F6+I$ffkh-oiWn|I+{U{`K_dKQp<?JQIAM_r~#mlU<;7(^^i2M&*~v
z@jtB5{ieSEL1#PgL9FrZs|5G|m>d@7t1}+~d=KWlCB6sIN=Lu%f!YY`s9OjPlt4?m
zA5Hc5kwNl3tjSjSzK2rJ_rU&5pR4$j?_nC}mwexYXrmV!Rp-b9#`Z3BKTM4X{ht1R
z(eF?R-sE>EnQZe{e@woU{0>3mcd+yO@SyqO<ALT1+*G6WI~;~w!*0xWa98lG0l&i<
z-K}T+4ke!7q0smp$e-??xBL#Ne!l~LQg7}(>}h{{+qRRQeG0Ta;CG-_%LZf}egk}D
z%be~R$(w&<{0?iBTbzL2f~?a}eurB<zk_m)t>1yTE9+6``5lJCJJ#>OIv9Uhp?kqb
z$x`kH{j2uPV)vhX%J0xJgx_HYeuux|yV%WM%UN9XCuBCfnZfU{8^6Qb?4A8O+57N2
z?4mF0cPN(MVOb<G!{~wjUi^rGjk+yk1!I}}YXf7s`!Bxd`W>!%*q75k?c9W2I)yp=
z{2<?gU*8G5k>3#PEadZ~=ZLXTO9mQr@uN>iHY;cKyoMn5D>4oF*RLD<^@i?lwDq0Z
zSIKuaP~YihY>GzkWo27IzkT*m?vGQhXKN9AsVCEP*0|9-YrGcuR1Yj#&j7g$4!QNW
zvPR0;NpRLU&RJvOBH-0pxy3tcoY)X<yPSP^@l|nC=jk~76Iy4%v=d!Gc2wA_^K_3_
z=SlPHrq+|@sM-&jX9i!Ue5B`~hwC%Ix!l9QFFH7I?!LeMb!el3JzM^Ef6P}HQ*$)_
z3bS8+zyExhWRHBGPa$jM2hw^Z;HPxEgPixyceh%fv5Due=Pm{OKhj_2$Lm2Z9eJ;b
zJ+6`OQnh#_XDZNrwVtBgcean}EPi)@@5o`Ao4FJ@*Q<U@-AZt%`*A1IPiic(0G-a}
z<rKJA<0}&l`1{g%-y`1`9skosii4KBO{40j`u@Nz#Yar-9ew1~o%MN1#dkC4FWM)2
zumgJVvAi>%zh2~Go0EN%8WyshA2y%T2jruxaQEV~(D@$+9EO2IHe25foDITWH2j`8
zEtw`xl&%7H;x=huDQBM3G*|ea_>j3Df*3|uf_&EWKd?c$Lqc|A^XhR6p66~I^_k+{
zFYRN(&;8UkHnNy|VWPzQj*&kJokY37YU>o@H=!TlJfZ)A^Hu{l{?Ru?57Zkp-%H$P
z^I7b^&U51nZXfUkCu)ZF1>0Qvmy9lhe|(wnr#Oq&K=L>nn$Q_1FX&%uZ0sR{AI#?d
z6uQsd)7NfrN?Wbv8{fqra@%?2Sc3Nv<2!$8;2Xg2>RkNp?3=Ff%vv*^#?g3ja&&&r
zSk$xqLK@tsIOo^GSs>veLY<%P?cBq113n;duW>{NyGKmu`~h-UYaQc!OC(;)Zv(vk
z<rl?6<?eHb_qBf=9+|}bAra;7vrbyOZj)bM=+0+8dFa`Tn<uXrFMSKz)EHX7AofxT
zcE4y<c@95duF`dSTl11rxI3;guWsrU&aA18dCt@*`Jox;C=4CRFYp{|seW3(M;qhs
z!7c=z>KO41*+17p*EYY1`=78muLF*>WVDB$Pry%muEakipCbGI2==`Md%kENTFoj}
z|1|rQ{2`mJB<Gm6+Pjq-JK2Fxp?z}Dma9+BEgL=lGOZ18e3H*k026ofR10SYf8o=T
zr-L(}Mz?bY#;4K1HcOYnTXdWJOWr%_(~>6&&mOII|Fy41u>J|XdoZjkfE9fVzV!TI
zZ)jgHaaR+I_z<vch90WuUu)d3O0ge%ek)sic;`o0XJoKqbSL3A@_dlgwiNHtu9q_d
ztA8kb>daxGTL+F`MQ&z7^|hOMua|QK)a9v>pP*r+{Gz7siJN(^RQhYqd%xj5%{$Gz
zsn_~yHuJ7%F&-Q?A5Okx(z3vUp5L!5!>4ymhIl`F0sU3D>gy};qS`;{<j*IWaxVEb
z6O7z|b|xW*_dq+`mtkmNGjuLG_?u{oPr<#TojWz4Pb&*6+z04e?Ubjc-~YZ<ykFwJ
z$*0;i15*QZCfiK>K@1Cgh(D;WP(|G}#ucAzg0}?Y_ND<pMk6}HLe3ms!JdvkYFP#v
z3PN+*1BUbkurA^|$;LP7PrerUwGHj0E$@9A-f41%x4Gy`!ttA9_+-xA9^6~`j=!up
z0KY}yStmX-IhA$O{+b(m=|x^k_D!Upe92kn^h5gS=3U8zZgP=*KG_3(pAX!^%XWC+
zKjhbh22UG;2H&Qhi_b4=JD6YCx8ai#x7y>EI~nsX#uO}qqx&UG`}(eV>scf{Gx<5-
zY^U8;U=gelp7-(W{or*wJgb-wL3AU_#9OlYXM@W+{HGTgT;{v?3YYZ%SzuZVzcdgB
zvp768`HH8b494L)^liZt=bdYS4|+WBz3B17IrRAP1L^TR(c=zskJRru^ecRQh)>a@
z=w9@AqPI>d>I3??`xwu93>|v1BXvqL%-r@cmwiiq(QhwFA5mN?p!^ncOqPxkojcja
zQBK!z;AuhEi}PpePOf_>(Ek44-*q>%A>9vMuH|HMS5CIM8|n)^YyviH*S;m|%)Tgo
z6|Fd|Ll9lD4m)z5mk$u+JX0NdThKe}R)-y_`xV1#i{2Q6hgN*=-GO<H#)qK3##@^d
znPF`7?jdZ_0RHPZ@iSy)SIZ&lcc_mzJgjzlXO;)sVEbCXZ66)Y`tyoUG=4@?$Kwm^
zLH<~4-x<g=`HY@>eaEQpq4zZ}^`W_4&fN6g4%SZXw1&c0|2q2fEwJ#dJwyz9EqLu8
z>k#b%{I=gbSVzGkxS~1m2Hrgo-ctlGaK8QjF`Py30q5BNWjKYigVBZXJ{X^;VuSUs
z#SnPh^4){r5j#TkUBG&`cy?P0_6&dhYuj=NKTHe!<MXrlNHAz!^-OClx_gGPB^yKd
z6ZILuHhQ{~+<n$Gi2W9V_lQkrE6L%i8i~9R&%)F2?1GW9$EZ<PHD>?k4`KTS;mOMJ
z#AImi(0&r_KLlS24(|-?1pf@Io;6zDpV0VD-tFXoo7|JZ&o+B>22AFjHo*l<UBLFf
z#}Plh*Su~A{-NeIl9*O75v_GtkIIBYJuxRc6zoI2OC7tpgXc3;UqkYH!t#5=A@VdE
zI5QRhBJGgx=&D_-_|6&)nP(NBOj~qbzis6q+D5Brd;LJ$Rh;8FSij*)+FoN}jnHn^
zL1bqnLOW_I1c0-Hd+!h0E=;>QUVn#bH;Hzf%`p9O4*a0~9Z9=7ufIdJBj;6TKumv}
z-9Bi46|_6m>+ewQ%4s*l>yNYD2knpi-}uR1e}`&EUT^#;uRqQW9kf5_#jkxEIaE8*
zj<+{<kTZJF{#a9AjztdDj<t&8Co=dOcZmL2gLu%J@1fd(+x=wfQgTp#g-p$*_pN=?
zBb+&iJaJaG5nXFP`hLUv?UC8pOZ8hWJ?H#3SHJo6OFayKAN-=rbDv&wo-fvOpFXz@
zwEu#h`}COe{4;v))8Cr|?LV#OKE35UkL$TlUw<2De~F&^^px{_uAck!^Y?-FAJuc8
zUUHs)NYBeW{QqO1eVv~B^pNxXbUh#CwSQ}%{R}<#*E{F=2lU)u-+vycKOEz-@3Dq=
zBG<KE?fPVG?$;;lkkTi3XFn(wo*&XDcvb$a@VG{w;O!B8f~Uvz30`!*R(R;vC-Z(v
zpUhLfXU*$*eKL;?`UGzI^91KBeD>?7*wpV^Kc#K#SJIcC==TT87l?lVn?>;zd~xi>
zlaPlU_(InPi3bsz*|+2=qZ5aZ>#j`=+cUE=FVQ7mqeH$#fPMOO_Tg^Y2H5XrQ7b>r
z9wOhO?7RZ@<=y2@_9wtyz?sJ$YKQeQr|rQ|TWm~Zh5Xdb!QyRk_A=jJyRgwoj$Yo^
z-bam$<@`@>v#Gz?O&{d*cS$eUUCzAooUZ-gvo$Lw__gagX#WDZ!lz^46|91p8vS>U
z^I<+NS{sR%o*X#NsTH30+t)n*=)vrfp1TgTM@(G=aM=-Z9;x)~gi6m&AkHy8S4YmL
z-CaTF5ksrqez+8!Y2HEh!-RC@O3uk}=G6FynTs!PTEFvdvG#cXyZ%?dM%IMS%AO64
z|MP!9H?KWAKsQyut@V}8cLlj<JM*3FbY$8pe9E)=ZPO$hyJ`gQ^PFMxv4iJM=J(<J
zb_+S7uQ_?!(mYdKY&|sBjL!82dCRMu;JJ!*Ze)IqtR1>!_Dt|HdrYFMlFus69({XE
zUYqV!s~;0;TZ^8SkI&8t6VK#N&(refGfvQPun$ZO!PLEY1DcGn9uaiB*gL~+C#Etz
z_dUgYQ^22@gl~=a!>Z35H2zap^tLl!Hk9RqW@q@e6zzAcw>i7_Y~tJ~uu3oOfi4?^
zPBsJ0tDfvOaQ-;B7cW=hTk`2k{(HqlLX73(vH^TWxIY5_%lvK3Ee`zfqN#_Ps~^kX
zFaCQLU0Cr>zui_~TEzEyehZ>E`}98dp?9gR=WHY2!Nk17(7Xf9hoSl0ekB(wStr4z
zybwR0E*KTRZdNTf*2%&faPJ0=24W&JoTAaQf!l}U4Pw!{2V<pEG+%J8=DYj__XF>0
z!OJ`+At%Dnz(T$UkrRuM6Aj1)(d=*MtXd(NaRc>m79letPUVV)$O*}VFzbtacoDhq
zqAxET_)s!Lazg$4^5J^qgT~F35rQd5y&GcR=FSY&Ct2x)w&7cvoA@v5*T`+J_s#m}
z$U(mjs=sccW5si4f;$I1`7!+7+;}cNUO%229OgVyG}*>L7XbUqLFb&uf(~a6*t5de
z^Vs(5My)Li;pdIL5-7iJOrWiCal@WT;2)pQT*W$-@17+`U^w*usBp^PD*oni?yVaf
zMZxiFL1%shoXm!I6z^zd50Ss74qIqb8+Bdp7~c6G=n^_#Algt4K73QKQ~pr#0={C+
zN4$^<h!+NMVe6IKdt3auoZ-#ociFy2MDK#}3T)n7d|Cev^+kyL&G7JLW8uhxA@C(!
zkhfi3H`2q$Zv*8E!AFz9M`)Wf1U^Jl3I4<z%^p5Pb5DBsxZJ}Bdy&CMlkjoJu+H6W
z!#fWfgbx!_0T12uB|M~^9GL)3<l;f|oyvRz;H(nfMUF4%#1_;3qdR1<x#vp$`}}EQ
zqMonB=hdsfBVEMF=F0I1d{*bh_ny12&&YYnks#xUzv}2;{Dx0@{x!%AKQ`D+TebVY
z3ICnQ%3ON<@8bVgtl$3mK@Ryr0aM%5=S%SzYcU-eIp=rOfA#72>v#6GuY(s?!HfR6
z`~luy|B&j`_-$LgwvWEs_vlb<mEZJ#6W-7LAL5-v*nb=EANX(Jeaid7dsn|dxds^{
zJw-L5wEn6uEdH$LPw{N{$J8{BAQK|+>@0Zp!|>4hr-_A;>(sMQv8a6aSLBf>cPEY<
z=-_W=$~$umPn$YWGp)>#j7XT;;Klv>hLsV|7#%w3omrHu5WoJFy-|B^b{=w{xRv%@
zoxz&VdhB65$#lVi?wECev6Q-%#jBlUeNuZBIS;LY<QQ_=8fm9kON{;>M}8PR$2*(Y
za0uU91Ny$?zVu|hU(3Ap{W-q-X9T~8{?G$_HusDCgdAMFNIT7C8}R1xot5(i{d{Ne
z4&Oz9Whi;xVB~pVTL5_}eCP6=bXl#Batwz(W9uGd*spy#FWn0t+qNjr@WJ=Xd7Zbj
z@-Nrk!4J>c`+JVv!wX%>1a$Tq>V*yLHSE3GYZe*U3bv(yZ4dgl_FRpf;!paPbSv$-
z31Sugp4(Dqb5dg7ev$yT7Hk>qzo+NyF}ZWKbYgW(3%9+W%gQa_&XZ46dbia#c60x+
zax@+XhFa$IU*CSWJ%UV=JttZT5YG^dYa64rH}M&9oRdX=1+-mP<aDiVbZS=y%eHlM
z56gCNt20ApZqV9t+AkRnjfM)0&LO+$G5X)DwW0qO^fZmpFbZ1Zvl8B^^Zcz3aTeF?
zfvITis(mA7=JM85^o%!uN#56>F#<dntjZ(W4*jZrcL1CMbAg_p@3p@PnDkqmeP1vo
zf$8n{0~5NY57W{?FdfF&&j8a<<7ChkuLqvxtmjLNoxs1HhECASjn8s$?Qryw8gw~w
z(@N|aa$py|rFkZP_32t`ZO`RBZRCPyD^BojMfnT{Ka+hb7=ys7ydSNZ>bm&$e2{Ur
zqfboZjEnAYtKxevwwPpGj5YG*TPN~uE4E7pInq<?WIqi*o4fh2ed6>VmJCDBu{wyQ
z$L-k5`<DDHSFUal9q1gavHuuL_{|)RAAs@H&m^bN@XRW37lS?|lO$h9Dp%E`nM&jV
zdeTV_Yd!d!ZJhX_`g!^()&?5BF6d<A0cVDhw?_}iTlf;))RP&;PWz?7>DCZAfxY6n
ze0L{!IF5PB1|IC!*BCxLtGG{X6K#Gn#C%(G_7LH^A!okY8xFuRV`qS&2l;q7V~bul
zuO@!Wc*0#^q~)D3xbb5Tw?o$r@Kzk0Rl+}YL1#va_L_4LdtejuZsmKc6Z&-kUXG7)
zOziS}$I0gBfqP_r2z>Z-wr`2WMI>kazYM*PhK6)spojB*pGk&ii<$di`GbAGLHDh%
z1`f#}$#>yEcAD-3F}NUqSZiO$SXytb_3iN8cHm9$H_6H0mSBF3!=s(D^J2hT3EaZ{
z4g6loJ3c)`hoFa)=z;g}X_z_y6CWJ#gVcjp?w>VxiiN=o_&kreN0;vH&{=5VFbrM4
z1P!H)EmJhWi`eXbPGJx2w$?*8RjeDdyi$2=o=nmnd6J=vf&6pf!OG`Awfs2^$cH-o
zJlM7yHbHm!?B~tFJmcR=FuxS^-Y+|>zv{fiJAvCfR0EW~7=MtlU#$&l^UV{$q<C0>
ze8gc7kdr{0-M|7ax-^D^?vHIazj9>krZ0o<I@PL`uZ#8<ARk39qPJn#*viqkZn)Dm
zjI#rrr|xPXU*qKs(>Vt_%w6de&cEI%YI|zK<Tjn%dU;jreJ=+C&nZv*XvV#Te#oaW
z=ON&2<D*F6OK3O&e?rCCF9n>^X$>bhwen*&u}&%aVy(NNi8+lMD%%>#H>q=+=kkC_
zeTf(GYj&xx`N$-}C3&WISA8*hS6z4bIlUVvzq0Pln_r6K57@~%>s_^VX=~~93Gz(s
zJ*1*Z-!6|OqEjWCrXY7h;OH#y{~9!TH8l976Ph37ne3<KbEBPCd3wi};nPO?kAbHs
z_}Ot$s58R&;?H`{f5{It_o~Pq@mFSH^u`8ia76Jl_`V_a)e{<Kd<$;^pT^;gbu~Fo
zbJeHnAm#R_e$J#n_1i-IkHP)f`Rz|{+wn6w^wY1;hX3b!Rk3(pbq4-hde#1L{h#6k
z)#$E=hTe-0!~^05opHYlx_M7NczzHcJbxe`T;b8~zs(2F5AZ>qN6YV<54abnjvCYA
zgK0zZ!7mQV2ZMP)eu@2f0D4k9TzlnL2Jt|IaYg?=-CKIMc``n&E3e<D_2u;C)BB;`
z_3xhz(O&wv{4%1U#rS!p!`gi&SbY!m8)ai~A4FFMdu%-Rh|bomgHJQ_Y(1*;d8f+B
zZ_6K(-&TrmcvdLi=;S-mw{1RMzPqr}Nv_TIwLi+IeviSEL-lb1{^o_<HEkv10;a#h
zF@?k^3XShk{Aly_Y=7UUzmh5^so&LK8u_2Vhwsby^q{+7CI7Ymr-8dtdoplK2I!7*
z$^7UT>WND?#0K;CB<YQP>+IPHD-Ry;*Tbxx)$dQ+Ai3b%HvfO{r%h*%{-5}BF2El)
z*slCPC1<qXPKD3jOU~r(w>PeOA9Ch>?6>E7{QYmsnVkLh7-0H$_uEqM-Q4{)0F6mk
zo5x=I-|}yQ&y(m6`E^kL=B>yP+55Tsp7wC**OCVgJoCs$V^<f9DKNaLcDgqxj692f
zecm2mGd_k{*c4Itad19d2YF3#_)q#&3|;j{z@zsg?0fzGZDT{Mf9R*FcRl^$=O&hE
z{I$SPfL`Fk<glkdj67Z*jI4MhSb&@;*oMDl?nLZX!O)FfGZ=;#^1;ANyZD!424=zK
z!}L`jCdm_g?s_g6K|FP%jYF+}sC5-F>7|$L@!x6Yom_thI`SIg4d&cUgu4-hJM_OU
z#o(k1;ul*(EHxV-e%H+$ZbMI|mQa`T)ReX}`3~G|TWGrlyGb>0bl<((Vf_o}=F?@5
z^k6S0z-1J@y4&c~foj3&>q1TV*U{fLrm-{Y@NI3sgL?*na}qT~G9y-&{e!js6!Jm*
zZQ!Mik7L0YBF9zo%-EN}8~MnY*;T)oo!ztYT~pVxiLo1?2hrj>&yEzn2iuW6s}bH7
ziS7)1R<G9ks_)f7pMAhJR2!cThlG#&F!zIR_F2SW&dzT5--eGqfB)~mH)0Tc&jR0L
zXJ#Mz--eGqfB5gfH*yespEw)%W@i)s>+sFa-gZd%2K*ZMPB^bQ(rtpiy?w?t=P|Jb
z6~EJZ*Yl^iQUX85uJy9<gXHfQxp`mhYhMLTSwCrkTStwZo_eS2l{S2}*qFJpDGu)s
zmJ4gKZ`ID{>94?VqCexC!S0XKcNkuS|L}KkMi5%IcA{tF16LZ@pI|)6f-hmSS^E89
zf4&DXw>9gSo7JrXuIAEvoAnWi=S1hyAKJ;YZw<z#-Z0VWvS%Be1;NzHvWB3OZ5kDr
zTKMh6C4H;LEeLZ4A{{I|7ky{J^Z5P3RnFW#YRx;`Pu*ej{MR^%QOOh8&%PmkyA*rh
zNlg3(aTm$9>(Hk&=DbCrdlYS!llP)KoYjVdbF?XNKhxi)z&(OCJ$cTCx^P)C-DKO%
zedUHde%pqewi9W)xi^^H!n`<#nC#_DM0!0n4Vtj+S98t;`MBju)l}t->|J9!XY#4D
zh`r5Dwiz0f-#|5(g?G(6ZTuV9%+%x-UUf#;U#m&1)hpCnzTt3Z`ZxIfx75Bdv8&q#
zVuy*yfM3S?dS5htss_%MMpb_;dRTHZbb62QL<~SUxX0k2#67luUM23IXk+k1{2~`m
zmHllB+?Qyx13WFQ1W%{gb{D*I-5wwB#a`Rx`ki%nhW6=MUVncCpW`fzt>yWa)q&*e
z;BfQ$Kyp*B?r9jnVY)StYyn5Yq3*>H{&aTx^?E0}rG0GYraQ)U9_Qh5FdnJHYI69Z
z+}Agl7dWd`^EiJI_R%!wEl&Is@U;e$$Lq5xm^@aW^}*y+eO3jNNAtPd)V|?7qMiX~
zr9Oc<tk2bf<dOOW-U>cdr$A>RO7#rdDAs3hFj=V2^_=(MbLT%fccyl&q2xF{Zwe(3
z*JphwIhxPkztvZxJxq6bbiBo#gZ?_EMkW`6H$(69Elz#BcR`ary<bBcvyRv9zm9AA
z+Z4DBw9)yP9gMlBO6Pl2Z>hxH2`sx?srkBEwN9bgi^g{DUP3*?Z~3_>)SbH0%SD04
zUwaj}u_OL$J`3Gf&1Zr82R<*<9O?H?Z``GP@8?}-w8=G?1suBLTXPc4`SZE8AJ#&5
z25s&Y|9bPe*U)aMdvkxAQulb;Yyx)awY|Xa^P+I7d7Q$ZPe<at&G}<Hsa=&_!MtP>
zeGb_A`6YcAb+<i!IosmU=a+f?W0tt%X=Ctw?*4ebu)j@#JAyX-{PHo|E|*`Vk89n0
ze%TAZr_cBL6Tf(}Dwfmdzi6`s8a2Gr6ijYv<qYlW9Nwu4?#DaRnXl&jI%ii;VxF>j
z3*pm!OCB-uTd|%~k<XId+e3N8wTHR0sgIz2Y8QG;6SCaY*+za2W3Orsk{?Gri}+NR
ze0?h=qtTNauu%hJ_RJ(^w!mS$Z?B5o^cnV}7=01v%SPyjT1UU`C>oGgHdgVxkyi=c
zmk#HoF1RWEot0&>{k3NhXrS(Wz`X(eQD=tV>Ej-jM(%>H4<>JLircCftG6#uYioX#
zn{#@-=!m<=9oG2|WJDY|Gkvkz4(i!=Lub0XhqI1dIvX1sODu@FtB*~*qw{6bYlD2>
zoqt$oB*lH-;2vHv=LEy-%{s5v!*}S_oW-W@cGvM=>ucZiG40V6W_<12d#U;Qf;YbU
zEf8-2NAI=R^3;cE;LM=<68|vX#0vW8_4?5J(rx#S8`=2_`baPb^%3&=&>Z3;=>wce
z=IiWjgR^HwM=&s&Jq2F@K777APT^?1t9Duwt&P^@vtF(F_25Il$Au5h4Y%OK*ID#j
zT;9@69vpsKQzsLg+~>g~oN~w4bc!t^Kde9Gg|8^rfjefYv9A1u?Z6qOKZib|=>E^}
zdq1BgMki-M%aTJD58UOsnlo^~*^8Xt`O>J)hrh|b%)D(KgHpE&e}(X{_K%V~+*`os
z5y<iyV3_8ODOkSGI5v-~*v0YG-r>v8@R(#}&X^icxc0}~@xrLiy9bRq+#B=TX3QdY
z6`#VTk9T}hhE7GBv!E66m1s&fN5rd(D1QpR`!(V<><ak75shth@Z)FEty;&jJ^}H)
zjc?G1Gob#RWToyb{JoJ>Ygq(;*}D7RZLbVrACWhkaQ4iMdU<zI^6tI_?(agsS_{s_
zORBLSd1_jlYOoW>Ij@@<D1XE!L@Z&=wAs_zVyVNE3$ZiN6P7v77~>}s&uK21(1^|q
z_|aT5=meLBqBk}-b1y3OW#Z(kHy_J6bM7f^p6M(|a8GCR(cEj!x$~{-gUJrwF}g?M
z@Z?r>j$fu&FXYeGY3Mw&qIc>p=REA3P|)7R@pEWOzv=9E27E*$2QQ5pd;|_v$D17g
zG-rQ>x0XYk59#1cLl~H(UtKa<ezme~Ez|%Bm)g55{Iz_f*u+?D9W`W@!&-&Wjnn4t
zk5Z!>=gO=&b=aEkqV5m(xju`mYi<K4oHK8}16vfCsJfhrmk8f=-G?Uw+%cm$UIC2>
zuYZPinpaY12RYQdFtDJ7KBCY?CG9KBeKh6pk!l&0x}WggQM|Uf)mgB-h_!_d!pvQI
z@<a4d`PJxD`K4pXmL}p5qMKh~yXyT)#+wH1gn5UUUsnJcslU1Tt~zKcNUR|MT?nR1
zC)9S@RaJ}U<vBMhZsNhetWfZDj{zQgM!yDlL<0eIlsGUm$7RK86Fr<Zx-+ZPJ(f0M
z`c&RhF03DdhTaR-kvXvH99Ap`RtFfXu;YWkEc}PAiWqn^$hDr+<U61y>e<kRhwsBY
z+_eCQ4{MQNjSE)Q9x8Pm57xywZA#Q8tTsAJUFz-@Ow8w6+Ne&m#?e~UCCdBP_V2WD
zXhZzFxM!9J%ee!vZ1H}-jNg@m=dVqKHG6Kw!1}Bo;`jAAzc1r=@d&cZoL4MBm+^Ta
zw~qH%p5sF<X1%+5kV7^XI5dCcU;5_0&iUCoWTRjR0Q33cJN}RHO!W3a-V?p}a%m(n
zt{^maF#1}N17Gf%$)5CiOthA}e*W4;1S9wm9u(u!TofCX9^%WS*MZNkgQVx!o!o03
zbf5NYPuZHz{nl5_x%KMx@ULH=dq*g*dZ|-!vSe@;9uXazn!D&be^_enI<BU6QMK+w
z(Qm4q^%BpepB=?Go7i{sTQ6;%Rz6jzq<S+oGqxb#&ZV9F(Q)(x*(pCER;#=x;cYE`
zxmgGC*{#LDWb8R;NxF$-4fR4~hZ~=lk2lF2<*@YE{-$r=M$~>Kdm(<e;4ZGdjQhD{
zU&O4PyvzxYO<sX~Wgf2X6#ajgd-wRLs&oH;%}hW9ujER=W+w4cQZKE7irO*>R%*Sp
zLex{WWs+dMV5^7<ij^6Hx5geFLDPz-Ou$>Vt+f@@)C&n{YqhqD7OnOiXA-a~)}sQ3
z0Fv+fv)10pkOHUY`~Cg#`-9ged)8j-S<n4>*0a{q8N!OqHg&Tejb8r@e(as5Gq<TT
zk6;g%g=`GF6~Fd1=;>@Pwwd22bzpztY0ZoNb~~>ebIu}%YFD#|b~S2;El|78J>aPo
zJjsWBSbV|w!Q9Vf?mA;jV+HS~@J{vd>R0+cc(3nI<2Rkpc(&!Ef&2`4%R4s84*U5T
ztrO+vXH<_+n&l3c2yq`gCH)qbU&9$5citkO#NAK!_Db=K!>{(=ue^cZs@(iS)Ew`Q
z4?^H50sVys+U((e(n5PbY3Dt}9>AI-f0Ok2CTa6G12t~i%M#RS2!;R;!@+^}k`{pj
z;U`!xlRQz6amQzqLhOTgwHU&QWUq|5_f!RQFY~k~!{&I%T|}gRd|Z4BTqN%lespG3
zsW+MZHZHa-@fP*tMz|{U<_I_NwB}sHd2PGHO$~U<GEd7Rd%$5mzx{7;cm+5dT*rYg
zJW%t~Ux)2#sRV0{uWQ?pnE<BzJ8&Q4z0Q8tZ`*i2h2N9E&O{#Y4*7x&;4j-my`}V1
zsl(x;pTawZj-IKo>CF}zJLk|I<RXS#*gRh8Kprn^TznOrE10Fv^{gj;20Sem9#{V-
z8auuZ4e&j*uNQwq*AR2n8O*L0C+r<;=_gxR=>4bsIiGep;*j0ZF2@;LIpogzmzn+2
zldwgV;6Oe<xU}zU*}G#p_DgpWmrB06zhrtR&`!2W^)k{`s+oy%&O;zuU$y^tu;_e>
zM*8YNR|Pa_-2*?R#7}%Poijp$In?h#N7aLWa4}Nzo)O61Q3G<<kyjVxWNv_80+~Ak
zzIaxA0nUPVU*w%?r37=no~q=%_Tn85j-7n2Xd`yGBgQ|)6x77nJZmMfg=98#m0x#^
ze=S**yvA6+ke!nsAM<s}CHR3R6G<P<nRM!}b4YUJ#%_1dr1}i=n__M0KF*u>4E=Ut
zA6B6+vIXYRGIFCu<fYN)ca%*kOUJVNQTu0#7B5q-T0Y@uZ|={a5w<M541XM*nLLrW
z^)z3`iFtR+C+tlQ>`Lbz?wG2f-J<!rN0ItbVwx1XPjvb7P0}+uL%hg4PxG6NZUzU2
zxmTc1HFw#AjmSYKdo1<M2?xj9ALKj5iRW=vpyKeZNO|?wxSwnrIOw3=_4qzZB4z_;
zsMQrv{}qao@1VZ=$ECz)#OI~hRqlSab+H%HR(;(VF}?RtPyO+Y^v&GogP#;K9t9SI
zuPu09AYKv;)`KhIUNjWWZUkq<RPCxYyPkg3UiD@H4#{oyujl<#{O;T0RNnhLc^}{?
z#Jy4)$Bx07km8G-_@N_`egvGT4L;vUwJYb{mVQ1cR~=Yyjn4z4;eo{Jv6cs}5)YXD
z?R_hi@WDy_d@#oA{pkQ7#F$ewj}Pkizz6m0`wr%m+XEk@*ncg0YM!c-CJyW8h12tR
z;SJ_y=I(+Q@Y}8sFR<@cyl@h{aInt{_xAI`nCho`d|sg4wa}OIcQ<sx3;A~heUo$O
z#0!hiS&|>|-E^N94u*y&!3#g|dEsDi6dS|~w*dQ2ya2w%3x`O4d|tSA7rc<;+_ONJ
z6zB0meI76DulIR)%8?Vd{GdDZ&IK>%`l!}^*jo^+`^ZnX{w6u4&*#2mb8|t>{z`O{
zWF*L~%nI;>tek|-8mRkp_q9)!enSQVI5(g_r|Mmv5BDzb>UbB7@qis;O#c|?1!F*i
z2X-36-JA34LH(_vKgCY@<G##0?T>x~8s(p>>+D~+e;<eTE$5(N9K2-Fea6?PJ=jI*
zhtIG_8E7egPdYEe+MIljf6_JZ)Gg={*{iNXx7Xv$jXUr4AQ!hG%D%_S3_QV^8rBY&
z(1s3lm5WKk-Y4wA(0jq8_2{M8scC*JF?c;XBVQW(5~5vh4?aUHw$b{I@I^B49f$5r
z|NirD8G9}G5BlXCrhcBA15Q5zr(s_&YTwCl;=?VI(UZu-E9eZ(Uo}-reH?Y+*K8SX
z+S?WgH`wo`CVl0{ZojGK*+5@U&_?rBUZMfrw@S2RUR^u`9yv%n!Z^+!DD<AfcMA5=
zWNG(ZOXtViBJ6>Y&6FJ+!~YkMi<W&<K3Vt3q@Z)o<>l=j2%V`an<^V9`^ovIp6;IM
zh8Mn#ECE-w;^T{!I375ScjVN@VK1sTuMVa4eNT7Dp6gYLPTZZni|q%kuvK%JM-V4<
z?!jlN;S5Nf`!+99X!kw)cNqXniMNKiI{Qn0!k+7C&tI-qJhz1YL()a8!R6Z@=^Xb>
zsdox(93B<_m3tQ$&MWinN+|Dc;O*FU!F*;O%&ENJH}QJ_Blp19X<W4r<C`hZ5i2tX
zo(Qbnli*Q)OAs?0Q!sGv{H&esH7@j`@R$6=2I}uR=_9JM-QxSFyX0d)1NAL<_vwQc
z>Qj8bhxniq*%9sDWiREuI{z8ln*<K&zf5Fj{vXhP?tY^Iy|!zevjUjf#ix03=%c*T
zSqy@$A}<d0c&~Gxmm?o~AH-ks#|z<6?JErG1jzI6R0A&_{}cFEuHImG#-cweID<0F
z|0{~f-)nsW9VK6Avtl=FNC`YjEq&VgN_MTm(F6H<0~ori+@5&RV_Y6R2H!LNG;oU^
zR;R&t9lA4#yQVePA)*1Y{`TwQkz(&wjY<4zV-tL3=}6%@y6*s<gE~a{L$cpmk4aH4
z6#@rlojFSV2>uvys@OAE<>G^H(zjwu@kDl?<dh%#dPeP!ga6(6<MKy~yc?;r7hEfR
zxGsYBf=m0eHI9vKe0*sf#UJWhV?9K_^3Mn3Q}Ofe@Y(dgz~{w#z$bq7BEfyL5BH78
zg5drI@PvU|a}6<n!LRs9vD1?+@C7-j6ggyM<qnf9uz7gdSK&`{voRI@>U+ghIy*#d
zQ}ksL1?kQFtv>f<9?G)~)}Qi=10AaU8N1V=gLUT$XogRTO?UdU^ylQuxU1kF<bkC#
zb>^Y;u5_sG1OHca=i&7EztWxIvVPr(&u7oetO93&?tBQ|Pz-}_V|C~0(u?rz?sX@z
zF}Mxta-@s2A7@v(^OyL;;>SMP2QcUB&inb@>P}#k?o{4S?KOVB{@ege(w}<&Kk3g`
z=yO;4^G^BZdHVBd`55#m{n@$){n_g4&%4=YI9PuseEqqz@A$9j&hG=yVBJ~IyFhma
zzT*YFlWiBDTnHY5Jh1d;5i+r{DU@D7UPbm@@#}nSdl$AH{H?J$-$r*2n&mU==Z#`r
zIb!2o$-_8!L9sv>zLFe8S-<IFf9h=NZuEWuV_LsScEi_aoX<<XsPvz5wLzX%bkbU_
z>~udJ(Yx0UqT~2Hy}QD<gUV~fSa<y%^A;VQz8#OgE%f&FVFd4Wo2%5nyW8q=_)F)`
zJDx-zB3Jua-CXQlg}w>s93yWe-z3f&*x(wOR-G3PKLmK+0bV-5yT(ur#hJh({A5@w
z&L8`NU5vd%yv00*NKWWu{rT*pMc*HBAm_4xoBM~EvpA2I^GcFas0W=A#|G81PJBOk
z)#3P072JoG!5^L;C2l_0%v^BAK_i<An#ybWhBII`kn?1{EIy$Voa$aT*$@1&1NHm6
z?2l0!=^XXn$#0FcJC3~@SMx7NejMG$d9nMa{{!5pc0_l^%f6`=MtSf8)<GuW%ZhgE
z@c|#xJeZH(%g+mb8#pJQ^=8^Qyyz_Oa_@2acK%v9dY3yf_*VU023}omo&DhSdD(Bl
z)nq4!^?UFI>y^Lq<+a|w1ET{R4W?raeFVBl-|Ws8t+#T``M+!64`Kr8f!H46hY-9Y
zJ~&Z40lWd9T*Z83SJg+pzoWK4;J2gnTVC9EG4JHlYcBci8+gBl_weqT&EV^9{(lMl
z{`uU8Y`scXV}Z?2Z<Gv=7}h2`u61^2a|}4<&UMNDN+<i0cj*Mh05_)GKCC$YsQiv2
zMsqelJh!cBNcz3is#)MH_=NU$az`9%jH1(f_|6wn)7)KJ()Q<PsexR~oZ+1Wd(7(D
zQ+6$9$e041C1a@59<{+VVt@JW_y~7`%HB~QV!HQEkB8T|56l}!-Ssxsbhk?fpNL;h
zJChl1&x7BJzUo_T+Ixx3hrs{B-Mx+EIM`Q`LDp|7tr@%c2CX5h2Bpkv?b<)R{V{6d
zW`x?;Umj|o<;!Lbysoyt1&6wG_?&tAMtoN0<+s1cZ*Q=}amEs?!Fa9gQ5J2s@y%9r
z9(-ZXA(x+axau=kv+wX*=tgL|@k3`r!n7%qf5N*6_s*#1u?GB7_tShhxX(_kX^(UF
z2y1ca&D3lZ(q?0mp|%Tp&~Nr2`qlrTO^O^@obk^^e;Vi&KU3%V%XguEZ4vujf!E4!
zvM4S4s(Q@z$dT5mL`T)BH)&4L@?CKBDe*Y#gVn;_SH$bIJBsJA;5h}Za^O(;y6;$A
z=^hh@E8+E^K<D9S_kp9u;@iV&+OtOj6EdLrXk3le$9&G`d_MW=(WqG=80+B|V@9T%
z=%<W1XCGwFx5M|`wUR(~i@{N`DQ?akmTKQrHH2JvigUb~1G+-GOR&mES~@h`yx(2Y
z@j*>Yx%a(x=~(Uy1)tkqb@S@g6B_i`zljC(WIV}s2zlR~F32I<hCQZ6`Jt70`Jwad
zy2wA-Id|s&n>I&e=aU!bTygh~mVbaJ$%5o7kcBLArkYUk`PKX`++PQuW~U;vKF&pp
z7;+JZ7P067Y0=<m^n$*T?WzB}<8QUs8o1iV;s^B0g1*x?zv3Hf%Y{R}ZC#)D-8BEZ
z#6N%6>VKCw)0Ydr{Q|IR4i*OHc?>j@{+qSRq>mv+RZi@wh14M~D@ZpEuNhk(t{vMn
zY~t9IF=LP8+Zt=9i@e{^M)x9!r_I;QxcCzMIp`~0bJX>29XZB1_MgEAqPx~$ege(K
zH%9XOAbCiiZ=%2u#a=4D7QZaU)^t7Q&&w3CR*C(hjqa%LfcL~F_iom+#Jj@s2KP-;
zzYvRlIlUw4=VajFD)?7x>Fx{~bfW!DwQ7alaO$blPs0EHdpr+fesT27x!6z5tD~!L
zd~H=IZTs%nJG~4Wx}~ZhtvOlS%J*yxNq3)y%sp&+yUs6ZJH65@a`!%$c`t*b8v0Yb
z-qj5J=*e8O>78W9<ZfU4l%3{&FmNNB2sabi3odyYjF+?X@sb_66JD<K@p6ujmumVJ
z+`>^TepLF&JiPqp3jtoFhemq`<>BSITOD4?Eo>!T8Bg8Aj(vJ%s`w9@m+*{5Pl3<D
z?F?dD;XboZdeevzZMEb94K&VOgwBLl`WAD~{8Zw*#&EieJ9%>8FE`2b_B_mbz|H6n
z@F)9`(;f1_@|}gMO(>~8u8I1q72Fq!JZT*Pe2j}mZO!5MM3qT@`ikR&k9p3c#`suZ
zsz?9#JWMUh;&^*s*vu>_i(j`1x#BFhI_VMd)^nQcJkbQ(1CMo~+jHpE|5AV00_p7J
zk<Kni7fGK}lU7$rd?_EWHgTA0`_>$a?$+HXCFDFiu%Y@cbA+i&qL(_cr?RcD`8IVe
zHuW9$QIXrM+kQFcks#+2R*y{g(9d@4U>E%1>Z6Li1L!xXBdqw0vnLv~F6HiZ{R#3c
zxE}*n^%uiF3Z@$P^3DokZR||#hQ5{ypcm&~RIAP)$Gj!qzq^xfm+=3E;Cva+7Sr2A
zyKx7DFZ%pGxIP$MFXD`+6nM^2FP`L_wHxsn%qyYME7*J4Iw!G(b)yYAcykGTufX@s
z@~@SD$^*x#TY_iXS<A3zt7)A^eNUrr-CvRvyuWwnu86MsCi6*OT`@QmO@HLmbS}@U
zKj~Zk-d>a2+BF9F`8U-sLLb%=#^?C9`)273*`A0yON6<fi*3~V&B)ryFz41$OID8@
zXG9<Jx~=#gOQDVKG^t0QJk6eaGwk5Sv$5+dpwW^D`&c>eMYc<Ri+l*x=&lTp*`V6E
z`H`BjUFh^IIyulO@<Y1OlRenN?x~^nu5&}}D}B8i(tPm)4ELYJp@DQtmh~V@6Xvvy
z^LpfubOAGY=M6^rOy+S2^9Xzi@pNuBbH(4X_R`jZ;WI*4@of&8=APhr5#M2}WG9H{
ztk0u)D1SPOJariP6)n0Sgh!NX0p3dRSTz;BML%oUODaA6ihYjqe*TQ~z$kC%YVK;d
zsAfV1X9I@F%SET*2k{Sl+Vd(h)OPzm`+=eDF0XhtzpGt*8h5vFhG)j#=bPCPa%VZP
zM=k>$wBB&?vCdW`<um<WvI~Dyn)D+U4)R0n>stu#MxaOVyK)b=e88OG!R*c7ZWA9R
z;Ys<3l7YV{*AK6VPb8Om*8yD%S@RHos5Y*K{a^SruNZS+`di>lv8n8^i)G5aZg4W;
z3E`m3d*jdGW@5ZozRRVI`wsUl_S=Q{@PElJ{4P3R7bY{G8er<T3+O}Hg=aJl<2_}c
z&MtIdL;feb@Mrj~-(DsQcd`qcn49SS%0@j)y!+@o7TAUCQR(Z@0h6$CId}yfM-AZc
z^nK`)jp%9Bx9Ho?(9!F#ab4KB?!8Ld7TUSEx`iU<l55gj@XL|AF8oH#<;QjotRM00
z)t#BlSNgOZ{5AW3i}$0*gmkQIy!`gVpX#d%{FBkNt3;oPW+OyvbR96hQjgxO&5TSx
z&)A$n;&dFmde|U&lAm-W-)UTZXZ3e-r0T-fJkGaw@U7m3@K0;Mfc}JMrF#wfh&n@T
zaj5y(P4Xw4{yoCS<y7XhlyAFcagGOa*}cU2DvySd%~<jPbY7VI)WOC6C7gFL+M9@N
zmt2|;Tr3jE<xiS+BbUTYRp&an{Lr4`QsjNWa}0Bdp}Q>KGEOh?mtvYF^e_7?e_U}6
zKA638PwN7bQ*39QYMa6)+<eGhHJ5C(dLiF0FJzr+Nb^{5lJApW`?&ajv{&lWvY6-B
zfZ+-FP4b(Yfh=LKM)L0SxsUYkyC;uj&p%QgOK~fAd$ilV7q`2;7m8zb=9yyM&E&3n
z!I$FN40Xs)pzm|&Ykd2e)Bsoi5!kbgl|?@r_TyGi51wUz>?&%_rx`QjkDTeUiv4){
z{|x@WmUCY^xXYy?X=aW^U&WxU!`JBa*#Vv|=gt9e6X0o{kD~@~)ZpW2^Rh_#vqpD+
zauC0`y9rCYchWmrbkEtqoic^qkrr3Q-XH(u<m^SB`=GPLceRPHrsMyXnA2du#6z4H
zVJg-tzb`*j`bK?yf$wczj`$`C4x+3xn2Hd2x!v7+y~f5XHQ49(BJ5oN-maV3=TsF*
z{|Y|c(kPh>?s8|nWQ4op_{&c^o|B&`o1ruHCYta+`<u+YU3w9J1%2^KEK>wutA4Vq
z|K8}?nlry6$NxgkwbZ*&xB)J;ukmwtN$Rc#=X`RUSFUyyejFA9*8R|f*TQGw^DgY6
z_P50GHEWU8s-*UuhBve}xckZ<p`G9gBb)lR55CUo9ei|kR|J2Gd&Pt^c&d*2y@ajx
zb9Y0XPF#@CK8C%__;(u2OrCXuMYdbK*D?J3>pE^Rb=QaSThTf4+a}S++<W4^@BGlr
zEKZP9iI6vdE*W_DolAKaCvJ`=r>qDk%cpZ+*3xj%(Vgg6@#PZwG-g!#>;vv9?>+{<
z7`*o`i=;i|Du+$lS|uKopFYNuPyIAB>FGXzI#;b7mU~_3=^FT_9G>hx2AyMJDz28?
zCd|aOg7GlRlcnAv_DNjCQ?MrIJABFJe1UffaFhc_;(gJ&7g#D2_@DT(J@`u6WA_dG
z0>PzRpxS)85+8;=Ar2n+4Z1vxk1gI?@*cXI{Yb$bUbW1*=l1>Do`N2^s!0=+#|Zt3
z`|08LcZMU^&`fz2&OmQ3;92!tRdWcuEABJokh`Hv;y0X^&3ykP8N9w?s^<6KFYjp4
zp0F<96-=4~dv<^^44sKL1V3~7J+SI`yY9xi-_L+kaa;%<QBHFL`a#dP=}+x02mWQi
zhVS&K+DKLsz-7S6bmG+ncUp3`l$9OX3++8<GSaWkc3S;X5NSRJSY542nfFc!^IT@?
zKH{DDY1{9YlxwVyxMNmy_>kugY>RZlcAn%h9#woKeHa3N+G~?*H0|04e8zv^^DtM-
z%XVI6Ud*T0ZJMjkw;eB=@t-k&(KEw*gwu)G+@Czi9Vx&qouOR2V)w=lWBDxt&IOm<
zFU9`fRm#txFXTJxd)bpQ=*k%Wv+ShmOe)Nn4aq0rDf|d{`_Z|RMx{ARJKZ-Icqg0Q
zz0ikA#>fi(<G3Th<^;_K^8|HIg*9V4z;QV?)ak}@Z~JU~iNY^%r{!qxhseKdsP(BQ
zvHym)3-;GufD$jtH>nZ$duls5-mC8#{PyO3d{&JK4BhaE?kK>%+juSe1AYTelPyl?
z;0ML);(g}};uqL^XA8Y<`V&1?EO&f875=yj+6ec;tMDWqOFb=qQr&{`w}sx9pg|5@
zCEw^caP~I$28y5bw`4&)rG07(pjrRkG;qBU-guIB<ld^yUckyac^1B387`f%jlEFU
zFt&8rwN{sn^0s!9Tci&Q3p%ahM}o85`!4+m9_weq+ipE&l-Gz3DYf^2gFEKZk~ZTM
z!wF{bQYA3yUdJ<-kCS!n8!7a9$Q$SLPyKApQ-;UL@2(Mk;>=Mzy$|adrwlPg`fV<E
zMJk5UZ}YhOari@~?ri!GVA&ilZa$lw;ZpR(=H~s{#-R5^=Ne*V&0)dq?(bICY3k1*
zK0vRGH)hJ!=a6^%)A;5UwaRysFD2*X)<DU5Ggs?xk^4PSv`4P42lwhPPJf5`wA<2%
zjfZ|Nm*Z&oEOV4R$S2fy!r$%lL|5tH67L(bB|O*sQO`2(`}DgM+|^?b;>=5Qh@%^x
z1)juwa0>6V(^mIWe-~f25&m;)`|7XIYs5}8#!Y$$F`w#h)b~@i?^3V(W6l)C2X4S-
zNDoYttw8>J@qe@rO*&!1<zuGq3%<9&4`s+xcet$iI{c)2+RS*#`03!gXSG{f6Mi(0
z@%Xe^d`#K2j;U^4kUOudm6xsrUz?YO)2F}Y;F-(03lmx6-lj46eUXK&*t?VG>%gWl
ztbew|)Xl+;ZuW61+bSDzF?eu1==N4#MQwecYc&5`ULTnEkNm#p@_dHA2jt7ii|)ga
z%*dw5j*NxB6)V)^|4qdI`%*`rU5^WFy!2f@O}-<V^xOJT-dVts;M)$?iKOGLPlOHH
ztxp7Pu7W?ik!f&Mjc@m8ZKll1zvNgl{PAPrGulBr$({IbGV|eFNh`CW*%okf2D&GZ
z*&hBDPsGSEp&!@8lB3eW9KQ^|iI)?|n(Szz!QJ(}-}~fLh@a|z7`J&8(dP;uXTmFY
zQCgiPy>$Llc3%+tQhi+o9j6o5E4QEcMc?vk;7!52g4oR7xdTte;K`L?Vuyd19F};G
z_`iuqG$(k+#_yK_2Q-;-AGY$_j4wP&he)QxZ?#vQZ1swCl=h3>P5q$ep*jP>sda%G
zpVunDO^me(>7uA~3A|+%!@pILv~->LuNNQbuse3NNNy!}ssXSx?r?IKoh$rn&9cP1
z-}+Ea{~d}>80G7{?w8n$zs!u&_kuw_hwP@-cMbqoIpRQS8QVLTneoNUM|`xRgt{8y
zh77TZa(k`F+tc7yYi7zFDM!?bzxPIg%Nr?|l)T5(HH~0R23WL@N_I(iGI#qlbvmxp
zJMG_nokzaN>9{ehnVTu~=(zen#hPPrblh>Kw~e{wu$#iea9>Ymw7$iBPkvYPF7<}d
zm-Ldy9HsBJmzzZ&Y)4M9A-_n7hn(N`U%tNS<~PZ&<hGvk3B-$0>1XXDXTCke6t~h>
zV{IG~P@4|kg|k<(f!r2*xAXg}^dor<d`I!!Gpq%>HDhNFFOu(Q?IC_5^hIW8%AOSi
zJ9jMF?*rb|_rK(O)i4h5ZHf0dc|h^4d7^K51G@C<&}k)n6UX<TZTXnBX`ffa@Mx{&
zWA29dx$so#ZHHgQ<DyBx!%xAx@?o{^C;v5wCo=!hS4ZtaTKrCKv*oA2sCME<XAhje
zt2pr^Y%Xzw&BGb-6Z5n9gXVpEePQg?>}xv?JWU6W<hLyzIfuZmq06Q{`LLUpWbH)S
zCD8dvbZ_R)_=M54%dif9?NXDz23sn63;w;aC$gIXO@lR(w_gU95*KGl-<*nlz+bcX
zEaa~F=X=}>v5AQi_FZsaiTv(*_E_uAga!T`?oF>$H5cFymR;Pq<sQ!A{E+n|$*tg6
z0IsDs=Wus>d}92uEs?$3gs%?nZ^u_?H}sVWlhZqcb$sw&z}!yBqxBqUCR!g2t<mM^
zgfed-G`boZmEkW+&K|F&wir4_i5sOO>^=zQU;hv35@(n3UDq529XpZfQKI86+MiAP
z4t}pNqc)^YlwK?IR)D|R(xnmf8Q<w#=6c_67z3QbpX4L@^_}&#bX=9if%bt(pGB&5
z_CjiZVjO%p@yJ2oRs15J7QcwMq-XAb8d=4cmi;ZH|AR~En_3QXol{Kwn3tq)X5A25
z4DOocLzQ!`<$0^kt8v=H3v1+KeTc4k2>kdymi4bH%;*_E;BMs{eM|pIFIMr-95A}M
zF&t@*YmE&$Rw5U<=6%~{qDQT6f{r77os`7S>gIdtRi__IybI~$Wd6+x4{4so8lmpq
zZDg(+vB8{+*4uUazHMQ?A8qw3^IR`oROU@a_q?>t$+hOhn!3e>=)HxQW(6^Y^Dh<4
z7JAdbi}bp~nbYCISt+umH6_`8#s2s~Hs+Gvmd?Hpn!=B3lozh025BfhQd08<*Ecff
zq>a;t+HVx^D7MKQP;<!=6W-7Wj+5lwC1aAk3tn_~`{Q+eE%ySue5b%~5{&PD;`Ho$
zmplE(x8ubJvTyL<$Q*Hm_<W7^y~{o5d!TCZ^iIEj(duVnaK7R1DK)h3yAAzM9aG{$
z{J4l>G1czL=PvbF(QMgRC7tWewfWj8vq(5{F*WfS-^%7nhvd-rHn)%7et<Ju!~@`E
zq~I5S3VuV3<8*L|ckJ|<v9H^`(#75y`z-Xn3{Omql*}-vIr)$*ms*^Zd&NBWCx%k|
ztsLjJNI~_<KiSd38AanBRcwXMI-lQ?Kk6Iz0k~uB>Q$XlP($8R_*MQ!{VBdJVXuz$
z34pn3FLU(TYfgseoKGzO^D}&f6S+TKKCxszdWqmE_rAgW&&SV@k0(4xHZ?!tEsO2S
zUK{wEh2Gd-i@#*=oQ&>!1+;^Ilz*x}+0_qZk)y%+C$*`cWX8EY)Z|k+-$C%FX7y>G
zRCV&2zH##B74u$<&XGMSMt6{?NZ$`U8FUZ2#OkVB>0f&CSZYi3o6eG68dbgwUQL;C
zwbHfJc~$NcM#q|>SX6gsgzb99iS)VBjNXvotV5I6r_+C<ycm5((Oby<hK_1emnd~Q
z#jrPN_A=RtQtx1F>(#v1|D{V;AbS<OYv5f3eIuPBIWh%Ri_b$=x;BP>QxhqEsp0Iq
zK8<dlw9s51Ufee#xxs9&U3e)vQ#vVAVw(4rZmwpnFA|zzPR3`eb^lMC%Ky)E|IeOo
z>Q>ATarap9hQtKk<7=zE>UyT(9~su;$l0Z*MM8FMw1RwJlw9!=;=~SYmgQ;uy_RP7
zxY90%4;96ZWx^FtMu~AUwLEE`na>kHAhW9C$rv)P{yNcPn)5nz(R%3z=IVH%)LY7&
zA7IY4WmSv0SFQP1)bs?n%RqPK&T5eZc+V4lTj5*TMd@_Ot#tW<4(<m)rV7x7()r>s
zt(C6hT(2d_L^pan!8l{!-Ga;V_4`RL$=6EFbNbz&+c{U})m&s~oAfq(wkE+?UCi}h
zzL(Bkg1*0=r*!_=;9c#AtJ6__m(Jf8pBcPZoxfl&{LF>>l5-#39OauW=o_cwi@l#Q
zCmR=o|M|2FbiZVBJF)jy{ojMwTReXsxYswW&||P~It$-)mW{uuH%0DTj;q{jL}vxI
z;CE$aQPlZOcSPYi>2u|dVo7)o+y}V^e8COz8mDs>5>q=Lt<;|7E#993&szTszOJI5
zdB_O3se6lkH?9u2#Je1OBN>t&$smh`=!(F`-$0)RS_U>g2M#pvs;&6HBTi|<R=k>p
z*JN9g-!pZh-+w@N8*|NfG1sr*C4FCirDQI&q4o4W{ON(1tS$JRm`uMbCL2Nj(o?d3
z%7ZCS>iDqGI}q64#b!wlGG4pRVOTd;IjvEi&Sr4*!RFvYUiIIBzg^-z_JXrfzqZeE
z?^irO>BUx|{{sJ9wxt^ztvESCOe1={N1Io$7waR@>Ziz^b^#mtuRA(N;CGnvbR3->
z+>d4BRdnYMiJ2vbA?}p^3cPSTx>xsoDzDLG$1m}IR%#YGSj)W+X(L(qF~7}_?YDMp
zl+AbD&u_~6roP=bj{6Q~Y<qA?x$?fbv-;}n-)}4_zYUm{A+L&uL)4sQk%w4jRC+o*
zGdNFni61v*sL#l!)8v2-KAl8|Hs)^gkif$xtd^fcTiLObWP25dF!m1^J2zXkf<vnR
z2JhU<H`Afz?1o4>nWul9PA~P|$M@Cm*+_vmADx~;{wt^MUZ-c^*YWVr66r&9y7ZlR
zJFpc_ua|nS(Qg(UtYlB9ArF?pmpAlp^`f;W#a=nSrQ#s9)43UeZaWwm2;RTX`|03d
zHvGFQ_}c|Pzvsi>b^8B1{LB6Y_&<Pl0i5~pZvyYZd%>?f@$Ir#*jVwEcp{ehVtOig
zY?>|EFY#s}>+)?*h3@uS-hJ?U$A{vJ_1E;ZJOQ4vwhn~-8sJp1s^WO9uShnJLH-rX
zZwwc*)?u1Qphr~yCZ7tKWb9GiXAAdf+lX(~Jz~t*Q^3FUB73=Y=VH2#dYlwGMKDUQ
zyvX=oKhKqV7r=A%%tt!)Z}6G)Qm5J|XTmyF4Saq!yx7g(vcD5M%qIzS?!;*56Y<T&
zg!_9l@O%^hDPwIZcJleYI@!kH@A#m<JD#Jyoo~LXoH4wO4?RWjnT$yvhmYI6rLVM{
zwL!@n@7D;w#2Vmpv^OeJPP|Z_uEJLIqDOv$UDKR9j`nlW$nR@>FF!jA&f18h^m__;
zExy6=Hs+cE_p*7j?{xX{khN9C==M-^0vfvfAp4cjGncU@E}B*XqiCA^^MKyF+S0Vx
zo5hn{^31v94jyBC&HqF27Q!CZau=Xzh2J~nKj9n2!QaIG$WO%1S~%zVaE9>fCPY%@
zPXeQK^jv(48uHbmq4Z}B_OKhAoi}gZ!rY~EwkT&M+k7zp8nLZ9A9?X}CxWBV&4-G1
z$YTfoeC}NE$#;p1Phg(|brI*9-W>Y!>%c9%<lw`fG3JU@CjBgMyZVAr-b!p`;BzeC
zz5EUFiTsW8Sudbn^@rHmE@Be#tYCKQZk*G%Iy|8V8~$zj(EOFd>LQn^oLdf_J=Ee3
ze^9uCFIQBC((G%{{lD-w>;KSDIsb37rmL8Y`LB_`Jp~?-%~OAYO}iMquHWPf2~Rm{
zY5sI8yg>{Tx(9v(-+>N~VP6u`;ih<(I(&=tFFcc|Vl4q&IeX#qmnV{oM>l^W{XGFX
zOLo4_*yY3y!pnKYgj<>0&B*;=f8iA1);zQ>t~G46t7INk#y}g>J12*Z1&7!0{1`m6
zLKpeI@_R)y#m$P9xm)$6Svw{zoOMHZ@n3$&dG{rK$EmG!hwP$cY1R#ui`BjXKGa&J
zV&qD28RJ>T+QCD>9@xys=|lbhu{f}qrC!C4-MeS_?QQr%a0mGRwA-%{1OGNIIG?*n
zfjfr$iq3VwznS^H#dkI)naEj4ji$HO$BDrvjRCe)6}5B7af)^KN<ZcZ`!R=!>V9DE
zuSIT&je7CXt$o@~jfU!;6k91KJ0h=7BfdG#z!PIO5EImi7lU?M=hJ%iO!Niuk|!Om
zb{**5oA$?!Pf|^zi_0p(-#YxRb&L0FtM~QGI(%QP^X0IsqVsFuK)zoJ-)}*w>}Pm`
z!M{KMBm5_HY8SYv!9Ehp^mekBB*y&smkx11o%}&JzmUCGc?|tb0~Xm|(O+<DeO2e(
zYCZw%wZI~t7yR-~HOByU(NA!9BI^O{zq!TnaR7UYd9J&8Uus&3J(>Szcuw_cxw)qI
zz!GTBJN@?T)qO2GTf_NJW!?w;ruQd^PiS*I&%enILWh^(Y4Q1I_@;%-HGxih2OlAc
zo#?2AhP2f?`4m4q+^?&n?yYlad_scXuNiK7JNGfi3a8h=e}^Ndo$#@IK*O5DPmo3B
zEG_Q=Ye;z%d}hgg0^X3{t{S47s3DThE?|vJdRBZWAGWq&Xmc5Q!1`|f+Udo=l>b=b
zNp^>5PSVZxS?W=g!QW-xT|Cc324!agzb~QMjZ8^ecIUtS7^MD>eRV;b3w&E8K8s~t
zyY+rM&Vg`irN3WN{-qx2s!}`tGUog_vM9O{dwy)9#p!P|=cUNA=AA1rAIF)a&h(Z|
zn}m*!+uRZ78Nj>2{J&pNbBXMk=DRZ<ioG}CgZ%k_F>n6QKd<>0d#ia40j>-2frM+F
z6L%ze1fA(67(~OEAy>$J(!9eT^$fJyj6B>2p7gvj4_~s?A^An7)Z%NIkB1~Qvunoq
zw(ozoGk%Tm8+Gj!UrPtKB6Gs8a2n7dmT+zUeQ=*oEGd6|P@f&r^GVl!zTdun_yElW
zV^(c4uFbW6o0`3YakU@F_whPhn=AY_v0*#+6IVZ3*XAO>O=vIj_3)&nttm_YmG{D@
zXlrRY<GL;4<&HdFJ``RSEq?-@MT_k`EAY!dpZm+U_xN^i<U?mK44dg{*^WhjghI%1
zi?R7g?c40cp1%Oiy3il%IP3Pc@UZ4sbnN24kKVhDJHl-3cY<7pU{Rf$bV^L?V*IUh
zigV{1Y7*E_Gu8A)kzK9rCS_xgnGkxdGfd4hHd^($*P$O${APedbBWWh{7=<`*F!(;
zWl_I&?@Nno7uBBi6Y}@0zh-O4iVxO$dZE{Hm271p`CgqL#J;3KV}#JPA>dNoo@(}D
zhC4o_7s+j0d?>!&p{}1B=?CBWo9e48Qd+IP&ZIB3)qGm{cS6S94cl=TvHoN~FEbT<
zvX4M>k`E_2D@M=6hE*-LwI%3h<&ZL8=9@|E4{CBXQd_7??de8u%jRtu(YA^DsA}{*
zaD7EI9-P;UeTm!-HLBRS_SQX|%TqI!cC%f(*dE%|A4a=bet&y7KP+_!?a-(4Q#Fq$
zHQmzfsx=j^Qp6`Y`jKv2ere5E(LDwpY9gT#8SGGY|1;Yz0w?I(_C~W;v;60~x6FIZ
z$_hTT{Lq`wyT+6>3&*witMW%Kd~O^*$dKlF{N{2bWnLvTl0WJEtTEnv)$n0klrxzu
zeLT<2N9Xd~ivQe?ue|ekzC?fh_~{uqOXU!~5Ac!qzC!Qw<{#tiq0cs)*0!np^fp6%
zi{V}X;X`uh)(Z<g(O9%S0o;hr-IIhL@P)4<{9JcH&DeFbxPJjWrA%nVIl|NJXS8Xp
zVwA<x5R0b?+k_{b3+nK660pcmS3UB&S?nW&=MrXA^L)-_70#}E?gVgF-h4FeoL^q*
z{e`@*ThCU0dW<&@oORz0Jj<{FejU#i?9>px*?JnWQp8lpv76#E$%xArlzV4T+oksr
z#+h`GSzcep@8m;OFH?^_S3V*XGRwR1yMo`&z)z{CeF4AK^!1Uxr49b}yV$KR<{|zu
zNt6Cg8TS?fr|jvMo&y)qbF6)i_71a8&bQEWhJ!0rwEO*Y^@V0!um}Eq;>Hm1q5R$A
zh+FS2i%?^vy%Owy-h^!Sek<O)H*)8EI?k2BCl#*?wnxbyscnYyglm|)^c!-Xmm4ql
zCc|g?&HB^mq*=^Eea*FJSW)9h+%p|LqV+-1OE{EImSUYQOx{;IavJ+PE@i(*2>f)T
z_cvMG;A0{W$uRm9|7Y=V)Bg08ZY<@CH}T%EJ`?49o>$TPJ?Ks8=mPqPaISOLnWyx|
zp8k4o)lDu}(L`VMz+VacmH5%qwD%m^Mg6-fqyGMf4C}UPE4j?k$5HUbU5xcOxZDX|
z^0tEa3E<u0(^9^OVT^EuvpP9*>ki;G@(<4^hSB^>@l(!~f584`U>ARVQT>#Xd*V*i
z@ZRRw`5K#f)G)^<8CUIUm}4<ECj%b-KGyk$q1W-TX(znLo<6x({JU6r0%SPINqiZ9
z=0I>Gc@N%wiFZTw4qY0&JCt|Z^ey^hE^)%A{C^WNzaAT~ZvStz<t9bae;<7+{xH4;
zvi`*#eJ$TrAMj%Z_V$N-6Y$*Wd>fpR^g1w!{*Jfc1$;R1fq39XzTYyH{8wK47i{}d
z+B<vsNYQ}(xu5nia4XyiZ-3w%v4<E}=Z6TVgYOj9{;5dRq$QV?{6DaNvf-b}=dgal
z<NbB-+G{Ahk28fYsjbduk{wq2CE=l;h<9_}GS+W6gEPie8*k5aU@dLcXtR7f@#l5O
zP0uo&a}rKpPb|8K*i*W>VI=ftpZKC1#w-@SChTQioxgS7oh6Ot)w+U3%~$PL)I6Vj
z@22LVZQF<^<<IH6NMza;?S0X2`tGyahqi5^pHKZZiIK{k3Rmo}ohiA~{$I`&ym3d%
zjU$!+D)yR&*N(k#WN2*T@bFmK^keufi|tMhHNDx>cn;?|$?26&&Uga1yR^R{?BF)?
z2Aj}P(`{W$sdr%j7rK383$RbZhZ=F<*cSu%u;X(ZO?ngfU&MN%#fATk;M;`H#XT5f
zH!`PZ{BJt(gXVFz;woY`r^AcAXZz>I{R6<Cq{ditOCV#K(|l@+8}>Kt^U13<6!I+L
zS!&w1EZF^AV}1?0(K%7*0OahfU=LJ1XG#etfqZBV-@SQ9%PR32^OsGMJ-aGW_|oNl
zecZD)^phU|Z|?}RT>I<i(@r!GXeQd<=+7^U{}9mZ7CSFjOZ76aQqR_#fG)~=C7??n
zH^1}e0lh8F64ZMHG)sLtV8h1&V+&*J>=vCLC4L^Qebngq1Tq)JmrRUuzNF;U?VWaK
zq=?r7Ud@O5T;LYG;z_+vZ0)N%&%*8YKr8{a)$o{LeIA+)@LGxYQ+~@uri|?#an{(?
z+^y6Zh6e*)`)~m6p}>6!a0f69=J#U<!H{{cuTE#&eg-W9d6TSVk->!I?gq2?r^C&w
zqqfbvv#hUX;e<$8^R@epVt=&gR_aw-_~j22dxzQoyBgVU{?;CP+3V)f#PU9@xjmdk
zk%N!q|IA^pTp4nWo@ft^*u5O(@JS~i_x}m}`8@VKc1rzh`Mht1`l#Q-8I?8kv4y$L
zVXj4c@R>XDYt^UvYo!Khcd{L$-I50L$r&H@)vZNNg(I8OV9nj}YKeCUw0u2W_!99g
zvRCSLV2_2r24rv5ex@CMZ(qfoS`EnFsuFB6-_D07A>uOWB;i(gt-Zc%@whzP#`4Z@
zTj1ls!khR02HxvDTFs>by&cG<@Hm^_xYu<jTwck$zsQ~qYJVB;e>14<MZ8mOx!MN(
zHt_Cg-UT}TQpv8h7f)Dwq4%4)gG%*n_pwjP+5!Hy`=qFq*Bv#AEp@hS6?snC6WzTQ
z332uyc133c2`9o$4`T_(_8bA?=XUbj`Yi{(`F&)RbNX^&)85nM&Ty3f{}DP+=ftQk
zksM(=x_rF8k)L}UHdMK)Bz{B+|3UdN;WM;{^H*Z*dsbf-@BDvve3HUGXq=_s!=77>
z9mz0`^h(sfS8MPYo}bVCgN;`eL&TV`a6Ftj_m9W@EqbTl3V8pXXu%w7@U3(<{<-)j
z(mnMfSTDW@8j+h?O|6RBlr+qrBHwc!Yk+G<&M!X>8~v1MC0&I+j)MDb*kk1eC-8rG
zy1Ey9SlnUDv|p|poQW^9VfNbqqs74<&a{yn1u_-eL%Vu@(|P&I3khd8Hi^!rTDb~0
zckUJ=HYhV?4@b#QvFE708(k6x4?~dY8vMRm@}R7h&rl3vW;7hneSFn%?o$_iQoK{V
z@HY5SzjmJdt+=!S9O$lcjnk$l^Q!T2|FG=8uM_fR?|$A3-XB_csRIKi*Yj?f{-(Xo
z?iM{BgugzY`+$`L>nFkYLpaM&{4T%UP}A`Mba?mA?tV=xEBMl%k@u1>wGIB?4*#q6
z>OS!(^JYFXgZ+X@aFQf<m%m@Ik-Z|&c*ck95o{=Q`vsf%e}a7@+8bi9-4#!onR`R?
zn9Cu(Vz>|E8`zZ`@MRxky&FCeZk0=#NA4v7{u&rddj@aRzRK<)>CH{rb6wb<8+CgI
zsjq@|UAzz3yl9bE`H+**jt+2%UVE0O_6y?ozfya}*X+61|GZ~V`%sH)A0zp`Oy@uT
z8Tkb+$xp}MLMx)+JYRmCeSXWzPYp3<&+3A77C5B?q;s~i7nI=gm9Cph+gjlR!J@N)
zL_3}P)IeTq7JI)cy}lOlzhVB`k35kYO3gpY{2AMx-O+33KFWKTe!3r1E|>Xg?_hKc
zYZXQP`vxzubEn-pjaTl?vp6XA9^`NN9L?~FaIXH86A`|1O{RA;HFsI+BPza4z3-)=
zy2ljf@H=&A>3R!i$ev%)Jby>a-&gBf&NV0@p8^ci_p2RSn;E0C1lPP<G;!>@eazTD
zKwI12>1L*B4%L;TE4OnlaQ5<=_Qc~M^daXCSlC8;=kOG4;$>pbnP;#Dx~MCX7R`mj
zZOewFN6|NXVW#LVr;*a3;7M}ZwGv!Bh%dI%^q#E#G>186X2<wYT^2lvU$nL;U$uwx
zQL#zsO4d9AyZO!>$1CG4Eal!YJjM4(_?~kvW_)mjsk;|C$amiapPm#M(|oTPLtbc%
zHwGK3F^IYCc|F^o;NCPJ28~;Bh2*B(;~c-b`=tkV0dpzs*D~)EV~CFATbfV#mEa@Z
z;qO1NPhN71-m`Vj_2kcT%yA-TdYZdJbxnWkYbhpwptw}{5>6)37yQ`X$hv!MpYe-T
z$N85ZV()1a$JSIJ&wDQm)zwgwtTD9C5YxI9>$_*!b$`VyCElj}wO+#hxs{GS_B=1~
zGyeqdd#fYq2yw4qu3dhLh5x;CS;MDhwQDx#!vC6kwHPxBEE@BOb3%2Mnr9<&LM&37
zaO<Lv09$`MYUyvA7-C;dL0bGRI}%G)rZ>|jLti23Bla#_HX&4}`MNgTdC^gs{*X4}
zYr)suNG?-30^rx46Y<+-a!Om9ShK{&Y$hMP^?YN`XZRjG&^0N}*(j{-o*VD|J97Fi
zbXyP4tYduPXzEt+3HRQ-<@luyoMdMcH&y`yFvSiGjmvdYJBoiH`HG!>ij7Ar@Jrwi
zJAYe)GBw`2l$suWTTJ{L60JDrq4)rDxbwB{SngfQJhHTt&)%uF;^{^3l57g_scxbY
znw>-bLbf!6UKPCzyrADiv+vMHhw#PN(%-`l3e|<6xAMhtd+(E(v4Q?7v19r+f<0eD
zKJYJm(@M@=IjIbCUwOUTgCSTl#LsV}WY1ho8)uAFwAXmzH+bm4ngV=G;pTh?=TpEW
z`4CRjr*b~I(~PB~&a{fvRW8=KRs;JSsSzjd{^en&XzpRkeHVMbW1I%^RW{zjR(7$+
z@%97UdcNc$dpT!|XQ&yZ&P%zg#3sdX!owKv{R7RSBs$!XugQMke1jlYoDHKR_%;-G
zc?;DC2v?_)`^t?twJpe1UB{gDo7TF6994s#qw0{J9+aa>aGuUK)<tv=m%hm|_YnM`
zoK+Kkqkj8Cp3IAnB}3nMM7dCWOU4q<eflW$M88o}-mdY)2g;*r&tm4PP+cSPtv#cn
zU+q2zFIJ7g!^p4b(ehVh0iAj#ezs(FBXXfWHO`TP#(7iY0HbV|=&5t@WEW&-R)>u}
z3#Ezv)Njf@sat>B@ruT7g-=xbn&91Qd@njD;33(KfphQJvjbhP3Kze$j@W2Au~9d<
zR>dFzKh<7eu(<Ysj<>M+r`3`(PHuCt`^#sC>XwIx0>8VzAq?+7h+OE-^Q>fod4+gK
z4kLZ8|DJlFI?aDSfBw$i>8z|#76*%&v(??;R=VlsVNRc5r>vbB%^ddML+lnB9vY|b
zWmC?>rpV7{pTUT}p~)GS4u!86XAJn*OdI`QIC>hKu<pQlIHBfyBc-R^yO%kukT#oW
zV|g3=&ZphIBTig=$q$6@VsBA+40gB3`(-kaJI*X7j#u93e)2}k$QwPtZ|kat!b5S+
z6Pw3xp|L5&^6-x2Ki4}D%NOD+>Fh)|9{b|ZXTsBSta;uApQNz6IqaNx@-F03`b}`u
zBZED_DgG3`H)HD-QFHX*{n9zEwp>0<^K{_$$L$;)+HI`TSsofE9WObRzob65SX)e8
z%(LhZ{3PKt6PK@0>Yc$m!FdmGF3f{-A$1_)%L%}jf%o*yMqm^CqU%2@LfpscV7?w$
zHRcN1rPxy{{bsO1D^%Og9KT2(Zv95`SLpql=ECzx#?CSKD7wbN^f~by@LAm8dzA6}
z3UqjKK6JGH8+8NI2l*e%hNKI~-3NY0C%RUBmujxypx8c3y+WRvXJR+=?1L|MHP4@v
zi|54O*gNLA)Su%fZ0#m&Z5*6wu5tXykLW{Z7dbss=zYPT=cZ?No@X=+?r-<~+QppX
z#qXQ3lR9HXu#1OA!+WkT#{;v_mHKTnd^X^JF&6WGjy14g{#ut)yEo`laR0?Vsn4{}
zV((R+!owH9gJO<;zGUo0%t7BgEgA87auYP))IB6U8F=(g{;`FNaUZbbD)(CAHQI5D
zymmWIq4$J8PQf0=S?Z4?JEn7Bg0b%L`%tY`7j+LQYJDeZ-pJRUWa;1i{uYHJTCcHv
zN}g__zb2c1EwuJs{cXCvwC&S*J6be`%kgpF%4g)9`7OtohxvGxk85oQ^Sv|=&xiSV
z{*i^X+?(sq_XTPmc8AyR?*gx%H1@T4%uDj)bV8|j!eydixhLIvoc;eOZ#+-&UfkEK
zhwor*3i`<h?OM%xGIZ1V5vtp}?HA$)op<5n^H}^|Y@C%bQws0l>#To6W3b0#7xwac
zzPEGs?d73-uXsSYEO+Kxk+&Y$)>RFmo+RG>N90d9G{5H#$kRBR6Mo1w*0f_cXT<7K
z=f&_}o_G^|tlxOQ1pnVVF;pl2`mP(sFIL^E^<VjJ5qf_qv73Ae+1;0^HPSZ~rf9|p
z>Oy6=qrw4yUrNq=G<Ik{c+mU<_!jZqdSF`zPL(6S&xbGmBHtfV(~ckeXck!Hzv3Uw
zFm=iEy3oxb;EV@;{K=s@+36sjlWk<*JMnmEMtvq_?}Pms{3DqNaUX1o`(Q)d2OCR_
zIy%ICup1dC#~4Y*pBLtSj-x_#SKkm{DBCw5Iturx;mLNLJx-lr^NOL=?uecRq2}1d
zjdNZafq%;Psxiljt5ZMve>HQK4t6=+LhtPv1G4{L`|u4kfAeX{{wQxPPsw@}Jh>;i
z=@5@GkHK>DB;W5!ZVqPN;*UUXGJiI8ZSe7~;;<F;q4TWzSoc<ZA=yZNAyg+C+=Wd{
zqI0D0>>jYW&b|=aKdSin9^gu13mq@A)<Yby86Wo!>{-5U(40>sezr0{k8`~2{0qIi
zdB%wUt$#x-KE1(TL)^~(Y}SC(2XyV<|27gI65IBbY%k}+!VCVm)v}Xw(Faz?O4g9E
zZR};%xIbbH;J0nmm%h0`KE*uI*pH)uNpbX*wAI-+s=3klx<6BWUn5#u*($a5soJBn
zQM`rBh6`%OA_u1_et%hODBwoA!p38b1!?U~>1*Dr?W82<p%Eih5Elip$sgbwV%lEG
zdko$k^StX*etFkK)vHi<G%VRJy`z0CQO-)t-fntN5dNC@4w#SA{IE@$OL>3;V4ih@
zoBvnUmcM6!f9gbL96?Uc-!EcuatQMX?$N!Hyqb6>o??#`d@mk7!vFq!|NFz?Z}lg7
zYMtN^{mvY8c3>5G!S0DB4=0fszo0HddAiva9_qi<9^97d$-Mu--a*Mg12wq9;SpZn
zPC1a?Wkb@``K=M&#GAAC8g2bT<s`IUsdS&xW;SwS7rBE7S(BW|AM3%c{1$$3e+Rh`
z;@tllkjI}>w<5f4dWv>@^C{0D2ckVtw-FBswiA8W&bZ&nw&-E?&g7wK?#{G+^Swu=
zrl_7edyKLBL<K_<|4Q=nwBX|Jb;He~b@)k|$9(9$fZwJu=by0NFF*d&M^g44<|<-<
zL*VZudZyxv(99@tZZ0x}GuuNm4#&TDHLRn&f5+#LA0FtMj!WHHFoCbpV2YX*8#FSW
zYKUvefp#^A+7te~AGh<SKFFW{Z}R4^9MDUgfv@?i-u|29Nv4HDGhSw0^84JCoisz6
zn=k(UoOv@tGwXj!ev`B1wHBheNpDDJDE89)?_mD<dP4rne_)>-oJHQ9z`fS@LpJe^
z{1@p^;Ya!QB>VE_!9T$|@=df4=6I`>%|frq&Ve|Or(pgQFbfv-BbgVy<Od3#fAe*6
z1e{m$Pki3z%gao@S58LuN;Xe6E<>I&-(G+7m-y4zImLTfVw)WP^j2aU#e6-`ypR2<
z9mv^T=O~UZ_wci)+;xs=zbo%-nbRx`s#kXV3eZhc8jxS<H(>PR_!4h3bt{Uq)Mv`>
zKP>eA>o4Lb_EP`I&2=Gjy%+m)!5uaSZ*}-(pBQV0CeW|yWR*kAp^r5Gt>n6`?!-SX
z_HiM8mG0BLFY9%3aU{6NfQuma^h@AU-bOhKa}wufooB|+&5@Tw4+y``KX&(NZv-~k
zQqfYd!ryDY#=C%q#d$O=^JzHJr{MwiIm)|JI!9|JcHW$K%=gkcN5A9deKzwR9OI9N
zR?aTCT*5o@wd7C02fK^$e{Au|xiR)x;vLP}t9a<Ee*ePB=BgoS@w4&>W9%66wcHrL
zV~i|vt#QTM;#tK@YwUcTkN4M0#6!*({~LNheXjkj^iHAox_xr44dZLv3dW^w=uz2Y
z&9CPRlY7m(rcPt)JL#WoZJMX@yAFo?fnhr^h$oZOzokYXhkk9<z0_9e>=479NRkK9
zO8WGETZ<9Iu%r6-UTns$tZxdnue&+aK2|uF4+R{fnNtxkocPL#EJKfORy{-(-4)RE
zapt(F)})uR<{HSS^v%h(hOE%Lhk5Folx&Fl#Fy*5ZujeYxogch`I+_{6mrRur3xQM
zYuRrSg{S*;?$-=_7h>Ma?lyJuOQd_;dB;WE>s*lDk9|@>-Q8DYx3Cp4zWoihPy7}8
zlX5Ag-dnznx&k;whi4e03pxm2!5&L@_Kc%}^6x!1w$+*V%DcIo^3qQH7~o0#RsD|g
zF0k}1_a52XEK<J@(y!%PXrXUJ*PAUp2XbIv5#Pca^3^|M&ZlC7^7UB{vMPPngRdf)
zuJYw+K&O>@FG9P;#QWm06M;eTNl&Bj!<s-48+RBR8_RATN*{xDUp;U+-RE)@BgE^(
z#@hQVy%2^kc2!p!zuMIO3_B3SP1~0Z;VvWga9H~+d#ttmG2Z7kckAZ)Tk^W1x8U91
z$JxI2S?Z0@^F(rh+UIzscuqAF#a=Idz!vyU{aXK$cwI5&C+)Ofj2?$ZAMt<fjnKNP
z=)6EYa13k2+xlGYf_BQE#;|SL53ccle{r9^vm?pg2=vDtTB}ukbun?Pd_}>*>SrCk
z@EtwSal*pMz00rz4N>$WYhp{M4D5LvyeFpPEY1z4pLsfyU3*68!z9U*LW2@;v=!ST
zzBrFO@Yk7}<m)_Jx9IL+eGWXS-W&PB2XwGUPZO^ddTsc&%DJg-Omk8^#{Cd=F?`Ca
zkj<zcKfSM9FLSjuL$t9uU*hV|=TdLVw>FOBn@=j7Po6;cZ)M*09uwLN|N9|7diNJU
zMs@MAaxtv^z|+ZxfgPPB9uD-5^>g9p&AzV6U_S-#a^HR`C$*CNW+vNb{Z!%MQ+zi0
zF@c|R6SN6r<5px!^KKHofhomP-^b7~n-qIaiMMYTjnD&vAuhja3U_(fxT92SiFd@Z
zvGjKM=I-m6PnBXfrxP#hABQuK;G>b?y%QOdKIj7eRbj*2M%mwT;=|WuH_N@x?6Z*j
zCw8<vMSGhUMkm*!lhx1FzFwvl6&(sc<1194k2CBI&7ya^(7R6GINKq8DxECZxZ36&
z#rx&n$FFO=QQljOw=z6>Lx?#iS4Glqk~<Kb;$8VL*dpu480dM|T7T~s@Z(R~^;YE~
z4?>Tr&)-|vOTD9jUApRe_O|5b9fhAD_gJ1Ucg!ouKaS+ve!oFE<}2|dp@HzP?@Kv<
zTkF2#(7~FwYzzL+8lB-1fp5&k^;>kFj(AS`Mf-y;WPgn8t6(hf_XsH$p|$V>pxdru
z+aB=s`I7^%EFsQ+7{0$!{ycDLkFxae8JvR_OBl-^3mD(=fWy7~GVya0I9x|gs#v*H
zpLesq@7L|~ZdUnJWLW3N8)Q6=A21sJ5|3?X4J4Kwlb*YJjEfzJw{?FScb&Jhx8x3E
z4oYVybFR}u)84m?f81rz_n5)n%7+pxW3+#7WGC>viJo4!TJ}>lOl}|i#=?@e>#V<F
zswEFO`hS+WOV8bl|ERrk@iR=FzSkP|VaV={oR2A)s?<C9SKn=i&jQ<jCvDuBj;yQG
z*BjfYKb**ZINF!~3*XPDO~{_#L)?XpzK1??GqCw5nsI~Yv}`wX`g;DHz}2nv@e=w*
z`4WQ-5>K^|pNZ8)7vBZ#*qgK=O2$Yu90h(30DtTDb9=5ezglS0!yMNkXWhuz`s;wH
z>gyA9R#N><)TqNV6OhZkF#4VIVb<d#={r9cVfW|h`v6Bj!)Gv`_Z??xn24r3(V?&K
zPWu7!Ycsm}=C?~EW8~MFgJkP|_G{^Rt@e|RsA<<dOY$AxgNFovExPzU-yXe({mD_Q
zHTfcPeaMp2f1J%jj;xFJ@<l#iUEaz+GQP~0|9as`^50?7^^z@gz#{ao^&6YeWAv}{
z`|a8N*pn(lU+}{7Yn(n<ZJ(Sw3e4Jbm<5I}^8YaLnrIm0RtkYNI~ktLxO%W@#HKF)
zROode$D{cs$SIWZ{|(4s2~Y8F5zqX-jQYaIknQe!0{SqH<i5*~(T3@}CVmH}J@$9E
z_UrsN@=D*e^K){5f4H4C)StKKSSPI@-j0^lUY9sTd5{74yWs=nDKyqMu%V7``JL}S
z)EInQKT`E<#B=DKzw_?5%pp6AI&}OH`JL|}qswHkmnasHufh4IoNX_e>RrvfnR{t}
zuHKLG&W4U|eCcxTKWwvS9<C98a?b$kmIt(Ds|wOLqT9HCtvWl~`ODH<${T5&d_Aze
zOs&FtVAJmrXkB%P+XJ#vxdME1>DPMbuX^)P-aZihzPo)O>bDUbbiu>wTk|tXlm0sU
zK~mp$Jp7<=$~^A3&(Yp8J)wUq&kL~`5!RhU_(Jm-r<(J_Ld>g+e$(g#D;s{l(<AZT
z>F`{`F!Uh2*$ppW%osU%yc^z>&y~oSwEUg=B788~Xs<*qc6=JRc(0IsE}Yk`eG2nO
znq#}%y7L`|?`nXdF=BevZ;bZZub`L%JlOTQ%+P<Xu?`LG8?UkDlWG5g`gt81R5Pan
ze@;u7(>J-hLv#8r^U)f)e6$;xi^jT;F|VTr{8-HcUn$CWiv<TTXkW<P$WBnNFxBF-
z$h+j{$Tf5h{2IkgpQ$zp9y%SIHlXuXAk*Se`JS!6U|%Br%C~v}8QsJ<smeGtm)a9&
zcDrA>1D=rYxrDua@;xno)XL{B@!s;sD?`rYKe7(6Ax0bZouthV5AyS~`{FwaN4$^S
zF}e3P@FP7olf9dgkEnP-{7QU~`|llg9doqaO=2IFp6AAUfB7nNqs@2xKC}3!s-3uS
zDE=HY6dtGezoppAX~*Ne>PxQh$2*(xf;}D6uoJ{!;7>7jske=}h-U=j-QZ5`#DC(0
zI<@urPcenwPZ;LvD)e6C>)v(oS`2=X%$@oV&ai_wzd{{=`11SwUP=9f_^@(&!7cYu
z|M)%Ly*FuSdM{+{cl%N&I(g`X?T1CKeZM8tUVt4MdPMyAztjGK`o3}VLPKYy!0jpA
z^Z0l2eeb|i@6zw@F23man=Y=J^CA4z6&YR~M#tFmcd#q+3E3YuK|HaQ+PV+WC&Hy{
z_(aYQkvw)jzN6(u{9eUFVd_^y;pCb+^y!hTF-Sf;f$fXT|9`Um3u%*YyC0@s+3pne
zy3$+u{>XCt<X!nA=P)jIrdsgk@N4d&kH5kDk*M4MvJN=KBL~U;VT1I4VwRcvzPQ8X
znJ%uM^Hq2eI?_kEw`d6SRXg<Dn2Td`P7%L-3%?9IpJMNa^lXxIyK~s~ko@}SLEK+}
zKh5~F;2GT)q_*)2cx{<!ZwD6f<Z$ugaq-?i&2fCZa<k-9dbz|awf2wv6>Y@hPx4!>
z37uAd0OvA5JH<Kcu+6I5_yC`4J$0Xdq@NG4H_GR(r*=hjTu1-6lh+YHzRi5)8)j)Q
z|8KC*r@5|w#jpEft_6%C|3i2T^X!Bd+__+-ZPzldWN3@^KT_;3Gnp@>$(NO`zM!vV
z0eJ@b5t0Y_unoK`LXXKeP%f|w7}clFK^izKytFL?{JF-HC!`YO_K@=;d?Q;gNsJV|
zZp(4mhq0sNrm{)!$o~~vRmh+IF>!fQ+^$#1rfJNdi3e;Pj+`x2trYbl{Hp<nF=O1i
z$p!TD7_eN8eO<=c$>*7I$^(a)kNUa(TJe#1uGHJKp|tIX;sf3f6;JxHTIfRAe6`^W
z0d&aU!LjV&x<=K*71;c5V~6wcbylO=N}e_^bG32mPv_DLzuQh6sFUknSlU*$6q%>3
zYUNZTmqX?T*U8=bv2^t)Z#Hy0UVKSg;YD>71>pT-;OT;HTHBrjPR@c3ip|tU^Qw)8
z?0RY&H3<cLKcC-PMf0$70|n{Y1h9jX7Gj~^Zq}Wl`#SVnH~L<45!@QT4?lYy{#y^R
z%IgJoUt6_k{M3paEyrEdH|_~&pK|?vY%;NQ7qPec)?EyhyXiCNuOqL&2kEb6rWwDh
zeB06gDO$K(%h~7=%`e87Yw@w<6K1COS^wP8uH2i>xK5{(d*kJgTRM*NZUYyA9Nune
zKFYh5aW$Wt?UVE9;nf4>hap$ecQwd&8GRfkoiYvFgw4nEsnd?d4@yfnEEqvP06ii9
zKhO=AK@Y(d{g$bV3OB@Fzd>J4g$9CMd*P>2ZzH&Fo$c~y??#5C>$%5pI<dub`%E0$
z$z6tV@ipH_HqJ18b;rPOlI7sr>-=xmHx7JzAK$j-e@lI9{f-@VG5A6BoQmvg+!_A2
z3F47P@&OtrJA<_x_O-0z?y&Az+#xoboGtTqJSF)n^;kn(bN#)2E&K7l7M-JbsSCZs
zol5_tcixrVKrg%}yD9mdWO{$Vw-ba*-e>uH8|%nZ(SeGsB%^{+Iex`0KL_tE=p6Bw
z-fJw?KWlwN=d6p~6PQOUzl+{o%%z*TM45~3K<i>I242*BqU1C+r!MC7q4=OlefsOQ
zO~&TnhQb5VWqPl<g@8%AYyo)B*JsPoA8JPpXmtV_Re<BnchEW1WQ%_j3wMmu+J|_}
z?SUy`KPhwNx7dB+LDg!w{O3y#Am=ylod0xpR#drj1@I9#Q*A?nH9OUEix%o9I|*E&
zS1RzwosTlc+eCcx2j(W5){XC?{T>>JGqLewMtj>I=Ke0}K714_AGA~6RPp?;$niKi
zDe*2--3mBZwcN>Cho1Nniuqf~cgVJ#^=Hls+a$Y&j%1Bo`4_E|a~Npvm$lEG_rKx0
zIC{y+Vv+aJVx5x(UUq@|2kls+ZSEk4UYq92P)%5QdiK=wZhpip+K>L^=jHHKZjrr(
zS016?uDRUfOZ?7RzwIYOvl^ZMd%z)!wN5#Wyc9A~cVLLKOW_BdQPdGLb;q!Nxv;Nq
zTo(Piy<7YGxxWT{2*%A-1?l0$RNeE?`S9KPsj71Uj&p0;r5jZnqH}e|VW&BRX~cT;
z<oD1`${T5KT{m+)6gbx7<0N=K|J)(Xjqsq(I#B)UB<O$(*Q~mMDt@ozJOG{LRLhwO
zC-K`l@NI4C6QWhIw+Wl0{8Df8fo<FH)wnl`*iY+yMcz58#o#GhwGlsm`(>hEkvGNS
zwAlN$kJ~ftbBuR7&uy|P_;glon6v82j?CkM4Ym*Jk!ky>^<U6q=spvTrGJ53c4|*H
zb^%=2y(U@Yp~BDq1v$3$Lpisk$*q?b^q<2+?FTuw<B;3@e8$btP&{*pg|XPH;wk^=
zij6*xF;{C#sd>@+OL;Gwcr7@WuGLu`*prXtpV)IskcHXR_#5a;^}Dadk+bIqfIGb#
zZpSM3hVkTXi_#O&En}c<8+~tw{(@aPr?=77Y6bS?kIY|kCtds_pHE|df=}`Flf+7*
zmwuD}D85GaM}HT3A5xDJ$k>0w%X;_zW0I9(@9*|m?p@;dmtl=kcVvnugTBJ*3ti#l
z$(>KHyB+(`bvbn01MrP}5aG#<Q{;V4jwrBsbC6l-(S|?qgfElSSIh5yfw5mE){t)y
z>KKa-F7!6!!TOvJ>$9}e9%t!PzHMGh-se8(jvqWyzNglchN9a``MnhwY#oK~Z&ZM@
zt>AOO$0)b@T(D}qz$bVr9QYXJ-crVU;!AG-6!yWcJ8O&vXcc7))iMf>+n}xB(4PAg
zzrV=uOZi(eAiE}+$3JXdh2JIlRGb?-%#0Vmh`yFz&|95+qcsltMCa(7H|!*J#e%OG
zoW-z3#Ie;{2bjm*t%;@a>kfZyhpqDxKg_pd_Sboxr8=)kj33l^QGC>2<8|4qJ8X@Y
z`XT@Gs`}cOeEW^arSyQtAC3%8L&yFNx(Uvd?Vp-P%?ZElXlUf#4b&D?GS~Z9gRhs|
z;KLAeQ||$->HoG{cl6ib310Q1amah0r5Zf-`47Gg>hJcsWrwZ5Qy;7qyc+a#25?RQ
zF5xANTt5U~b}<(G4lPSP>0jw#ox%PCcv9_-f|gDe@n7MEL($za`Qy?l$%=Ff?Q*k{
zoG+{U#Qb^~WJr2r61G@;BHmt)TucA7f(y})_iIGIgBi1m@nRQG-y#|&prPhh$(({*
z|9}o6$Bhmu5!}EQ?05VAJ&x7|z$!Tj+b4CRJf(Ba_*A;c$?|LU+_4D`x-Mcp3_p?e
z@%AwOpw1kZe<+_&aijdjSYjY<T#tV#eU;!Y(YWx1Z}=tRxH#uJY8}Y1rvyDZ<AtYp
z)cp;;8~A{RdYO0uIjw^6i{tS8+rL59fk%1GV&=)-54*oI4BorQM;Y)k1OqdM`~csk
zr?Ib4`zu>7O&qWIw}$+}lD*7VQkK^_KLMQTy>QPuYPEEd;;p^$r5}+W$Nz248hXT_
z$N9`-!a-)d&GiDe?lB8=j_OinA4M~*=k@uy@wdoH1^Vx7=^$`F@n!ZV(0|}B>08OI
z{H3+6YERx9{TuiYw&oST@kjVk`d)rbgmEhM4|)#vrFL3N#$K-^2i1WuC3&)b?W6%e
zDs_(HSM;heQ&Q)Un+)zXf#+r+Yn$<(RGT8-N<P+re>J9BYiYj)hl72q@7Ub9vpXe{
zEnvP3+DT3>)zkV_#T#PstLVG)svRv4AsaSc1=qsGD_2W))JLhe^|jKrRUsFzp2zof
z#1)#yrby9C`n?rD$$*EWc`w{aK191)(IFx7bXsSW{}X-F)t<#NZhd^iAAt=SUI{Js
z6x00@y65X~(O7c|^!I7Nh8~80%Dtn3uZ44yq?;$uPIW^)+~Fi0{t0?czO}v$eC-9q
zDEWT&Tg-#C<LYYgp*hwwH_h<{@UfK`O>m0tUHD$IH&&N)>>Pupc7k^xt_|R=0ABC}
zyoJ<LhpLAFvvhKnb6d0I@silHu10dMdzNwTo*a<z5Aki38^S+oPaWD<S0lK?+~b=)
zD6ROiQ+tH4+sc7xPnG<p4Ces`ev|g;ir)w8s}JCfe0_Do&m2F!`D>@I*4iig-k_!Q
zRqT_U<yJA(4}h&uwjMl&;IFH}<%8f-`)n_Tf3?2s<MI^)E=4!hdNr`tT#Id)8wocb
z?&Gv^FML$!oX-Q>$P>J10-Tn6)P_|*3S8oWX}Y5eyo&zH?TR;_2Nt)s74kxHlaBMR
z5nYJB>YYRm|JsD(W5YLL<>}FF<mtcCf!+$ceCb)??U7s9^E$p3f2JccZEaL-{n&l%
zH9NTX^;viR%?Q?%kqJY7Ut=lnzY2dX=r1~G{~5XMahwBT>xydja5hGW-!_7u&*!eP
zdzf{uiD;~R|6k$Zpbys5$E%%SQ`;Km9|Au8z7;(5!|CrahaW9Y66DI+&qQ50>l&O#
zF)o4KXN-EzM~N~A^!tIzmklEqpDgDLlydTxClGg>VA{3MI)KZc-+{pyP<v`C|KMMR
z=K$bI>MR%FG2j(FWAow@wVnb@_4;io_|}?=F~{b^6r+8N_G)`7`Rm}f8LyGcg&r~H
z7Mxe}5jYwQm*}|(9)maf_vF4n{X_h=_}CCNq>XluW@Lt4<3gsSFHWDu`Um_N*w#tU
zao;WD#Idgp_=(a5SCJ1EEbzv)0sd;RY5Gll#OV8kynX~5^F|-RyUgVl-~X7#nb;Zr
zuRNvXMDsa(){au~srY^!XB`;6OR|=xX9K)H1pZz6TxIhi{H;3edg@h|@%>W0=kF)4
z;(Pc@zlYHw!S8W?SNovdBeWB~fNMexc-NTyG({G)Zd1s4E(vg9X|@L*k0A@1dkEeQ
zc>Nsa5&U0$s~_=p3cfxKy)wA{H)$_;WS2D8Ftncpz9!N4JYS~cz6{2FnT`iCP5VyC
z6labWATy2+p6Nf=3LZdzb7m#&lH@S;6i)~y`Jxv8dJ?N|E=2d5@Cbglw0a-i8}aEQ
znCIbt1$#a^uk?9^Js(N-e8k!F!F{1e$Jz4{=lcq1EnX76h5riZZQ%KUR|1;<D(Htc
zsQ@P6i*SGJB<t@-yz%4!<j1bqs`CKlhZHnV0FM#kh?L#WM9l}^jPu(qqMh0(-*A*|
zSJYfj-<C(|NB%r(^e@GdHLrEcH)3w$>CJ`GRjaM8iokDLmzA7o-Y-yJ|BNqZ{d8iU
z|B~Jn&Y^#ZHKLc`z0c=9)28|BY*Kqp4CCm07_Ip?4vn`p(mn=n%U2XlfOW*a!~vpN
z6aU~z$pia;99|lkPcius<xkwai@i^<i3a@8AK%lS{#ubG;Yn*KvL(W46L?l!wVw9!
zsRrXgyruS4k|&G1Nb_5}X&cB;gfRx@#d(Oy_}EJ1y8v8X2+mf*8-G9-O)~{E-s2hO
zy?j;C;Z$-<jm$B@+%-q-KUNOMa93>t|Ng1(5ySDj;8fft{S-w%1-eLm>MW75#A4cW
zzQNiLcg~y6D|wUoi2r5RBb>qU9b(?;{Jrj5Mt<v>YeQzdJ)48|E`tve<!p}ZzGek+
zPjzs{-RE=NnOU{Sspjd<I5A$WFE@%Obm!j}S<_NIB(z?$44CCZU(0wO;)g8dZ^h+B
zjJ+hxok5%fxV0*r))_0?I5%hvG0H?=_6N=<bM`#O88i*pzQBIg@A7OX*EYpEVurEg
zCvQS8Zwi}UjU5LLaCcUmb@CG0Yy`(8&|ne2O*2LIT<YoEiFcuFEYBvMZmoeevxR%L
zbvF-d+l1_tkmK0MHx1Y^*>`xey@s=!&;h*{vzC_+XU>0L13n}V!{DR8LZ6x_`eL8d
zj6b3uCb528b9~3OlDRYZyOFg&#g2jQS&2MrK02!ge+AoNiu8YKiB7Y;%h_jl&?k1c
zeH+h!KEmr3d_1QgpXxuyX)XNl9A`K=ehpDi39b$^%!9l;^bs$MZ<McYgx>Yc54y}e
z6&gRv{JIL+Zv<{7JJ&#0oqv!7KGA!gA!h=Ack%y3hHvq&rkRk<qbO%qPF~URMZ{YR
z3|)tz%V|qa=EcyEfir)_cc0IF-s+_=a}I$o`k8@)S+`}f>MS_lleq~F>3Y%E0BZxZ
zo`YZX(RURumU;<j^u!<BIUSO<8v1&SHZf#KH5)opP3!mi`$F*CMc={PB6)Mud0F=}
z-oK>Bz*oK=dz<ePz}Lh-c*Wky9q9K)<XbvEUyrSXXT#{R1bR%oWmr3$&%0ges=@Gx
zej9zgnqs^d<H_DxJI5TK1QyY%@qd6NusQcKu6&b}wK>ja(C38ui^tE&w;i9)eKODf
z3I^jzM~K%9FgSh+d8?thXleD&M5lj3$RhjUs%wXJmScN+YhDkHp2b=CjdN71NxdUy
z9BkoCE0Q|By^W#tQ22iq@CWk{&*7ifCD8B0^fOdfG96w}uCvR+UFJ3JgTA|cNLvr*
zO-7Jm<y~0IuIsIe_lgg-$E<@sqtbmwy3e<d$d=>97c4IdhAN*A25cF=Idhyy&2@YP
zxhBRA^rL*5dC1QD%%Mv2#&?Gvy>|~=UB33t$mq4~3ysaWhCEf_hA7{%=gZcuqR;Jq
z*wf)j*<Sqp4fV_`Bf8N)G_W!`jJp8EABFTGITzf@;eCzoM1w`dLV9-se=p-(@kawN
z)B_9lhPbM;yz!RM=<q&~=FptRE$mmd_bPC&lJzeHS1aQt_%?2gJ*Sbmw#x^Uu9kl@
zpsT~TEM>fU&Xbj1JcRY?KwsDF;f%EyzNY3Sxw{45NU|(m*O`uzSLrz9^DN10;HwBf
zdLR6)aWsGF*c$ZMBlIIXDErgo*E>AU-!(qoF6rs3`;q@Xz@L7XJnf3ES!`A1|A%y4
ziyipCq3a8LmrvK{_*?O`=-LQf=R?;NbWIFfRc>wzkFMN@btd+9?vAe4C?4Z`ba1=q
zD?E3G4LWcj-VJCS-vzB(MQd;$;Qia+J)mXr|0OMzhrXViYKS|$^#6%h48+Zy)CsTm
z={kNlbUkX9blt6fdi4Kq`sr<G`v0Pzwjt}E&voZE1~%UJ10O|ptsfZ151fE(p`UuY
zC!1b;(KSB{{J_Zreqh}910`z%zMwnbFqS6|F<-9aBg`Ye*a}a{-;ctN8Yj-#ch0UB
zd)!lJ@6MH+EAE_!FW7+|+lmipeL-~nfqU=;JK;^oW7O}=L>|Kb?BAV3n@#8w`FFAv
z8Y2n+F2Jw55x<TzJbN2=^6!S?-|f|QJ-C;Dw~24&^Lx_I`Lx1!abT5h5wG9Pxbhup
znBTwZ$DM&K72Lb><D~1*v!&w>c6o*GQP(4U&9`?Pux<;^gfIEe0nSpK2aTR>|CsM&
zZ-l$+p}q6>cFuD(%*R*dtX=5e9@=GW@B7)xb73>l1<SeTtYsGSKW0bYiu~9<9}jil
zLF<5@&vpK#<2QVK;+WTOG0O#4(jWJK(j#gY=#j6{?_I$0ms+!2yqod+NZq{qJ$<UN
zf1Ga~kDBEje*4Znv~Q*T8?=97f3rO6x3BT-T4EQvt`l9ScKLRu2spRU$D2dR*)$n@
z4&v-zaCbZTPy}Fkly|fE`vm?zfmk%o-<R`uoWF(RyTNgsJfQwh{XxqF{y%|s`tCy7
zMg4ZS@mthycPsxd<NwDuxiQc8#|yqYH}AU}^1hqve>W%PzB_|<#_#_selzr$Oq%60
z`M+|;nr9F6e}cJX;h!4XYp%yf2IhLwps|n78+%&b*cbR?zj=fE_Q<@k&-Ta8{>Ut!
z;*YIyd%&N@tqR5kFT!y}-nXat-wJ<|_`kk8j&}ctwl|NDyQ=s9KQogqw3Sk_c9G5`
zAhg`CaOp;5=}ZEYO|hlyN@o(5mZDP1QYhL<!)g>5sZ=T6Caqk^pwKI=5Ku{4u7IeQ
zMS&|SGf9DBMbWO)Ex+gMd_E`h$utvv{Jwtw=p)nfIm`RJxAQ*l^FHsRcIDK|0I$BC
z%(o2R^t+bdZ}R&l=x+JsAJJX){B(biHA%elmWP`?kGr_J*oT`Pl!*^4UH-=ZEj_D%
z!P2vw-=gO;H@frtfO?iLhw@Ey>Ab;NKa$^mx>)?Y<Bffyho856?RmS{wAZ}Jci#^`
zzoMSS59io@`1u>Z4StwgCwSaMJ<ZjQ_k6*4&-upd_Ko*$!Fd1W8}Du3c;qcM<L!jr
z8t+kWJWI#5zIMbP_rdw1*KRuVR=e*~uhXM<C*L|fdjFK)8~8o#DrbGGmGi5L>ygNn
zt{(Zn;g3TL_~UwDlkE8U<4ctJ`C|e9xBPKGFkAlkCch1TT<P-1JnC8gxRY;&Kdx}r
zH}iWS{y5(o+w#YGzV<hH?ZqF9`R$jV)2V0q<66F1`B}hkKYyG=JwJcUC>U>wZ@f!=
z<6TrR-X!06pZASNj6pyCnCOjX`D47VU7fGpOs}2gk1^D<{Ba`REPqVnx8aWqeEjhb
z)&cR6UmtwyD+g9;?Rn6XnVo4DCza>}>7u{$f1^7+8T||Yw=^tge9=%eIGo?2!9|`9
z+e|%6gOPj_4dT=r&Tow`I#{{+UvEr{m*4u@?%SWIUyk2uXYuk1^(<cg&Nqvfzw%pn
zx$#`^!W_D&r#ag3ep)bIhi^Rg)_wf)hl25*^o>Vuj=u5U@W$J5raRsv-gp+yHeb7!
zeC__*Yd39{+ioTGT0K3$dzC9&nM3ppXZ>^hmJKVst)OgbJ^AH4eGoXUxIPHfJ5yzg
z><H)iqv?#|^%JMN`r}R37uhaaJ7jnLBl}17to?J~%l+4v2If?#KfXwrUw>S}|E>N=
zGFPiVzRGXuk0s1k>*smYv%Gf`-^6=K?5xH79!P)Gdt+PuG1J%nDzCkGw~^m|{V|Pt
zmUq9vH}S6OUBYki-;X_6IhJ~U{c&``cs0K9&i0Krt6;pbzVV{I@lNr^n~p4Mofz$n
zXXRw1uiXj0cE@?`Zt~Wb0QIb#9K$!sNs{>-#c%OdkUfk3N@l(d?WH6B8M>>UrF#;(
zOUB;xa3lWdY44Apclp0xm%PLOEj_tA*{4f-_w}d8Yt*y!*v&Uf58gj@_3QC2eqQv(
zv-sKMYxgH#yAQl}(~oo8bx_aZC&M@4C;Dk;{U7*k<xaRE#?9!HA5vd)wRF*3A1fI9
z`@XSX@r_NcJp=QD$GT%b<Qu!o8@qL~v;Jq^*cx{S_J#D=eRf=rt}VW{#OC+uqbK>T
zcGIY*c1_f4_4LYPd~4PGp#LNMmOfb@&g+w|Ba7>Ywi;KTZ1C~OKe9i?BmVVf=a&xV
zlS_clFGm;fe?Onh=Kq#YmH@L|b8h6fUv6hn&+^Ha`DXcKA-~PKG10~ODc*RNPilSb
z;=XoY^xECT8)A~b<EUr(<U+oQPm&Xy_2=_@AU>&~ej%S6Q84y6-`FwV*r$49U&wn!
z8v8Kc*fYGbiIG@8)f?N-CqwMGR{ni$kMY`y{zviK&nLSc%k#+*e6xHqp5Nk=8=!mA
z(+&TK?yBdf`x5AG_QjqI{hqOe8~hz+ev+ZLC=(x8y1c>vEj@{q>Z9i_ej7bJ#%=pD
z^(<XJ=9}o!d6={QBYykoV&&+k-q?11?(ntGc<qIsKk(a+pC_r;>dDcYe6#p@gWm=}
z%q<D69-*FDcRjgnD;V#4zVTl0jfao0-*^xB#^YXf-*``Z<8eM{#=FNG&&vB9zIH$G
zwQKj<O@%K6=Thn=z4@%+TN1o!-mCeY;J5tm==V9lg?94u*s}$lZ=Lz&1C^q&)&CB4
z-Xq4XwSew>u062wWn!~Lht~%9{&&8=L7ZP_LAyUw{vz!(hM$k#r=0!SLE~g7SO13I
z_;q9t^m^l_sIT%LdVjy_eMi1cy;8*=^8Glk9Q)CfqyLRxT``jKGg|+;eAdE?eEB+`
z+QHud`K#Yy?<61h@^SdG!LO6VUpLO_$Xy6-@qs1y7cX&UM0PLxmhhgy|JMl(6_3mN
z$}3rO&6`r3vwSNN)Y*)~n_u`ey*j)@<klI%n8ZK$>*Z<V#zd&yvY}2ciVtiV_3d~6
z*;mAg{^*a)S@^Z_0P=%revd75=h6hso0(r2zZkwHVCCK%aHzbY+DV0gS>NM~!P()r
z$k)wLryJAN$zEilcP^gvVq%i}0(avtoYqN9%md8d!ljsiRo5M;RKLROIC!w|`vZL6
zzw{^OoFmA%)<-N~-GyP@iK*C{!5_P8ykq>0`1?$3%RRh55(R$o_J!oumw$CxuwrXD
zbZx`$tM@>Zzu;YR<T&`xbcS;b^G`rW;lknl$cdcc{)sq+Zs4>19z)EHV)GNj*uzq{
z6dnnix}k;VFs5SPbY{l+*M{@a4RPvl=C^Pw-*zy6;a&5O!8eS*NW9a;nU%^;rc7h+
zV7xdo@Xy#|s%PbK0`g$})(iOEcLu9-!SRZndBL0uMg;$!-VNr>Cg8Q_^7gx8EN_9{
znz!N{&j-(X!%^p^ItP+WNO!-@o!DKWKuZ33bB5R)NEshJXQh&zo%Mmf_!*sTO+_X?
z0p2xN#f&UjptI(A&%j3=@jCt<%HQSuJ)FNA=RKpChvcW7jw=rR+N2wZ<L@R`!@bMG
z+Z3E_ZXSKeq#YxNv{$g7)fq&LGg2Gpo}h2t_lhGAy4x;Z%@DIJoF)eJDSPLE@UMw4
z;f&Ss;!BW$4Hiez8T*&I=d0?^;{K=b&fme&i@;*fGZe$}J8&f2>;!M`a$Xq)SHhj%
znF5xaa-jymRVREU-u_JkK0|WDwZhXm@VRS~cg{f0{H5f~7ymSqA4%uMFQ89EE8%Hp
zDQ^#QuWkkHdq$3)^cuFga1tfg-HpMDS6sdzzxD;nk>vbs19|s1d~N)yFB#tFUbuPx
zuQXi>-r&o>H8Muyh>}SO?sg`ELndXB1B?3+!mZArh1+`m3b)|c;FhxtowXwC2cNZq
z_tn9wtpRe_37<M!xD<S3XCYr6uERlRgVr74S^B*1eJXecJk61x7GJ-4Gs)uqa&Z4A
z%G9Uc`xYK`zHo*3!sxm6?VloFvE|!~OPtrLdM|DfeR9N&%q;oNR-GYddB3p>dW{=3
zv?ap3e6Fr>(nm_)&2!KH!=dQ6L{Ghyq_>gvE~?(J+e<$?>x10A3Zfs$UB>;Sz0jtS
z+^p{V^X2KAi2>^w5o&4t_^WSR$=eOL1w$=Y28Xn~cMdtlsec##*L@R5v_FFWc#n9e
zxJScQa7ljC*LsFlw%m4Ts6}-f$p5NXb>)t`_0V9;Bl8ceyt6VksTce<h3Y1qQ5l#N
z3k4^=LM}Ja3LUv#G5(Unz4SF3K3Lj&S&L+3De(7lX8#G^veX>FNlN*G+;@z}rSGNh
zUAjXkdEyPdp^P)r8NW4HO1#IuXiK0n+Hoi2jo%l0VEM4%q{;B^5|f{HY`W(n_VR~T
z0V_E?dB1xPyc%SlyGI_vnp2fN+MDBMGq;kKgz~Wgqvm!U<7Q}|90q?~#@~_rJ>TWC
zrlH08tciH5PSH_sE6&UF7P8P!j>TW@8&1D8dXe{u(xPv;#M!WmxeCvsXYEMmwc6fG
zT6%|mcPno<&&`qpTlde7gq|yg2U=FbPkJL1*?UcTtxj+=pF4RUY5CB)Ny3fra@(Pf
zq1}JLqkEY9KK@C+YEG7yAHN2hhBDDgV~bwz&+T2w`b(P$=??xrA)Fb$cF+G^dxSU^
z_}<~1bN%OH3(7{7wUmx3ZBaetI6<!F#_yfCTQb_`+hN@)jE86=);o^gxA5ErJZc|7
z{soKCgQad9=Kb^Y@vH&j0IjW5=Ed+R*2-b6d5U~sD}s?#>w{%2%UEv{=$ymhuVQ*4
zX7mIwQ!jpJ%)l(TEKCg+CbMpGzmhXf!37MjTU+OnYlu%@e)(?O<^tMm19uj0ZQQ{s
z!Je})YaI?LZv?U~d~V=-<g_!0#haDebG5rJH-eW0_^k$q++`^qf6qEEIBp0Mw+~!4
z?nCVrJJm*?0d&?tbp+qe2Q8eg-DCBTVuhV!m?Qc}Ik|VzmuvTwq`w5u>8+w3<V^8U
z;zQXI3mzus&0GKT@VItBpZ$ki>72F{TTg4Vb3gko>08FKXQ_ukYx`R<(=Hxe_*{70
z*l5Ay!aJPt1L?~9ne&CLrHTawXFGvAyGDG?-9PmCJK({@55S+Y0~6pZ41OKrzpx`0
zZ9(@57Q=T1c1+>DfMWGr{p*hRyf<DOdZx|L!!1{yfoHsL?8)Y4fw>Tt$ACq6HMqgP
zQVz&M7<N;(f9bRBibLz-?u_NHr{E{>k!m1*OZd|KZv^MYUOLXTmm=}esYj4?cMR^a
z^^kY+L1;nTR{)$e5qnllW|~-cGZS^6&do<Ull(EGxG$!5v43FiELKd}ap-pN5hkWA
zKFT4ctbDS?`TnIpH~LZi4`Kb)8M<JKVYf)Wz9xI1VC>I=-vF|&oCr5jZyInZU-EOz
zZzFgSP3k%iGkk!pIA;;KN8YD)bMMxCbEIS4JhB(?eF5KFiTSX&hzz3tBj|s@(*>OL
z_p$n^%Y=FNxni=$>H?k%)ZhNz{CL>7cD!#>=d=30&;4%NBll{XrR@g(p04kExr6V~
z#^N|LfZbzo#oWqiC%9I5__Mm{(;oi5O}Q<bM49kBg*|qkoTA^Qr{)s#AwA_J1F1)^
za^p42t_ai){}wT9(9qR68y}nVq}3zO!;eAknz;H-Z6l9yCWCzGzS#byU538<m%4G-
zLB30d#k1m7#lAPfBgSrB8%SM%OvkB{!A5bwhu*pDIUm0Zc0=3e;2~mYlIXy2n4CD2
zwU$6PbknD)qrc*bTKGV=qxds0$XmJzzR5;Wy(Zq(Eyn*{d^3DZT)1!$hL5qK;bSjm
z-m@ufY`9>S{Z~s2%M-vQxQS6dyBe6+3<LI&8^_gPhdG;r<8LA^t%0~SlYaqwdQYPp
z*ZC&nw9;-Pf9Da`nQ`}=9Wz62T&HYe<+7}YcXZ#Zj<`<EzXy3&uEO2i2W^3mr2pW>
zxm{j=$gX)SE7B^StW3W@CyzJTEPoOnJ>121=GVoCWp{YE>hhI8NV)6=wXyt_qHKrC
zsK1lH>Q`@53nvev+oa#cCxPSn7wE5(=Np|oJgs%0Q2*(Ugk2v@`><2%|G$Ht-E*b2
z8}e~D;x*~UGR8DI@n}~k8rudvDBI(SOW2blKTXxbH?g0r8Lq7uNG<podb0)_k#8CH
zhE3Iu%Uj5uc!ss-AX_J)7#Z5U$~lDk<^9%l7(R=lFOdzihw<h&JG{@`A4ciV@Y&IM
zJ`3CZp|OkHIB@l+xOj4F899!DQ@bye96iH)&D+?>m-dD`z?;KfNOC9n>xOTTS7eJl
z8+@Ty-Vx9}SFd>Xe6I2Z--Z`Fnz!*5aWVO5<89z>_FHX?D_m}eha=I`l_QUP{=}^|
z2U4Fg`BRjSdMxizflvC?{f;ntgIKP~)zqs&r)S8S6L!e?;k`MR88)mPU&+=m{4c)g
zCihh}YnAxf$U6Gs6kylgP<L$`n?7rv8#5+YUMF{i-J55Ty<&6dLg!~#r=$zA==fsw
zvW%S>Hmlu<!#Bz`18lp1Ii|gkhpX5i>qkuM2e{HW;H&63ZLGP*SHS+&3As9_Gi27z
zyuG4*EIih?j|F}!gX^#>-;@ka>F@7MQ~q;LHf`NUDAT<O!F8ng)%zad_iy>#jvldo
zGON3#w<S|Xo+kR_X_Ldf^zyXgoHFB?=kVAh<Y{35c|uozth@wC_(HT<%iUVT@9?wL
ztH?)QuNt0r?MdgCkru7_O|+F9Ii3yoGP<o$Pkac>w@LTGFIFz3d!A){-QBJCWI=l2
z3glrk@}T=a*7jXo=f2ymcek-ybCRLm%vX7XKE=G;{N=n;gYK>7?U-%DhPFpWB|92M
zkv9xpND#B%4c{(ge&kT?NJ8grp;_&c3&pPkyUF1ekzEDfE<4lZSMjs-bpl?OovnTC
zsn9^{%x9>hoL5o4Sw0ny6ywu2^o+(_j8AnNe5!E;8)rh~<qM=v1GYl{h{L@TtzFhO
zJIGJs<F6`s#(l55JpBl;3C1xVi~(f9=5pF|h5UxnDOKse3Lo&Jct7Il&Q{((DcmOp
zcvDdIEPw9D4%q}vhZ#QH(7qPBt>K^SU(swDG!$PpvM0}Q_o}Tr+Ht;eno^!2|B?f3
zMgML1R9f+C#YPR1yR*v8-TAziyVLkA-oRIeUX{JEy9b{c{+WF>!Ib=s#qggkcWHYB
zwwCNF{9;?fyj_&2(|S{peqy$8R+&!VQyYCTzh@%n@RI{>CSp4+FzaAd`dZG)lt13x
zXH=!X@H{%7{>E!=v{^<TEbgeyO;qy#dSo4a6gO*^a6TdZ>`&k=bV!`<iAv-SUKjpj
zql@!S0$s1ZvW!zr-8I-r^NOrlNo=FcIi5b-mA4n}hi2mKKVl2m`A4`%DV~yFWE-#>
zT%a?xE+>y*F5svY*fnMy^39lw?p6+1$r)u0$Wbvk;>bc`O|&-I?W7(!!V&D#vy2g;
zZJ4&Ld<U-suDhMcN-Otsj8EsHyicbS8_&vu>o0u8*s_8Z-EHpOehNA8kDJ&xYzF5<
zE3@#c>WD_VpF4qiA5dm!gkJgub$-PE{dc-Xa5rYp&F-D9R`_Nw_`jWXPPD%w1Rpb(
zTSs#L|MSup-050NeoW}w(>$xa0lQfAS`{QuCb(<hjz~)5LHj2ei@4do`&}OaOE=?K
zo@!w|7EcM*jM_j?D|<&k$9pN0Jgwkwp{^A!EPblC^-g=1I+7L1$awrBR{u&)ccMef
zp|xbO1KdbvmAgcH`5Mo6t+?(r<kU}4&-$-p%sT=NXTlG<|MW7l(Mk^fE$9^T$&g<g
zUnz2-cCHOjm7Yuc--4$k^47%JRRsLR#yHbN=RNfSH@^{nT)SpR29bvd^5EGwuNq%t
zqif%Efos_}+kqiy@|XY*w)h{OLuTP?Yv1g~zEQn;&%TLb-$bx)$Z^_|89A)I1U=%!
zU3+3TI(j0xNRsRY$O+dGBNtnUoNNhn+A`MBF8Ruh?Ngrq47Se!=BRbU`ZY&<QM}>i
zJ$pcThCF@SG{{=f1pnJLrODIFodfJOv1zAfM$T%NO`!T(UoD@kxRSB>_G^9f>F#?e
z*LrO6Ec*#M4(P*&fBS5s*dXx6fVbB3?T16IZIm&#5xL&*i4ExEhaMKz1;8YEkiD~o
zx3@p?;CqkX;(z(3gRB_=<RSnck!Qlq5AzptYQj5_R_X9@=|<>$9rbk{w14S3eCw`H
z=0917^xIuCob-$I@xd}DN6zBcAHgn`Yz)D!*fNs47Oc%BXAzT34%O~Z2{y*~^c2|`
zUt#}8AK7`l8H3Go6f$t+sMvz{-*7sD^r5_aZKFzBvW={F+*!+B&A#s|PVRH$A<4Xf
zeFV=+=HABVQB_}yf8yMB$=mi#_~4O0tw%|8YnHlABb}*6S7CFQ9JH(vm!5&Wfi2QC
z23rK&iND-@>y_!T=o5`Ez6&-o9<YL^jxN^KVzljIjEvD`v|&EZ!}tWxamQdiHomVN
ztf{gK?`fb<eDdnE>8Rp;CXS>}>etX8eVR86yQSNZH?4WfMX52huW&LUbV#V>%fKs|
z>YZ?{3yx<;zEtg=Pe{JsJ>9dlYOuAuwJk7+e;`r|9E>M;1B38)0G<{dHdITWCFksb
zc3J2tT6Ar5&#lC}T5B>r!IbXHiU%B>H7sKez#Yc-;GD=Ag13%J*7h%b)%BqPgXQsc
z*j?s+7__lvk5g7igCCvk(!kk{T}WTj9e0R_Jp9M(9(MpcEwLLrje34P@GZtrt_1fy
zXncC-TKJ7zKP9c$fxseKRg0IM*n*yIPRAGE;V3?keW63y=S|q!srMbX!AtDb)<Qek
zl}*UFc!qcY-5KSd-U|(ld=cBChw=424vnk(aw0e_U+9+;VM6)`z$L$F8+|&?gqB<8
zpS;B3jXkvyf7DT5{INzjV$3b@!8txY>|&2wjJMn1dl#=2eZ2hz53ez7Go3SuH?o8H
zqPpO(eWA~_KV0MT#=gby2KW(9nz*AWdAkUHkRBBu$mbpZbFaY>JU2%85!?nx;3f%f
zR9E;BzZd3=sOX0u><b@$GSDkNfBKTRQ_(UIjxOoL(fD)_9Eq;tf34RUbdcs6i4@0I
zEDXLp{z|}Kl6&E{HGA-0K;N<%m(TRu^73xUvGg{$_4D7~DStxc1$_Bu=_#Xs@-*6Z
zmdE?Zp3D0c>7NV79=#HS$b4eBbkF$o-?>9=;3ydHRmS^Y;)4q9rJeQCag1}Ct78Ix
zAm=@}Yt#K_a?%M#<p6V>l2ijUZsKgY&M7~KJRmJ~+(|tZe2bo0{G)#Tb!G);`i;Sq
z<jdsg<8KT)zL{Vj3~pKf;i3Hdb6Mhx{>S^)hRvNh&*jmGC+|^mp%w1S+TMZ=)Uz~L
z$sC_yj>4BM`xa%g0d0TKb&>MGXzxCgJTRU5&AeQG9ZNimGv@yQ$G&Fh3|_Qn*~dO@
z0%bea8vic-{ITf@v*wkjce0=RA~e$46OztH|Ld(-wR;-fpM?%bda_{m=UI5t?$38#
zMr;Ri<?hiBZC`G3z?7$x`itIi(9t>M@XesJZW`<Lo59g3e6Cxg;7EKX-6R}6^|k0z
z-LgN~;|Q;(Arr>eiZ4*@Ydty6d2*~i+;h(H=_@rBw)Q64a8JB4$~fK3eVoaasJ-5}
z^zmMQZTL5iM88S4v$D&X+wDdNT0K}Y@($*`nR)B`9pE{PPE(%U+sUgt!N_?Dci4xL
z6K6vD8tAhbJs44+@JA9om_#2+&ZP&X52XjC59d+Wt_hChf-#J2dpy#~ey)&5*yEWs
z!SchQ^zjq%gJAdWq#r`rRPhaZ!<Lm$#=WeA<mDXN$~Kbi@gnxwv&7QLj*)F6J0{57
zMHiim$seF^_;p^@o<eoB-;kdw%HPa!4sw-zUHb(8o?>Unzo#I_X%BA$Pjqq@u(!(Z
zDJs%)@!5BNR`#{gA+Kw1u>>11NZ;CHWNKXB@%CY>#|cjf?9^gwMgkljbT)>s7djt&
zHb%b|PtPL%iUoRseVIG&pSEx09IB4}gPp(j+cz*zt>ym#UJYL&cVT$PJ-=~d`m{f%
z?W=W3{3xZ&*R&~5r@S_jRolj%eaqkO?lru&txoC=uRiDKp3mI-*6F0a=6&mekKKKV
zd)}&X)n{D>xXHV8L!<TE|Kqp=#SCPCP4maU^_u1p1s^JJ^3LteK7jt!_gCY-e0T82
zdiY~S!<f_q4Z)P&T`xwX0Q6H#fyRg`UI5)Jx;FXZ1uldhwhrq+U#>RcN%bw=&ZVBt
zLTp}z|CezU|IS#&;wnA^E-c@y;oVKkGvH)hGjgK0u8dC<Uy*#G%-6__&Zpwy2k94b
zwa5<J((I)EgS}K1JWru~ic|VH`!Lp-()3iy*V3o*Xh}!L=g-QGrz}HV;V?3YY)HSZ
z0G4beej#wkc)vjZ8efc!cThjVZ3Gy1uvX|ivz74zjKjK^bCQ?u)|qf1%vg?d!k+~v
zb$0UiUpfEF)$aiF-;Vz7H~&{p&%Hz0|BLx=@Xw!d2Acm5y!rpwH~%*9bx@oN`7a&t
z=f$b4iyT9o%Fj>FeSY4*I8KE=FM>~t#i>Y6{wetOot|6syIHwo{?+i&=W+iE_%@%G
zTXTRnuKv~V(dV%LKk#wp){nlwnU!1f{;b^Fm;a0DOP}w`hC?=P2r6zTAFJfb-_wS^
z(mysHvKqd#XOr@sXnp6wwe%MJYj4w+Y!UH<d=w${kMgY1#^ft}d7_(7QfC|0taCG+
z(85T#d7N?@ei1yWZ58Duv|FwB;5kQmi*<8PD45z+eWW=@*hyRC+wTdah74m*g-+AE
zn6a0ZoH&y=;@J<(ecmZqcnvyk?n_smSU%DjvwE_#sPk~*i*6lvcyKi1&J8TO{qVY5
zlk8)Y8=ct>@f57Ti$3HHHP%1u)XMaY%q2?fcv(1FtFqn1!)Q;i+Jn=Dv1;L;IY*H{
zK>l+1VDwgs{D{1D@_4u^_L(O1v2^YKvc_iR>)^NYfp3tWp}zEN7v~Vg*0-)Q_AuZ@
z^<sn6i&Z%CkFTqeAA-G#gY77tOm0)`72Y6$wuNU!yF)|FoUUO`ub_7=-Lm+*WdA?U
zJE6Y-C)m*sX#P7k1yUnei^(%bJI)VjR|O3O-(q4S)n;Odn0e-`y@bPCG2`baPGk=@
z`3~WeHCgRecLx>)gYG*e#AMFB5V>=4Ga((~xAJ#uuW%Y|WM{knT<}%z;(@cbqWDVS
z+mYQad}Rmm^EAmHaFT~t&sL89?O<EE?PFl3p5(!<Wp#0vSC@e^;YD{#j_R93MY;mK
z7=J48Mp*mQZkpP7a3#pkVr`D&DA#=qL%ULEjBqV}Q+`zWFT3lVoc8aA2f*)4r+ncz
zi50i_4S?TpXP$>21E0Frptjq=pXl;@uxeodyD#9v!rpUSI)^TCabA)B6ZI@^v%7l@
zZZlgB#zkxkxL{5{177j2o!bHCZh17Y)t#HZ?WX)P>Q<BM><adfb>xv;?F1KYdAE0N
zHTg*E$VXaDKGKl-12>9sRX@rRWBKg{@3&%NwO5er|3&ty*-v<RW8^c%hH*X*J)`b9
zR2{a<ydq~w*ojkRS4tMQlK08lhO$dt9q8smPR{Xk+1s;n--b^4_|bgaiW!$N1>1uc
z#uikJs%R-6Ro?P0@1|x(6Ss|yd>XkV-ecV^)&rbtxv?*vo;za@o3;(VMZ6mMp<nTF
zWDp-mOm#Wmv31q9s4l@@r(9>YZe)<UG1Xn}q}GC;IQfSJN83M$&4{zVGJ0x|dI`mF
zfcM$Y!!!I1j7YwI{TI341-`=Y?o-4lKh@j2KK`jZoQh>?1Ai)uY(71A0<`FdAI>xb
z;8bPD>YE=QeAEBspEy$A{PSlYtpDqr?vwh)e6RM;SKpa?%#-2M;AcBWoqy}MmE%+R
z_6vB_=-3+97hv``tPQ$5clsCIyt1<AL&>1o2iD;)K?c#yF8|7&6JJ-~?(Al5+}Z^{
zYTnu_FJ>>KH$ZP(9!v#3@78nu8f9t44+O~9v<w`s;CIa9WB-28l@~Y9mUxh}y>%K_
zdkV$=RC87%9@hDvi5J07i0|fg@vq{zR}gPe79eJgJ$onn!WgmB*zT#fz?=3DyBhUQ
zm*S2U-^cq@?Bie9$vzx;c6~j(9W2=-7Gt|F7Gtw77GpTL&m8CSP~foQd>r5$P%#_a
zMVKld_Kx~MO7rVRhiDJf3LhCeg|ow$<Okh@Oe{K+^*)a8$nK55A-xK$L!n(6Hh_Mw
zr0h4toN4a64dv;lzMwkpn<|e9KIRjo&j!{Yt6vKJD+$(}UgniK)|<;9@~e0!<A-NH
zkuY(Bti3uLad^u?aaN46D288OHd810n+ng=qQkVl7o4fVe|_;rg4grutU%{0W;yEK
z%NrB*?&S%W@&~&2J&2!S&MuBzT29wmK|h*LR_C!(93$uQj}+52O*)5!7q)@hAJVtM
zn+M1B^p{f^{fTZCzH2GhxrBJYmR(KR9h5DCF8h~0(dR#cZ|_&`(B<qwUA_&te0!hE
zw~{OIt$cC9PXb>qcHZ@wtDTN6`~<AG_dCd69J|--WADrFW0NNcr}>!k{YzgrXE*E>
ziA{Fjb5fs;tkIH>-J8e@tauZAp}V19&wV4>KU=T266JezCd;R%`r|mW3Uj`V4!B=-
z^Df>Wy95~UjiyXoJbepivabnn%xz{}))|M&V&HLSO$Zs|Esgq6>Lb4G;e1T}>JHE$
z;3v1x;Y>a`2l*sVU@-MDZ6uq!o7GNtg{sos_&RfIL#Z9`lHRq5AjhVDIGEb()t9a`
zw#Us*ZY%YgsMm_jJK@UIJJjjv333i9pMm06#-)3(QT8-)HoDZwy-R(;nE0;#j!n-q
zf2-18<Zl;nX{<<RFy&+dsoq9pg#Cfue-|HUE-zl@`oi?P4g3FC<~gy9w}1}AmsG`H
z@{UgA-8$pPTByABu}RGJ9Aa!1o>Pvkja{N~B5~crN*)gVUza_3CHQgUohs5p;VH!>
z2+rpjPjiq>F8qYpTZ?DD$(khibuU_f|BpA1W6j@j=}G2qMS7JF-d66loyRztGU7_-
zDPE3PCTJayo`;_Dul^5rJT<qU0z(Eny;A*PQ@u>N&J@RC7wm*Sf?fO}`fCn-xQh}O
z0q*2Ka^J`+NyUIyeeP&Hto^TMK9%W32JXsq?|0ns_Vd@z^Rj7on{N}+JNawRDo>I8
zH4=-nt(W(}MBj?^<>12NYcc&>J#n(^M(X^S@9rD9#E!0VI?kXxyNYvGc-^f#HvR9E
zx&4hzk7LbHyJztg``i5nIMgm8{DJeSrvIw+uPNs~YUMjY%Av1tqqreU+rRYnU6H=e
z2kV(dXj|dYR{VFj=F1!fTaxlDJay$TXLk2e_D`%;PUlfAVa`5vk151I?QtA@@73fQ
zsADhOv)6sMPkGw)W?xS)dE23f-VVPFJ*s!Z<K)%e%U(<4&GL<Rg*RS)tdj;DtKk!a
zkJZ39QEYR;zLfo#UnVlc&Yk2O)@0s<Ifk(%r{X2aL?r6+neb?I0DQH|;JhOJA+TwU
z7v2BFZ^?)7)XZ4oGs}C@H<F)Ri<A4j$9u0UMgx4t4S$VIUvB;q7ia#COJB<06M>~?
zF>4C-vW<q82b~?C2rNC&LEm-Wb`<~g&Q92ze++2}dgr6v=Q+7g0%P}i&_jAj{hIU9
zYR*T41D>0V5$?V5g@5VAEc$B-u$>QVmRIMASCLQYy2p&{R;DLY=VI!tLAL8z19WaH
z+OvN+s7x{S)=#1};(7X$-)tG{y7lYoEI_fdia(E|^R%{old<CLKbGHgn%UDd%yIoF
z8-4p4@7?X$)!v&E-K@t+>RbChHi-XLYq#Iu)5e$)_Boe<7k?k@8)bXnuQGkNZDwQ7
zW=00vzkM>a9#+@>2J_s%w4-2sCSN=2v+E-YDo!z{_p!up?wTE9jV{4<)P3mTyg91(
zR!h_Ovc~MeCe_-h|DTGkG<1c}wt04@&f;XF^<ay9yd4;@PXgFwO@qXBH(|56Ya9E%
zABjgx({FgXXc1$&<5i}s8Bg!IxxNRTU1}`uxKLmI_V*a`BW&BgF$al*YJvtDXEt|{
zjh%u1O8Wfe1IO~d=*EgLCu;{Ch1_Wm?6;%Bl*!L9nK@|vv~hgG_a5LEzdZ--v@aIE
z6WI6_#Ml`+U}K05(+@TAcK7G7FL!`*mlnJo$6jLwvaLNrhWV<0tIKa)iA*pL?X}B@
z5!uzu+dkYkm7d%l8rD9PHEcU^%@;aOhxQ}7m##V!dAA^g@508+$)*g`hXdUvA`kZ%
zUs-wj8uW*;H#r-N92xC6gL%p(*4flP!xQD{m&Z9PBsb99-0QE7D;I>bRk73lc+IbK
zCLBPIO@qD(@V=aX0f)2e;lyYS@4r8oPhE|RozW4bKds-o%jB?s2otL*ADPX+e~0u<
zXo7)B`<_QUctoGg)Qfp<0L47n)cthwWR20f_G|9%R@FGEcjxfNG53jM=OY&$F0$ad
z?tI7P<w4}P&68iP+e^JTyLia;`L%LJX=9Y!`^|0+WXZAMlN=|&sbpF0<!=$4Mf;WD
z$)10yOgJ{@w53jNJ~3|zbdvU<1JP|?&ixKw%?XFGA=m?memWQbEo+0Nq40GH_)=er
zD~`YeVUGvgnCkNMhx8@=C!XnqFL?8*!|bO^-Sa}7-8t9+dx2eiFI}wpNvGD~1C_qe
z{T9t3DjtE~sc-a-?kLHZsrhREyNmxzW_EL*R%ecq8^spfmSnFT;5|R$Sob0yw=%CL
z{Fc}8ZdAn}{+op2=p-M^DKUtTrHfc2@quJyVrYVqjkUyl=p5bMe^r?~vOPV{Eqj(a
z9XqkJ&x7wa)3<Qg1TPEMeX#~k$;ilI&X{YUp}xt+t7fg#J2FGGMzLP%{TYXtgHqN-
zt=D>&P3wAse#-d2?))qsr`So}i}KoD;<ZzZd%fx~c3A7{HML8$es{yq8q3Vr7hk^n
zQcq8Shpeys@09!JO^lkmAG5w|=oOal+T1f?4_Oc|>gQ>VYjx!B=~uER+}pCZC{v7G
z7M-sAC9)m6psn~sI&lL$v$H0U+Q2#$A^uSIb|>H0fWL0`CDM_yw~Z_`22zS6)*a{B
z;8^zbuKECND$~w{({q<2AHs*$r7rfmtkvu4oD))KgR`~pSz~-msu7-2Tuk@cK%d>-
z^FKq|1DAj+$~Wy+AKcS;Q2#GYk2ZfR(_P#H6`e-%f7!mRz$Y9b8-4NbZjKi>H_0Pr
zzK^swdv`E&@50sXPC71mc*~Us?n|UI&B4ArEp{(0dH7#wtQ;5056jwU*5(iX1HHkU
zhTZ5a*|~c{C6nus-)Ko}!RF_jjyP+8;&w83jcAuXcFra?^|@$AIb$~97ikk;GB5FM
z1Y0_SZv7dsW>(>A<(q75@vC@m?EIP~vb7D*68j?lT?;*3zn2>$wi<abz8l($|FVPl
zB(mtE8+3>GuCv>nFg$({`&M8!cd%%0dFE`!AjdF1Cicz9T#mW_l=Zs@zSq0sZVc4e
zwDT=@uNqTq7B=FFDrbfK*w=m=8w$Len9#TIV|x4?u9IIOA3I`vh3xtEFMY>d@99Il
z^AK%A_?p-YVf#9{)9ZOB797_Mk1bG~vGDi)J5I-YtGMUr#T7SkuPMv^e{To4e1|;;
zF}dHRpLn;EQasy^M)Fwj*12?>bYbS|Xzu<&bXeO&;_1y?r5~!&uiblKWiMmy`ycF=
z5O38_%HP#U_RhQ8A?_{N8!&mE!pEThUi9cuQ`|??RgI6ijx#0k_Vb?p7^Hq+2K_$g
z^-J4gzNg4E>OD<8aE7hZ(LmjKMa}}kQ>got*Jq@7pRs?Z-ji;<rU}LCCB{?laj)LE
zLF$dA-lJZ<s^ayUDyg^Dt=Cmryk6Jg)LZS=iw#mQF`0Uvtf);f95#uD@JJS3GO}{D
z_8-oiZg_w;i=v#TYQHHN&k%pEyH1G^_2J1dIENoh{)U&1<lfUT%2)R<pHJL&VkG5j
z`<D-|rhGKzkM=KrEKE6TfA;bI<!5rHoT#My$^PYAc&9iqp7N*qm)|`BAMiwU(9`HY
z_(M8FI!JRGJ{~z1-|*gJQ-w1<QA7LZ`nR87Nxw%^{(S%PEtHFw6RZb6T7j*39Ccpo
zUq@{l@CPK&{qZ&2iFqK<@xRoSye8g=)ix~VO}n+cz5Kw?+Rn|rQ=`az<{T%N-4xCB
zQZ8Ia@m;$5r#$@~+Gfv_K1DB4NBiLHCMP%D<o>EiPvx)H>UcHp5%KNe3mJ?0nsbbJ
zU90a7W$huagNX;VWrtAasBCTi{G&u`l*eO%kMivgTuiygQ%%0|-6|i1hXUNy&{|GT
zl+>@DIk56c#T!1F*TY+A&sj#L<Y^-N4+~p2<^QhoC;ONGp7MywU+iE0Cgq~d$J|Y{
zdM5k(Jp8}ryVWa+Kjh0_Qn^o$bn~qVof_G9S}rAAczPr8$9$XTXtR@fNKZD`JE>Kn
z*n-5U@hysjSjyU{yh*H4bH@&%d(Axz_Qe6-BYa#mo56f&m!#bl_s!dVJLh9b<jt&i
z`}1ROKFP_gV*Je~xo4<4Lw}U^-vb`;I_r?xXPxyS=LxfT8(|mr`T#tB2;YV8!no*x
z_<jNB#D(=vg$9LXb(DGMBz^Cq9yLI{u>+LxuE0V4>CCurjNJporhYU)S@!^CZ&4<k
zS{@TF&-8HlJ;oA$+i!K0pRF=v!Iqsu*-Vwe6SnL`%E(h+DV`A@iEl#i&GoAHT)y6?
zsdtsip3j#}qD*J!vM0(|^DlaUH=>BE)%yKu_HLq&@^x7IPWGwxX&Otmp6oc?+q)B+
z%ESsH|MFebuqS#EUU&g}tq0piXC#|-M+uv4HTO~-^r>vWhlsn0HlLdME`MtqPc?g`
zx4EbEG<^t$eeh=n9FgN7B_F=>DQYjFvk2*<$M0}fG%@zW>~E?WFU;NRDEzOx64*v_
z_Y#{OtUm!C&v@z+_rV<BzR0zw6o;z4hRT&YM&G3KUiH35kb`b`T;Ct+`#vuHlJ{Nb
z$b!S&+mxptytg<kUBvHLJIvKZoM9qwYP)-pvm$<i<SaIcJG%>!%els`Q)~t{l=57e
z^<$9p?il{4-wbvA)~|Bc(zMq;2R)2D8XMjz&)e`eKZ&d3Cn)y!e$BrwenRSgZ+_VP
z;3tpkV4Jhz5qRaGHpvrG&0ZVgVND*mzW!QINJW=LpK|T`3F%wBdU0YF{C$7e>a5V+
z(hT~-^7V4+uE_OH_2VX{SSomLdktqh9)7fsId2F18QPjP$Ft2_xhqq6W*T6BsCwdS
zJI;K@(fwQXxusrr56aT<<>a5ipHmG^c9aHgX+fS8Q?If7dy01UTs?Q4*&b&vVc(r?
zBqmmG&*tAREKA?V80GV)F45VHU`!0Me@N&|6Bw5ZAJn&So=P7ozs(1$;1s-mSmQ-t
z{hANfDc+u2urBTgYiarl1M8GNSdjzQe&b$PAwDD9!KV+#a@syDxIKA2gWrBSE3dX<
z&=cM83H&el`7``FntIwdN+(F}M+2+P6J+!RG_Qpg?%tAj5&Pl@LhgAidI$a`Kb!6~
zYOieQbhz^8;!m8sQu{e%xtV@+4k$WmucJ7D2s)z?eYKpuO%wV__b|JM4R6mq;B*{Y
z&R**Q_Br@;w}s9$uqmI4xu1@H5g%pw-iB{h`=y_vPc=X32G_S=nm(Sj(LKW~OD~wK
z{he~BRZVt%FJ)<RaG1Tg^u2H*{!o9#Z00unb%I6l7~9aTf<>@O#~9tx6G-hZb5@v~
z4#<Br<jQ||cwYXkF0y(+<61uZKJacaG*k>>S^7-)sTCb7z7K?f4gL&x{<a)-{r<L3
z;O~Bpx)abj!grXtbOP_hBKx9Fcx!bCn}gVcPTHZXjP39;x>vF%UqrxJclbA<gZAU6
zL&q*)GqDWN*1~)<aQsE()Ddk@qMq8$2H&b1aGV_RK4x88!Z*>axBigV_AhnJS;8>j
z&5R$}j&6BX_o=j}7B3B_e9O^++;DhHYh9)!Hp%6|A(O?I5yv?PdwG#~wi~|bDIMPa
z!{LFsPqUuwY%WRd+IT{0TWDBn`=%kO4U};f{(4(CGRs;P-xO}iuvSe#cRU1*c5v<h
zt@3-CmCoGguxQ6v@DK%0$&tX=<K!Mpf%6{eqSAC7Yr{Oo&yip2KPXrG_zih{w;pi!
z%&iC9J#%ugGj;3@tP_`+GrW|UH*<35F@E8-@X#u7AlwOW5A(Z${XsW-e$C;#{D0+g
z@+vSEa)JM|guQQaP7m|ZKDeholq%PKPRY<ofsTi7J}ozmI5qj~cQhYv?i$CB@#N;D
zSV!z=XKFS60_m_u#))s_zRh#AWuDz5KiS^B4V>=6-aMc2o^xfR>-s@tV^O|8`6SfW
zH+*dqUn$-;_GM@4=Fsp|?^DBT6WS92)5F&}vQb{;?p=GfG?42(HrUZSCD?I3Hh#3{
z#8eY=Ux&`qJ*pm~&*Zytd61Z+T<V+XeZ~AVyRc_3FFt<P7oDj$@_h^aXza;%GUvN!
zCq0E+)Ll1-e}Q?KF}%7BUn*WVdM$Mq=4I`}YuS%NYtd1%c2$M5LiU<N%-r9=oz8ef
zpTCIaOJg0{Cq~IV5gXZm-+9c9*h4R}j~m^;{H4XRlPc5EW+yd-KC<jtqHBpCt8|P{
z-pq}?@jUj%XWl^G>q=l@Z(O&Cyd7^*w+FszKBHFlUHvAfHa4;UdCKtXX*1Dnv*v2r
zyhEE1e$SeN`=39bx;1Xy?)lF2%)8V*8hNL0>D`F8M}KSqvUfDN2ad=!&h%%4PEK_#
zEgI$)$8Y8)@CyvKZuj}c>$W0~8Rlr~HVjfX1K(%BovqtFr+B|{^$X5FtGmC@#Mm6v
zFSe#Msc-12dfD0kpdP%icRhPuY>#R5A8!bxrs!`S@gf>;Sga4m>I;j*=v*Ke^L5wo
ze|TWPyewg4Q}TQZdR{t0`d;r?mutLjF5EF_Qfz)P@S6FnTd#}X#p)&IQ*WzR?{mfL
zwSAU)J#M|GnZ@fRPUTK>^PK!W|CRVo(2Kg~AK+fC^z3HcRh7;lW@0M3P`;S$=)cS7
zFgMDNxu3u2gzbxI%X%(7JVj;Aj34^y>ov%25dMvfs(+&r-K+IWZv<p7qCURm?D<aa
zqEVIRZvC$2!?;^txwU6}pd&fm)5GIq9SQj|vE%lwr9OPK1-tAaWdEPh%~J)Zr<)^9
z#c>fx9;};>^0jUHTJg4tuR2rNbH3Vxe%5*<9j!RkM2Ul6ry|`jJkZ|l)6ZMU!_nPX
zS8MIA?#GAM-YfeV-qrri=wyD^Vjt{SM*Pq$W2>0E^vR{p)Xq95^{3g?uQz(qlxM!`
zOxw{DN@+cC`z=qGW3$Od(q8mXcv5=Otewl<v3_-d{+6f5Q}4t@pPwFvR+(c19lKXK
z)0G<yo7KdQVbguw%D+hKi6-vq4X<C>$009PO#K9aS93W3@7RnU&YQk72;Npg*JUoB
z#=c#=UStLJj*S`Ht8;}jck}r=BjBF#Wm@B_CU@5>wyz>xdo=d&VsL`p5x&%!wq)*M
zGrn`l@EL;Xgs*vg%<tRK4VT`c|GWG2yYAyRaA*$I*c;i!PDl4rr{gH`zWk9(b>|?s
z5L<C>rWBoE_rgui+%Pin-X_LhiVhA9N&n_=%zddlr^sE!=ahH~odFy}r}Cbtw^si*
z^w3%@`nl&U-deqk94y~Bu(DEXwTG`J^ifegfv&0KyMImCcu{fv75zSS-vMTCeXbj%
zuG2<c-<q&-5FHwArLJ#Hs2ikiay4}?isoM8eym*+x(1nJllu17gxDbU@VTSM$-ny)
z{XU(a<HkYO$oRvwc`9GGZjidItEl^AzV1f!cd>OM{ypkGny*WYL(#gez|e`Fyj}QM
zO&iv}u0htw*mvoBm0K@1NWC`XQL=IZ_z?eHOaEFUuhHMSKx)3m^R1D~2bp^u`2A~S
zaIm^9?i#rc9icVy3H@E;q|ViN-Wu697~HJ;c8%2fR*d(X&ZVBWMn(p!hiuw4vW+&y
z`pe!)y_;RUM#!I2tX||qXX>uz&$sWYX01by?z)Thjde`xS@vbupD;#qMR#4sIil9H
zFG*i6Bp32_cV8Y~W&B5O9-X6OeZDcuH|$>;B`;F{oKf0OvrkMZ4n%XA=<^%>j<xF$
z{H|Ju{pG)*d`BC85uYB59O3FQtsfb5jr8D}kI`eEuE`E^&e+BoS@%5rx>`Hl)j5e%
zYxPL?<L0d3Roz#)ll9uKV;X+oeS6{b+%kRh>6C8Yw<Y@K(;*E%H0{>OkGx3V(3Q_|
zSJ>)|EZ^<E`@34dJspvFB47Rh<-DU<shCY$_g=~_`3C3RGqkoSp1iVe{i|e6PKH<?
z*suMOJ(JF-wU*}BKJs{LEXwB!Z~X11p7c(}{H;i<-PydWq;=6xkLzgnb(O=j{_<-m
zzfUk0)W3rAuc$sUs`}U+1{a?;xbWGlX%A1EXXTFO+r{b&Ig7E!*PQ1F-oLth-2}cZ
z9?qrwYSs1l#`OQ#>A4E^53gDu$ovQ3>65TaK95gL@Z9CXZ|jeselz6}*?#CQ<Yv*N
z@AS_72KdRoQ+y9}2z4|sFRpWpjq9}gqK1{jX88O3@WI}>Hw)+R-avb$m-(*#3eR2o
z_D>HEo8dnfYX5fcT+LxQ|5Qi!&g<ac5bq*Het%l78~gX^^Ei{^o8m&k%<u7SuKac*
z)2;Z9bzUJ@9x9msJ@@v`eHd7;r@ZjoX5Ij0b191z#L#_-vO?TkMw#~Irva;E*!8<&
z%OI1Rv12xG3)~V!*JPooWIIT?jXMcr7xvtBp79ZX2EVHtU+lD8y4U)MhmenDTzV*c
zu^Bt4Wd3KC7~5X^QT#sAhsi%4?0d~}PN;g8uYN3hm9f9^*SucwpEEwe_rJL3MC+s{
zBIt!%7;}#;LqDkO2FmtHufe;v@71(@795Cf;sfa$$<Jon7X2Z8aV2HMw3xF|+xC9i
z?y~jR??sT8%c%Da`jhUk_3otJ0?MLpoX41`7w0jPx7Nfbid+6H?G*nky=mJmp`CIM
z$wrhty#*T){J)Mp{VI0#tBR|NIJK$wPI7YlvH#vfreu5fx2=byC)1Dccbgx7UnssF
z#V%vrTI$MomfuC!t*fbro;m`1`0f83Jzc+tEIF`pigW;LRh;q6K5MaiuPpwE_J#P7
zwBKW`cnrIA_xCHOzodEJoS*k+fcIqK8eB;JEIy`Eei7?}fBi{(`d~XcsCjzuw@oPy
zKX*!|X6I>tl$;Z0?eW{Z%OA5k@bujK!XJEP*QQ{*_YIzUSKr_-`)#@J+uQo)TYrL9
zufk8S>Dxuo+<4t%f6>#We7AGWp&RY`6JXA^e4EO_^K0w)`?POdcfDLE{(V+`Kb8L$
zbl1dnl7Xl6?aBPN<-Tt}(6>kP--5pN@)5qtru-{+hpkQ7<XbO)CAe167TFH?*2@<u
z=dIz&x5u72J*st{Jz~{;!)6rQhrLzftXT3<<qX~zF>)&U$GmlCy~bdz(-@Jb@;G@y
z<vnhBo3H#a%3H;Y1?%1Qny1e{Q)h92{4V6%m1@I!XL0@@{amNA=lb*G{gjUpoCW1y
zr+go>?e3qs54cGC#j>>a-XlN9*woh?VxA6cZ9Z5B2AbjXf_`tHU;n;6zPxv8wjTdF
zdb_j1(f)niw$F0r1Wfwf1irODJXQLvZ*NHKBsPZZ_|4cP6YutX1|Ce=LGD_14abkm
zceT~ro=F1F^UTHW{XSWIPZA~O%go!WyOICTE8-LDtatafpF18op5@LD+rjM3>Brom
zxBrjV@PFWm+~}^O&aLENT7^z!ZeeijcyUzoPvKm43O=A3?f1*lf5q-IdvAVAf8NnT
z3<3TZo$+UeT{1~}R{He)rTFR5ySmq^^DmW=n-V=XB>iv5!g}ajNT(6dX$N<%{dy{L
zf~%+ecJkXFF+cR-RgB$F4>6zFhdL`Bg^s%qi%ySwa&rQDQZQ?+mY&!7eHJ*hR%;Gs
zz3vIzQUSf?lh9f%c(q;&-Uzsu!dl)l%w4ljX3bU(wMNcLAMRVT-5hFTnS;A#pS(nR
zSo~`Gvg<Z@E<7{M-ol(Uu6IvWFujPqqjnnqVa<1`+gF6Tw%*UE^Gookxw-4t5OYp_
zk#|n5es(dh46<2lUi+~b?YyS>&VV=cI|D9H_b^uF{AvB>WaTjY>x1Xi^ecBx{&h(3
zq<r(b$~UjJU*_j^H+AL@u#PRK-1?-N7WVe@NrgfcCs>~paqTNE8-TyAr+tj_x33sB
zqpzRe7Vl>{{k*-ga>lvp3wf2T6TvP&Ui##@y!<Zj@zyoIP2!tu!7m+munaoH)(s?M
zcN3E+d6lly`HJyHs(*MVG01&%&Q+%F80}0G{bk$8u92<d^C7+(X`N#1oK5s=#>Rf|
z%eQ!J3wzNX#+PpD?iudIhYv|h=0vleiGkdXnn3O*bfk2^?mtWZ%F=g!UH>mn-_Bpl
zt4%6Hw^}`u`8{)9eXw3pJf!Mr&g+3KBtM%s=dNMJZI3qMTIzq-JNTUA(+u3&|C+G}
znDa4XnKR=T&e=cT&v^6wi8tS~z4@N$oA2rTexksZeGES1jbpRFw6gjJ>(^1@>7Klt
z|C+L&55T8A_(EUgTMvHF|CWshUi@;@$+sIn?wu<7wAiuVac%W`7(30HD_)g-CEMk8
z%6?$WJiB}uWlz|$cd3W{b1P*l+_L*k+!$pyQudrJ!!}ZX*HQLU%4C1p`K<z`H7eVb
zFME)(wJL-DwqA;|7gV+?U-k{kP6Q9Ye7|fgjd2lUJWf4R_9$i8esd`Mq1rBU@e%Xv
zo7-q_^<(1uc|CFy<)5Oy@FY5$m{er*QcpkbVUPA*<TVR^#mCb7c8~TnYe5g==$m4B
zX83gDE>AZqPF;5d9%h_z^Jj1;r7Ycb54N`Gyfi<*xqNTfBfF-be}5e^yDk!*Vf_2=
zFrEt|J`kUO{}9cMe#d(}*iQd~^-=y>nY)<#sxiha+}|EPK-p0EsjyylfO-SPLrxVh
z`sQ^6upMBnH8cWG(v2Td)>$zBGRj_%y@xO3yub9WJQ7+f7D90lAMWa{tYYrs@7~bR
z*T|J{_}%cqhczYSehjwn=ZtvxBHiU2+P-IPNh))n(-EeQ_I~(=I=bPv?ndseQBN@m
z-SA}h)%<;hznAeBes==U_jw1MgpCq9gnK>Y7P*W(2#rIC-x=1vmzctRp`q!X%0t?_
zIV1bvd8gyUuW;TbT;JvCeeTfoovV>YV64v7I7jQL33OaCYOFa+%Z0{pmNs^4e1vz7
zRzp04>^^)HMjvvguT^%~ebEli%cr_`LMNn`!*{PN;Jrj_&E%(@^*s-q)vnwP%AerI
zDOROd^+@Md!EebqXTHa~VdRI&Huu-%cN43=JyZg(E9ZjFoyMoT$OqxxC#_1KO1sQT
zcU@^aqPUK2!XCB$hBoZYV*A*p@tT9|sj74XaNWMyjpd5z9UA7CBrYh+UM<Ww?Gsyr
zQQ4KV;rotG+N#}GnO80}JD(G`#mQyCsqh%s$-eh1_;<KxnuI6Jy_V-)T+-h!q8H0Y
zTZfOf9(tYzJx?cI><nl+s~ui4K3a=o$@cXgj-4I78+zbn-UnURgf57$sZG_RTZmf%
zZ_4{cz6#D|um2PG?X)g=IExM9lZ{1~&t=ivo8`{bR`R!L{;k!}`Z?mAYMp7zf!~FN
zH<LGoQp&;8eY2B01l!EbJ64vy3OTWP$9m3&_w2Z_;xvdwg~zh=F#6FvG@rw~xoqpx
zd)l`!C)UCJ&`3Th;Zt{dN`OP}2k4HE`caI^`}Kj2wYuMP-{I|Ty5F<fAwM(lpbw2r
za!PS{5+?&seXJvTB)<8zdbi;G_R)jHoHu!Ka&MuBRktqe`trM1!3V%WEYntpyBS&f
zB*q?oQ(ltN^e)zB=}Y}yAsudhSEm0UIGLY;b6<Wf*mmxLmG4V`@y)J9f1xZ(ndl;1
zsV~XT_vuf+)qen*_~q9b?@Tkis8~~Y#LAicb-QDE`Dz+d97j#qbQZ?IAoT)zI{-Me
zU*0C23haJ6;Ag-e)|}uIfB7?%A4Ykhp3kWd<n=EnNtbYTJS6%0f5B%*P&a-!cf{aX
z=Q!;P$E7E-Z~K7v2r>(u_V=G>AA}rdMmofs=?tCsmCxg?Xn1Nfda7IZMgyD!vjzn0
zo|b!B#rCOD-SK%kUw0$_FIG3n8IRv5Q#V-M>C}BZ-|upGuxP(E)MY)ohx?S7wI06=
zBHszg_iDFZQ+N>CPNW|AoACqIJn-$;e?J%gp_S#o&p{_cSIVp{a~5TmH)4Oy^KU)n
z%J(Op^x5~W4UwreHpDOB6Ib_-_1O^E>*t7{$E8Q0&#X=f{9Exk1de46o(x62eQTWf
z%ffwYm)<e-$<sJs6dxMC3BfDqL+;)4&K7^+9r2OTf$)%cM?7TtXEyw^1pMq^tyCTK
zHET8T6!#xk+2+Q9au<cS{x-AM<UPwQvKRLGDPHb5_&$hi80jF*eYEI&v*_o>)MvE+
zp!`Z~rw`6Mw_RfjJ`2}2_+GH(fISE7;&BIkc{FfJ{@<hS=0^M+v>S#FRgQ*kXye9#
zj7xuj9=%pE=#+iTJyZYM7Zs2AWM$1D{vYgxezLNLb+Z^xw{q{#FDq-f>sPdH6?J{G
zvWEM9Me9~j7g;g)Wj$GGVx61m`JoE=qN$Afo~*Q$7O&TKIQ5{xwU3KG$&Y0ATb1eW
zgRdNR`+&S2KFRR<=pwv+ipT5ceVFI<*dQ>(1VaI@cRqWtKO^!i{tO?l&tsflYA?b(
ztvp{!Spc4sKCxvNQ1*ApJ-C*gtbI%vIg!mR9x!F>v&KvApZ4jlw~SBWe(i<I^v&;=
zemno|6MWlLpjS?0%)Q<|$-*&(vT@WK5U0_T4NjlMZWu^^Y>_Pjo%U?W<Fsv%_e$Di
z^A_MV{;Pv=+J(=@kJAyrm;lCpvVsnj9*BKLvgEE=C1)L2sr;P&wtInbn(*MG$4<(~
z9np^-f1~UYmHFuL6UIGLW#HJ*1DroinQ{e*CbsNHlpUioAKiXPS(VCG=4t*mV=Pn|
z@Rs`Ee)G%&D}x1fe?{F#3h4I|W$UP?aRrlj-~q-ti+ZLEm{fKzWw%oAC2SPw-QMQm
zuW9e(V6*!7PTdc%uOarp?29V-I}d#}K9<XHN5JfjMhDE^Nc$pebMi6{O>M^>a#~Lz
zS3wDR7<uoVz0$7GQ1TH6(g|!#?Z>ot+K0dC{T8QV+Z!X=KWL=ig--4|c+$0{Wp_?6
zc2xHp?5Db+;T!H68o8&qUWnWc|11Na#D&e{{!@&YukFo4$W=Eqwe2FU4^_Om$zBkh
zTg%+t9ATyD2f>HRPLs{XxIf9TA0dZZ^d9cN>V6vk_L%k+>5I_Wd+SS5w_wLbH?eoD
zCl7Vwkknr0klVyR;LTk<zCAZ@Lc0Uqq@R9q2YQKbvOyJtyl0kM{sQH@=1pwRwBWB}
zj9sBXuD7)0mKx#_OaASgH-g8X`-X6qB%V*XE4$YYt?e0oM0@YC!)rGmH@voY3ja!j
z9o67X`9mb5ivQFbBAQ3flTPlp;4TX<2#)T((cG@5z_no6>*Ovb7lGE93(eosbSv<<
zeYowzTYYUm@U{KG$(`l3oyFfa);H1Lah%ky7AJQAe7f+M`zhX@5_lN<zXT7kXpi~h
zR>@{Xdb;`oM%mu6LG}nS_6WNgT{`9(OHzAkM9a$bUkogj<V4|pYSFM>{yENDgadHV
zX8a{iN^hJQIK$xbF0IX#>1FtmU3kW&zvaPmIQ{8cVIOK6iE}Tt)k!V#wY%MGS5l-M
z^m{eZNxSgLsYYMBo4j^AO}-$-5mqtgSOd3UHse8eC(0c%)6UIlb_R6HZgStf+QmCH
z)lu#%>VD*^fVs06Gx;p4%>Jo+Rji{9Tg;_vdHOQZ6q-vfUuecJOTWqZnY%7_b4<L5
z@1K5jcRQjxc;NBZd=FSYj1N!U34JA}ZtRWv!j^}&yXuFe7H4}+9yaFuu@fGiTI$v9
zejI!^%g0bk4lR5zw2{pt-EtLer1M0F(V81|^#4yA_)61H2tL^y;*ZCR%YQ75{L{x8
z)%W-*(q6oN<T2u*){+}!7I`SH#$E%i9h<~c<I_283Y$ObP~>%Y%@EJ0QkH)IcJ53s
zKBQfK9m&>qd_J2)L(IKV-7__`Sn8)mg_~Q1`})$i6`ZZ@Jm1N6x_%9lcVPJO*p=Lg
zh+<E54b}NkrR!I$a>lFymLBH+o1w{$E^_$Fuc&*0vKzaCftE(jlXOS$Zq~P;Q`XXD
z<uMsZokN-K(7SO^mFbb-x*Pe>9zOe|^a6U%x0m0H&UhdCn|=J~Dt90Mij(`Sj|NTb
z(Tdq{3HDhTc&=4@RmR!gQ<BnMj<M34tO1!<qUL>B#omZF*YKvG>#HhH|3>x-bpISM
z>+CPa`9>VQ7|@=X^4wje?Ymgx%)L0}=C|`~<sKB}`L%=d2<EXxFf&K-O$1xH7|i5!
zL_S=eyAK!)Ue=;#*0KkoAH#S5AUB3<!;=FZnCb)Hm?OW*7U7=1d+5`^jDJh?H{Td9
zs&&AFuM1nb7<^sW%<dh)s&pfLxv*BIZ}8TwviEyej+ej5_Qm;5(Z0a<Wt{zpzwS2p
zu1de|!N(aF@=pH5Gk}ZvYu<@L{0ur{()#gp?pTUGH_*@C=8M~x*65y5a?W0KNjJPi
zuG6jLr8n;$K1bbNWJA2)39nCNFOcDWaQ1xseQuuLzPIZ;wST~7$s!j{nEW?SJ8n)7
z+B3gJNwveKlCDa;*E@InSCFf7#M5QzHUrbR^f0qGAa^A2OclOa#{=kZ>51*l{C|_H
zN3m5V2hpSK^Nb#q4%PkdY;zU9S?-ySbNRKJy^;Et?CXuNdFm5iuW%)p?g6HNIsYA(
ze()Rc65kYeHiP@2mE4^W{lnB{-iz7=Ki{Q`b$;-5uYNW4?fvs!?stUA6YK5|%hIDg
zT1Awro%mI?|FdjEXm4%yGq5|x|4sQ&#nYAP-@zxYP92x7@ySHY+oQMs^<W!2Ap4m<
z1+VS*c=|QD0ML21>{yK@I~0DgWuKx<_N5=D2xaFLlue*aXY7UJR8T&Fax0UQks}xW
zvh+65)$+Lqf2VNn#@@{i><iw#rk5O$_>gV;BWOQzfN}OgyIm@uW%c9u^rMv7^=H21
z*Bi_FGm`HdjH@i?ivGF2Pam%fC+KWH{xXzzs2tw2xO#^&<yh@>?^llL^zK)Fm3oGE
zJYLzN`waLq#AgBS!NP0iepBJRv+|uobMchyPvxjoKaH9v?fvllgt2!}9)>r?bK>`1
zLFbiS2kIZNJSu(`Z>qoUmOMX4Xfva8MvHj*cj_CNxb}3uBma>we2MH!ZgwF5vG-j&
z;wQRG3$DiruUAKN&*=XPqq!gJZ(}sKp1;!f_;BWAo5`((9V}dFeA%)Q;wj#RmwS*|
z?ctPTwVd-c<yZ~yTd@av<37L}O<E6MV1BYgUEPe$X>zO*i-25QFbuyVefMy`#`?}b
z)?FL=mhQqvnJk~A?m<b1&0wBk;Rk(SWKuaBSifT2=aw!2=EEgxS;n}KwI~3rvbj{Y
zQTz)ZNe?(4J%v}naV)yqU5DM=kxv6N>)2%3XuJ8VI=@)cYv>5=S&v+Omr?F$&&CN1
z;#0}u!`KB)q$_qo6TvQ;M9BTD`CkOiWe@1L;L!O(g!3lt5gN|LR-h~v=G=*Q>e}Et
zXfT_9sQ~)XyfF=}rGGo|^OXYMJg0PPoP7S`vjp*1>UXHo#ii-%z=QHLY8<t}=V8wB
zc@uF?H+Yu~soc{B7RE27{5bIjxQOuk1^BC*Ig`81yJuX!a1`T?<(xoe+j!eVZ;3>>
zORcwHu0dw%h4b5@4?N8~C4tT<<PxlG5q%TDABUbFAR}6v)o+G89_ptDJ5YV>*xx%t
z@0a|5cQ6Hm?A<Z&O#&WOyqfNf1?gY>s60kJ+Z>a>pZjus@)`5=lFh3b;G2mvq@C`o
z1}`k`KXWd?J~jJJ&X(pybL%(*6&!!!9=*{^ULS+qO^I?(L$dn^wV|(tCGdT-t49)p
z*a->j1o>hAhjx-lbA~oLX3itS%H#LNLC(;chr9P2z^VAa>bh3!iZ7xo{P|ALhDO?3
z<Rl~LC($9`IJv3;@|_+-T_Y<&e7L?mr^?@B^PHXoJ>8rL?itVCHdl6pFP-Cf^cZ95
zp|w*wRcp7_W3zTM??=B5zVIbzZ;#)&V>`H0&SS~66LwNJp62qU)|kT?)A}dc&dk%k
zP&c>D;_e~)BFS_lb4qF*dLn$LGtK%aGQqMFGWbLcZGp+IIpG0fznT>L#hip&WaIU-
z!0n5Q33(&G4xdKZPgDlIEe&Q;_I2hQrGIOK#EgC~OJBpBd%%AjzDh{HBP$Mi@1Z8?
zNWCXjmR?vOgP)?WEb^4pelIyQ)r<bx1+J8H(X793IQTuZ9+98p58~g-wDR=cL7y?Z
zr(}=&H`?{>C(#3{pHY2e3;)ZjJ@t-}wE%Es=+hzBhHSK5&$;`oZ1cGGxO4|{DE$!;
zzYAW*$vhY9=+wD+^QFd?iz_ETeA!KT1O7<WxAxpt(RGz8AL0q=X~PrHtQ!1e`6fMH
z3mjuPzgItDA1?LX&=;Imc=ffmT6=CLws73!`*HX3tKfU-pC-ns#co!6W6$|ucnQ7_
zhg_JlgV;P-v-YcB-l>7kIq6#Zc^ew3z2$+QK|{S8DO^f_36Hg*z$>-A^$%EC@Xvem
zJ^6WS-LLJeZPDD{p%3Bi%k_K*w~;XLzvZs`qDz2W!QzEI?2Y%be-`bPZ_LDRX<zsi
z@diG*`XR<QV{8o0j89O1%t7@>Lcbm79ojCPE#7X1&l+22lHUor1ojfG&y2O>E74pn
zd7-pM=ir5H_)(TAp9ywAvdoLCfZhq#!vuOpaI<E+aXS;7F)u?0>2ZD2{@UKHsK&mK
zEfFCHt@3%w-}eOgGj>J2`r#c0`e|^2E!R=*`jX_k9G`y4<6q%4%U-9L&8EFy=27$u
zJQJs$_QR3|;Uh$!f>plClfjEwJLs=%ko~OkJ-WUN-cyin0*{lBFY%djAIe6twn=tv
zN$nhXMRKokve>M`OW(Wby!*}j24k8${K%%2-4*oNUFQog;yKUmy2`_kd?T9~OYf>(
zF@MUEkoPva@Tr`sYNt3TwY|h^(?H!O#y9#TGcz^552xkn?cyD1Bzz_Y*)PYihpcUs
z9mF<j0@uRL&xIrAW$45iL@_!g)Gu^Wy~rT3h7n>7w;>P8tAlQyvkjTZ!lUBH>{j-v
z$i$BGKF59Yvh*(QtIbEhW$Wu|H?KOYy@xW{!kLg`a-QlOboh;@ab{kg{s2F*>;RpK
zcEj&m(1Ws{Go#UmjPo<)ct=M1&eECRydp8*QSlu7H3Ql!R_3?nPCNPK`MX<ZK+MzX
ziyxsAe<?i=4{D$PEztqIE%D(kLHxC?|DV+Vv2+8pn&@BurCU8d=e@RRt{nREV8Lgy
z$Ha^Oj2!-w{;V9fS)S>fnUXAilW(q{Q?gi*e((3#*}$Xmm8(<hgrOs}Dn@VF_Lh$l
z<N_{QPq8T8yu#hQYhiTP`1GG+2UdP!06bg{Z0798!%xhMN4!}0VeW>%|CGn)9Lg_L
zKYa7!^IXciz5XrkXHllN4aCp3td6odUVB@13T3f^vJ)x$3Gs&hwo@p3TxHlA;DGy~
zvvLP0TPPj@ep{BK>;lT{|99~JGgJqD)R+<G7^bYrXa8IWt;5gs=4~S9)YL-Cl27}}
z!l$OLQa!z;a%<_~eYO&I(vQ9V&6u2zzD@t)>E+Uy@O0SY=_B}CFWCCVJ|s0;<LvL9
zs{RC%^kF1=s=4=t{(IfkKY>&;^|YRL@Ym>1)?)18S53}1cu40;I$x6B4-tPUn@9Rn
zuo_#Ae*aT?oAPIjpSv`D#xniCB7K_qTb8clZ?onCjsvtUMK_k}Jx<07vL<x1<|E&)
z4`H7ZU|;F5|C;AG3$;c!UK2kt%RaFlpNIIfi877#A#$y9{eDRJ0M_3^?^jp{bO%{{
zWdBkx?MSDi*K}53bw-fAOC9^Yp!X&~9rlIVgjLtObMScmfyyB7B`Oa#d%9dTc6$x)
z6f~$WV5P4`cLS4CMV<%VDNy?cx8E@h`%3QqK5+ZL2`>9Cgz{!B7Or{I^h)xb|0ny)
z_h&h|p`s74L=LMue5NyMQJ6iTdG~x4Yd7n6Sh?6o+P9tEw*-`PYdib8)#SL^T<>&@
z!UpT9L2vTzYJeR1t>i6q;?=41v<}rMzJ&L<$j{cjNwM*qBSV*+&4JYBDd-Mp*K_``
z_D<wm`moMBzj&3r75esT{^~sg*+=T52|L&H-&viSAzILfbd!ne^<s9n(~sV>P=DhL
zzm%o_&GcKAe%AC`o_@ybSFzm*3$s&g^1JsO&7O$9H`l{2g1wQvMU0yXl}y$+-HfTX
zXjcLAF2?COT0Sq%=Qfc8Sp14U@40AL`}TS#_jNO`iu5Qment8rZ~X6=zm@3+JvfxV
z9bcPy=TbT5<zIE__mjSNRV@7)p`Y*%U*x(cI<hears2dq4WmOX4PSUneA5JNO}=-|
zU4`cevJpAP8FMM)_5e%7;@PQ5-3UM4=#*nyl&434Pqp1}w%V1ar((Ov{;+2#vO#L8
z6IJ_b$gN1<zsj(d(q}+xy=QYL;j_X$T~@J7)U)#NL7hwcUm3jAwd)NI!Tb^OxPNIL
zFE_x~@`dQV8T<f!IC0-_AD;f6XRmcKrqws_ko)!<I7)haj-9YUbIQLp;o?eiP^e4v
zzHtw85$>f+V#p^lnp#G_6zP)qH4W&J;N)n5E_oBavbsdPbUCp7k$FACoLqXl?~7`l
zH*$aACjPZCFUhaw$XwUeFh}udh_N?T@D3gPlH`p>&b&>Ypa$mFFe1?25Dd1P+-=C_
z@lj+2SriQtti{FF-vn#3_L$1+^d^1pq;164Hap1L-NZNAuUmGF(;;}`!6EG?AJEW}
zcD=C>Kf%c@`%$2F+4aPXBQtH_HRc3<5diOfIUb<D-pmw_3SP?#SHKH}aP6Jxo0IQd
z-Akw|oT|Ov2uT=z@!pHY-V+`j&hr*>?^roN7U(ZIK(5wb-Wjzv-<sih{atvT(u&O*
zug=#+SNG}qgX*#`7CxUuE<}$X>hBsSb&ke6+@(oi5L-Dw-*N99)}}#dC;Z1b(-e&Z
zgVal4r@1`Mn@NMvQ+%>*r0C(ki7VVBps(VmUIoYf=FfYn<{LK6%Y1tQybI<SJSrM)
zM-N)qI2)U0%m1QsBVXisp<LsszQ$CY_hSc$i_P;vH}!w2zQMiT`%s@B=`Vf!jlX97
zMLvS;XY0X3Ju<q?v)iMrm8|!(quv@EwQDf-E$k1~9jKHX{$KS2e(o;p2Uz|odjMFD
zepm0>6!7bjd0tyS2(Kjz_%b+HUHmw4-p954zMQt!UMb|^xOkZNa&6t<Aa$ega(p@Y
zD7mlM$G3y*4Ge!<z8$O{W6B1zJUO!s-mpBm`Sjee1w2`2d6GD-BlXQU*Nwh!pVT+s
z-0FDW*YE>$tk5^+68Fuei|^u1@#(34zUHkztFKO^+z)G+V1;LYFJ9G~#QMva@}mkz
z@>7YI^&XSE4)mx0!?zt+sW(>|;PZO<nef$IG0y3*zW2m(r`_U3y3_xTlisP`hK=OF
zTV~BCb|4UT*J7Q`)D7<%$9k5F{U$JeG5)K>lEiMEHwCbn%^bY^JNuVzGI}|}_*&N=
zWi68(PaNgk#lV&1UxI%+kBCx+ZL6Gm3nO}yxNlz18ha)LEXvt>1$_yoCHTU23QpEJ
zY@5m78CBJiW9=c&K}U9RAay)r>HKXY{b%PTJEF8ZpEfo4I7&yA;zJ9y%nX&9vy&a{
zt=&5@rRII)@3EKJP|ev2-`S_l9jK2B@PRJwoZ3<~I$-+KJKlOzS@y82542x*`@4t!
zs_-xByZXxnxo5+9&O}eoWW4;Y8SnhD6&=(C+!^4m25$NNwB8Yi)*{<Bs<SZO;>xjJ
z?O*zHckN>hKI)IXEC24{4V^CA#=Hr9CiaDBESv4s+g*JndSi>s@xLp$owu#bdspB$
zacH!?kv<~yA%9fD35<M~d5B)$=3f~4uYv!j^L;~*`zE1^$+GwEW$jN4<^Iplr?=2H
zSA(rrjm;NvLdJ*pGua04mR-LskL+KXe<xiwi`LxRu>maqiT+Le%VNg_kR|bg-Xlr~
zKfr)}vS<PGJoMe(m5soc;EW<3rkuUn2x33FOJ(c0_fWocJ9Z-d@18{+>ISeqpJ9z{
z<F{xXa0WgD8BVU~ZoUUcIp(Y>f(@r}AA|23DA${PG2IsnVgvCl#yfDEv0Iw?*6f6S
zv6eTg?7T%kYqum$?!3kLIcc*8J)pf};aSO+0m}YB*>q^)%KuOM?0)6;7ybg^OZXEH
z)qx{)wZYLx@QLUsIz*0)cH9C@?71g0W%jM#Sk=2ya}u7^Pli6p?YFfR9NRfq+G);F
zi);3D<PA>?r;XrL>tZYYEazX?;k^;|sMtQaDDbehy6?Vt_|q6|;7<LkPw~3NW8YW?
zSDX>j_DOKXdyD40R<bq^m<6xkeiz($>o;##hwfgBUHt)N;<E(&CB7FA?WTU1vqV>q
z3{M9_#G;WCItb3DaQ5T`*xR9(76+Yk1T!*ga40!h1s;=(g>P|D;^(W!jfF3>p};x!
z0GIly=H7zd8=lC%_nW+BC|V4YAAxVR!*m8|zmHw`CHBPPlWCi(Tc$Aft%sJk#Q6*E
zJ47eT-(O=))swF!0qsWg(QcgH#DsQb=}&?O=|;iU#XsrSM8R8!ztG+r8tq}dQk{ld
zZ`>`uuY^9>0R8!!x=qySgf@cPfBx5ho?{pOnH=Dvo0ai=j&j#V4?sWBE^2633GH-u
zkNXx6<zZG#Lm~fXD4S^f6L~)02ERn$O~EZ)w+6ilj~hRXc*ydMXPb-(d+{m$Z_<fc
z@3i+j`V{<9!Ug{V;J$QjY(bR2bJ4$3STmFZTROZ<?^pKedH1YS{^rr}J9!LJ&j;Og
z!^lagbhNt;y6`{Kx1Nd5?0R;KZ$0}i=R4v}laIWS^=ujcwgpm4>3{n&;t+vPd|Lx-
z(`dImSl)6Yu*JFe$NIT7`3Yz4Qh5AU{w4qZRr1LuU%%}G&gW)0xl7+YEq4q&*oaM$
z>~>ODY>d_>=;!v0PHpoM4oj%?y)$N+^jbA^r(O;Dlba*X^hCARY<w!!+T(Hm&{ua0
zF@a5dSKXR%&h$8TR`OH$c&H~H7R|-OFA>X?<XeDxvGLCI%nV{ru9>l0F%rrF=pZM`
zS$!I`n6mKZ-J*?ry3wVqD<ja?tT|01*e{N7%)Z6;`xv@ec2V-s{^e)FyVyFZB>yhD
zl|Hbcl53n)Q^mn^I1`#S@m+HW?dqRD?H=y6-prZOkKn_?ykfFdJm16^8w1rdK$*@0
zMLW^ZPrER-MD6IZmMrf*-N4#@erKd*G5oeHShm&i(GuQzO|(n~OJ9*6OEk6gY=%y)
z-J+vQ&+l(^YS$Lf^KNk8=FziptTSEoYK5L{1JLs&-k)mo=((2ntwgid0qA)Qu`sP3
zJ-fz0&nftRpl2_9D4JS&zIyV3l~bXo^t1eLzl0V|&@%}=xtG$>IsiSB(6e;_dNx7J
zR{r(eLLbnpb&Zp1D?-n<LFgI!7tqsDu6|-MCwjJ=<GpX^czMr~#CdFl=2>W7k1Rwz
zTP{r8u=Hfy+H$<@r#zMWm%48<O1{u-Zfpecm3MQ75-%cC_wc=t|3ojzSm3?>dHe3+
zE}p*WuDWz@32Q)zoPEDM$=Cqt+xgby$#xBUIP^e4E^l`&4YOxk4nOG5YN0$FAb!pd
z|5@a{yBPRCro6E37Rsa}9OeoR7ahVoU*e}i_`dJK_kBNn?EQ+uhc99c@O@zbIh;$G
zAHGSvVRbz4DHgC0KE2cAue*SFx}&J8H^mC;PNGaPydka8{1z_p0jCqlY4=G^?!HsO
z@k!W1z_pQiYc74?(am@1JNi&?f1390dXeAPm7eSn=T<s7hAcVSN6ByaDQEV?!<<E#
zyH<}|w%l3dl&v0@#82Vh+buf~Sac8jj%5|WMOogMShhU4C``Q!?{%v`TX#zI0QQl)
z-_rU6VT}D)!9GE2(OzQXd6R76WZv)5+Qq%1$vNaV{9>dfb4`3npwpQ>^GIjW7Ie7m
zsZ!pTUluA|_z7|=EG7nQPjGC@+@*_`>|o5D{7Y^GcIqEOf2)D9o%vu3OqTsLaTIre
z=tuv5p0`!BZ^T}lyPg=cWudZ#KSZyGU!2;qk8zWm+<rd9&R^YY`<XELX0M;HavOvu
zO#Y$QPbYeQ!wB_LzVJ)@p7!E2;J>jCeja|EJ8>U41D>nAK6F;0_596X)j2t2mHq5w
z$*=4iS8m;XnA!<nYI~8_R&N;j>#M!Ljpnp?DEmWjHHx|qGKR)dJ?;0W)1Uo+cOPH4
zc983{cK5-OqxGMQEs%YpJ+Am?HMU3?`#OH_JnXywkGMCFkGi`0`0q@@j-n(a5U9)q
zRKTsRY*AZg0=Sgc1>#bdGLvWpVrvl>5S1CQkJ{L3DvGtXCQw@v+oublq}GyvyS7zq
z)vnG2RFvAs1%Z(zzxU_+{odr8VP^XLo>zab-yeD9JLjHz@44rkd+xdCZawjI;>^}&
z^z7S3A7a=l8<Qwu3|4;kEQ&wQy=CpFQ+wu-an7&Fj`-)2MXasRr!%6Dxb)rO?K3i~
z56;N^>J)q!#(+BNi9@gaw#}a3)(+3I<4C|JevA)wZP1+;SYJx{HD_w3%r@xEh2!=g
zSD#(~-f$+asO1Le(HrtfmBE}%K41`9J5Mss+6YciW(hd>%?ovJdFnWm`5L;XJ(2R^
zKb{_Fl#B=AM=>uL6u^FJ9bh#5GC`Th@<_?dP%d+W`U&tKAI9;`Ig7YT^MNlC?^y1%
zf%Prs$l)hXZcx7Hy!hh7ymD;*<G@WF$6nnc?yg7Y^fv2=BG=D}7ub)Sgs*#OU-~54
zNnIh`zu~M|40q<=j&DB37ek;9EBlqup!g_y-^<UMhm1r+nzZaOM{v<8|6P2#i@Aw^
z-9>Vjjw<cG3!?MO2A4G`Zt?~`b%MK{v@Rjp>_Mj2!rN)y*yGjHt*1%$M=Jh)8)si*
z*ih+ppum30u<$Egyk@@hmD_O`c=$)6QDsI8;Kqep;g+d<`N~WW1`i)Z<ta}-yrl4K
zY`*|rSa|qFDzBOEeC2g0R*P+R+ED;6F1)@jUYhTG<pqR?4yn9k0X&tVxp-hmVrxJ8
zx+7cc|2pgsZ#S*iTc+>bfZR^>>U<xY!?)GD-Hh{+t?omyvW<QK4swp-`wH(p;aGVp
zjc=R(Ev5Nn82FHMerql0=jgPRSyFK1XUlwD`8+wLmBzPCds%6oY@#2L#<xv-UTIby
zO5@w6ZBd#hg8*-=>D#9LMrj`3<4WV(rfpD~$LkK#Y}<YgyoJ7{wO>2GR-Zet^vSgw
ztB4nq$KuLg`XRUnmab{3rBBH=Ys}8j2V?wBk6{nsh0OPeMaVX4kFok?_4?B@#n{5_
zZ@X_mDkjsp!eruuqvMGI&iXa)R)@1<8$a7>YCc)h*NLa>+196V@0h-g@)!2k^(F3G
z+=$)WDtnm1#|fc7qw({e!;YvN?ctOC4JCMw)%jh~s`uQgiPMIe&rZZP-itmcKKu6d
z_(!jCHi5Ec&_~%XK7aR?KwAPII!PQl)o&y*O;f7<q>6cHEk1UpshL50Oo+J=^^D~{
zn(2%woqsjdUD2xh#uC>s55ZQtG2n{U-%*d=Eb5NWK(BC9N0^!g;A>nFts1ktaZE}5
z@x(r4+jS=CXRl-Prx!PlqU{;l{Yk$8+*i@3vFjD)^6b6r3!T&1@BSe16k?;iKQ^lV
zJ^Uc+2dj*;@J+P8WA5U}hxGfJ>9kAh$HZ;6hWLLQ{VR2w$>{t=kr~w>-!VQfKDC<m
zhS^^e@pvs?Bud*g*M3_2UieQxCa#reGvo`wKSLR*OWd-wk5qCp%-JQY+u>nq%vmib
z9AsS{zQ_gy3fRUp_9oQ;9(5)UGn0hhT)<{@FwaOslX#(a;}c}W8_Sog@QJLSrLxim
z-aiPC_R$JwA43}>aQD0{=Ec}!UX0y5hCQPnID6~gMnA+4#>d3-tm(fJapLXjTk^pU
zEd9F^V^@2s7vqCp=<47vKgE82=xw5(ZRe~T^Vv)`@8&I(?^(fq6Ye=W(8IqD-W1Ab
zYnwTTo!aE`FZy|xe*yGU_>q6+@Y{Cc$AfSC{=?|SMbIP}SXdLVp9qHhq`%hIJRlwN
zWYzH@cQwH~y>E9i`oQ}%>vx^w;%m+xt2K?+V^`#hC#Uc(tJXKLTPJsQZTRbC?#}`@
zUS}G==HY~Sn@IcL)%SD`v1t;&FNtIpuV8$o{A^yG`3OGtEZGFD$CR{=WW8Q>#d*g|
zW6EpSK`Z$`X8-cXi%iDR*}F_;3vl<m+3?m|;c+GXB!EvATZ2AvZ-VmPjqS((aAMm}
zfj@_H6%qbu*MvpvThRG*XD`Q~p)I<{Dp77$K15vick4}!?9FnWVWHn8;7v;vbgW@N
z1#KuTHf_sqxrM#k@^_0Gt|u*qzq)5laijb<#~#!bH>PednZtf%YAV1>Zz<+3y2R{Z
z{P7-C+x}@Lv%jcf!YA0P^p)%tf(MEds~q~okvdo7mNlyWF!s-L=Q-^d-g@u;E}iL_
z;GPetXl>-T+KA7&kiJ@@Jw~<UwfObW=B|O1w;G+*_xf`Bvi!Q(ajDMom9;K+%F#K5
ziq<cy{a0#CEo=Rk&Uo5#E-p~cm(9cni%JG<2$l}A_spQr3;i}OdC8$R?rhb?zI5qJ
zkiGAzHJo#r7oI9Rke$EzqTcx>tIsPxvQmD_%kZ;R4aBjJ96c|*Q9QQ1{UUqjcX5B`
z{%P2ca<~66jx2m{4ROJ~<~*ID53^^dYr4toy&4<4>y}sc_Z!l(e-U$sI^*=K^mOQ?
zt}y$nwO+TI@iTo7XXWPAE|yIlO`FFhc^C7}$asyd(f;Phy2X)KrkSF8jftr`*}uf>
zOQ%3L`LqX7dKSHD**(?R;~@GbJ(F$*DPLpjuzBIdbBoQAFEM_6f=u?GY8?90tH^IE
z9NT`uyjXYr8V|yht9@rL-i%IwC%#rOrYfGiAz0Foi@zQ9hw}HWsV;xD&U4f5TVCk{
z?PHc+x3?eTiumwV>gk+UyK%1RTmLQUy#m<kCo3DSfFExJ`_#98wP(zm&v;kqjd#%n
z&icewJLXB2FHo22kvv0`GnP6YnitxrahQ2({Z)IrYW5Rf>7q|zciQ&N!A8I{-9IUQ
z{p>8_7RdJ#`n>oy8at?1#79fPe+YT!(5ZB+cbh}xYf+n}llUmIL7{oEsm7SuA^M)|
zRfxHw_?fG`=Gxxnsa^MaJX{L@#4}@f10I=_!8fZjewoenWaf_FCEeq<^!N?tn~^y2
z4f^Y*U}^pHQDQIf=V@%e{GPPu_e|w1v;3a+HpULduw1l8IeTaMZ+(shqE$WzZI_;^
z{gv}VQ-8xATIxg&!|IQR&->{ImIuu@=C=#UC5&|*?^)-_J0^DUuAFSnK<Jj<_UC^D
z`@IWW`7wQ_1pDp!Z>%ljzdTF&HpUA1i~6lGJwA@LopGK{;D<Tm%pXkVW9KYC`JDg5
zT0eI!b=(lioT~qfjW5x*MU3qqJ=3+}bmDf|>q%|eKTJK+Cp)e_DLyeK%V!8|W>2+z
zgJ-h*svEE?6MTLqw&q3N*;Ko9Z-d51XRk9f`u(vTdW-W9q$5i|d>-#^YP_|wl+MW4
zJ8P7C?ywYDO}yEx*IX#USkCyfbvgFY8PDl^qCdfS{xM_ysmL}GFzYpExA-@BxGBb#
z1nt33m~9yQ|HR#y=rz86dF$6Lj>c?g*<Lhqg3eXohd5*M1B}C+@FjZ<ecUyyt;56M
z5r%n?Z@uUnwDqsFsWhvtSHq_<rg7^c=|e^9OV0mMt-p8v4{v=@|EcGf$R^uwn?BO@
z+oZp?4@-v!Nsjad`AlJWGY1)3U$UL|AFid%tih~Lc=NsJ75ViwdbydH@aB_&tMcOo
z>cR8omT|rr({i3Ik1sG2??pDlhM4tDUj1R~6C%6p7)djGV})n^zYuL{^62@u`M|UJ
zhAN*&-@nZVp3PTGzDJ?=(PFc{-J>`C)%@*C!^?J$zVz1$;K9pwkDh<W*LLcUpqt0>
z7H&JT)Au;OH}L%@=(2poXU)&|S~Jn|t+@dG&CqZ8)Pd~t$+3gFnmoGtKuZ&}#Got4
zxBA~oe(yTGN5}ph&l5fw{{)}G>fFE0=acdGl<$8jW8qmDH;_*{xxvTFX8gQ-ZO1?B
z=4G;g&zZ#Mw7hJ-q(FK2o0gZq;%#y9QZoKI-{RwX=n{Wq51Z!{D2I8X<y(|9;rZx~
zp6~0cyy2G*FHT*uqoU<bXpybd_Z@u4`PO^{9?tGZAJO;C{J)I5wzJ0-y?<rL70dGz
z;rWTa@y5c(0WTAr@$lQ%P%h(ECHcE;AO5Q5F&oR7gRY5WPV?JE{8yzN7=c}6EIyjF
zhk_OLQQeD#zZ4s9ChnW#`o!{Y<pX!(yQ=I?d|~zl)qim<zSq)7Mt;^_;y%o8wjS2r
zRdX+QY2Cx$hT2Jui<VDn+)Zp~5B}*M;y(MJ^^-dG+fcvmGuY$!59Rg0(|Qeb*m2B1
zM_~WgAwJ2>$+Xw;$2c?17$<+M=|I<{2yIF=a6XkglyaUc#-A9x6rb|@_zA?V<m-g-
zfkTOhHf~!Qz|Ssk5KSL#VeBDBqO+m9SBzlohkJt=n-xPUE!8}+y#7w^bod_atg4&T
z_{o|+jr-xto>R4#s9(!4c(I?hW@xMKx>7&C4_x`6udbfNIa<~coVJ(Lzqg^QhW#V;
z3GEYH)x!gg<>I%-*f(xu3?(fBt<&+>>o{vs!G6YwH@|2BH|pX3(Zf}|EDEk@597Nj
zUN+sEr-#@Zl#@TS_etf4KmWe2k*#eWZmzoKp`Y?I+VRmHxzq>R^e$fN@jSAj?uWhd
z5|ZO3fwr_{L^~q1WBarSe)6z}-Rqd^Ae-$g%3I`LrR%sW40#{Qi;=C3UU{~RB<GGg
z$Mk6oCnmA}T+)z!g#74d8h=Y=;>*oW&!S$Php($Z?ju?y^F1Zl7yRk&zD2tF&k0`t
z`GkIFJX!Rb(;R;2oaVksz2`Ky7MX_7yvsKl<}IOlV>dqM@59XbRnIeJoTsD@YyP+<
zNBSnx)yMxyS{OZWVpd+>jb7egkY@dJ>{zdPc$64}`a%%>v@wsXpwrHygUnBK7M8WD
zjh);-&6$i@*X-?D#ks8sqDwyMXv%ECFVTE%`)kIDVJ2D6Re82-<hu0&ul?I!L${gN
zflvOC4TibTL+st`_+D3yY*C85wp`JD)&O5@lzDG<xe>42Q$?#+?$Y|&jbUh0d&iMy
zH2rYKvRm$%zKqxo^#(bMq&6)p3e;c498Pm6&1VMlHsWs98f62c^wn&h)_FX=8=VNj
zw-ocw%X9Gl%iyV<;*sWKJ^JIy^*m2*iqol%FtLIC+#&G^?+NOiy&in-il&}MV)3$*
zo0*gJq`75%-YZM<W${3K^|${l`eD$UYZIG2MBeXDbmhGfTGZ|f;F0()ekq=DGW1y;
z7yJ%nt@5^G+ZC@)vM<QW+3L_=y)w7c?~CEJc&>Oy5}wC{fmvImW7ryN_vayF*=FI$
zE>~igt4*1+F7Q+ANxm_nd1&vtk;&HIsBSNgR7M%{{bheYUPk%Qzj;A;>S4$>o96%a
zXm<6Zq+!uecYhx-sEvtdx_aXEl<^MpBFocu?z733$)AV0{Zi*oveUMDY1*%%eL33S
z^!R7-y;ozmndfZe+j)<JdZf1+_mj{+0iJ!@(+$m!FIsYN73*x}nz#HBc*5r&jt2Ly
zz_R^}HJmXHzgXE2l02||SAPSW^o%?IRG*VAQh%O*=b`s?=bDGU({L!>#X0JY0+S4F
zdo<_T4Zr&W*E)&jV#UywP49Bjqwd{4-FL~{kOOuVF!^=XM|y*@9~R8#!~O+WE3j;N
zd>wg6Po*2@_mY=u>wiUjShQb7TDy<OPgCCSRfiAO0c;*VRg(`UeS8-@KkPAJQ^6|@
znMTdOKSO$om}9EWWb{5zinwu#`0$_M$w%0<ukzpDmY<Nn7Ce8OR|A`)x_xc_0kAhz
zw~sgX1A9p@AKpE{#wo84?>oRo0BiT*-2qH|ZTI2b3hX{$b|34V__&g(UB~%O#_n%g
z*S&9Dd)6bI&D1*Omv#1-HA!dR(ez+rt-BtYQG7gro>V<{I^*9+;-}H^TDQ~~q`ER^
z@Lt)G_}Sq1tj!U_eVTm>Yl5s%1{+f=f{mq=aSA-ntmxY!{j+1sbNEimE5AI9jr(LV
zdq$n#yc3JxQOzBnT9=$mUwPeGmmJ>OaWy{Dg{}{6*CjvMVtnh8gAQ4jG}yMB>ynok
z>K@j5F6TTum@A~u!T0p_!P`HDZ+r%D{J`^unw7iZnK_EJ7hndxA^x{BAsoukoe>W}
zn`9;WMzeoEb&{zWeo=IMl=a*v*=JM--yS0NY))|Ve3p85Q&u}?RMh9+!LGmBC)ZvK
zcOPJw{U?U?oU!E786VYoKC)LC?(g!}W1({|bS92wo*QGYA8!FDU3Na|_~{x~-L?JQ
zCm&p;vrSH{(&NQpl-*9OGR1wElEq4V<sR9V)*t_&yY7liXFKyB_8XK@o_^bP)>p~n
zt|yk&e;eL+k6rlXXL)0n#;r8_ZT(|_#*P!9DK!hdL*_+{9nwXuvqJl!Ypm$a*F2pG
zp)Usf5WeJa@&*PWw+pl6$^AI4JcqUZ9lh0=B{K|pA}{f$qrlz`t*KhMcOmx(Ys4vJ
zoo4I^9;f@@xWAINNf(Br2ZA|zLD`+q5jf6d9_6g7+9UqJ*CWNhp0(Gq`WM;vEIPQi
zBkz1SKw5}>u&Hp*dTYqr2OIMC!5Y%6UPXL(-rbAmwR`Kb?Q6|M*#Ku<_DcEq@(0<s
z^s>%cmrii@)Uz(@>|N^KNB6tl>$BJe`A26FQ&D@qi$3YU+9BW1FYgZaIcLlJmyETJ
zyy@%m6Ksq-u5#3myzy5$`vvI+x~#q@8L-d8ISZuvYQfJQyIfh9x7H$S_1#Ek*9OIC
zrLUvVkq7&j^(x<qxz?G+3i^`fP4dZiGtYRiA9HtNt``v7=<s5$M|wET>`~MjtkbW&
z*kFSFs@bu@^qa)|!SlCcIPK8>)!g(BYn|-rW@KmAhCQ@bd%G_bKNus`=M!J=Z8z3_
z&(yr`#5&4ahc~$~XG43`&Nrz`ZHl9thW6|xzs@Qu-Yh$zwhQ;K9$pH+$_$dv=*F8b
z_(4zGw{te)We+cMzp2^23_XOt0CykhPVb=hB@!PHuhr&u_LEP6)--gt(@$petv2l9
zyx=cs&x6!++ODn*YsCw6S~l=@?L$RIqmZ#9E96vmx7((6WbjL0d)kTn?8OeA=Cw!l
zsy)K{iLX71N3u7>iJ$NNwpkyby_(zq(8Gy-+c4iDeTAuNfEE+s3>SaHU!2-d_TuD*
z(M4rDFXc|W7(8_Kg*htiJ=>dSH@)0dGklC`e2~94g2UbW9<c+zrkyuXUXQ=y_LW<R
zO*ws^v|oP4<yYEkbC~u<k&Wh?TJwG5D6{f!$R9n+v=21eKl$CH;z0)62G1hj%5Mi^
zcbJJ8%Fx)bdy2{Y7}-2Ro#N}~)F+Ug#vb!V*Q7teqd%=6P7Ci|{~EsVa?|)N=wAnq
z=S0o=81SvYW591!yMSL9f=>J_^?_tVew&qq#uWLkC*NN3O(m{whPe4UzLP&+$G6?_
zZXWqYpu25-&H9j+FMMzQeBqU5VrYeFyqJ8aknhHzSs(H8MSqk(Uvv%jkbGYxUxa)S
z;)rcWn3WOqRNs&CUB&kj%CmF?$b+5BxsDK6?b0!o@<LvD4^u|SD{nR5!};DwyDUGV
z1^5_+j|Te2di?Oy5iUSS*rTJ&N5={u9SM()#k9-P(fs}V?P`9&r6WjrvMJ)t)s!K-
zq3^5s-h)0}h@7o{gcJG83$qp}{rDH>E2STPe#BSg&lg|r(vc#c^uy1O05s;6%lBNl
zY$czS%QPQ9PRqfM^nLluOQVaD%Wo;q^5ZxkKgN0dcnvvQenfB1UtaVkmmjSjKm2kD
z-<>~S_%4@@2Yqx5@X^uNqhl3vwsZsv@HYT|C70VNFNItrTi(-MnL@TPzCYw!_E77!
zCx@^Ro-K&Z&rf4?9(%zka}j0AhD`D4NHgnh`DE5inWE(ik0*W|30$8)U*I~ICl``0
zTSuA~=g-%CgR3KFk<aSLqqNud-F1Ac@A_rayr@8V*SK^{qCBf3t0}|wnTPmRpLxuu
zBh6ngP#)`c;z!uyho6q<!u<K7-*D+D@zKG#sct%M_UO35rz7D4bc8)Rx;QUsb>u3_
zkd8=S=JW072XeOh5n#<JpPU1%K}kP$Ql9j~&yQ$<wZ3Sb%a6a4Pd3EQj}By+uf7g+
zM}7AX<g;=)&Bu?b9Q<g$Hh+220m<cYA3w(V_;Iwyk9Ek|@+16}{N;sNyAwZt;_<^T
zmyQB!;vMixbbQZ8M_(TuMIIfTspzI74G;72DP8N*@lDE$dA8s~-ja`ba{eE_*U1ie
zzQQy0uCK5J{OiD<gnekTzQS4g>q(x;IwN$~lkYL|`Rzmai}~|~XSwaYjC|Q+Nb*bh
z^Cc-$@;`@s+4dnG%bzbk*R>B(@>%=v-|)cNhe!C%wh!?F>#K3rS4GDOlxOwu0m`uU
zVHMxm_91+Fe)_^QU4D%4_~Gvl$pY)HN!DFO#~>dai+yxl=h5NUL#@H))0;T!z0$)y
zoPD?U;d08b_94!<_6SVEK6LBH=kk}AJk8aQZImbd@Y{!Y0e-|ie*B4i+4iBifIc>(
zkK)HO<g;>_=;Oy{a_}QrfR3a`$2uQBLOy<c%Hs#?A>I6lM)LC`I?d(BLmof;a_Jx~
zpIo#jT5@Uh(Q)vw9=Yt}TXMM$`(Wh~h~_UZ0FCOmH&b4dXCL0Bj3&=Myv=vEpU^xm
ze|gQvy7p#1<vI4lrytD|3gjE_(s7B$55InNoRmLb$B8aKzC^xk{rGo!CH<I2KC2%;
zrLDH#w(zZf+e<E|7NFx4mk!;RWc$nglwteJy?je9e*K6S;A0#<N-pIdKYGzIwE!Jc
zTsj8$=(yfT$0CmozkW1N%3ogdM3;__Ij3p$qn0wPe$3_j5I<p5{_+ANUHwQ?p7g`d
zk3w&E>pp4m;}!DBe)QtUXY<$B@fnvNPm#~c<+DD1oRo_n1@x^MeG?tO^zq{;A3sKV
z{P6n;$>I6wOP0I*_<_d{zg#*B^p_5=zue`cWB=eDxn%g3T>O3lYh-!tO0?3YV=3ju
zJUg(1GGd+`c$06%+7**fyeNDU{N#HT|NqV!i{c`{ojrkPpLlT9Q@|99Q;dgq?%3a`
zcn0s^YL6pvr#SJ$PGU`m>~Z8AC~I7^0|`@Arndpc1RE2?T@>?}q<Z*$llS{GN+%|=
z7uweIEu7!*KYQIvv2w+^b;d|^-b*<h#DG(**|K+iXJ~#`jbdGj`>vXQaMfm|X>H&_
zHwN4>)MO^XmuZwO-%ssST(gvRKF<1$A2tM7J8R9dy%ujEFlYa(57q}*i|B{uqxk=N
zCGi1h94VL&Z{G>LnVD6`ZeZGf<geoc;Zd)jmVXLQaU)-OZv*>LR^CovBgm^5f~EQI
z!0yVT<#k}i(Bd!e6<~j)Jb&Kb1N&Z99nS&NJqUjKo&?5SU%lF~37FRE{dN2r*lk(#
zZ2<NN^!e-k1+aIsXnq9P$Sj(F3~XB#Pn&_2LUYK+g9m|KnpNH^V0V+(U+;H;ou5_5
zw}EZV;=%2}in7|V0@%E)yte@Bm&Jo6z*c6}do8e~!2C2{4J?vX-U47RXUXUaU>mdO
zivc?T%+LEvfW4Q+gA0JYMjd`xo(Jr$EZ7%;?aXS&8Ne1~(NYcUye!z~fKAAvWh$^^
zDX+<=&nE-BD65VWflUME=gW9tLCW*z9SiK|S>=rec6(NN6~L|r7V+uEFksuTBYr(N
z0@yfs<*#=Tu=ld?`U1N(i>Co#G5F^%Z~yVUy_E&q15A45$NLc2*;)0z2W(OnYzMG^
zLd%DrW^IA^&w-`Q&bqR*eynvC&iZMcSm$y2u&%88yL9gLBmOrN$4>7t#Ejj0<@9c%
zdsen+!gkh^wN`c}K1Yn$iuRBkJ5PJII1g9N`oRQ^6{W481{Q;dN*`_0Yfa-9y!3HO
z9~5cRUFWfZ>}_C;>R#d<Y4#9QLz~`&R5>#_$1s*S|Cs*K`RTiO5Ax(d+nbb`WPe}!
z9{uO8y;UZ2=bhAha<q-T0d1+10u!T@(OJj4>FmuJPFcD~H$BbpHd3%L&Dy2X%Yk=+
zulra#885nS<18v?WYVj=u_9z@hQW&_)&t%Bls)_KZ-3F$$Vbv%D#g~r><Ph-U)cY5
zz%_RMq&Ixt^T5&N6npA=;XemlW6;lg!`D6ooc#kS_VfAi&t%=ciF4Yi$9lteJPDk0
z-P%8>wGn@wd0SYoc|4K{aQ{tsvzgpf3ErmO`JZhk|1rR~^oGyd#JxwX>nHeo;Y$3%
z6Tx|*H%|X2OwH<A_7txMk3YRp_93{ENAuQb)oRwNJ0D@+;JUt5p}yQ-@e{qnGEDd2
zb?>FQowHQ%vrTJ2v3dAiq@{=njP~O85pVr8V%JYedyqfv9pju#uRQ^4zs24L-hOu1
z+lRH@!+Rl|C7hr)l*E@b<>#Aov7ch1{Foc(?VYTCBfZw%hyBpM<O}TCK>yT6gZ}FM
zP^Y{f7bx#x_CCYAknURE;^M~(;D=4XJ?knu$(xVPWEZ}!WQwdS!L0>%uE#5H&9dk1
z%7frO=FwVUZ6&!EymcOp1@N#96H`C;%3G74#;EWf@yaWJ*Ss4%bi(1~>ip$7c*t9L
z@d9`qyC@Gk;^484kdKG)`@zFLq|sBYSEsNim7H7aM8@P<*zpE;_tmk-2wlClL1$`*
zIqP(ad!_Hvz5sLg(ddfOWuvqoCXH<hbAMSKc56AdN&AYoVYfQ_mA1S&C(u?)IjK3(
zHr5H*BQSC(b+)CXtL$q@ZRy*X!v1KFRT_TCUrn$#qZ9m5*rD3~X5tEL?wjnrjKKrr
z?L#~BZ0@sRZ;sB=roMo0Pg;U`<7iJGn!J0PoAw88Z|2^|CgzQ&ke=*EJ<t~Nm8J99
z?zyp%txuil^&8qMUUn3SnRE~{xwvTW<Udb4ce1lTm_G9}`du!1pPlB?tNlh1ViKY^
zG(A7Pk!s{rM|(}hAjiJ<t7(zEv=>44w-dgKR~_ul(3mkmJZ7$NDe{qD|CsisU5$S~
zy{IwSg{{A>Z%YyK3NWU~58wWgaqa=G)mSp<@D|={-x)fVHyJ*HF8E$_jL!U)w!X)h
zmpwimO*vx+Gd5v^^j_gxB?0asDdw$KlWEo%bsO}d6We)zD^(J0<BZnC)QU*vK5Rm=
zlQ*iSF+R%9+!k@(sEkzVOf>7uMaYJHe%b8!1N+z|GurHj&wB|tdcmHQUhrq11wI5g
zV~!vHOvapO32??7Km1w2%YifI_~B<Vc11@5XUy@#p9LNn&3KSw%sG?s$gxk1IUSqK
z<medkZ|a?YEn`mfSm2B~{&L54ke4}RlzW9v{3`Q?lfYrj@#84(baW!R#vOCEG3J~P
zu6P`MC0bR@ISo7JMCdpBeiGqK`N-B7>+!bV?05t{>=$Ws^l+`2q_h}&cWl2&cw<h&
z-d%^?{!1Ujn>y~8@Fn&N?PpwxwC<e}!$(jbk=?k%*s}>GttYb2$VtOCRJNbi5Jbl=
zW&c0|`lx4Nggq)r+9@0I(G{*;k?&K9UWJZ`&X>OvVZYQ2bShOc)Y&&DdLKgHJMrV%
ze*q8C7xf42&kJ*($Hj*GJg{Xdb2)cGNx!<#OO0Ez#UpRr3O|zHHU?VJQ)F-r`R%yX
z42<^WTu1NtE%=*U9)t_vg@xxEw^q00AGcypfa{H00r2wG-TWKyym70esQ}(X;QidC
zF<Jnx<JaJM<5mZG^3|K(03LcJxkn4&MTLh=7hcB?^Ox80EAYH=tE0fU)uC|<8<IxX
zopB3W<BVI#7+M!L{~bHXnDWdW=+mIHTf*o@2%SkULMO0wvTxx(gM&@{)(h_5qY$=2
z=U10J6Pm)Fq}hLd;?q;Aeru+LID6~tJ=@c>_bm1o?LFfjdG2J>oglsUp1tAhJ(KR)
z_`*};53c&#uev66PJ?Er@9@?Odl_%mUWf4B$!*idP1*lQwC%z3%*2QKad$BNXE^r}
zTnZhs=Yy^zesl?ImGlYmFzoH+3avYIFIQ6afU7%~^^W)T%s1}R+>$ZV($fq*r#!2-
zv9w2MWa}l+5&K=&WPE`(^L*FD1U5ExwQ=NS{rWSnGc^fpW@=e)__(hd?v;>VFsk)U
z=+qveZT#*$M>LFVP2l%c@aC)dv55X{eb8`$b<%Jh@<ldkYkE+AeMt{A6CZf8Yf2qs
zh5Bk78x!V!1Knw_JxWK@uEdtE$#K#{&fd$4p0n|!t1TNZ2ZynPI{`8q_)hOU%Q??=
z4P&Og|7R)Rj{i&>ehrTHjVa&UJ;8-P-NHGq_6w)jG5=Barsf*+@8IlP%=JT#jCp>D
zd=}X<)7~{H0gbX}j(i#Cr<scSXTRXuQO5R#pY(gELTLd{_Oah~)p)VL^P=9{O&w44
z+zqv@ykE<)$a!1&87(pLg-G-3K!~)R(u=!#;$S0zRs6bZ$_~Ndztxvvz<*5asuzvk
zd~e)%AC254>8G(B{miB@yskHm2gkWI-b0<){Amy!*n@7qcy;a=+f(QMtU4o{&FQJr
z-ILsWZ%>__)Yn3sp~-vWyUE*U+6+v(Y1^zh&}-mU+}|~&gR#xgpY~IF^ydgye_VNu
zLSCcl=W)M{bSAOfG@g4*kFLi(nYC+Nbk8Yt-(5#vcjj9^&Qbqk)ZYYL^{Y>hL5E}Q
zA%}(v^!NPHk<6xGaA%A-aucx!hZc`V&(6R%vGxMrGM^0(<6AbZj#Pb&J!-EulOyU&
zr<#oXaf9AiUtz88>N%CW0I;jNSEA`8GfBT49QGuSW?W3szBGL!<oVn7er-b^esGYP
zBpdh8AnwDe=3dSr+)c{=->_bnUUz!c9`+hX@LSOJddbwaDV*cKmOcqjWe0zWeUTlB
z)Axj%TGzK~n{3_Vk<2pu0r4SDn=7H47>e`W*^bY_a}QQqRbZ@TJ`lrK+lDU}s`C6b
z>_f=MgJ+NN<Qoh$zJ7F%e4}IY^H=K-QFxj?M}KyVooAG`KIJPb?CDD4r9*9d`VaJB
zpN^h{e%z?|9dfXGI|10=cCil~8!nz^+v~Mwcx|X;zlN{gD00ZBBhd(Z4s+Q4XCq!&
z==(~_icZ&_Rn`*FpKsJ5BiYrgabyR2DW4&muG^;rXY7!yn~B|-QD$iB`^*h#ucOzW
z&re^NwRk&TG#6Nx53uKw^JGqp#k>bEbI@_t5#4>X`|j?WIS1zHboZU{YZY(w?77u*
zozM3AH+fy#^D6S`fw^z&t(VN!z=QhUW9gYw;la-j<=L~q-FS}sPTe5-M5i~-rkT@e
z?E5i(s(f+r|9kM>@*{q9e!j)g+f=>B-^23bh3Vg;9`Bm689StTc|>C=zI+6~Ty{wJ
z*ZKQN{{{Hu=z{dX(Sa<VVctCS2KqJMhvwE*tZ})0d{k=_-?klZ)Y1;{{?7l07;E2q
zw5#S)Y@Y7?dPr|Kv)4I6J<kXan4zDSJ?Hv!k#CZ=CQ`Nk671SH&E(W=t}WxP8e*j0
zw_>F^bfEwHtdYUTM6GH3$5_hd`!}kCeulj}M0dwkdHnzzyw$`11^8*!{~~(Ju>F|E
zQH-HGXp6=&YtK62%Z^2E`9D(mjJdL{ktx_#a7Qr){Sf#Q(ih}p`}k*$J-F&Y#$)-2
zH-U45#z~)D7*BdGn{&tC4n2qW24!dK@iSIu&8R{4{`xNflTAs@?X9zGbtiyyxvn?-
zOwJXhi_pz&!N#8*cW~7x_V+g*?dq|{R%GD%cLmnZ)2yHCT(Q&tJ-Zlt@ld<i@dAAr
zJj<VV7<<1go*}QEz8AcGHL;&_y4zMk+uZ*66VK1E`TtD*Q?zFBLQk201g1FVzqrrF
z&Ii+9?(r*L)Of$ir8RzW5BzDt9|!J@L7k-GQ@^j6`(4P%&hO%v^yFz%o^@_nX&-!@
z;MfQ8BYtTQ{?7z|#KZT&e<C>g?ciV5gWoJTG7~)QgMT0Rhpd^1UTA!28~s;wUICrk
z;AQvt_)NbkdMo0a?{ux23_s<YFi(0Z0Iud8Uj|?Pg#3!c6aA)W9r{La-+|BB@=)Ga
z#ea0)@_z|*{DpF}^-^>l23+Hs^DZ*|Sbao3isE7)sT^R^FAMuujyi{_jlTYJ8TD=N
zWxHKn34)hR?;g%6%FbX1+%xT;<L)DPQBC{aB`q7jGY9O|9IzL1z}j=bHspY{=72Tj
zSerTP<nF%HJ+|GOBd^YutAAQ~41+&MVQ>6AI|5iPpWu#7ht{!2a)IAb*3(pGfV_5m
zYTn$Vm;3M`hTHy$Os(z7H74G{S?g?GPsx#YP7b+p7W)u6rE|cfm(KWgC3k}1_nr`U
z`;*4)34A+a@0g;->zHFZXR?T8b&scg3yi1dVArm6`(L-e_gZ&*&a>@KzlvQ0&&pvP
z{P`7abokDgJ3#cvUtk>Rt8c~(jV<Rv5B7HGgGFYx_^y5)4d$mOifvWiB9*~7BmA)M
zExLQD_m5ffzZ+PtcTQI1kip^{u!+Fpyqg>1y=Rje+gO9maN-uUMe`QhzZ6T9{aCQ0
z%T1?!(XqT+M*WPX6XYv6<0&}j&v#(%`&8H!<`O$2`0Sw=z6kBxSxNiI|6Gi<YwA~g
z!t(Y~%6pFf?%szvto0>u(sxDlzVU3uxI^46{0XthCVZYXx?6aN8;ew|Qge?t6^k6g
zT47c!@^t2RZ+fxF3UI%|x#u5KPt1+29vSmut3Q-YVvch+XYEtWlN2XnPPH(_yx(x|
zLyGk`#hlvAxszA1{vsQw@&9@9Y5(+o$>*UST^UDvrf3Xf92rgg)Aqee;C2iN#CrPP
zD8V0bWuNrH%LMnvkU+c#{|LdoF(m1O4+K8M8#`66<!`a@@l%hY{dW9pKEJ2D{qmbO
zdAfH&4}7=a*nK;Gt|l#gDrdq}-eWF)^uiwecfo%Go+t*q-Q#;ebvk{cto35#nmmp^
zQ}5{qKBVJ|q8D>WTdp*|CHv01SYJQRWIoW{5{xV2IpfNC8f#SEPT&iuOETW()unjO
zo4`*1?jI)xM2I&|BX0C|*Q)3k`st?LKJ#<aII|4Dvd6sWvEXK{4~z#l8*dkOJR7z*
zhi(6B4!m4zBm<@#T1T!mlRGBoz$=I5b-mj+AQ#?9@Uqra?wE9Fc|XZTb3gK~>0QS=
zCmoviM)FEetsd5*A6Ft9>AHno225|gNY5?oB4B3<wxtI)2bgol6+N|hX9LsS%F;>c
zX$5+DvGSpt7H1|n!&N7?+QK5hxO@DNap>2KSJ`s>8L%SWzYBzTKf(m+TSqfTWp2@l
zfA$^hrtWmnJ2IMY$=-LKV=~jRLt~7|oYvp8h5DP!Epx#WjaTEV4K|q@`MvED;o{d(
zw$h^D%WsPDPT`}nkG?jPLhmIS$FV224MTukDwwZb1A$#8n2*1GfPF<UpBxOZ3-<!^
z@qFJHcqcp`&vyfJ_D1=5{sFM#z>|;a_^SAwzoEPnlouO$24e;1Y$sGz_nZ7C<MySD
zG5@tK(D(^`I91e_ySMwaPA@7S6vQ8iGd~NrPilN?Ro|9+Vke3_y(wOBzfCc3mQ07w
zDe%Fa{pQIg^E|$b)<SKX;A!rHmd)5gn$AMIG5+$_e)4m`Jpo=T{W$)=d9v(FpVo1F
z^8m}lx3D9eOJ?5Qw>2}g|74ZjL)YZS)1k?h_mN{mOIt^f_t8=_Y2Q%hiOg$Lr*uu+
zh7Krif_8T2Z>nmXO#YNd(>5>v0P;VtegUt>{!iDceeh}vzxSaVH!+`%7e(hMdB^m@
zA*SII_D2!h+!<mWKBRN_^6}X#<b3lku409sB0kby>CV3=Kjr#DhCAEZy>}Nr<G~Vw
zv8P9N@puoG5^T9?yq|Nw?X}z^_Z9wE6G!5|#)}J9xc>vZ0e3@~n0wKvo$bY@=Dxe;
z?tPT^Bih-sqw<D(<?#kIcNv?P1P}A3?_~7C(l*4y;r(c*Edl6P+6lt(Xzgpu;r=$k
z)Gv-!x<~iHC*AhNl@3f}$EQgDgZe!F#Kq9~b@7(*#rBh#=qvY-_nPBGfL*2-lASlv
z7Y9*};uQ(v7Kt0(dDHQ4b**|CJo`?fGak-T9AT8>_YA+%^?4Nk*rz^QSHv|?iP_rQ
zB{^wN*Ij$M%6sWmY)a!Vup3q{E<0L0E^S=_&#!;4i=!i^bQ|}y9->d}QyW+N@}1-5
zyN-Ncq5bT8J~U5iO5?r0Jk?&FdE_~lJOfG7xTp7LCAVVwTfTRLCXpT<cY0>^(=#(a
z3jK%Q4Wi6PkV*b`gPv%?pIm5Z(>=IfBi_uLlN0o&k?xnkCU3nCTM)vo=<VAv_?!A4
zAWh{af+kbKecf6&)VoEx$6I%IzZX8}=z;F`6^>1J-(mhuulsO9{UfY7y89LbgCi}m
zAo~UJ*XywNVf`n5#2qe!0?z;7AibgE{3ea~?!p%CIa8YKmioW$84owDsDSrJPKT#)
z$_pLeUX?I=r-Y7=RGHX_&xVdSRUz`rAFU<*c6{>lp?y=W`M}^mMJZ2ZsZ5pg8Ojl!
za9-p8bkfuOU-R^shVyB!coHh+?qSNrwoUjZd`dH4-SG6p2H8p4k(pSWXd6rZm7gqo
zCCuGmo#^K}@YV-Q8#=(%Z<R60DP!1#Ye^IBE1%}=E@+uV-Z1w8CWC<&!infBG5VI^
z-D|cZ_0G|g&RVVR=+YQk&Asb$;YWY&LVFC|boH|59b(-_<mbQc7YdX{TEzd*5s?=7
z>cj`fK)>bzl0_fVB%?ahXV9&Dhk@0Z;z52HF;MrC(Rl9m$S0$}jQ-Ea=vm6imeJlU
z8I34{hy3|vRRN#F{kTijkrnR+)6PkrtTuGZYFO);;N8nRqyccV<voD3|Bbw-fR|6+
zd$F^H<h`A~+)Liw?_)oeQ|7mG*Z&%1-uvD2Kx+wlr2ajOKFz(Q>opd~7^gNuo96t@
z*Z}T~?|%2<I_F-D($;2he(vFPXby{BJGzG*uy2;B%v^AtWqD<P*9P4ScVKDHdw<fu
zTFQ;Fk2ZiVbrk2C)4S^q=<~$d)!;Hl2{&E<H!0lZ;Ia=_xPbz=VQ^#gzX<21|IFKE
z&bga?T^sD1fwEZ<bRtUIH2(b;a`MxW-luz5d(v-Fy032Tfa{fhJ?Y#34IiR8V;e3X
z;`mrG%1>}7j-?yEI&>2+%uDx0)T_7C3-LctpkBpwY<>UZ)pzp2{PmqieY>3cdfOY_
z(f-G!+-ZQ#Pk3@y*;=cMV0*n7Sa-~*nR~v4XMK-jDED6EHS9FAUiPZVD<gShF5PkC
zp7AAS;-lob{!=}7b?d$d)!B|NXV)2CY9_u0{uJ)1PSu*mg_pYL6ZdjH)YQ4}OkD*`
zXO~A5ne`!H^Z2cMPfnq~MEHF<za#vXUeOPowL^V3@vZwzz6_r7T?}5x!}}g-A<|;t
z-N(1=wR4{N2DjdGygIAAyt90Hzvbms9k=nVd>gNG^F_fkUL6V23~BAxn)NsHt@nRa
zPxm=z+B*q+oyVL?+iZJ3omKbozPjsub<gwae*GFZZ>6v9xL0>-p;?cA<<zZu_vqdO
z>MghR(mvH&;>$bR%d7UC!?*HH0Z;h`fR}<^r7_1{l_E{wGx>g%??(?q?%;J@!r2$_
z9@Bjf{NBg!>~`)3Cb?Q3f5>kuAKpZD<fF2AztrLJ>-8?JJHWF%K9)4`IJLm6XHI-b
zJO6I$_1gJoU*6$fUez&-Z+|=g0G@5<;iTDi4&qzwyq<Qcolk+Mc3Qr6WYzbCufF}f
zc_ms^Uxsgged~PneW<swJih)9->Ppna#MXRUVT;`5Bu_M_vK4_`6knD<@-K(?Vj9N
zA6eDzmH!&w&N=8y=`UXY4tynle@$QN_HQfaZ+i4tIVbs@E$5qn`Q^Nr-&W3#QNQ}3
zc*5GYBj@`sbLISX@T{DFMw)on1f8vXt1tQWxz5(>$$73X?+?Aas^j~7`}ux8cvj9U
zNwa)!<l8UjS>XBQd`4D%(|z?V_tm#7tG+5<eZ;oA>$}dY&&v5EuRbg1<9zuR`0`!p
z<+E}QgJ<O&BhAYBGQORA2)=}z(T8&I96Rmlafw%-)#D-jcI4>sa}d9+ELhL&*5fny
z_VY6Up5<qRG|SJ=@$J{+Jr}$DwC($d-!|W8efduE^4a#i1D<Ukaro}`9nH7XzSG_I
zy#b!uXZiWptomN_)mP@LuOzF!-}&kr?5l5pSKo$ex4tc2eU{EmzI+FHN6gA$AK#+$
z<A|GY19(kdzuZMy6KTXG)_=ga_J(S_aNcoX47Ou<M}d7R9jCc(dwk6JYx}eALdZA%
zYR`-KbOGb9?1aYoyP-+C{+egI@8q|1;UeD{bsI2$pI*Ul+ov}}yY17P_;$wC&$)ei
z33yhII9KWDQG&K@;M+ewT0Q)lSNBv;59j;xul4e)Uq8&ZUk~SkXZ7iaq**=uKHt*A
zM?JkiA3T4*J};}jFZt@b(^uaeS@li#)wkSN-!iYh$?#76t@7%#dOyjR?^<8Jg<ihv
zJ^OtecvkN@7wYI!f_7iYxAY`P+(rMTTf>m0`uI`gk!-n-vs<<!y!tJFhw<Cr&yVD{
zmCw19ZO5xGsUFI<boT?#^7nMoEPto-?byu|+&T|@xpzO$@Z09&e&X(Yle~P79_Qx!
zAMk8@d85K<Z~Fw^U*X&K3$@j`7lF2J17B^me3l;nBdhMe`0D1~;qJP5>%yV=zVU9|
zFZt>o;?><W&a5Bo)$R0O#$)mLDO;~6rw(6U<K>lp9^gGa<>LWMC*Nb>H9@b^c9W)l
zukVleR)4>i{%iYtAe6uVrjK&_`y@~1%^p3weKLO#m~^}x9ZW&<{rvXJd?mlF%$YlO
z%bYu$9hqMU&C2&J@T}~3OTgh@44R+jTXxE^@6g>2?lP}Vt1nA^d0D6E=KW)QE8pZ%
zZoY-!S-Eqb-?f_~&3e``a?1S*@U!I}%c}cQU)|sL)qTHL_XQ)|x@Y_9*87L;&=nhQ
z)_=#V+b{PsY`vb`r~C49r?^WuyjjM#U+z`lS-CGJ&C2~czMXew@ShX#?<DXv_p<tZ
zoUPBZBhv3<fJv^F$CdoH@`+QP?UP^OTRgsCsN2rr;8`ADNSf2mBhC66zO4=U*wgRB
zY`tDP2l(=y>E)H)&g9$Q&aR7k+WC3XY&%co+tF|IQ|<g1Jhju-_W{2hd3yD|$8SsP
z@xJ=TXVtgOS6`*CzR_NNyJ(N<`?FV{?T3Hz<tz2&JJQQH5jvFb1@IEkskROzEdf9E
z-H-1$-%bpZ`18?6Y5x*$mwWNT152M;d;d`f%hi|dy!zZv9b8pTyj|n7`i+Hu0l4mI
zmkf0Of%5p%t4Z&}JU=_%X~2i%C~q?GVXPgrXO;75;A5yq<E`EbQhoT>&VSw8>x{$v
z*8fEw-Xk8~G}48ydtdcm`wNBlDeCDR|1zzLJA6!xyM&kx@wT>V-kc9{u5dfNDIs3H
zELiOB!z6ChL|lRxu@fUmczeJT-dTrs*2syUIk9c`jp{8<94<l3QM?NiFWNWi;40zl
zfv(s<-j1LSLrj)?%IhopM{m4?wW4ayk|@p|0)H0xE6A_7SRdjfU*+$*zNW2@>C<pI
zan`u$+wf|;;=z4dA2P%0ujlUVC)>w15PxlWb@hq|UL`i%$r{tA;N`89qdgo6@{I;}
zCvlDh@$dMF#K1?L@k+pqI5~czsd^IH>d=)Y-TU1)(H0=)T}@28HW+NEHs*y-M!IEv
zpf+%xTV>T#mgw4`yyRKU8UgJiZeR3*^2dy6hy_i<PA{);TfvpyNFKW9nDvFN{<Q~q
zM*Kd|s@Np*X$|nc?K8yP#fv1m5*W-H9WpV*<B`e2d3`x&M|>~N{Vsm^4#9~L#>;xc
z=W)kzG8k!5jCh)fd>A#6Usdm2_T6fee4rK?wbK{1@8)&p(gAcM*4H@q{_<{zbMLSE
zmho^{8*_06LM!o4V&LDkcs+g0(+Bb`qb%kf8<v4@)0NN0O|#d>bG2(eZ*L!hm!qBU
z5bMvz+YIjyEOp~>uKpY6ZiuUqkNCSDp6CrjwK0Zm(c8p|KM5YM<gRu2p>*zb;4X*A
zcX^Az<%!Pp`}#=C>m&9&P>MdX4&HXR85<<q6Av9MSK0Sb-|jQqIG*eQd~ZvhncuHS
zo?#|xjZ%0W1@M}M=f!>topEmFjI-lsSGc~!4Hx2rEN88DwQ0PTZ{0V2jbPZ=*9W?D
z1+8s-4cLek?CDx#8W%WtBU<MPM%<{4d&@&ZTpC43zBx{kv)7?=7cX4^PxOb-6}35h
zcK-4L+?`<OI>&y}GuIi*x8^#pPlJAsu6Tj^qSR+Ry5jIBAN|o8;CXb#3(WnZ%>Aq%
z7l0P|?y*zN`hywfR%3`!p#yuoIBU6h?eV|V;p_0$p@PBxjqugdA1**wKy-QZho|SK
zKfpO5OMjTNGWpsW;B396|7B>lbC2KiE!xWmpgW%KHc!r9PLg}tQl9RH3*ZHW=jm>`
z0R0`%pYq23M?6{{gGZK@Xo0*@<@IQZNAuGhkNodwN&9HI9a>WGC4wLFO}-sJnt4il
zEpO*ufNzL=+v#5q@~!*e9}tXotSWK);C=kII&hDJGrYA?FmR^AYpVl+0{6zHKi#7P
zN$!x#C)>F2JRJ@cz)N$doYjGIX_M2ReEKLI&sRs3dk3vPHuIeiubDdtEiGZrb>+j8
zu3B17fEK4e!RrZpYkYO)!#<t-ckQxz5GZhOUiyR{JqYlfkGAx2Jv!MJdPK`>KAj8~
z;BgpPSX!b5Xo>31NV~3ga(-H*AGUvN<Lx%-B!0>I6yM^L^zwRiPI{R+zeg{3^DVvH
zB^WyA@89Xl{PlH&d+2A(%*&&w@NEC)J0CAQm|t7^*Fm#*>F?j^vHA0+$Mnz=Er6%9
ze3q6dcM|5KB|5H$mb*P(s(*i*Z>N8wZ+86dI3j;J%|m?S_mKtgD5Kqu-{i?hSM%ZE
zc{Xr?N6V||o24aQfWLA0+wR%G<mmi$B#C8o(?Xtnv~*C0rR5B0Y4`MP2H(=RB)_#M
zNq%le1^eolr|9=&e6U<T(s1TyYKNVN?HIv(Nt!po7nNt>oxuMfIBoI6{|1~mXSv2$
z-Mc2+;!po0=@mKPzXv`8xW*Ab{<FZ(6+Ek+&A@Abhwv@@_`d=Etmw)r=TYFx@JB<8
z(SH120Dn41`&xmso_R?7egs_eJ=s=&IX?vc7s}B%;fLQ3{P`U4?*eC?<B)Rh1inP@
zEWZ60@SAhsCxHJmNBK7b{~Pd7Ryo%KUkN;$&tC`rFUrs6^E}|J!Ii7O`rB0te0L7`
zrNDoXqnrzXe_QY@xtt4J?aD6y3&7tJoygtl+)QAfc(hws1ekOF-lwyt0{e$YgT<Q+
zY+DxWGr$@=nk?S&z;5#Bv9M!-i5AJk!YYBC2A<??VV?pvMlf{4!iEFW842|h3o8LO
zK)U6l`EX#LWYs$W*w?aP#lRj{dC0?-*EO8`#DGaY|Lb`!_o*Jnd_C_xml#13pGkW@
z=GGAJ(VUFGSh1NBX8xMM{>6Rs*G@Y(Eiix8J{RT_8O`VZ6Z6+FbLoGmPiLJU-U{r%
z(qB9K{rvOJm&^0dJAd{6*}U`VwOdB@%sa1V4~pWIlD+0uft&K%_5k}qw5N9s=RV~V
zJjU8k3cq3J9DD`fKL9TObT4sc?OV{@irY!k9o6@drg`D_nB#;<`v>q4@VkL)zeq(t
z_nn-5oXZd$aq7x9#>Cm<5+QGryqA!7De;JyH>V4HJAb~wo$TEq-y-tG$fvP8wY$r?
z?@`}>=lf#jWv8%TB;u79zB_+;;k#Tq=2Bk7E01^7oINgPky-y7-}{bp?UeSq_}>uf
zDDYlK$2H7hq4O+{H~u$-nhVIM8J>wRr~2qw>(Qh3J<NCZ8$!+hmA`$>-*o9XmhwVg
z`&Lp$h_<M_M!q!%*vtM7$$P#h>yh9)F#zJoA<M_F=dVZac&NRH<!EoZ0H4zEN$u_8
zT%6_qRlfGl&(Yp!f%2jr-*-};ZSO_C_MY#xcX3_M{Hx=u`P<cT1#=YWdyVqMk0t1-
z<wxL_{P_YmyZm_0N5^Cz9VdHqOr6_9M}WOu`T9#>u}jAW$}^rED=9;BCUY6@(DCiW
zm9f|IulLY@)vrIE?e^=Rkk5%d(06UW{ugO#Ta(weKl@}Iy)-{9(M#O6eV2Ud_kP_@
z-;h6F`g&K^x027w`h$;q_LKdKZ|U~;d_3+b@K%cYpLFgUlxJoAcgm1%$I$J+@U8Jn
z`aQL#htJ8&^3#~4-Qvk59#8!8j-uoF<P*KhrR7ULT7K=(qJH)m-%dX}r-zR4g8b!$
z=eu-NQJ$6ek10d)ZfB3l8ovGVzQKz-E%D@i9QhnOj!b34jn{{hv-8)PJkPCjRF1am
z?$La0Pt$)Shr@ksU+Qc7Vz2ENo#ku$-2CO~JsZj36YgcOZNJiMdx#k8<zCyJc_i(V
z|L2T*v+|c2_yY4j#<w>qQ+)BiXA-|4f4=znE-kP5Xqn;BBDqHS79BUBvzCtNoc!fQ
z;lJqELU}3ZP#K@53>#-Ufp2FX%DAlgd>`bg@%l0FHD23(-F2SZuYc*aXQQuQ?<GzA
zYb8xK%ipil#6<JTkyxbU_#pWX>DL8f)Qb5=$oC!c*?zrmS5Lp*%XfCa4it#n2B1-N
z+(>!0U%yQmwqI}O+xF{?lX`S2J}rOS;-7crc!kFkf4?pigAEgd6)hL~XnE43MY8MQ
zTm5?RXL{&Jk|!UJlf*I&<xQtNtJ}Yz4E5{CNvy;3ovUB3@Z>#-e7X8{GqKiubvE;M
zhUz>fN81C@{P{T7>$H8iukGLTwSBqQ_KVmzV(p7$myeDB`XxGweQjUpwLL^!_3K{S
zv-@?tKn#s_Kc_$a4`=DJ`*o6b=c6TgvP(;vd{z!;d$dTdv-r;L*YN_e?zm#z^wZzz
zOrO`UPoWIkucz?s#Ob{K8$*z%`gI5R>etqO5AfvtxYr)-)Arl%<^u7!W@1F*?@!5_
z?W@Fzd*$PW-gpU-?}y~G{cRBRs=tXB{rQ%Tzs}l{m2-MR{_@hq-$ci^D9`eC&quC~
zH?iMi7vIwHL*zUvf0^--E`P7{_|nUM6Z^~CHuxo4uJqCJM~@b@?Pb0Xk@LSPPja3^
zc~;Ktlwsxk1mBMR#vaRl-+Qhr=QF@}=3Bn;s-rAF-5tZ+_EzO+Z}OP@`I1Mw?LE%d
z-ur#+z4!mv-f~}iZ}qh|>9yC{@8^xf&HpZL3jc~ce)z}D^r!N-D~)c5?;q>DqSwD_
zeRRzA=(wJ7*v^BKBl4H0w{X<|(v;Wkm3KB}v@@1F{hx1tob$F}J#o(cd><O;e0uFa
zhWCzh{&y+wo_PB^MiT3h&fn|(zk}F{=9Tqc`sau*D7^!?{yztv<{35~^L@%1lLfmE
z*p=ju`0yHmO#r5TYV+O+><_^F<=qA>`yG$vz}}~R`7t){&A=+5%@11)>}Sy8uVWD~
z_Eh%5`#LbrH}r~0%?HN0jb3>#2X;|by>o$m3z)x-i-EDPuovunU<1MPx9wbDzXvbk
z<H0OoU(Mpd>A*IV*N+zk7Rtgq4VdKQr)3JTceC<-7T9m8*H6m{z<!rS^EhB}^7?r?
z#w*WX$5FukJF9IYfGGy+&sz$tKC6x)z-DK`1_IMvI{v(Ughw6iKA9U}RmjNSj(sKW
zn=COOPj>_Rf$kIW<^2FyS(beN35>m+z3|=!CjR-`+X?LDtoHsL*h|#m$9o;v=d$GS
z3b6HAa{E0n_9OO^?{mQP=83;;PXZg3Ro*6Ge}ZN|-mihN7qb^^1F*SSb^HR@>A?Qq
z#7#GOal~BvgT^Ut>h1TL?(Ox_zMtgsNL962;q3W|FE>@~*goz1`TrwsnjJ6IokTWX
z>b~6)aL%I!jP8Suw5<-f_kAYWf90O3e%je{mR*iNP3LoUwp;O6#XFBV(v2Z&9~8c7
zWBEnV`4RqK#2tuJ2A4NX9$ePY6)f91eDLrFQ*LVHM^$i6eFT56R+^V}#<S{;8JSmu
z<u52^dCA)|Gsm*eJIUPwu};&tVsoUblJe>{o2vLxhI5lTBkaDVa^{iTX9`{=_mZwY
z+)PeZl83uTSuf3m$)h$_gFBb~U1xIlP@Ht(Rt_?g6UTsijL8`AG;g(KKFitS7-<3U
zn){f^A1#=)cN6q)sN{?!XTuHmEX=3PrS;eCRg7KdU9UKYJ9F5NmtfqA^Hz=G;Qlgq
z9L8Qb`e*F$-tgN8_r&6FI-4?BONg!JehK!PWz&EAK<Fpkp?^=mDM}ARH$K<Gmfc-7
z@BXQ4)jIWg;0E|;;N!W2L2XI%)><cbFX--oBKE=k;0W(-0Mg<fpOz2EfA=fxo_H<1
z^7Eo&PnV-Jz3%sBEIqK))uCSW?dqy|iF-8i@%#?bv+pW<h_?9482>?6%_hnyB;x_#
zRI+9unOA!Ei>{!YC@{%4>cJKP%f@Q~mQ4faCl7&r2Us0^(_PU~boHy)8S$nKxaGwO
zd}r?ym0Z+k?z<p5zl=UHZ1Av#H-f`<Cb27Lq3`*8=Wril?dX;C34P4#V|NsT*Vo01
z7Ql-OPkoj0(tH=HSNrS&#oPgdzKGTo_qVP4&fLA|S@(OxQSL#Dq1#dVvHX?ULs=8B
z^eT;Sn>I^n9*qIcIqTb|%}|<0SDZBK`+Od_)`GOQZSN+~KF2eUI9M)xi#HKG*WNwR
zeIG<=vH6Ai=<;jyepR4#2Xl}p>s0A-^~1#0B4oFNwLdd}J(ahZmSwjDT7m)7u<Vv#
z%d*d!w&MA*sbhm?;?dlX^Kjyn#v=Ba>OM2YJ(^y>eB+GbNL8S}85Hjy7&NB885+K+
zsANlMOU0GX$EVhreiQ1R4^N#DG?Pp~_doRP{WS;X-fp-j%N%guTQQ`qgvK=MiwW8k
zGUj<;8(h2V?)z+}zBBrp#u@#wU(^@u9~?BDI;*`pW6#%8r=iZuskiReeK&y#okjgx
zUls4X_02GCeiz&ICa_)j&uT~a`EB0z+69lqub;DKCOQnZJ~r9j$FbQN8xAb}RX2aR
ztK%2DwwT6RXqRs5tuV&M%r@@cgI8NWrYy<r`;^yCd25H7mw!ANz2i-eO43#S)7)qM
zbj^QVJbl+KuM{t--Ixd#HH=}uFnzdj?o{s2XrH_BR$~TU-adLG=RIqX$NS$z7RNqo
z8Xq=C=q?{e9%D))Q@eP#V9nyXjqDp9l<eZ3bNYO0MbN1$TvIkj?NvQ}sOL87De~3x
zHuXG=%&ze2xs^KlP{*xa9o#Q9b(1kWSNO`06!#sph_)lkBSVARD>|=s*HYQf`h2r-
z<>&6@{=LJyRq*`4(x0^y!8h$yuH#)b@vV&Cm&3R1t4xNy%v&{9e>}aY@zv^?8I7@f
zwiGp%1x#jFQE-CZU)$^OwY+sV_gLKxZ?&&f_cDEnm`=JL{pOAwy<4NZ6UNBCGZu$=
zb7=burcH0y?5;N%y#dg9+n|=y7c!T7A=1`<s+p*<`GLOXyuI)&!u?Ju?#D^32{!6Y
zxYRVh>w=BC&nVq6tECS%D;)CPjhIUsW$WDtc7xZbyeisbcxxoYJ0|T1yCzQN4HNgy
z@-pYXmlI#2UT7VO4#*Y-3fQbLcIvP6k?<heHmCPK?6ur=l&1aKWA$Zt@d<Y|)uL;W
z;^_FWF|!^D2I@oL=>OO7bMz*`i`><en&aBQ0R20k4GiEPsjW||4?(N7H6!Rle-n%{
zEUXlma32Sr?LV;xyj*W0sGZccaINmt<M*~H^mSw-dUelDh`STb5s|jJMW+6XBe<X5
zYs1Ur4<g4RaCPrViaVDs<?Wzn4nL^7shqbYBBVzp=l5@Z#h5^Y?teDaQ;poKfmNHp
z3v-S6Ks?Y}4CA0TR>b~y+Bljs2?_3e^6p$b&)&J1!hY+{ruV2vw)HgP*!#$vP(E~?
zd<(~Y*3?vCUos~n7a#mt?mgbYeSW&53R^q-SAXE{CiKpqx4-T{hKJerW3N2{KXFm-
z^5z{6?uFpq&|Cifk3*Kg#oP4Q{IX0FPjcwvzuMalA41;yJ)ti5UWX8ID$y4qhG%iI
zc@ksK))mO>E#%ka$w&7dy;sKFmiUNmwWg6fcekeDM{_l?jp^J&N?);g9_+_j-{9!@
z>$#f}dp&Cz?;@Nq%+zc_cJOur@8nLXGou=|Am6y73xWE2>|UT0A972mLB3oQdQ#S(
zH7M#jN_L!kRyc=OlRg<3G>q_IydjCK-8acfJy<((PEQ99+J<<r5U|t@E)ScDhsjP(
z%X61Snz&bLk=J($#LgT%?4jh6B#xG^yui_vN8b{jy|*K@t=k{$zPBUUi7xv3;8c8)
zA?Rd;e8|dqQz@#xfzL82$Xmt8NPTAH;7HpgFP_@4bc}gfbwJ0$dCWs@DvD$t?8CXI
zA#UCAe)(xk_C+tSJ<1;_fEN}XeZ*-q_9|bSo3T0QncL<9cyVHJdN(G34`%3tY5Jnm
zKHBcI&(Xi&tml}otKKMjCwuh45awjI`~y9{)K1`f|5$CdxNiy9Yg;tKJ1cx!oAw52
zFM?l2|84j9+)_e+!~Sp&>;%T}+0PoYvcfRuacr3Gi7J~Qc?=i|9<mTlzW{GGW2X%5
zsGuF4lA|%u&@=BEN4Xk5gT=k!&oamBMBjq_d&B4P4nZe6oBd|=TJ9Ta4>BHk`rPqO
zPx~LCJyv(4@AkkS7TnX-4j=p>;EXAU%pX+#4&aiF<<&}Xoqb;JyVlN|(02j*C$f=!
zvUuMDraf$mFYa43vn919*m%X&)PIhv56uPM^J(TiAMEZgocESiY0O~!z*me7Hix{o
zbYST#j?WRmu0$E@mlg$HSlTuH9_gm~fd37$`N&7|3(#K-_#@j-Z8&xC$c8DjF?%d~
zSg|4RZr+f0H}3<2W$o3v8(6}_v+tvQGe_PVa^PJBOuBOe{`ocHv!`#1_?<oj-CY)0
z7eIel^UT!dkk5@dU{~jWU9Pg>`=rATuF`oj>5P?A2svFRm~@gprT#J!*q=n3^wEQr
z0b2;3`r9%5mk%X>X%w`|jviR*-cMJAtmNxm4v*#ET@RlXNBIb!jyL|=(jT$6i+SPM
z<ohPFknfzHmT3DC_-nvD2LGUraXi8Q(WY!?6XVxrXIw9G#`T}#<7{p}xuN6mK!e8n
zgb9Kd*x3%=8hildtu;Xh_fGmq6KAcOutW4!XDn=T-}^bQ$$Rgo9lu~XbclxO&=7$J
z%|}9<#gk8q&NbNk;fBEjr#x(pe9rXXgR6ADPj^KhPMX@2-IhO*?()ao&nN!K*A;)n
zryHnGJaFSy!3nE~C8g)Wr$vFrKJaJ_Wy+?c=O)^eCkB2cw5^1$1U~LVL9?@+c+FJW
ztut05kl&Gv!<CGivL(~$2X*)`%jgTY!@KZc^nb7$7pn$77kGc>=7|MWd#lEn#?eJ1
zb|(03uwn1ezVw16dx<YOcFbSaTI^M2F>vgdAAS~N@pSr#>YVPqtB{M9=NOB#@p932
z7I@h)3_q<M#D2sh@ke{M{XB}H4|C9!J?P3kgG=BSb6)rr!7nx;^KvP?8g5EnC>OtS
zv_<^NMZ5Twi`LtL#}-W7`%rNB&XxElhBKAo<0^-b*XHD7PJZQ}B^SSP(I$TVZ}`d`
z=ZEmsPdo7r#uxlw#%<eo+P%Kh?)9Az{c5$x`+R*z`}J+CESs)x&^P2aU%jtu)xWy?
ziEBrKo*hxS>KhlRU(yeBkLC5)kIjSJdkgmfi-2=J_p&S26krUPW`^xF^ocMsE<wf<
z&9E2#FMXnE!O6(7WalDeY5T-jWZAJ`QBGNoL*BXcD5s2b^v_%}&ZTF$`h=fW^@$X+
zi}>tb%9CBnlU)qEXX8wJe0N}G%Se8a=A7BMLDn^7*FyL`QDZW?@6WY!Zd}SekL=nt
zgM8MX9i3k~xU`{!ekeTg75%A+5ogm_ZGGYh@eD6M+3gcIA0&o`p4qWz5#yNhhnX*A
z-<x>Tpo5;h?TL>`Z$yLa?RB$VJrOONf~7k<m^+ry|EJ}d2PEO4Gq(#Swtg9%Q=SNU
z?t|_}b?-2AiT(gITKZ-|-$xGLdhQujEbn}16TZcZg7;3h-ao;;q2}&G?!7Ha%r@!^
zCEPtpdialLWLCd*M&_-7|KWRYDf2z((Z2R;gT3#bwQ|i#AN%lo(Kmc%X7x2QGr#>$
z(?^+4{a@(g?(SanZJ&`@eQ*Y6sQ<(Kqs$-tU+Bx0@44J-eEQ7H*Z<S>QRa08>3h6I
zci-B(1&Ar%&7H=LZcMqvSqIy_jlE>(;<jVmxaTDL{uh~}?ZAdR^EG@R{l5@cdNe*e
z^VE>;iJ*T(e74B*p}XH@mo0MQ!pHW+g~7+yA2z|-9i4xdjY(0i?LP~##UIjt0*57t
z0hT%U4%fi9VZ3>w`a4Ox7Fwjg0q*vVbC)sk@d@sI%D-(1K)=)8LFhYee}eMZ`#e-Q
zTHo^DW$It&aCzgd4HDD5Tm5on+00BSc5nl+%+hlMEw5fbBU3uo@ZGni^xS^@^=~Pw
z8PHN%Gm!5=Eu}G&89k3aeeU5c!_FPjQkpQCfc7FoQ~awY6RRz%N)?%3h4uThrfS(|
zi+P)|x@8&nHY}T<d1z6~vVno_JEYYn(?7BGCfXke@&4KCrezp@UYNhqQtFDCC1s;1
zm$H{pc8}fZIcK7F$k$x$#(MA8xJ#^jLJ{|SM38&xB*R=Rv2`;xOye+jB=3yjcSjh@
zBKV|=OY9*2Sx!0MMHf1ci)7}IHpi4aB40?lF-~ym&|L|s1!rWAkk0UbdOz;ZpXSEP
zw@nLF4Fq1p9j1RgQFHCm2}faj;m`Zw)WAl`sv0^1%1a%xze)5fuMJ1PHfY`9Bw|_6
z9%3$;aP+IkKD%R}yQZfyrDO1Z>+96(`1sHmf(It?mA#5P211Nk#(efAXm|-d`wRbF
zJK6i5UK0v5o-+X2;Yp0T!|*bWeRXJtu6#5%8#8fPC3-nXYmM%jgw^|X(3G8K=U<YU
z)z1~Q*|{5paZh)H#GyYuT6HJ3?&f{29js~ml(N!{|FL6`FEWiE<I<Kcz|R0_?)x|;
zt;1=X#^75hCkDMvKc?>`JU%m4I_o>``oNQJAErLrmIV29zp>&4PCp%|d!o5t+eDTi
zqlu%x5m-2u^`Ioa!kFU7l4aw}Li$C`vWaG40^OVYX;U?0oa=u~|1|cde`JX>_xQAF
z8x3wuzWNcIooCL5?hcK5xTDFhGO<xhl&-u-)7O+I!us)8bL#_f<}foUKT27u<8A0v
z`4->SlOlfX^e6HL@C~ArHHNaLlQ&EmHvennADu7@i-(_eV+<c{^qt`IUu8>&LW3!L
zICH$cU6bs*F#tcrizal%p%q@V(=QZj9sSS1!VvX^j*l#c7ZXSSlQ*OBpA2J)V-KJ~
z|6{zbr2npdKHky?U9@)ITML^IMmIF4|AcjyCUlfL*A+A8jS&8u;#tg_>L;)^Kla73
z4Yk}`b1VK7dNg~*;@Z8;BO7%$PaS2{VFSXfOMOvvn37qB`K3Acp^Aqo6J88zqOUTa
zSQsIWFo3&diog$2PO7M)Rd1Tao085Q^sD=`zZ;wYchD!X+X3$233CU1fIH}QN6!iq
z9nV^VOBeIBCD0`QZZbCF)#Vk=-G_UNN+w*0uB+W+wv6HapNiJu#G|W-O|MYg8QT<M
zOmxcYA05wn+N{w<!TJU8bXjnC{Q~^Uk8g>r)7?OBe7U0aZuH&7kF@PXX3}f-Omc<e
zBP-rz$EqMabnlW6)IZBTG*5vqp8cBt{{HI9puaQ5YCKUqK>eqK{;RonCw&$kZ4JPy
z)xeX)W~;?F;;>_AZ=I=Xtk&C5$c{C+LE`5&`f`RCWF7cT{9R64hZPea;m#w*!i?@{
zci$x74J+38|G~IX#69`41^PV+T;01bJon!HVXc1x$2fQCvp<9MF{E=B5a~q?zb7q)
zJ=ryrJ&v-q*Z>3VA#81gHD1~Np0V7u1JbVm`k+379b9;p;{V<r2K)AzYy)f68h^Ui
zVg|4V5b@%05$|59ZQw1Tz5a2Ub=$kI4VE`14!+U9-I&QSz71oe=&*MPY29`mG7YhY
zhuwK!zvXM+%bc(J+8LSUeNE;ywT(3CK#(%4DZ@0K!P=tY(>-PS?<UHoLuFnE?t0cE
zL{G}n6LabD=M@d#fhOalX??9r5Bq;I>$>UTT)d^{8#6MWv-IRBGcP^Mv*>BcP0xaC
zdRBY%u!rZaT=XoSkr`p>$x&w4isF|KEDf|Am~I;1T`>dSrid}hyzj)imYO!bAK8o^
zW$OF1WOx(jt)&s-Ui5{#+`jP9oL~zv#l~Gl#jT$d^<iDOq;*eSam!xz0_+*1wcNff
z`_bcl(}RugjvO-nA8WOKtao$ETmQ=UuDW33JJh#>zjsHTGhY74_+c~ko=R)~=uGZy
zDsO$0e*ZRkwzD45Rb<-U9b>9KTEW^dxbKV^(DHbV^rEzNC-;x(Z93_4$I$#^dIxtm
zq=@SZFIoUESpnX3ue<{HJtWz4ESt6i`Yu2|dZ$I}m}_XC^F9H4#6I26rSWk3rKPdC
zBtMNw=+fGo+88EpDK=QKVZ|9^jF-#N->9$8_Gi5=5OMdQbr#rLm11vIf_Ff7v1h^z
zHIv&H;EPblTkMJ6b(`Zaw1rp`U~KpdeYGax#VZnCyuz?15UUL|{%r<*j`vr;Bc6L}
zAI;onk<X7x9!5U+@O$z(Yabr1)x2dq*Q+agJ|a3|n>jC`y3q4Y`oG*XKB51$rtxw8
zuVxKY|0_8!#eeZ@1OFXA^R6C0Gjf>OaA0Y)<)b;(yw@_Fv0_F`rhX=|^V3`C1C1J&
zMHh3g_w~l=VEU5fQ)+j=DKi=8CATQ{Up~`B<ZN{)@UN~(7Jj1Op3WqJTmNbtaNYMH
z9%~%D54!IUM(4kN`0$2T4>t{?i^`lB$hbl=5XKqBfC9uohNBb8lfVaijTp#d#6VJv
zFVbm$3}hhnIx!GvSG|^=V&L3$@2ocnZrlBP;CgpMGWFx{#SdWbN4ff0AL`Z}7}_sc
z%w3II>&PAl{4!p>vul#G-a(%uR#PtiXzUfemYx*lKL_kxY?bOgu(Zv8?%uISP1qs%
z)vpYsjo6?x`$ZVXw=N3oo#M!QN{_tpH#OGz=B>{-KCfc_d&dMCUB7vFYwQ@aGIcC(
zI{fH|_?n5?#3^U1AMGhBo)8=yoj>uCpIx(^_XR77@sGh*=^WCh<uGKFu467O8u0gK
z!GnM)`9j!~exY;7%$Ad9l+0Q5h3Ev0Po2jZ))}-{rD$i|iIWX)T}PerRbF9kt2+in
z(@(qG{lANs#qf>9C&j-s=YEuPEk96O_?CX$-Petg1@QmWCwj*GEo<-Xd$5<^!#wVN
ztqo~!Q7tmDevT76#Fx;#qKvYWr0Kg8-(-2vWYYLH3E=WEVx)!eF`A4w&mewf*K4k$
zZ5sCi1A5+)D#dSd%BNm~|H9ddhLyqa_w~NaGGcpC^m=lEzM%DU^?k`N*4MM;1@;#v
zoxa1nFqMJEIpk5?vYk3&-aS3>0(s-a-ec@JRNqSa_6nYi&WeU<J{khNmm-}`qL;^!
zF5auo$zGjF)@8&);YcR%WUKW#M)zlrq3=G9k>pqGM0MMKQU**umfCFVITF}gz}$Y*
z^F9?aeV^Eovma4DxyJNBjJ;OqZ3<tOdDzxE<hJ?jNM@M{I`PzxJ$XNHv{@PV$-CB*
zcQNg#rS6X9!Nx7K-F$}eNIvI~@#r7A5hp!{zb5?%!LufKYsZsp8;=Yo)(xb*)xpNi
z7aU5*V$ngm)w|k(Zn>SnJ2nR!H4c2a4{HIzBIk~g3;6zjGxwF8I<RMNz`qxm1Kat4
z_$5C`F&Nn##X6?Lw{7sPh&-Ar(6&r1yknn}!@J!M@5)+dL7V!B`eK~)+Ou7nHvnG_
zZ<3YhExc1c%e(e*^ds^J?#%yZ%eJuxw}4)Dz`F#zNuq<b@GhH<@qRi;uf4#f;~wBi
z_!fhI1L0S4Ip6TFAK#80r9U@${W($~ZXn)W<MEDozh}1}_1WzpdqUAc__wLASty=W
zvj<W3Za4nonecB1dkXtgj^?~tL(*FIUi`%jzU153_x<>s`>><mX8*;yf#y8kbKSaV
zplKY6ZO}Te^JXxxX4a*`rlO&lb*C`)<VE-y$7eFsp>^pH_HyJA>?gxcUd+66S+HVf
zihc4i;qcyOlh%?MKg=k~oJQYZ3=sdr-khjE`}sSk5np4UeqxB390}n&79%hG!Xoz8
z5`$>e_)rX8Vd$NPy-z^1bc8wi&KPz$%-E6|)W1c))A!(86N^jV6KNX>z1l-PkG)_k
zpr>Mh8Cr64QOP3a(u?}CKcDnkQ_@g9FFv(;++Qj-7nvzBXroUpJd3$|Epv124T)n@
zt8W@TM>OArO}L%10s|s!l`CloQTN;Uq$c#2inp}KXa1t8Z{lC_)+K&*Su3%$31<Gu
zQ<;nMj-mY5^44#&zp;e9UIFc2oF2(^LG$VO2PyWLiS9~cW_JR^=UbS-SL|ebSKH#u
zu~YC$JiKo$dO;a6)&VuPYW_A79Y~)8@1QTFd1?RNW3|RcyI<wN(&wFVdj~o(EoMGw
z=6+bMg>@W^-m_i%FoS`H>zTu)7sU6Dows<e_AGVMu7sKPs%UrYZ2`H?XAl2q#?kEg
zu9bEB`~9XwXa{=a^80<-wk^>3FYX5v&MnYl+j@!D)-*KApAtMgV`gRvePpxnm`llT
zBJCxI7hd{8(&Z05g3qb*GjEaC#)YsuFKKLc?RTKH<NcX!q`&kr@!c!2P3lW~*wgVe
zah(*pW@E#9>0h#$>Q@<fr@7f%_#zYNr?-7If}dN)ys85Ek3jyz;aT~Fx4@Tw$3C}J
z)H%V%bejvrAe)JY$!}0hH|E)lCTs@fbo*Xbo_77&AJ?tLPkEoVUq#y`2l;(!pXBZ5
z!P~TF%ZoEIZ_$qV)aUV|acqEn%-9L-W0rmS7+z?;sJOW7Nt(SFowH2aj?sNu-eQmB
zTH0pNizxPB8}$g+>U>>9aoX}$mGwgxZ>ZYViT-FT)IRGD>)$BeguOnn)b%S*>!$w+
zhkifpZ?51hGUYr?9Ak%UUb$=Y-Xa#k{nZYyx8X0v(X&eQtQvmjn-fJWzsr009rN+q
z##2<D^h`0N@Pjilufu1p(G2y`sX81w-F26jx}c{HI-R}Y&?r76>DObR`En;NS3Jw%
z8SPP8-L+?AYM@^{(w_fLXtI1FpZAuVd!AqycEgqLW6t;>JOBUicJA>}Rp;JcGZVR2
zk%U~SnMtS$wzZW+L_B7afER4FU@AS@mPw-ZLQj?A1;Lh?U@JDZ#}t$*?O_78HQV+`
zE4HMUV*<8b+ag$P)yhnQigK)01TrAz{r=Y8dolz<dwM?a`6Hh_*?aAEdG61%p7m_L
z74JmZBT8MVID^@uaa>&+aFlZ<+C~Q3ysH4?#mGPW`jzk$d90E-e?rdw8@ZKLJQF>*
zv|j9tM+PT0g<FH%PeI?xJ(o^6_aw72fXsoHtxiaJI^mbpjFug=5?QM;Z2zWU{*RIQ
z8RSVHe|m2(G#x=#L~P!X*&_Hpi;UivA8d;xXJ*I+-(sGgnMp4j)?tQGKRx8;OKWX^
z<Xh!|C_KvV#%lu|`nG5cc&DyJkK8mPgFV}^^kQ>!ikNZ}bMbSrk>#^%OyT@bGFO*Q
z*{?x<<BP3QyBPY+kV_Ohj@TS=POaN8SLNUZp{LWOTc9by>wfGs_?#H3_6bXz5b!`h
zlP?WSc!#{=U0vA3)5o%ZAiYEX6*j&byg+r+KZ33iJocg^1e3?0r=Hu+>9FU#*nh5M
zz3MNIz7mWLK0B9Tr!PIszjwa{h>chk44KS}^uu|F&Oq4xp7tB)#SGt34iNwEK^J$T
z%Oq>_=yNl3Vm;VK<XDX`ouLsX)5ti|d0OLnyc=SC&A%HzF+rO~`YvNlQQisDPV0*C
zP3_#ZeFB{&`cxcQx<`1jd5`Ec(Mwo*Do=8)%=%K2Y09TOxa0||pR{JZulF?P0Q8VT
zX6?tO(%iMqcGl^CH+U!f*rRVng9qVbF?O|JCp>i1uF;FXHokYv^6&TeS3kwQ1IXzY
zxcanS4o~IA6LnU@_o<T9s+QgmZo{lUg&i3NzVO7HFnhsn9KFD~k8u;g!{>=4__y@L
zH!+Oto1i(&7P^W!e~fnm*g}zzIX&xNTA$D5_sB%8ZM-u}>qnRP<1HUFUc2>&&}Y1B
zkdGSA@6VTIvLl$E)xRCKeZF%nbxGwL4c6QKyc!P-pDKCh+w+nuf}3Lcu5Ji8Hv=Qt
z^;&y?F(Qm1n2C;-!z+ms-8GcttN|ZtvgY>^>rh*bC-{kX;=pd|7&m9b?nhYt;KtZ_
z&&mtSE963Kx{-aDJI~2n5<EQrVJ*0tcNovOX9mDemGVOV%-Vt;&u|WAzQfq!m%n05
zXg+I&A7e6w(Es3E=H;|)<arTujnkL>P|=9yY~YVDypfxWB-toE(#@RD0Tvox=MQ~a
zt`;qmhwb7x-?=LXHsbACkCy%OkZFq-Z+{lN2#$r|LbNJ;Xf9FK>C<aGAbOQen(us-
zzBPB@Om@8iPwqa#ru#*=isQMoSKvI5=hL41?zMy7ttB2~&=LOodN=ocntW%?Esfo#
zu@CaT-7jY@@X<JZM=g&0&3)g0u6yD&?HSjT!`mM^CL3p0%v}9?vGy%@<HIRtuK3pT
z{1zP2YYf-;)@{L})~;)AT2#K1y}B}DKJRix=au&b7DP^f4~Io>E@v+@Fwx8o7tdHc
zl5;TS?*$g@{HPlr(!6DBhR})l62}|%E$RQ}8s3S^C*i%wS!SGQekA{+(};i8WzN8t
z(7sY|3I2rPd>r5TP`o2tVye6Oj>f`Z@o2jz(2MS4e{uJ3r?ld?wRHvaTX!PU?m!o;
z+N3jBIxAJ;6o8AnTLNu~Get|-o6W?K&NP{Hv&o!aqc};4bFRG>Ioh)o>;mvf5dMHB
zl;i*L_}QHC;a%nk4;JAo4(m7#+Dn|4)8}b!pZnLb_rTu5Y4q77-AjLZ=WOU#e!2Kj
z^ZdnHYPXOxqGvm?hxcAa?g;mGZw@kdv*qjLJ?!KD{$;^7e?LNg)DG_T0NYof1;y#Z
zwtv&9we_<<vGc`|9d})*vC5p^6zW>)9Otd?1NNHljJDSjXCznco5XtpZRY?t%}aP&
z!93Kr2?g510T)K^pRH@Y^B&j4*^)bMZuZ@0OKze|=1~)sXYp&GA?ETn-<w^*@4IIq
z%L}8K?d%^Uu_d~Q8T^HIx+nSi;qSYCTC&PCbhAI8c>9g)DWyMdPLK1h{1C~=Ch}=o
zX1RIGEgu_@Q(kWHZ2uheTIx5&Xsf=Vx6ay+54|_gNI!zx^UK~}<;Ubtg<c2K_UqW9
zqV20+M^_gF7X%98bMnU4E>4_m8dkBMI?)V&yP-qjb2BuD%?2!m+kEFOXem)ATFJNc
zx9QjseWJe(3)4d9C*SN}rTo;v<DSP^krg@p>-`_m_e${P^ZRv{t_qwaeb^Yvnt>Qf
z>XgIx9*_ri&!K#!S&;7GEZiVIJ|7%uts{AsyH?~)!%rAXK6N<V-w;1X@g!nr@TATs
z1mIioWyAzWM@E?0;*lWmN1rTsy>eimKh8V3`~3GCXokK5N7(0A+iO_Y3Z9=4<UB}y
zSz8hN-S>>b<_89iTvM&XJ6J;}XZAYx_6FN70}tUx!>tR6>y~2|En2#C#nRA(`3R$i
zGs&e{!v6o6q0-j5^A{~D9<3O2(d2sYlOlh!{~KmO<XHCpY5x@KEdeKuCz?f^J)CU&
zK;}2nUyMHLLV?!W`HhQemYW4SgB+&DK@GVo31oXYXWgD8Kb|<v%}YjOACec+MSsoo
zrGC`sQ|w`Dey)5daQ=gun(|B1%g&Yj-m08B;(g=JL$6}TY%$zR&ttzG`@KeS9r_C+
zC&T1jMS%T&Xisva3c17{0kk&3QGPi1Xq^ggOAbtJ(zVbT4c!Tbg4srNqVRqD)<f|f
z{qO#UY7gJ(UHuJrpi2hR!$-X5$u0ed(Wzu|09qBzN_M`?yzX9$96nuh^W^a9uFQPx
zU)*`+%HOrnh2(G7@ILH3vtIAXcd@?0PUw$!)sOh-dET#O9m3PCTz!~|9?k=<K0I}v
zI1)5>qPw?5lBI1X70_Atac@~W0{Z$pFy3cj%>FU!c41tch4IUxA^82}Mt3bgWlnps
z;RWx`JE-RX4ePg$6TW-&R3u)z?JQvA%bu~`8kTS!&^Lv|QjY1kn|6)plMMQS^^8+r
zlGj?}5@htfb=sFM;a;J$UAhU`8Ab+TuUPw4-+glJlVWEXbA_fROHLE3K&O>DBhIn#
zwsyPZuHY;iCmiE!Cw=}$|3OPTw^&@2IE(GI*jdC?^IyfBJD8*7L*w(<H_%J2oj8l}
zWhY(^?C@6|*-|O!v=;wl?r75)B^EGOeL~|=e98uX+cjX5QS;S3dyajmc)8}AN9{^I
zmw$p@Ua!5=U$ZXwujn8(<g|tbnnO+w&d!(m8+0Zu4W0zQt67ug{!@F;te4(UKM&B)
zV*eg`O80)iJ=Kl!ZO^;mDaEebGufri#+fesG_KB33ulsn&x%Lj^Wat39oTGv>uRUf
zvUhhc^?qEtZ$nPp+N@X3gM0?rX~bkQJ?K@@uVEdsMPk5l@8&?;6zF(iOO?%Y`cnn_
zhU?(1(`Z9ZS>mIz2TVh7QR%qyTLKH}@&dD?#s9ka^-tqtoor^8KOI<b70+Xr#uhah
zPGaAW?{3PUQw%N)zr@)eEKda%L??r@F6=w<$!aFz$47|A(x%93V|Z51{j0IxqO_53
zdL}Yc@sN8@i%$E+BvbABv<1#6zhBm%^9gDTzs>n5?c?}6Eu(5XiQ&#~tThes(`HPI
z=9y}ZwU>3x1=otH`Fxz^VH3&n@cY0Sns#}ZxY<y0ayPJ(PJRPgO-~n37G-(zO>67q
zJ8#BZ9_~I%*8=B7#+U7<ygJQ00eqxud!W^J=veW&MkhDV@oDRu$1A8Sp<1BCQsNcD
zNrCgY*H@UFJijmHI0*((Vlas_jm>k4pXj##mDfI&(_Vgzh0&h=szi%yjsoX8;=)!=
zettksCeab`&znq&HK(VW%r{w295_dSyWfA}%YkWY$Rl1uesR0MPWaTHn`l{ng2tGO
zUEIxYzL(c}H*JprcL`!0-RLttZ{wcwCq+Mb#kFTje&>yyySNKGNqL;@b|1RHxs7&~
z#%L?Js%`Ql)3A+x1Pk@`Rlg1IMbM?Xce8izYoeLS9=y)>;5FHW*LAc}pUE6}-R1Rp
zwf8KQvp&_iQQuAeczw+24egZ{IG^*{$8*}Zc<nFo+y9Cj(=W2V`>`Fc4}nKUF-Gw~
zDR7>S4xVnx$gwMM&iCG7BhUI3$s6FolguK$o0>x(^mS=yP3bSFBcb+zF|~bJeZjfb
z$a}RbBG^_BB8&8V7k;3wQ|MQGCi$S)kYL-sy}#ikZ?30!>qzF%@27Ys7$!gB(WeK$
zu-CRL2YxfXeoDM&shnqLd(Xys&%_%wJI#V5Ff-IW5FJ%}ZAN-+qB-w>RP%sOEbX7}
z;nL$3$#KhfIqfUFzV=GSGgkR`$uIp2whOc*I*K5ReElyRoJTv!4PcILEE>@N@o-jl
zyoD_IM`VX|>r2ReS8kMK<;Hew73q`h^K>n89-1yblRZ46<56^maP*`%U&&L+Qprq%
zd^X7D@&asRc;i9Zigx5P*PMdCP42SZ{iXM==;k}<tT1u8npJ@Xab#u94+9Ijk>zUl
zlbm+t-w7;8Erg~v1{MT(zMA~{avLWsaDJHEPCDhw<aN<+O{-ZjG5@l~rZ~E|OLi>n
z<Fn->6*%|iymJ$6_k)L;6#<)HJsn-Nr1^xl;mrF^+G(D`jn*)+toF>5$4@nn5HDce
zx8?LDnoqG#@qlb+YD#41`IX#unkP24+8K19eXnRu>32isnxrRJRNvPhTQX8K(RHS2
zxPbYlh~;P<S9yJkS2P#tAknCBCEoc4IM92B`Y!*%d)Oj&{g)1!OPVotE<k-=?Dxrg
zqQMw-9d!SbgYHZI74Xh`q0-5Zd++A*c(-R0{v16d`YB(oTz9@NNv$@~v~=N0YK6)+
zI9wMF(DU@8(6i)87@t5sgRcuu%F=W}mZm3Ln$CA7TbeF(-anIkY)=l>$_`>an%i~E
z$NDYA8#E{O^(KqYWMj*|E<Va!!gemM|03QxCOeM--(`fyTO&N)dWm`9yL7@oMOLqR
zdh#9SAz2a6krnzbujaUmXQD^ZhP9#COBIe&lT5>-@54`{O?AyWWA#%E8s6^p<*!#V
zEzj#qIGDooBibXe%B)Oz!P<xaxIOY)Wcpxx<O$I&w#pNqcje3XSo>S5ZONK6kK>1$
zN4O$8kB$GsdE9q|dHm3u#}B=EEMXq{_LJrzdKBEda&%-TbF}a!PWVOOYnoghx}COG
zW_!GcthVivAB3Op10NnAFCEmbh;}Q`tKx}9t_!h0VxG-$J#7QXQS}=^meyQOJwW(c
zcCWQvIcw2DztYQ!)#TcHz7O^yG)CW<0Q6|CYFt$QtH1(NZyKoM#TgA`9CG${;sTPX
zUFUK|rgjI2|KgV~B&WNPScLk$0a)9d19+qM@qS|6^2v&vYrXpc<QMDcTuPjwomx10
z7DRSpk8Q0Bk8AreaMt^-JTG!C=6(gw73-->ozV7u|2ck{T?fw^^{y#zlYgdn)6C0_
z4Pn>vye?ecw#s`J$a%)NZ`Vc3+wSz9g|V^lkMESu6khKI9@dUo7HA6;&CFaz>_oMG
zihbN9&4NopWv!BTjp!GAn}UivqLXyqsFt$`&3vz!T$K4wV1vpptpFw;c@KJ?LTne=
zBUsnpvUEiqasObR=?oa1LqPrz^PO^4<)V3c=H`R%c=W<p8YfKN47nBK()1Db{MxJ8
zmys-sFs5?RpvCnOQ$%do#mQI?_EBmt%8!w(KVI~CMqq*TM){1ug2vs{c;vks!DV-a
z`(Ds{uaP$0b?&``@P=UACH!_u#uqu=O@X$3-u-UY+TG%|eaE{OSKbEgHSTWew95A~
z_*HB$H<Uk1yyz_(`*!CXcH@V={=2*v|EudO?a;ej&?4`aKMwu9ne$%KrL#YJ?<IM!
zi};Pke2(|XU78c~<i`CTOsy<j&s@l{5k057iK!e54*<*dDpyy2kG8%(9S*;TJs$6-
zPx+dXkG|fN&j~JyBwr2t1j6Mvy|Ls6=zfygQO}V>rMgiU&!4_X_Qld4zzd=gaQYrP
zz%YKC+-$x7mBH_mYrda07h^NOgfFdk>OvEq3UC&sCa=ZD#P$*!(7But^riY=sy9{%
zT%y=a>hr4HKGCnyV&Z+ni1F8$h8M=UbK5q|+^l}I*Cm+PIqmDOx~EC<qr{n8seIQG
z=hIy8;dzk!(g^$!CY}}v2c9u`6|1L(&};Qk?SFqfb_V=`jT=6dcqnxMwcZx|z3^1`
z{}?uk=Jvh6xwa~CENiO<;8FDG`bbw<R-VsbE!e7e8eo_{ik~Ze`f=<CSErO^^?DWZ
zShi}_=UiKL#580ddkqz*F!w3Usor#kr{j+g%bOIRY&vb85pydY1h=H(q`=LPUnP9X
zcO!4BNH%1g_0{Y)3u+(iZ}>BIr(}1GKgDE~r&exC=0}P5`!YP_^(~ztK9^l4c;wnf
zzO23ud8IK@!`GCWFPh^;<30_RL4T58ifx9$hj5_r!t$}`yGwLNzpnvjUk{;!4jU^X
zUyIn>rx{D_+o(?=-J@|-AKJ=r*52;<dsY@hZ;G}0HrzS9t9N`GE(N@N8?KV^Wy1+a
zSscg8vpAL=^(43}M(+A}t}(@j#e9AH?dRw(7taIs+b<5fw!<$z>)H<AIzw0X$GFBk
zKK9}EJJv)!Hm3!+b&oR7Xg&3;hx2f)tjWS+9P3g3n{W5M^R}%)c!<q6u$B|-TJB*D
z|0u0~J-dd|EUn&d*HGx(Zr4!ce2%%F363SJt=`?_%Dq*LBe@*Fk7(?1?|s|57kO5C
z*p;i_^zNlL_cyFYo@M*7vC|^wYu@t&vGB$wx1YFoFZ~SnTHJezw`#m3GV^x&x!9v8
za=ZrgPtw%`*LiKDUFaWA4=e!QSv?hY`}_j!L|5updSss`ug{`y$xqQMw&3Jqbf{$6
zcaDqCIh}ZnVlbl7({kFy7N0Qg3WwO-2D9MuyUpypv7cGo{EnF|o>}^(z=F%iU9!08
z#=z{r*fph(<iW4YYZs?h@oWV0kl*BFj!N@CG2m;$>{C3;T(a}+a@TdHzb@$(bfNfg
zI_rA-z`<1u!4dgdcMA8nmCl$%&ek}^;}l13CKoA=9R1qlXlL)};T^r?rS@FF+1k~n
z^VM~x^OXlo=Z=R==T#B+Ou>Janw6ge#;bY9_&OimDY>lJ?z~0OciOS5>Y0c5h8Xi!
zLvH(TnMa(na+1#><g;X61u`LmjIKjQM@Cd4qXV|i;K35JGEynoUhLfRL4MbB#ui&~
zANRw@5&L3)YyDLAp!507Tz|}Ojem0a%t?Xe(Mcy3oiiyyjBny`=T54_?g>lo6U*FL
zo<Hf;qJl{~jvGHI#hS*D$HaaEb18E^9A;1dAy+?ik+&H~KlH8v|JY2ven|b$)enYq
zx59A-TdV-SlYY=z75~rjT=;`o`SDA5Da&`#kwfem$xpi<zLp-*ocvhR1G3Y2_P}MX
z%vj2LH8;(t=RtC-f_a>mD|A}W51Q9({9MJ@de{dGAzS3z%8sbBwG_&<k2UA*a<lS#
z+`skM8N6G<yY$Dq6Hhgrl~c)yqBhuD*p|Yz^6w<aWq;<e7C*-M8qdW;33O+ic%?6s
z<+mq@VP3tzzexRtYh1WB{-(d-eEPeUdz$weaMHbp8r{r8`n`>3nnN=%6@NAJzn_N@
z{0#mvad_ppyi1%R>FN%fTk4<3hcBJ6<d4KIwQxA(*})~hv~hheAJo=T*o|!rAKlqQ
z>{vNL(gCUmP*0rSuc^^QJee_fX}m`EJ+P<SdMZuk1kv23(ayV|OX?4|1&HHgTP%1T
zU*HU6fS&{N-^fh$5%qXwIsHVD<<x)poAh5Tc#%&D{mg-8k3TQt>bRGQAIDjT-|q-)
zdg;ts_+NTTIaS}hSH7NG>tm~Ab0zj7<3zkV22pHrFE47Kb`R%P)XqOgaw~kPI<Zz3
zDu#X%cA6JM$3Mx|3UKp)eq-b4hPm$HodmS%<7c;<JL>#^d_>92IBUzTm7q07u=o9Y
z-{Adn?9JTo1OR_(oERtJ;lqIQ3hlX^YV4ki_BO}?Y8cP>_G|~a#&PBvCMPd7S~+>S
z^-0{?5#)EQ|08~c@O~4xYOiy3&tI9l=9#j-TfWl*yhS(VXD|kNZG0EN`ikAe^LxFv
z(gWRV-S=Pi?kR^tYpZ5X3+O{|Qa^%edz0ICoBuxec!T@ho80@q<36=fz8sKG)8pQI
z+-sX=EcNvp+N=Ldz4<Bc&(-;yudNTXz57>xKb5-7z%DC);uEv-XEl9h<<BXH%AZ5x
zPnGUo%x&1DY3RVpXwQ!N26Uo%eB)BrPW}Apd=rQHksn<o*uKv@E<S(VAw1{gJ=<Kw
zV?DY^u`a<Xiz{TfpWmncYk4<BTfwCpxD?P<{pwi+S@s?=cHs?Plpd^Vga>OrL(HH5
zYZ|aAbrqfPZq3Kcf-ro;S=j{>i_cpe1O9$Le1F8nKm6qPAv{zaP^>@SA#Zf{L2?U)
z%e04sjQ4-J#$z3{IbQfs`**x&s(bF!wPcInkU?JHw|O$hIPZct$<!kDgFl1b2ru;N
zacdtO`J;LX!5q3zpJFl-tW429X@T>+^Z|GjuS@1grUbx~&P8<TH!?-?L~SKgru4bE
zdm?B4QOOf%y;1x`UCV)*3I)z|D}(Z#U;FKWXV}7y9GYsr55s)Z@Lo9N@gB8Xl;`Hx
zUdSL{{2c!Z=Hc3I`OY%*5_D+ux|GM4AD52Lcj}X7+8g`aIc~kx-9z~;<0yV`l}A_o
zp<p&|PWf_wBtK2La#M*v1ZI$zWY3?wwQ`<S?iw(#a-1Ao^xf9(v8H+vewD_%&0E)v
zHa3ut4k&aMdGwGbmK`S#tdaZx?YSp`XY3s0{$_X2F3G&?bDMMJJy*_^_xw9NSM8z3
zI=x?D-@m?Y;Q5_A*Zgjrh3sN~J2s12DafVYuXb(N6uIUrxgY1=6W%?^n5FCs+I*s#
zfqbIm*dyf=1#Lc2H)B}*vseD&{)6^xh1Q-X9(#(nR@ph)7r%L}Y)HYO#5vu27R82(
zDaS+liSyT5^Wsh9_>i}kg$sFm{<<$^T`_o3yurSw<ui>n*6Ys@Gf$)AHO@lsUJN_R
ze<$k6VZ9UbpX<C4?Wxu3@+$V4-(Ga?uLs*)XF1003!2Hqfu|`aPv==&nl7GvCH}-0
zg4Db1ao719zUQGlgRethlBI&d+BdnkE}&eFt;$RBY`HDQ#sfc;m8IuFk1fCg9ccZ1
z?8?LZK;;8SM^~ehT|aOjFXaqyA-Q_Szq+>E7~rP4sNS!OvqDGt4PT<2e0@FpELW|S
zxaq1QWS^x;57u#TD0!oHi){O2I#x4ofBjMTC3+No!L}B^q(=?#%P;r2a_~lAXkpI$
ze+0~ZJs*SCMJLG*nCc_)PAF*Wkv~&41n+pypWyisdB=O+&2#Zi4BlyhM*_&tCin*%
zp%b~1&6OUUgBaBLNZK3POJ+9mzv4hvR=PRKS^Fr#nH%w$_$^JoP|~w6!q^vs>jnVh
zEUyV?0dST(PMR~o!l~}*c?P-qIymxa?ikTr?+`Q>J~2yk4}i}s&B6aiq&Z+Dn)?pA
zAzdHM$anJnht*b|7dopy<I>!<z)|$FoVkeKgj4Z==CU8!Rh~?R$5Y>h*2N14=)cGm
zO^#Ir+ukF0;jgRgp35}%+?dYVl{&97KKVD6-+W$suij){$3~GqGn;W0^SH=fOPx=8
z^HA-DFMG7Bv3IeCgG=1=LGC%Akj=lA&ioVb455GIi(Cb6u0&712F(tKW@W?QjT{(R
zYubj7RD4MFlLGb(>8qR#tNinoeKFeW+YjU&R!{gqwDY^6;TNnKj=g}~P2chr&Jvb5
zlLCR(CUOd0c~#&{Ro|ha$(6@MGv6RKHUS<?X^#}X`x)ncp5u&(Z2X6@2mJFokMP}x
zQOLY5&f%!f6Va8_xUl}M<g(sTOlMPZ?W9d6c)|7bD}L(69!cT<b&WC`c7hB1h{?ha
za%r5-b=-1-S-Ioi&*`wT0(@zIHi8e|!n&3j^7ruJzgH+<J>OZ)bt-nlW%$BHtU-43
zNd7P6+c2zu!K3Jv81oKtX12~0wFaqepgC#2x$FO=w`QHWyu{{0lsLaHHY>Zp#k<Tw
z@=m#csnGC_C#Ss6{{H$oZk|3ec$w+^c$wx?;5@@K$-X~u-Nzb#&e;-weWG2haR%#i
z<zRu+!`!sCUh;x^gYMeCVAodYT+X#vb_hIbJUb+A>l#fs?7U&_`5eJZ=Rs1OAN-!T
zhTW{epZ~qt`Rja@JO6;4f4<YM`LotFTxAp1LZ>GIcb!FiC6q@lcxZAjX9RjC)K2OF
zrx(%Y;1c&7v}pHv;3eJiD)Pn4DZ8_a_fwpGmOioci{HW7MQ2+uuTAuufqwVXx9I%<
z<J<y$$5gL~Z;5TAzXa{yT^DGJg!9@KQtMEDq3X_5vQFSRXE%F9&+k3B>U4f9u0YLi
z+VC7%SOMN6W2oZ`Z`kj%aE4cB<a&mW=qTlUXo|DFDeAnWhM(85ds(1uJb2YvizNEJ
zhi99RmB>?De<O@sHQ1Wv*rUpA^v`MRS!g<cLd-}sE!j&<a7fu3;Jk~*GGXjO<c7xD
z%be`lAaJyYGmElOUO|?)I)1`r<=#uy;fE-OYkB1_<Eg6wjCHm+1r3GeAKEipho41t
zX~R8RtU3CA@qb~D{ssJbbqbCTzvrI2dD7BOzB7vF=H33PTHuO}u*Jkn+ipkBronIb
z*9GHz=OftN;*su(yf*ZcTc_%db22}tT^s!frt0rOe5?M=p{#u?TUL5b_;t^Q1RUA8
zvUlf#f7KC`ypABp>>16Q+%uYzo!a~F9%riWVQ)h@$4`^v6Ti%K-n~w?&jf4h{+jr?
zue;-{S-LxnJd7dh6Y!I7-^G!usb!(I^g@&AIZbB-cy9HNYxlB8lYRaI&ll=Bx~InE
zTf27!IP~A&%5$yft_$#wW#1CFOJd`Wy~nkCqwIGs<bI5MqrH16<kOmkfoay)ziGhN
z56?JU7fYYn8a|stS)D8#Nbi<`hra^n#Af6vbF%9|rexQNKJ({!Kl6-V=Gw8f`hH%s
z3m@`Ms$~mUSmk5qT;~3coxtz8&^F&zS!@Cq%tNleNuJeR>w=t(H3j-Ve4=Tf*1&AV
zgwT`FDESn`hYjbHbapO{Obt+zz{H_@VE!HGA`DJaANO!V%rHAw_}QQ9SD5Q~Xb)cB
z`Y=A@2*!)@TXp2hZizl*^ReNT$Mzgt)eGMAe+zT172mU$&`hm@UT~;0q7meNEp(}N
z^FpEdRu4f7%BNlSE_)61ExToZbExh4H~Lpejv-%&d6p{X;M&RIld?9;SE1=9=s|KV
zeXZty1UnhplH8w<-IQMF&d;}5zGVHuLg!1DNN1Efb*%LQaOmoW@fNS&r_Dm{S-QrK
z*+cA4bRBz#`~q;T`=9Y>y^HhxK3-$|_TSmbJNOP?-WQCQe$DnpO%@lXbL!w}_<QTM
zjH7-7>>d9W8t&^2w%rPTUja71mF^9N+7ivOjVD;Sy91cMI?rShp5L+qn3{>`TJZ<;
zl*MK904_(dKH=v-3(U$dc=M2K`69T}Spvr0@=9f>%{^~4-j17K4jL1CeU4~mKjXdv
z{k&Q>rlZLlI}8oGb`0MPLBFcaGUBUzpN4bCE)AzR%avx1`z=07?HQ&^cahHx-3j(R
z;HCw-lN?BWTr!w?Ny|*z!QBT}#nwfq#j*QiKa5U`a_y<-oPp@Xo|T*6d;(h89~#*q
zI$@sUL^IIKdU*ToNNkd&m)+oBbfvml>YFxmY<u=o!sxEQM@Ks~?~6GLDfufpLhk!?
z^b+syyjbfP;k@{1mzEx64I1mmT*HhN`=OaO9s1tG90XH+FHEq|vtr=j>eNyvu{qe*
z2fS|>1e@S-!}<i9d(<!QuHw1_IVfMW7y9mDP3W!3x77#Rz8(s;eXZA}&C37oU$u@H
zw}pMZdtO9i9$+5(ftzfb9_FEXa`4fd9%Sab-0!h)(l>cjYcA-__U5yb`#!F;Ud`!x
zJEt<|%l2C8T*p;(*p4jo=`e|H<;#?-)Q)k-K!>VZF^cQ&pvPC42jflNNgWo+u~(rZ
z(cBj1BRYANwgY3+hOs|QUur8F745x(-)-p*S~2_jv$P_6M{Ps{U9b1A+QT}91D{@W
zR(CMXd;yv{61}X1UvlY1^E#63(K@t-Pxv&$cs|Ws1kLEZ6m2f_Xr@AN0ls0bKF!<)
zTpHm6@$H%Lg1+M|+V|J;P1YhhK4kt~Cue1(c%h1QNN<8)Pfq6Bc!K7V%?q?NfG#`2
zTqiPD>A8vCJo`TO{;Dd`6gbqp3YgdDJp75bv~JOo)-JiSW3I`}1BY7gtME_)y{2^w
zm%?GXGSt>`8CT>=n!Z!@E`Mv^P3vr6jgl#Y`8#4xZj)UrK3Cr1e&#Ox?qptq-wyOp
z8oM?sI$w7l-zEfZ%t5?g2@W;)Ut)LfnCIRT>@`LL-KDk(PiGYm#y7k^B)(bS7HomR
zGGZHjylQ2{FlTFnc(~O0f!4~H_vy-<*Xqjrl3c$9eCt?Gx!u2T>uh2FdN#ejl^CE7
zsOm=q?RNk<%;B9)e$?)t$j(>HT=uZyw<D0z^1&3(sOzd~t-=rUpFK{DEQpP+XH&T!
z<ehoEb3d`Le(Ix5!WQ3yJ%23nYsi=e@jLll0qVhxfgT>NFm3&OSM_}CtDhkU?#}sc
zLYkTuz72d3y)R!$KB7M#ol|M%|DIsMQ=+@eHRt8^+Zvg_aFS5YEdPH2nC8CsxCev5
z=ivjgbLb}<KQ43Y#obbhz2QB(8UI1G&IBXX-&+|BKGnnD%J=J6eEPj3e_QH{yrc0I
zW7m5<#|B#)o~~-0`*d~dPsOKR-%VaS!B=q3g)#Z@4I0;PJ2$s2eGbOe6WATv-|1pp
zABH~yhV9(Ttz$^+dW-gI+}K8t*hawCcvr4oBRL;7ZjDcd{M#xSA>XkSe>XwD20D}6
z4zowqG>SR}%>in5i8sj4fp^Z}Zz1!<PTG<}J~y#1ZhdIt^=bCeYI(ojz{^uiX2m$y
zFQ<qWXX$G@&Mh)4ZH#&9K-|k5uYI-RLwst#){W-63R=?MwB{*)wV3e}^i#q(iDAq&
z6xfx5X2SW=Ock=SS9YVv8xi6XI!|8P6|vumkqsK*y$HBT;9D+a?plx5$3DD0udFr6
zx5U?Tb{|g-I-bd&O;3R)SyN-sWIo4wluIMMrK`@Q1w3BkkdxgX(L24$CtzN}eKB>l
z&v^Qb*5XR@jL%~u@MB9u(aa0VZ9^uspX$nn0DN@jJM#5(roF(q798&f503$J;iS>d
ziCVSThHh=80%sWTA@5?&Yv6$I#jGmEo=k$n2;--~jc^)+ANShzDNbJK{F3!m=sCar
z^+obc=0g^5rA{SRA4Zk5^Wl`{yWE>tv*<nozZ8={Rm?ZopdEYm@NvfR*KKH1+;v9l
z8GI*QdyT@W@Oc_I)S5?muw2YDJ6F~#{D9z<Z*fmJ@5eq?oMSWVj{r;UdFdOoJ9_ci
zk#(Z=7<kRbIjp|Vv-I!9MYgCP#W+;MX(se5n+V@ozRjEp;pe+EsM%6`buaONeY4KV
zus_i%za>SiLa<A*f1sE|0po09|NEhFuHFz#0%7*VM-0@CxRU;bBj90U3~}J$#~msd
zPq7DE&y0Q>y?C5zC;WRpxhTllU(t6Qx)9w!ul74glH>Oi6I?<rglJ+bdTmL_%o45g
z4fM&<mFF|=ZeRf|+V?Hap|P(s7qweAuC_zCR!s2wjG?&T*~Exdzs%@cnegS8n1kR_
z0(=$U2s4i`@eT4u;nRUSr@47}e(kgg6WzHzz}#Ax+poZ%&R)ts_3M#T{q3Ogo1A6z
z+sOJVSYO3a>X3wqrLPE?jOZ=I*-*iHDLERm;CXU?<~)skf*^BB>FaWDofBy<+M3Qe
z(;zgSV5}DSM)f`_%1r0YL4%)dZ2b|{7tvg_<^VLH`XeX7ZyNLaJPVxFbu)70_(JrJ
z;OxeoCOChEKD7?v>1EnoA|KA`>qEZ>aRT;>^0U=eGVBC!B)SlNC|5x-DCKGSIVOG{
ziDWl1nk_zk$BD@Zuj!Kv*Z9^E^s7E~Pdp(y5sjRW{CWKqH*cdS-`$T2Fs5uo(P}$?
zqKharY2zLzK`Y!7j^os__4Q=7ro9Jq*%R}C`#0c&edmG)VE=ExUj1$2FJMfjXvE<)
zV9ukx)~dbyByblFeAuUQ;QL>|yoY}Me3LI-h@I}uc?azV*LG3PujbUp99*~$eAnbT
z!3|yK#Xud^r<WYC@IyWdeqY`>06#k?>PCm5EpRj^%J~o%&-u=c_$Qjb&&yrJ-1G5m
zSBy3r1WyC(d1mF_)xci1#_bmV@a4rW{M(@wd^HRIH1Alx#3pM(e=S14MRWSN-S$B}
z4f@dY4e!s}HY0Dwq?N((vsBk_WiT*n2K<s3^=N5*9=P9<S9TL}s(Ddk-#pcVgfAM&
zlhb#h4LIfuyVDGf=o#?OKC2}UmUhf#{4U}{4eq>xyW+g_oMM~kj4tLXx=4*5pbPQ6
zzxTcmzODtIH70Mq!(OUrVyEn7=B@q$277?#1<=L#5%8q&4=+VI*R5}BL_B%%BD#+F
zrN>+OPRSscC&=YD=tRlzuD1`a!uD7%+7G*RoI3hnbI<1pN50Hd{7C$8GW*PdlU%vf
zoih$H1DRRmypOz7+mz-DFAFzGWTy1`lrbhFA1vtcfW{XO%pwOmGuP#TAF*D&ul2@l
zAJhv&?wHXgv*sh5;pd+E5{>n-exLReqG@D{a4I-T#@KiVunRzkoXxFj8P#3N_cAiI
zTLKoxjo?`Fq8l2KY}yBn!}nH(gn<!0UFSUN$qBde@8)^9y*FnKn*U_hCtQ7nx$A7c
z)~&hMBJ=*0xkLY%>zKRNq<LR_oXM2(OmlbFVmcWkD;xiS&EEq&e4bhQNf#e6-d7!N
z;p@-*`8ptS%goHQ+sFkY*1rBN>>Sz&hGF>Nz7=k~HpUtSFU7G_JXc&^_|v^Ra>ib-
zv59@SV;4E!$ie4hv=h$WVx5Q9FEdWTRql67tBH44jWin)j8TEzDENp^)Zb`y;|<iY
zzoF$5<nE1klE<43(i4XBCIP<r(jGLn9$bL$#fb0q4)q4`?+TDTZoZ12dlWy>l@(v~
z*4NJZ1Q*?p?3l^EAA7qMZky)8ZMYwKl-QoyoZz;(bZ{H)tIZ;{p@xCv((J))yxIoW
zs!a>^>^Z9!Z{qvw;5uH%-ZfXv{ifOOH83i^^*i8a={3|U8fmJp{{l94rhkJ!hiP8_
zDeBMO4c&H=)7r%~jcpA*&*rZ!fNTn3(}-@vz%?IwHDS}Xox0dD==28c5XH0}#s>Zz
zx>~;j)HGboxPs}U;8(n^dP42UDXlGlysgFO9LgW9Wlu@#nofV@j9Qr>JEMvF^Spie
z!S$h|e9Iut+$BHMcGFS5ZIFZ}1g8Ms-y(l(>qU01hvWPP;AQCs+yvkw$s=m`H?%WO
zg#X*$?5}QTe)?Uj-}ob<LE;PZyE)I3t6QWOl0ByFnjO$2{Vt==#xV5;kPiv$(F*xG
zz*~E)F1&;G8@a&B!h0$37rd!m<6Mtyxa*Dn4eGB67$qxA+xufZ*t4cG*2DLFiUe!l
z&m4!{_JHm&U+G)XZsfX|nU}aPe^;=}-cOQa#(lmOV0mBkqWZMYaPLO$solXP54-uY
z?w<SlfS02tTORmldWahZfvw~|{_J|`a^HrpVSb{CB>Oqf!nd)Y=^zKs>Mqf7?T3j$
za$oSf^V_aG>AH-)7V1r@rkuIVoUZp0w0)R9_Dm=4N&G1c-X-J8!P9yFioH)<Ms=7|
zbIs{dU|kEWqZbcdhdIWXe)>QjvljuZBiIsq<)dsSACI`~yANRxj2_vMChvVTJfZkc
zzkWmGig%^gDIb+u$J`UGL_f+Lu))<|>LbV`p3BZ9?q5~+sy(Y^?LWzA>Plzrmn8K@
zB38FjHwBoxx>Y`3iBpHa6+zw`J5Ov+?0)SNsTOtoK>r5U{$h^;*zd+iQ#<7tiGLH+
z@$mJl=67<X<fP)y${QT-yheNUs-07ccdVWHA==<;2`=(`gcI>EvccBTyq`V})PqCf
z{9Og+^j>1ojljAIShr*6(9X&c`C{7dstcPoWb`iNaKjAxT!URBST7CbS=&c>AQwX)
zjo|kHa}m5E{4xF^Hd?q>HnM7~xi$OF@a8VM5qx|bt(UoF=R<Du4(ut7#hJK<X8MiM
zZ@g%r?tIMsPSNa`_no3-A+mz?8`g8A^`FeyIe-1hB6t0_z>ofz0qUBHUxtE%L6;AP
zLl=Ic;BY)}NU#>c;cysCaOMI7`7cfQA)(7>Ov1+AHZ2sK#W{&t&B(vV=*^{h%savd
zaqb2Fi5&Z52Dnh}OT?oigH6QuqdIFsdDi~Wx1{EoJZoFldhkp!*IaluW(MFX+VbIv
z-D>Ojo7bpUHVB@vS8dMI`V@GPO!*b|plV9^HX5`se=@e{{%c+PYzDj)@zxkH*fB@&
zQFbzS(MuQ`NAnXuNe+auQ)Q>c>IZE6k<`YL-FRmY=Q3zZUE-qs_}*5&o6!6>u%BgH
zoyfRN$i#Za4l!;cFfL*20CsRK{YM!q%otI|(3roZANiW<OT4idz7=i)@InIKt{Cmv
zf;$3bi@}9#LD6V8dO`ltA-I4xU0bjuYYR3r{!-*fH#$_g<Gx=TlY9VHe(vPh3tYJ(
zK6sFJgZ(bwp0n`Zac<_b!2f9UJ&7}O0k1Bn|BbIKz3&`8H5ay%sPiS*{=|c=_B&oc
z_Dk1T+mYPux__sh>7(alD&BPc{$AuvBYY^GUGaC~2oz??JWFhS@O)C-%cY-d!qCq$
zmwq;2EA<XPx1$1F1U>o@4x7NC=p_oSV&L#``p{eyKd5Dng}_DQZREb<`vGr`Ya>J3
zAjz<)+DjkZo*h*S@B4f&J4*7;g!Sz`bUD1FSk!i6^pbyn21exnte^H8zAoQ>Eu$?m
z`iMD*wZv4C;5R!b{+~C5U6lHuY#nSe^ze9KF1u$QG^6;aY_c#m-CfuOpC-nigx<6A
zo!mtIulUb4<j^7G@l5vo@3^mgMbVn_60+|CQ|XuGW#|rI7e)t%OU>yO@In}Q)Pqc|
z%dvL`;1b+rICETR;o{mmF9H+6CM;b%d}POB{Eig*b=p!FM(sA9R^*(?TzaezTI7)9
zf^Uc&j7_8%M4b7x^XL19@(cHRx?AzIGT<TIEZb!-dOVB{*BDwu7qUokwCzFWqkLo9
zJ&)ZHMTgJEmJ=Ke^A#?TrJWj2@9CT0f|2qbeZT37|2}AABFmUdqeo9I$jYH`7sC#?
zD`+zEgY=H{i0HEs7<`HK>RA`h4xxSUDfzXRHEGS8z-_>AKHvy)Q?Z={ZSsLflD=}~
z=0^JUWz4zo0^eD~M{~~?L~`Kz3hf5V7{zvSd8Y0tws=&wI6NcxNe0xxGef~6N*!>U
z)5qSRfuF(ClV;4Ju?_jRZqC+Ib}vn9$Uy&+$>SyK7|Y5AXfd!IJIt5MI|F4mdvaO)
z8GadC8@;ddn#!^B^<?ZXo^0m3lfIuWxtvBW??6^?*2}qA>nAR7oz8?p|H!{PBgonS
zIO~%<k&Mv2J7#9y`|H6~+JDGxw~u?$CrNN48rseOd~2a742+;PYX^0_f~>6!w!NIf
z4q^;yXdEUNBixJTyz}}G-FKeh9ofdynV;uJW%Jjj*mJD;&f~N>iQk%MjCpAO&oGay
z4SwJ7se9>v1oGAO2imiB@v!&#E^*NLK5-};!^4JF{7x}6?P0aUFX?>-x>SBpfz!tx
zvV4OKwC(3IZrw$kXsx?<e%T~y^{orG^;{XvOhgVG2<1(#XI-_X_UawIZcbv%=FWbA
zZ>9ux#i8q-UcS8vZ)ty^hrCPqqQ8Ov{20f#;1A{O=zcqUrQc$_bm)^EkudcW=NoG;
zAE57U#rKKtyv(^q*&*RC)=p{)nG5C_v*35w3K8ZJemdMb{psng`C;?SFzCe}<8y)y
zV~}sxun?PYX()deIB7^-D4wjH#JSxI%8?b_viB}I^j<{wF12=NXP0X0HMzfIUY)&5
zyj-R<cC=*Od*DlX$1(4J)uUWSj5GzzjC9?J^ufL7K44bnGsiisSO2S?tKNU-Wbd0k
z`v&&*ViSkrt?ib#lq<U%8uZtDkN69CMz~)Jt!V9G>ZYi^vRmV%%()*PNLNVDmO0<F
zb11XzpQF8-2P1pF)H(ad)G1ON_X}!U?2JjX7T}g{f({;%ZOVQawv(an=aIvLUwSRi
zewp(On%Tm$^rm2&*&J;9^BV_Oy~jQI4Ep|y`uz|3?YYL~Gws3j{J~@%0T%9>CO9W^
zZo1d{8E$T*-g(8y*XH|n;6U%pwJ_v+ZKKUfV%OAvao12y9JGtvjr8X|-NSrSs_#c1
z=_~nWDdVW7bQ;|H^_llJ4LtuQ&jqJu3#WYNZ_uyCy^Z@izZ;fK1N{-l=#+oesJ(Ue
zyU{-%PZ56*&jiV<k>98qis!$hn$g;m%y&Kpd^L|_`6ivNAA3Mo@<dq6E%dE>;?Mtt
zuDXOT{Q1N5J9JIl5PeLZ8T)e9*B(3IYlrzZWe7dre57w40gEtlz~a&KwNs-<cceFa
zzV&7J*8Hx5UQ(BtOnS5DTXT=~**Yja^W67|=QQ;2Tsox1=AWxBO?*zbM}zp*4Te})
z1UM@H^;~Llya%3BjIq<Mm2V}|zJs;O&rjRjvyZlgynHmByOwQ`3Q!-4T$PKE9inNi
zTe(*mE7v$90Ss>CnQY*m=Hbc>Bu}lxdH1akb_`?eO`;9yF5o)!8Si4}RQM<j-^w;o
z99VTKPP4XKv2)rdpoyu`%rK8O^6ZuUb$iWsu7XC!u%`EDBij6h(+~X~O7p$UGsRka
zX(Rn2n?kZTKp!scmN?fy2QJ;a-<=RWG!GNq6YFMOd*RE~(7*QURkx*w7)e(T`}fdE
z&9Q1%;<RzDRPEm!WmcZaoDR`N#L={lk8X$m=2B~f=Y#F~t1WJV&dprEB-z54+EX_v
z)3$YtJD0Uwx1duGE_txyQQ-R<Y(?!a-^%`{_KSt@ICPe}4f<6~ggDeg#DA}E$+LUU
z+GlcgQ;_esgq%3J^YN?A>0#CwC%3qZK3jT&Z3$?thx{OW4qzT@)II|=9Orjx9XZf9
znN0ghd`p@3i4gw-2enN!i?_YD%>!-krfuRR;`aEa;+;7DT_yYG0rb1*yW?`~IR1x!
z=cr8$zG)=6%zkV8vDb+U&^}BJ?l|At4)d*T!?(7>d}~{M3hzGMBu+7zRp2_#zJTt3
zioM-9`QBZvd^eVLrR$BgMRt>WB^|t<wG=XDguR*mrJQZO$YiABl;2g3{h6qwekgWn
z;$rq>*_VkhNBQiEAscwT{EO^!pNGvX9txk)7XD0ZQ6n{L!(PqWcPm3}$rD}sM>S46
zD>$1#9)#c*z$Vjr+vz``_!sms1A6X}UC(dP)RW{`l!4E7`dCWtNE#g2?`-ls2Aty1
ziS&*^H#auRekgT*4joEXF5z!!$c;nG220<>A9A>i@zw4CbJ)T8J?Tv8XKac2;Tf#O
zljqaGS&DZmnIrr%*~(sQ5Mr`c{wn7n9XhUK4EnVvRNL9ZIs|ilH%s3qR^Ii`I5(9J
zUF6ysOLXox&?%cGf&HjCsJ@-vd6oTP;YsrT5$?s6a}NADQ($ZK#({nO5>p+g4p8($
zuHYqkB|5$yxp|^XhxWTPw@Kc(wsQDC57p<co&1c|<#F%{?GQI{V<*t;d^1bFSbUDp
z3!0bmFD?DN)nBcBbKU!;cMrI`--_U!1iVvTMU6<}LTd9<uZ`hbx2ormTFQK}Wm>#(
zql{aLjlPs|V^?xUn`=9^OdJ^t{ZuEK>!;Oz%~ZAEiz%0S*<3ds5(WRy6K}A5hddY0
zW%&)gA()D`e&NAH{CG$k@ub)0Cw?1v{g5`|aj(t&UYqowHmRI8YiJWcmp%kb>R85W
z+~3HH>Nxn({czNc3rg<@KBJI>@+F~vY-0AJ;GY!wCKCQwHXrmS=t9}!hBg(fbEv#|
z<w5=jx=-{i`tfB!yR{?8Q<^2aBHy{eU$5qx3paS(U+)+FHd;e&o0@?(&3+rLEw>G_
z#qZ}*ugyyQZhgNej-Rbq|99?i<NNWmu#K3<O7H(h>=&(7x!O9T@l)phdFUnqy$fF8
zctM&vAEL7|kG8@u_E%4%jbsdgJ8aGg=(Ymq-+{&Ibvkn^T}OTBowD`aZ)aSk-&5V(
zQNd&pHe!PRHSZqa*Me*o{Y+;5dVZF*!8osH|1WTs)3<E258oiZc5|*5+Iyuoep|x+
zr26_Q_x|-y{Z(p{D-X1mpI94gg7Z4|x_E0UYq*g(X)aHSAEMMH6P*XpU*hvfGOz6=
zJD&;83*NhCTYt5D%)#%b^$iGMmrT>IXcroc&4(T(SK!lh%H`8fL5I{HSs?y2d232j
z=l~;rWuD#M7^<_;{bGMZlCutiotZE*^Y*tmCvgVyAKmrDXW?7=P5!>W`j7H==__6-
z|6_u)-tU8249SUZje)LnjN8{yc<RXydFO5zJN$9?+)whU{_0<=fBL=G?{^Hg;S|$=
z?08%C3q%K2zu?owYZ;ICS3(PU#TPCv<Gh;m#0Qbr>f?6558lh84rLlYQtjolX`P~-
z$6ph^3!L@WgR3C-ppCnj+kxHaO7JWlb<o--rOx-buYMN}>Nh5za{hphNg?M1OYu(X
zT6l&&<GkyhlXUy+q5s#ses8n=<~v{G+DktblDEi2jdeMBir4??^1hGZ_n5H01wj2^
ze7+z$AWd6zwe_1s|F_Gh;!0e5rSKK*?ytVugXcN^oWZA|z83Ycs++uLH9X7J|Dsvh
z0FkFSR|AcupCoq3dQ#|j@$fY0HHePYy=l#PZGyknig=sTBl*jEu|YZC0k5&na`c=J
z?=O1rZUElC9=?)$dROaJ`!av7;4NC=;w+#Vec(*%TmtXOCJ0a?SbKISVUNo07t91Z
z^|Qn7Cu#4}{l9{m6UTV{#y0j>S9)tV{#ejOlrhRbL5&RRlSwZL|M6u(&h6Gtq88f)
zJ-bZj8SKw~jCaL*U5~kNN#xLZ_%Zl0M|X_%Xy#RNVgy&^>bKV^52@5C;hE^!w?QP+
zhO$AV1LME$Z?JX<adqMOBfw2?m44Cx{~|lm(ly_?xz>|)(BE4VMYq(dLgvOoqEpu<
zU5>5|;Ex<$M+6@p-5pW?RtDxfuD_D+Y{72{SQ&^;TWC7Z;{WtQ>_+>oF4qnc%+uIH
z)T8Ruyc@9@eogG@NV4(^<i-jXi&f(UynWY$lX&t5?um|n&bx!<U*siM{*|LQB#)jO
z7cbTOcX;oYBahk#$+Ta76W;{evwW;sFs1}tQ*Z4@$STP=;@S592y<^|4=@gIb#3h5
zpgub|$Ff;-0O#gs1M)V0nyJ3~VZK{~OnpGlp+&`J%)|YZd4wKoT-_#HeAr*y{5k9Z
zzCWdy%4u!b19!^*45I(#oBkMBO3wW~d*I!5IwMrz+=H%gZGwTbEZ>C&1iSB^=jylX
z!2Pw%Mg8i&bniCWlt70;_6O70D5{x8KHB^d-|cUBp4xG0cOiN-cDH-pm3i9puD?T<
zs(s_#;_m`y0sTk@G_K8S+k{-GLp~YKyB?t3ee{!<KCu4ZzBFk4T_3aS?}BdyS09gN
zM09Z@Jd{Qsrm!VruO3`AmAOg|wL@cChioPBTn%wr$@`WZeyd`=IzuYD`6BP>_hVWU
zxDh{pgP4wR8uaMo1=?s0T9^D6J<HWGeeCOtZ>4*pr$HlJU43&t$3IQO37)R`Yfd}q
zngBXru&((CYZ2VWFC5S{`zsIE3ypS;oU^oiJHdH=P~TDM8~mM>$UDi<9nh0<w~m31
z<oiHNRt6q`_Zv9-Cs`R`??(2{x2?}#;@rtqFfw;i9}M`!H>p1B1n2kUSdD;Q*x8z0
z{$aD=acV5$FKi90U$!-3lJA)CrhD;k-e_d)ff?V?c?F#je<R8N;+gOoau$R;`g)A9
z_t3X&Vm*ughs#eRsSoiM_k$yD-KuBhCiq5T2k|ZO3^iHxu6SmeM>FCN&xYOtE#4W4
zPRZKPDR@9MA)b-UQ#~bLCq|KN_!F(Q*hW*JGvPT`C$9$fq6s72gWi#h40^C%%QL|%
z$yIQAmAOgQzH8T3;CvYx7cSR+S@c1ECv>)jHp0n0=!~cr*PkR=0v(IjR4cI-eOAw!
zwWa{I660K#AZO#mB2>#T#GJ*C&120o&5uW@6HlEv@{h`{YTo$Y)aiC{TjKoaaX+?0
ztcE=37pU2gD<j2!g5!A}?F1H;jjO>f1b$Y>C5iP(?p~#J!W&~edWbLWul_9WmWT2E
zPITMm6@O-NnDg4|ugdEW8xndcbw1<0|K2g~8H@{gS8%!qT_$*L0Or@e!v3V?trF)F
z;N{x}ap@{(bQ*mmsAV8L;4@85%Z4CUU*hprkx&1!-4qYEyqxc>LhoxVjdKZO=z2E&
zhtYAeK`QC@UHXw<^{()HlRKW~EgxW#=FXb>$?f%dJkDOdY=H2|to<x(rE+(?M_Hff
zVFK?6-_aZUtH%k(z1V5^MPvD00bX63W`gr5wwPk%@&Ps84Bq$cKlw?r{~kO}eU>^u
z=2;2!nGVhBn8-Rrr@1yo>ghvmiUSpV+Yq@W-qHN8eep0~)8&)osaZZL%;A&2=WB+r
z6I{JA;A;*;A84+_&UN|X1?C_)91slH8=B4hQ_bKV`uAfk@qA#1oRa_61I~89FOpBL
zuQtKTt4h{zfSAo>bgbl5Bj?}zbx97N!P;E@S4|pZG`h&jfUb{b*S4McS{aUv3Bv!9
z1=0;M?3*zB6h;Opt|b}rv~(EsARo{7qyGT^3AcYZM{6r_*0DD6_PO9izMFJ|a4T3F
z`0UTNe(bD{&K-y2%B(yTS9j9aYGCBo<~-h$Lt0y|ELuc6pFT7P(Z}|YE`2Pu^T~I<
z!c{PzC)~3hx4tLeb7pS$KgKiU%v(H*@c(^WT^p9~OCpc5HtdV0^ETqSiHm^2mC~Wu
zmB7iR+Y)Ed%i_-hX9R24Ubl~{jl^X1j^Z~ha}V`9=JSrF*(1hluoL0&3z_?1x=u2#
zYb(2LX8LWQBf&;<vuz{~z>oSli#F&Z8_N|w#(KQ_yQ8f40@kauVWQs;^S<QAmOQia
zLh$I*ryDbz;D{Cv;A{Evz##Xe$K_kf$27>#VoxspEvKDye(hoYWr_1KXhirdUN9h+
z4n}hQ%L3;L56{OiH=QTUjaSB9Uvi736?|UFwKsWxfL1uy0If85eZ0#vo!Nbdt7z8u
zBa_68C6DAo79lsS{|NqlT`Bx$uu+Bk+kwsIEIeHwNPL~8A^f1d_@M6sN45VQery_?
z>30RO<tp~C8paf~J|_Q```X7T8x!xGKBla7X{caV3cR;`J=*8fRs`D8{YLz9)pzml
zmmP)Xe$QN?r!6|ad<d;vCR%aj`%i#@ZIk1l4bYt1=6=7;5oykCvxYXgG`G;hyS`DU
z{&R8jb=n?kQxrIF;*V=i-{hHa)5=wRd=0o(jQ$j4Qto-thv`#!2mXFLI&@3B{Qare
z2*@_Ox859RyH$IQ(3Zd7A(|+S1>2O1tGy46x#Lv)ux8WwwB~TC>-%*dr6x}|zGaMk
z*+%wX#eY%gUF#7IuLvO%=tIBtyy+5S&zQ15v(naaV}Cna1MyPffxRZizsSPGty|km
z>|FV&%c*ZV`0QysxBjeGSKdE+s<{WTmugx6Hgx3k!0s>jAN`>b&wL;Fyb8S55o3Ln
zzvk4)wu4KI&0o0HoZVI%j!yeN`$w#2L1OH(d$nh@8=WQHjBXj11h%PuWA%nT-_@+z
z2ZbJ7hfymnuVYVdu&tAEv<KA(FC3^0w!KQsw94v^Lg)AJ`F{G-d&*xvYo_SH&BHBc
z{rlEoCqRed$;eGJEH1~xC*lnQZ}e<4oz-K;w}#ns*b^Gl@d&wGUD%50ZS2pGqo$lM
z)lO-FkEhXxbeQscVkeW6Mjv79&Dco;d9Pj`$ZWrk5w={_&E+~rrTPrT&RVO_-Mzm`
z{1WM2-fz(SMPn2H%zk~n{0r?b7diiFV*#RrB4<UfWE$V{VjeH?uJ%FPwH7-6#e3SD
z{RM4sM4S}$4l>Vkb`RK*bL8y6UQ<r-_pKeExJ99}W7UX`DD|8q&llO+rQ@An{Ymo5
zOxE)os5`A#vS3xgIx8j*ol|5c309mt(H!4$>AjtM?7<x|_b$Qr0aLr&c9EmBYd_0W
zby3H+4q8w3di?_Xq52K{3+-D%ZKtdKAH4pL(ms7A^LWbZ7d#HtZ#UmlPCe%Jca(PU
zT~!zP6NMW85wBlpV5oj;`4)2*xfr9={^zv!Va+@9hR8)UA7w5Nd3}Fq=)T+4?m=(P
zM`_pnVcI?5^*3?o{u=pa9<|VI94m5^cI=f_k>6+AwO0<^Uqs`s@%lSTyISZjwZiMK
zV(9+b)ozK`-%;8HM638DipO=6TQL-Fx{s$F{BGNg9J*b*a_`{R%aBETLZ9e(m>ebX
z=pO8+H1b6<CGnU3hCSHi8{tPQli=OeoRv-2NUo1}-YrK*d2*__o|rClP{N*Q5ARdA
zW%9H!C00gdkWn@4y>`i;RD4%*%I=SrIQqVZ<Vl>f1{vltt&*C^%t7t<&`-PeMw!D`
z7}x4goo((%k9+%?(UVp0E85|o*~&fJjJ&t?zS^0;V4|G!a`eFy=wi)3kFm8!Bl*a8
z9E;RO^YeAb3}B;kFguWK#FO5R@I3|W=W*x(zEPNmjLmacldWO$1Ts>&B7$iUU9)HV
z3Dh;>e8sxq*0)6$&AGKlF|k4?*24F|B)dF3HRcbEr$%s{!iE+;6X13zyeG!e4jW7D
z0{i=IJ3}oiFRvn7!?f{jd~w?OYaGoQzbZQt+VbxW<KDHpha43=1V7~fZsES<<=Lzw
zD=(iLs0q?1Il9Z8L*)5^`|ogH^6>ot^1_#g-tz>od_&KXe|z=(58nHK8hF1){XXU1
zZ_l~^lJ5KR?au@4pHqLz2UCBKc<*`7HQw*_9QpNvp6AN17dXeIwG#KdOKbJz759DE
zJfbll^ybK(qkq3s_aE@a%DMlL?)&oRrGfT8)_q^z<lO(E?yvFs|I0x8cHQ^oNzVP%
zy6?-6m;0+v#RuLiT83u)xqX{9%A*mz`S-rbJ=v6kpMP&T_jDdiu=ejQ<K7RsXL$%%
z2{so3n@+U@wrVGs-b_24F%xY3cdzH3a#;mO|K7FSTd#Y-#J_h9_kOK=z|X&T1^4V+
zfQ5fA#=S?>4!HUEF5}(?-2(=1ztF$x=UO{(@}FPKbLBIOF8zBKa?jRHerw>~`P{Q{
zi9Zb7o58&%y$j9iU9Gc*d*sU_KT4cG;mgKe=-(i|&!?tc8kmbeDy0vx*W`mnu-8;S
zvv01+?Ah(t&^)%|1NF$x-NY}+Q%#M&utR6cdifvz&8$N<y0t3{oVSW-$8-5&sfBJI
z^RTt8Ttt=}sC$2vzKQ)IY%YDHTKwu?6-PAMvoVI6XQngE*#|uv>V6s<Oma2I{Oge;
z^~`Olr_ZC_S)S;7q2=p{=S7*L`ofmX`10ZL-h=jhpzVio@f$nq=)<=Og7i^Gj56r;
zQRnxeww}HITF=3v|IPc)|1aNvjQ0f}#a4Z|RRXsrt%ZFq)?#bw>)ajow}oeuyRPG#
z-pgBlAF#=NX7$Pcaet5FGY5;oJ#`~1ioyHXBhT|lZ8YEi1s$x9+<I>2oLoBi=jdsD
z<ocPJDzBeI&wso5_yN&0I9cn_SAsRm2Jp{pdp=Dzw>|fn;(PMv<iC}rh^Moc-^8En
zm+_yfy*kSE68Kj>Ru!>{M>wZbIHs`GP?Kk6g?Wa0FI%bU@YD!+wh`Pe<#_=9YQ%<0
zUNfanHNKL>cMRulmeK#_YZmr30tbK2J{?WMw(;tbA7A0o&QSfevybE3IQ|-;(N1E8
zP9C%xi0f>n$<#BC8PMx8VAHIeD(LloU}K;MzMt0_rQMH^U(29bJzw_TG0Uk(P@Vf6
z8n%3_{7!wtMPt~yJ&Y%RxB&P};ZNf!7Njv1bGsYAEIta~a+IN+aIwkemu2bcAC(8d
zYRR($-}mvqA7hyNn~V_~<?6=-xUU(?S3|b=-;<G?(mRqdx>pPSG`FYIuDlxjof`3t
z?5IZK8$<Qq$hoW7v2HuoH)OlCVkE@y(Oaux!@Pcv(!QN%f~7zApMZ-P=j=6S&3{dr
zy;g7BM$TgSa`PVDXB=>u9Y;0h^*q75Z9LEIceVPZpSN{oUOLZVz^QV}v+%I759%$%
zi9g4^wQ^o|D43)<+ZFq&x5lHi3*d*vum`CdwJLU_*Dvo5)o(X`k>Z74Qu`*a|D&`|
zMChNqd*LuWe&~J^VcHRgvba84yK>rLPhP0;=Xm`V4Bc<-3AD$)tW*10v<I$|RZYAz
zZwUW5HGy}|@%lcBKaeh?U7a`QqqQrg-PvA$NAVZaCA8za9To;hYgbIW)4l$V;)kTc
zd+ao?zoWGit&qoSafI(O6z+w;EWIDC9kBJ~LOb69AF98A+6CQlBS&ioY;$E;tYv@)
z{|lM!(|LO501s}|edwC+$Y<%g@$~^7T+egS@vrpUqvJHsecrxb?|XFH_{PBfwYu-o
zX`1^!&wp3<q09T#pGTLCy9UNvsprsPQqObfu!lCtnf0>eFO%Hx=#IS0>|DO4cRe~w
z=iFba`yO32Quo52`^~!V(NQ|*{zBdN=%$hUU%&mo>ApuN>74sl>b^%8jpP~o?HhI9
zm$%&C^E_+v^gug4t>130+WGkXTYt51D0oTUtIb8JgGIvK3ducW&po<=i#56edu-bx
z!CF3#VESWSft`E|!AZV^;G+6yf<u?Ctou=2S*O0Ir*%E8E9+3cv*!H-^L<vone!iY
zWsZO5dWgOCKhTd$pO>8eb@trdcyy*4t2RzMXONS_pmB6b1bdsmLu$E1u}unSFP}oT
zO^m%1&ExKI@?Q#_pHa_+v%SzN@m=b<413w7+fU*5%WhI^NdAZPlK8j#D0))*OnQlP
ztgc@2WFa=tkh0LQ=U{Q@wIyF@$hIk-4YrFkFRjPtldapK3Fe^h&siPp^&3P#T0Wo_
z$~`{ac+XnAXSsbxk~1^^F8Tqs?|3-e$2I-W`%UW=lUhuln(x6Szrxl6f8IG3**y=5
zPl<o0Hk-DEs_j)|GR@FVZ@F6o6h95yfZ7LTCi4T%7jSmD?LMyQa@AI```J&%4Y~i=
zJqMROYVEOm@nPNZ-0vQWZrC@nb-7v?Lw0f4_RBufNd_EKXO#X^mF#-}AK@IDa?g2_
z8?vtwx}iQxobz8h@PAvv#Hu*!t@FGZryd%_)@-XB6SC*vBVl`{WmlAQ@aRSM74s|&
z_6Nz);+}ly+0a}Q^Vhl2C}SGNEXS60Ypjvav6UKYJXb!!4tQ#2!;DD@YG6DZ%$xNv
zb=I!nym0%d-;~-qYtJ52cB6N`S9_S<*ux*jcGtdH#Eu`>1<f^7V&6Uz4B4~2{I>N;
z($IM~<LEtTtzidi&909c7+PNsaX`(zmfXc#nQNT6hKap0U%QVG_k8ELS63uT>~(Pc
zzSIa?qcK~1N;UWVI(~bx2UT~X#vGHaQSlXcQS0B#U&vsG0|V-`WouM)1x>a_h332s
zI<56;mZ?ACZ;Ma!;H!~36>I&PWzPn(@GAG<)yw-nymT+c8Fz9bI;m5ZJqz8-9F}@@
zDzxX8g6Dj^ozJ(^^?l4q;7#;$BhN+WDSnFwI^j`UM*~=CZhpN9odf$TYjx?>tIufd
z(tzEQ6aK=$JB7V3c*BdFYd6Tk0skY+S*cX0Z)!yz^`VKw#-V5BQ=JTr#c3O09W~@z
z#lUqV@RUC#{2P<kT7j>q?;+IP^3@fFIqG?wKlzXvBaml0eLrWg&#AV5Vg7=X#`SZ!
z$l3b#NPle3Z$&u272y1q&eXW;bmhAEQu1~;HUn_9d?_3Rz*hv{M=|!g5ngQ(aJDe#
z40`|>Z|!~NsJhC&&lrI|CD*GZ1Bknez889H(tL?|?22+PY<a=VSN{9%Bg{+t#;Q&1
z&r5aMHLq^+E`zM~kLZxXiQt8~j{)bKf@ap*Ao*4NKX_i!oqpSZ*Y@G}`yW11Tg4rH
zz4!kUK5vTV{z>=*!IeL^df@HW0S%~@W9L$2*wx6NE1#jxD)5&4dX($TPt2HvPrhv-
z@@ru*G>bjZs%GR@EpoK^>0`>Ok)4%`nr)rP6u5Qc1OZzoau56W^o@)P?J_yfYQY`t
zkYk*c1E=d4M{VF0Xd{%BH9l>qR=6)`Cesh}I;R=?a2fC2$6uZyr=M%SCubUwNlExe
z{Mtwzm0VpZpWBx=>Q`+xz(3+0(Mbe()8xyWrvqg-<j`(6^GkzgozE11OWq{2@+RNP
zo6YnCUuETuY^whYy14S6q6@daX~?4s)kRkx#zJCD(r=;<@$!l>`K{@B@W{eI+uwlu
z4%XPm^YpxU=ht{=8SSf(ML&ZUlEkG{!zE5ks_N~pY~x^JrUbb*+>1#m9@TZtv_9>p
ztqGRcx(JF#ZGZ9Ls^)8MK4LuTd}!oI@u<OlbrXxy+%&HY@;i5K@iFnvm7A(t7akjE
z-M}1^<S49Ro`!iEY9w%`kZ+9@WMgOBsWq?uyDQL}*PPxb`36nd*x3d<*Bg&G*P&u(
zN9s?pGZP{%MQuZ0C!79x%bC+`(;rygPW&s5Jniw;B%X}|YteI<d_c+180*NbpQ?Sn
zt$&~nt);s|^-=&lL$~%U@71iOLbBhiAICnMTQdece1)}1e+P}heuE$2j~Zmd$?TCf
zj$$7Gn8e|&Ts>xZNAa4$HCKje|9`;`>!8zrR!&Mr{!jGC;w}HU9=X<Qdo(>FIbDwo
zYvybw@^G?bmTEZHfq%t2H9wa(jm__=15fij8&r1j55Rx=B;hc=RkBrk%8Td^A8^%L
z{ugh{&srnf5IWFzWPJMbYz1;|y!{m9eUf*SclV{2@Uy_Z`mpnZPV14c&q2Sk1rpd*
zD|x2#xp980|2Q%;3N8xS&)&_mSc_>}%NhM9o<kqjMhfH8M43-5^ObLO2jj@Diz1Jg
zj)~8|1KNvXBhEOZi}ato`5)ka=y0}lR1N<}lDC%DW4CCYA=ViRg)R`>e7W!P$8W5U
zv8>RwkNh_N_kVqx*0pmwt^X=G<A2!id;9)}wR40Y{(8w}!+x^gI*5Q9pSR9u%`=4q
z?3o^9rtAvrMO$Yn#vI%EJ0mV%!>uoAZSJYA{T8NvP;8iN?&7Q-bm#w=oqv$^1%Qk4
zx#n@c?Mdv)wal?^9{16UnPq{tI{dPpDJF9-dQG_2cwPLZ!Cl`d)7b|OQlqGO%N|}A
zJZ*CoOBE|GcAg@qP5iHYMCsh0^NwUdEqJa1Z>nXactHSs=>98zA$N+g-5QVi&d8i~
zzCb(8b0YS<3)ca^&dv8THZQFdSYC`AWM5o<@14r|J5y&M$hAlU%MD*~&*K{EaP4P4
z!mFQ8;p43@6qsB)T6SHj6XEOuxzqETM%6BUqQKe<TlLKbGt&KD;ir&S%5y6mNj@}d
z#m>%rX1M7bhV5Kp0<GIk@%#&@-|=aD)577WuU<OLEGRUEt)C8!Z#|#;+oiXTH4Uo6
zx*Ir^NVnnJC&uC1z>COlTkmr@zFTZ^v~wZ#1mcrT=Sr@zy3cQn*PXC2*21-g>n5(7
zxCZBKj0ej%#_G7%ac!BmQT1%&E#(`#@MYavH3d#H_-U*_C-K+A8C~&NBY&UMed0NZ
zV-KB!YJMGN{~uwlPv9dCZuboM6AYfqI}`>Z_@<^{0G;Yg>z&wyclH7co!^-V-rAu*
z;d|z-Gy1N$HLtHWUe>oASuoRlw(klvp>GC%GvoY@Pv9B9&F8rPLGFK$`}~e`HJ{%&
zgX<OMgpD(!pWk>zlxv)8oNE`?F0N+Y#w$!Y&$&jq#<|AJH`a3gp*vXeRK;U$TO;AX
zGffkI_|B#UFTFz@nr*?y((goW39gR39sM@++ZMsTdl;LbJTz?nN05c}!>RWGT|i5j
z=Ddp4^`Q{^Y$2ON>aSJjbJnuPwO`NcYaewMd5)o7?Zf`1BY|BTz;CKM72j#Xx!WpC
z$&|WN%{0lFPXbHP+MD<h7xBA+aq_)!)&z^^uN*dIb^h=vs~bWEtrv&#TSr4X+P`Bj
zsX?@<x`i>~JCctHWKKOaEV&}ux)9v2fmXtzw-(|oh19BTLeA<6ZJfh%z1wq(%SW}?
zQ|wn29SugBs}CpfMJ}u!=3UJ#3T^o?(RmCX?+M`2GVH7lwP_jU!bNLP4H)&S-^dB<
zV)r|vzE7h4NrNnqZu=QDB^j}axQ}GW_?M!StjxX0mAM=FZtcFs(QQFb_njH0PVtJl
zi>D!nZ>K){o_fh$zH7#J)0O+1tT1hb@QY+!5}35<d+P8@3K>32aDpdvHuzlqF61|P
zv9VIF^;}QjdM?*GVm+av`KcAA^JL^eoV8g0nKMs1?<Ak{F=E<Z<Nh#k`}&e-=Q`H$
z8nRt7`aa;8Y%y)^$eU*9=hnOvSMMyF+0l+aUkCi|ziMLNPR@azG=^{DO^Ies%%k=P
zIcB}1kLh@=>{F9IG{R&ij^$bY>`9Zt$4ok@c-W*5jU7Izcl5B19_FrZiBv>Q=S0?!
zY+`RmSJwJl)~ej&CJ+B9=v=Vr;(mg;sy2U^x%FP;es`hC1fP@)3ll?V$@zZ6fXsEj
zJ!;pF&I#~t1??4c_H&#?qxZhRH>$Wt-a;k>JRTlZxq7@A->R`co`aY5oS*gaa*BtS
zByw!Wco#36^U9?48@wb7UA!bqUA!buaPh)AJAcPmw_^tcprHznE;?lA5;M@bHDUk_
z+C!|zK9Ox?Z7E`zvh@@Lk$!mM&x+G?&&DO)ePYE_bWTOMzKEO_*<-FgbHAe%^k`Q0
zxoBB?^y*Ww$s5_9Klx9G#ta+yCQJc7i0W@D*Bn?kMDRiQ*74RUIX=iz&j)F*kPlMb
zC%-evdgL#ypwG?M+|bv^*a73_9MpjW*?~j(AV=y?K1eDEUE*i>Hel*~*9S?x@A@EJ
z+OziJHE#URjn^t3I{5xWPm8Yy>?hZb9$|gSyEqfp488RXA3Z4v&GnG~FP}1xHRu~U
zd~0ZHjBk?0jJaSl>tj9(MzUU=ajxa+>%g^q+kJ4}J>M6=X3DLX?%GRnotK2y;=(EP
zA(`?W?xi`qV8{)XY{3p&kiuRX1AWMTQd`+SeT?JN{0`AEbfD+5Ek2Cy(^^Wwc^>$_
z<PVY7oA}*>@7c`%fib4@(&ON3{NnAw(p~%bmY4AST!ovb@m#Pp>uW9z7H0D_qVuQp
z3CC6zg69(8&`X|16EF&b=UV6*S!{hW;d#L4a&vr$tC06`Xnz*R$P=wg`LKPgRr^7P
zzO){}S?le<*17=uO|VJPUTt21hyDK*4-@<Zvj?&Ja{25$-W6YnS5#Lkmp{Z4T2F*E
z__TU>evC^~gKZGem%l%tz7=<re$YJTJb!48Oi_cIBl8*HKXpt|tMX*};h|!_6BP!g
z<PzH)nTLZ#PicPQqi*^roWHP7{mO<N4bHo<iNz}kY~^>!n^_3|wFB!ct=sRFxbt<_
z>DslvPX=5wnjbbP{Gqi|>o!ablKmrUP!7aK|K!F-^_`V+;$L0RhvFrw*QnTMl0VVd
zQv8H2?EDzGCAMN?pTrF^;M&HZQmn1u^4dvLsqs)5D!72}qF=BS8ci#{08Pp_Dd0PD
zB~MQy=25b1>eEwOqtJSszW1@Vbj!THm0X_#r}CNc#~Nxl%M`$#Q5+>VF6#Ost}m7A
z$LIRXTI-&Casu(sa^tRniL%cNoa>RX>?ciL8ypmO&DY+-=KF80!oTp^UhTC#%wP7}
z-b`D`U+a(llm7BgpMvK9j=!vLOf2>M<!MLpmrd4R=3F(ryE}NezkE0T^1Ik>vfG7c
z`O7hWtN%EBbUk>Gzx*!GTDYI^{N&gmKY0`VzXGpCf%iY^C*KS|i?05jpWOTp_{oyn
zUt?_S|LUfY*>EENF9UDg#EY8^_1?{}S@p(rs?8OwIX2=qr3vE3$J}vDS$NDbt&v4n
z^eG11&6<^GsyeKa5xSS+p4Hpbbf|?66;s{L9**M0k~2pdD|oPfgXFYy{0{n(eiv=H
zJZPNScy!W-kewlHwQ~%-gxq@q-g$&ER`P$4`_l3H)|_ZQuah&%z^az9qsX4{<KfnZ
ztHK*42lPMk{P<|jK1)yNn8_jRp}#Q)^{0NXV(wAi4{#2?;i|}x@49lt)tiE=JLll!
zW$>=#%1UI~UfC4Ll||SNlELKhcBc9MgW@If^B-ldz1O-i*#zyI@MSk(V<gG*Rjjj%
zwcbEXR`J*ar?6*={7XD{a8=p-oBQMstG3Bge0x2HAB{fkyw{7<K7!1U{PX)iaEcpS
z^~X?b_2RB6tp&%0S|1`-tk~*O#a0>5VAt?{MPjS@Pied>81LR|7WH8`GhV6lAmhnz
zFAt616=BSquQ{WynAot!OJSG9b7G@|?Go86n^<$2HP-{Dp<<(oS!B=PVY6I9Y)1R!
zhsrPZuYkMc7BpyMq?4F`1@xd8Dft*Sexo&1u?AOP<U30RFZ4wmU9lmEjUhY9lTD)2
z&Of@}BNcv=_yEDKvbMmY`V2HdZ8_Erjm(GE4d*x1Ui*7_&=t9oov}y5t>LR;i^@-S
z>pj&{M@hQB7TZE?{rS7H*8Mi8<o$*VUHdX0TxeYD8?u(zx90V+M!QE>!=7YR{;IpL
znLURA+^b{2)X!1qKtJmJi12|P%U$13|LErj{Gua)O(lL4t;)`m|8^fX-sVkZZSoBh
zz*grd1JHu>mgpN8PL_>~J++JVZ;b(mFwerowx#QL)(6^F(brgf-83{eg=bSt{sUpV
z7oYF^09l3}fsQzXcg?w(Z}Gpb^}{(^SQAhkrLDa+foaRRe?7Y4Ip*?gsbW<HlUIYo
zcFy5PQlsoy(>mIIRqr#7V3dIF1fwqIG#Ezs<W<)G#HUIEE9Uzobc+2s_?xi5wJ|&O
zDR@R0<I})X@*&MU!@$JEKi@~q<<>wLycl!ZCt2$scs`fwLB40xrMflY={D{w*xn61
z(5YKC1KUV!y7f0U0P7akb~*j+nCsfn!a*KqMh*8;_{<;T_d3qnzEU5Y77;G+XQSkk
z?pPL_1`Yl{_TD`_uBz<&-+Pjl^Z=BeTae78fKYe@qy+*<W|DFSwIzxQkC{oT9Ll4H
za_9lbOk3nol#ZY%pv@Fe5)>*HC4!PE$Qk4$qNvQI1&T#Q4yA#Xyr1vdYbCpBX3F!v
zzw7sVe%JN>G1uO+_B!0_zQ5~U_gd>-YngjI8yH)v?ujyc>{9G~%TU%T@?!5M_6KJa
zpf7922Wj=aB;W9_>`yy6ly-8E)}K~7ZLEen8!5Ngw{lMMy!b-a-sTm!H&1%73tFTX
z->cxR^L3m>RO!$5&-G_Ft@m1+cVS$6`O2wv<9TO}vv~c=scoKrPLZ_LTm062^}N_`
z)p=0pyvDkFu!Rru8mq9k>Tcnk`*P04F01>g*P5>3xtg)a-kk3#J6ZU}7A$Dq6&;g0
z&s(VWrtx$SdoJ=|BjNdvB^n3LxZJupI0L@!4e}%JM^(-nerxxhJm2wKQ<T9z8IyOK
ze3hpggJ@rU-A!I=do^*}IUkSv{*v{qAAxQ0wPqG`j66MbM7rMVT5t1dC!b6xAKlea
z2XFR8C)C}?eqzoC_>+9`h~pjQjjbjunt(62@oZq+1<%Fr1a}KNT4=9x9#TFVICpOk
z>S4=@4x(B6XC`CA$*xRuevkMgIbN`Yc}wIdow5NP*%c~3EWhaYk6FY$7>#~6XUOcu
z8a3~d+w08h*4TXW*tyCxsXUp-X*rtt2y{i8^yXR33*xHhmWtL5;`Kd#YYnna9_lqV
zJ>s`!_F?{<^LX;K&HD5wvj0i@6s>XTeag_hkWXIzS*ZoeL$-m^*L8y#WK|?xT0BpC
z*|l^O_3gFUlgUHa=q8Uk^2)>CcHSND7Km?GaBml9i->Oa;9u{<_a69M2hEbhUSsMP
zMftvYS|oeXTJ1fIWZwtdvXcV7P3pV>zRk0IGhs^4nT&f)K5<c;GF3)_vwP~k0j}U%
z(#BO;b<g{)1>uPDqST3X6vlw;r9Noo)ECi>zBl=CjqhXgQirE0XSPkN`5c974>^k<
zy<4g4iT2y><lDB+Z+)M$eA1Iyvw48?myp>B%u6=)`K=mXGCx0kU-WGCXz)+Fa(lDu
z!ObVIXAA2RwaNWi_iBLW=%N_9*7Q}-I9LzoWbYHt>DCXSGYO`2hU}@(>H4tEgg?i;
zjr;!&|NjyC|0e%+hE`KwMJxT&9F1iY)!tau^LNy5tgYWvTfanaAN8qdy^?x)#D5ch
zb@%qoP+H@Yf<B3IN6qQbP(fN@AvvgByhnLk@Q3SfbLf|D@KpT{XLLo<bJEDh;pGkD
z{yQ8Od3MwGUs1cHJ^elW4gF9#=9on(`u6pq@Li4ErcVDIv?kx-Of>2j%mJk5jDf}t
zU`sY6eamX>D)y8f(SJ5g1dJbs%<e|dQr~B_&sKMQqIb6KuhGAI(<Y0^#P!v2&ZJYn
zcrUV5Kdt^+e7#w+wldC@@yXBOk6oa=kAwx{IT<fTrqYEs!vpc(ga6{E^q_S0_3%`>
zGY*EDkL}l+v!yq`XVY|(CagEFBF#1STYQi_m-6ijR~GUM>+OsA=I@%Gb1pJyBaURA
z<-O@?zcul4pu40y=A*yryKBvQVFErMfvlv9lHe+5{M5#EuF~0I*b?>eDcMij?`eJK
z?DE$rr|D|HHTDvBX=5Yg$fMqyoZZ*PixMyWr@lt*uT=Xz16pn(Y<GU5NjhZl*Y`Lz
zimp|=eVsY(I_X-|ZvE-SdE9X$olDy-&SNak9Tkk(rl$!rItBfx^)WCqXEAvTH#+NF
zXaDx&Dmj3wRiu+0L41p;q0T#sWLG$>NDq7d?FDp;#)>*iWN*G18<076oxQNLi;M2?
z%it;&##Na;7OZ>DU|cj^m_7P=&e%t{+zOvn??qs2afLT(q?PGSJHZ$F$amnc`cZ$G
zKifOQpDo+ttoQmF7581f3HMHCJwu+y6DF)~HtQ4K^fdShWAzQrWGi4x$W|;wynb6z
z<NpImE9_(>>vV1QXV4_fw3A2lvA#x~rKEL2qk{(F@&)B<+hBfVY1^xa&uG-rq_!g-
zJgjr#p!r>N(6y_)tmdrL&fk5GIXQ5oF-teNc|dEFU`zP8za~1bsBr}NaJubon~(CC
zMEGX%ldq8S>T!A9#(AdL{D<-V&QN~U)1ve8<o6D`OPKo`-!u=Ub0z!nR;b-Zj|~HJ
z(qm4CrNQeqV-9rKJL<pTi)fG?p}P*=Lr#uY34C}<*|;g@_%z4$z^)%&FZ(Dg>(7(N
z9fZlg!Z&zPnsro_L0g|wO<fmQIf*}Ey>qVQ6w+<8$VYukIPW^bP9`i}5#S_UF@Tf9
z!O4+)lZ`BUS#7`0wiAcL14;iZanu%n%TxWz*2VW5KM3(P!+2ur;{0vV19mcF&*1y7
zx&JynCp7MRTH}+Ov41tzGUE}(e45u^i%r(Vd3<sDagCjN?AQtY`&e{mjh+1Ifj?+4
zX41IukJvprlf{k|JHP#m?&zG@`D^IuKHBT5K0dHrW`P%X57ej7b$9VSX}{|pojcrr
z%I^j*!pf<HNk3^EuW@ESUfPfB$IBvkw1j>4;)%weTBFlgH95H7o91WF6lR!1bp2jC
zwt-~36?z8xz44u|@V`Jj^=B#O3QOXM@uwS$=F5ylp*yfUn0L_HOb4=yQ9q5-^`Cur
zlT@CQ^WES~;|Mn<1$)n~ChT8?rLB%hhjfg_|MK^c3?!4E^S^It#WPnR=c@ef*(>4C
zRs6Ot_B*yVc-a#t9K+Z?(s3<e@3mAiCL7*4d`i4)9x{Jr8s`@$ylh_u>!*ohSm&+i
zc(=vRzQ!0}b46w6dgSoVQa`JCuB1=<`#N(}(5LqF_i4jAzOg5J&WYQuGf3??9skbK
zJY=ub2I9-ERr}JpLFtH}-SRZ)!Jn}y%IsD1*>@(NWS#XSpWjbbeR%!5XPPm87i*IJ
z>t*eBy{z4?m&Ms<r}IZl{$=_W#uqcv^?vqT)raw-;^)fLC(j<c!l^dja`D(>S70sI
zXD+CQJXcZ2COem5*H`+_RBC6Rojac+R)!Zj_SqGVvouooQn-~Z=k#Q(T)a^Kn=7*)
zF9-j0&Whn>xp?rSfDK@HSY|(7jyh^>%j8!s9<-Z%EnkoK?^h{|)tN2{&UC5A|E_^G
zs97Df1#^~5xIO*lS=M{i#=w~Lq}ra^*$ae+@${peLU>|t+C7oP*}ts!vM=s3dHD;w
zc=)7D+(`RwJRSX3lHWU1AMoijFS!<6D@}nr0sqKcA7{j@DbS`>SD$%3N5>lI&^SdH
z4byiA;lkr1I)~KZkv(~$U1@(T`W^n*d*||NS9ln2e51cG`}oeL-Sy)uwEyl}rEz!)
zg?~%o)+ULC_TOEuaQZ+a-%xl);SL|6eR+!&?(h%_zd+$m{_M|lb@)2r%fu6O#KrJ&
z4DV{|H!2KXnDafT`vdw<T{U)6y|kZB_0WDg(JfsmIyJ{4y8fakbQJWYT&+(?Ca&Ds
zl)Hkk)9DwsF218<DST6Z+QNB4W)1P?;0*et=JBp^`cS@s!QIum2e1b_xCy(@jNj4y
z1@dGpH(hpM;Zyj+1oMVZKS!TTpEve8%8(5ppNk}TYi92HSHI`nb?hSi)tJ-cJbrMO
zn(i5Xr{<P!@0k{FhVu0(H`(lGzstFcHN3ySPUp{Y_8_{KJK4sz?c#M^{NYafy-R!1
zc<UtW4e=$XIatoOi!eW#)?6p&-Zilvue%*%W70QB9#;!PJohpEKjX*w0S+={_Q_^;
zk=?Gd*`{_*MxHV8h4+-nYbrM4gw7AiuSj0qiyC_Kiz<2x^Mm^OoO@QPy~Q{~P4#uW
zYlC-Z!MilPQyD4hnWBCL&Xy{0)@21glNwunOHXVP?DrYX*t)dq6|wfCvqk)jdYFq<
zJ49Zs?cB+IGVQmT^WDAuy~ZbY<-O8tO=|9paaWGBWf$4JbVo)z_u<58+e$CGB!lKp
zFz?9xIp@O7)EF0Epqatl4%i%rm#$mlFmwr+R~t(mS|;91;<ea#GfKxx9U|Q{wev;z
zBil~n24QqAe8)arZSDfP27483N3jD7Uy~g;X}Ymp`p-^$Hkd<4PHHpo_}OKozmhgn
zeGvAf&b*H^K46Yd_*Fd}ei^Tty5ym^lst>jzmMgo?lHPk`5r)i%%6DZ)GpgDG{$UU
z?ZEf8^{=e@obJkIy#YMU8tv~V{`Y{Rzj6khFky7Box|#8U48HzR*W@W#dG@L6zV3O
zQ9YS?X8h~=<hv(ZmO6H0%U+CrF1B!w40CVQj4Rt2zi6zL<eTi;9}-_}O6zM;doF+R
z=Hoh8*Btv0I${ZB8GH8Yn!_2wmZctRXq##m8W*u9aeKkc;V|Al((65eZ)UuWZj;Z*
z!D`30J^GA&O7a<7SLZy5ADJ@ya{bS;rWdMnkuj3SA4$d!+}%C%ICv8U1522r+Wq4A
zFY4p9v_;)<!@Y9IN^2{rCE822N9Pf=b@@4pKD7^FM|^%q_MfFC&;9F;_x~ikNc>f<
zeE8daO2F6S2-A2$eBA*5)qdNhyV9TPA1{3EBl7nQ%ip8m?@`_!x2KQOSYeOOx1iVD
zTSpn<?VqKqEN_ct+AZ@S{k)A?tfe<?k2U5dW~$z<zIRby@wJmWOJ@kX(i{0n-b`U>
zWT`sGkM6JY!5^{C)r0CBXN^U5)_5db=O2dZoQaplQ>t#D&Iwy*kNbiKx3AR8L7gRk
zSMT$w_q)uC{D8L5OIzK?$s2tdWlhHMJijS8uP(~HPlNN#U>7Og&x9}ffAx6@)*X*|
z%FfyS72g>f?(<FZd`kTdPo1AD`=<vQqISF<4UN}NhFANOZ$|jCXZyVa=7c}ZZM?md
z`|3<z>1Q>66x^LMxpO44=>7c|bnN)f4eL0sd|G8TLD^SBQ<1(ln&w`+gVd&j_3cNw
z3qo`=eKhuN_FWd+)IPV>ZyTn;4-?K@Jm+ziYTq%Pk7==*<GoZo^*^rdIk_c&zde8R
zPi-%^;mGY9ntP)hCrh8OJrqWN<ifU~2bvW|Ulx}8Cc@_^Tzy0c4{s7)Pj~}-X``<_
z8{4Oz^?CV>7Qw0b?xQ#4H>!EZIPs+elb`T<XVHe$ZrIP=wG3Z}6nkQpJ~3_i7td<h
zjFahg3m@-WBN>~1;GoicDT;q!Lw5YrPj0>b6zFmFd4%##D?wl8fbHp<9HK8yoirCy
zt$MMZm8YF|Lof4M!CellF@@`<x>k|Co4Q4)n@_#!saN8O*mCcz)MgJKgi3sLHAc_N
zhDp}-V^Mlh{fzS1A6)7@<$=D2^Be}xo6y%xQTs=pZr&srlU^9tc_-~-VBTaR`|1aD
zVS@2(DSX8=p0&E&;VXL2_V~*DYI}Trje2tz;-q@~k+)RHe%+(<INm+k(ett0be9x$
zGPuG<?gl5it1;ZiM+qCy6~P{=3~LNdmY<^x>0EOcOO(F*DEe-meRq;S81~?I`y+ib
zQrO`|bW;@hd93G3erk(J<R||fcx?Qx<-58w>qg7y4>SCh(jUg6pUSS=X;jBJ&5L~o
zf7>SHNM9)%`rlw{eS`Y$37skO+RLk49z)I<WcxMrQ_p<XlL@cgiSrborOul&Z)et`
z_Imr0=X~O6@43MN`02*(T#p^1{&+2ROz~98I(?w57i?MbQHu#j)`yzCgx7Ub2EI{4
z>c7!oq7A$c_67Z0s7+J|<GQ!O>H_ucAEM`uCeE|ibE@BqJT(SNKf~Imcn+^)ygx>`
zlke|&ck+!t&3vqMhBw8Ge|oKKb6{$Fyalq&GcV%gnP#n3W%y6^HU3;QOsmNL%F>Vr
z`zBr^-=FMjyb?cC*>x^$J9knW`nV@U`{PXbEY?U_>p<Rf%zxP<?17p>nZi#&Y3Q?J
z*s2%U{1n~}9msDtjqwL~82AT&PIJld%;`VzZ8dy5gt*f4^cTiPx}7k^6Si~D4A@Aw
z621Z+Cy&KnjxwbOa^Q~sXmzYmm;I1$Z<9|7->n$9g>S8o;8$_c6I-tbkG=oJcj-f|
zWrX{@YiQrU6Kx^;<SNR#WC(hf5zc(Zq;AI1%BMRtUwH}n=$uj6?vGKX`~gbY?zdqx
zH(8rq_InTQ?O)uZZFtQXApX<f{Fyx+Zwbr6>m!g4YiE-jp3f(Z?59g8*M)uEhPB)J
zI)014jnID?;o`4sFO5Ic{ypBO@h;r#$5Yr1<EHqxzQzwWZHt>I^VtS-d?UZE0{M(3
zt=6|w%u7lJsShJptYR;*&Jr4ohi<}N`9*#0tJnuR+gx)R>l-Sv>!3kAxs1H-qpkz#
zg1pogH)A*TNiSNx75`=5j8`5=)XL^|`fdt!J)HlVgV3Bq4EZc%4E!kd0Hd?j22KzS
z#s&-YB788oPO^s1dCRSpRmUvij=RPipyQ=by!>6<^~L`J>F>6DIh6MznADgu0(R@M
z4V&!TX9Qojdiv+>&iPba`u8IK%KvzB>o$IYS|1SY?7f&SA7J6S9)DNHuPbzC)i~A!
z+9I42gWgY59_^riUN}AIe3fqYQCu6bK7ygMFVf)HmH#9<Q*m^DkNgT%hKFA&epd5p
zsuGLjbD;jZp8brnMLtISrKH!o*D&<+SNUBq-0K?V4O>1JotyH8FMr{Qne4e4*13{1
zQ7&X3<AYD^wY&vA{=%xIH@pz>AMas~`(Na<jC@`ppET*JiHlQSW19VJ^b@rn``LW<
zv!y=a)jkMqE%+q2lUMU_jfvB9nxCjy-W-Xr-@$wQ3EG|V(pW6XcjYyYyhNAwjw$V`
zOXJtpcSj#r+T;__<@NZbCTYjNv1t`oZNs!1_%6R(*<{*h)r2q7IppW=qq)w;`|tSu
zb}(OXKfagF=NEt7-rJC&Y>za)UCq#+fR}N25raPU!T9fP*4#wAa^P$g=kqInQst+0
zEak<TZlltdORM!Y-JPfTzH8{u=tt*hjZMCts`vjJ{+$OS_fr0yM?5~@-zge3=g8cl
z*$-{oMCS|GfEm_yjQ<_$H>@|XwukMAp3|D#+Q_gh`yjBTboT@IX5e@H1?uY7Z~QWI
z`abjXg=v9J6dmc!R9@myecaC`$3|*5PYd$Z9HY)U?)kXan;>tk)yak_P!@PKeOQ9|
z!0r3+K$oR7hyL-PuPgFiDqey$2GOAM>XBPer=Z+vuG~-Baz7cATO3t7Kc8=|+)SBx
zdH9f=T3_ppVm_}1e*8313m#`CIp2-`nX{Z3+j(^_;Q!VoeyPu9ZL#0xyoWZWJN^RN
zCw11hYknk<#TT*pChy^mb@D)WmaKmfy}kMEz8P)s-j!3_5{!}2Z6Uii;A;k-0<*XM
zz=6H(?IQ<#A>{+Gb@8@7vg#kNhF;@mh8$f#ayem_(8ffk;wXFxVUB;Pw+3vKiwXbU
zpt!O>T--eKd@kQs!o}P8yL~fWu(EY>ePL}Ry9rGFls?R0igWY~rVb5c>)UyU_%=3w
zQ1_gC(?ay07Aiks)3pzA4!+OXfTA;OFC0(WC8`gyU9KnJe`lXh@jRI^u;TYUQ1Ogg
zht(RaYpZG6r`B5W30^^;*xPea&^}X3W_8FePth;Q*7rxS|DN%Un?FrW59*ocytGnn
zqKGd<a$<dLa#)a7?XEw)ZF@Q!v{ZVZZz?lMyXjA7+fJ-ZI*kEMI%LwH&dQ}&#_z}H
zoA^<@h;{@oqVhl3XWMl>_-NMj97Z-gzV&*}37o{5_lmDBVJ{19aMR6xwu&|E4XnM~
z2K}$mhpu1hXImIsH`n{wRE?j#H5sgR_p$D+weZakNM}su%!6Sa8xHY$?_+<i)&t*Q
z&#KmjjIE81DaETCYnQ1d__|d1*^?f{wp|tEcRcUOs~T9(ncR7$$9=rm(Ad~r9`UQ)
zy01M~CTh=>DWG@VT)%iys>~wmuU><neLys79Eonp?|{aF#(>1z;W+&?;@LIo8pbqD
zj#g_oMYjZP$%DSasX?Cd+bTt?ueD;vyDB?YhDKj&z$e*wW!9+GHx-Vv@zB8~%Viy^
zf6cN?KjW*Psk8ZwE|Z`71?JZc9ypV)RJj@2rPiQ(=N;3bb-UfbsKe}$VD?!4J6(Ag
z|HJL9$X%reg}xu?zT5Vcd!?^YwzP2R^4y0wNy3CL>6=6G_c)>=arU2gnQGRno9ue^
z7s{+xt50z2)f2(3(xi8=UR_1GX1yAog!N*C@NUrvF2mtl9wT3cpSf-LCc;lqI5G&w
zf0OWA6yC6H_}>YaZ7B?d<F6;&tQCWyaQNQ{KVR{|U^x6m!sjX+42Q#?CA?ALv;&1_
z&@Vds_9p5zOX0MmaQugeZ^r4&6F&Dyutr_LPW>furC+319;L6+SwVyCHJx9hv(*B-
ztpcAj=9lQ(u)m+(gzwE-?6^Gd^=U7w@-_DC#$R6c@Hz5-M#s0aZi8L%CgbB?oq^G>
zcaK&+tm~A)Dt=hooh_MU&$jG2v!}?6hkh5V^<gWnVoo8UaSpc10!vTS+ULhYkJ2S4
zMrz%;GpFH$sdH=9cawI7a9`i;WzV*0<D74zJnOw-+4^`zR=!N{p+}{EWvBK`^LoES
z+;>?wceYJzNBukfv1=Pm$Yz4S`Ovnhky`m(Nha>w7x<Rvzid>-)YDbwHQ3#12N~#G
z0=@Og%IwjW*1}FJrzXkA(UGxq3}s`f?^by?sP51c#>)|ut8drxP4%q@8~Uzs1@na~
zmUZvff1cDkU}GAzyu!Ij+D|qC`&K;ExKex*U+W9(uaF(X`hvo8;xYckW1M^#QziEa
z>~(0J(J$L^!M<LNYc!{jq;I_O;b6RDWFPwO^3E%7u-Ho-gvBKGWpXTb26nCDh-XE`
zi65L*`&FET!AC%w!_MpWTNK*bz{^YU!qCv{XBR<(@O>B9DM@R+pZx~$o)mwH`xD|m
z#(TiWF0-zxv5sqR=hHs4*L|6>xtKSY=5x>a1T#k#^YF1Z`;-`C)BXzB4jySY(Z4cp
zVD3@>Ph=E~m&SE|8rpSN6LYuMR#v9xG~jbiS*$@!=)4y>$ahXOoe%%Fk2BHuIBZ(#
zXIC4UjpP5s&OeZ6&}M@1SOxhi&-v(LXM^}<+ObbNE*u#2P3nJ2^-V>5hGqXsFDOmP
zc$6i3*65EiezirFi`^v~$4ldH$sTFfKKwH2QhXbHzLv-NTJXJJ?*!wJ;JgU&Ac0KO
zcFz${Y+du42mGMsD%{pB!CAX5{+AVQ>yjtDzx^vbMEl_(+BuuIKi;Q__XpvOGBsze
zGG5n{JT<4L`pSR&v*-@t&tqLi{oK~YKQ;PZ*t!V($<CCY@B7SW^?*Z-+l5Kiw|dvD
z#3zONx%s#cXy5S`FZ-*9g7p^Jrzab{1otXF2~Fc^TZJjXUY%b2qqR=;ZbKwHoOqj-
z>i>k!dA#Sr5;!*Zj=c@e){(cvnlQHRRIm3+u<C5Nd>LCVhb@;MX7fu&vM&$Hug2zg
zK`1}=w3NhI44=$cmCX<R|M;N%9DS)!em-{}l*BFLkNNOgx_klhkdIUH)nj|-5~ezT
zuyN;(s<@Y3MnAbzyfQmHJ}f&dIy_rZ7@mzJs|?RJRFCX<b<(Jgb)!aitiN^_e!F(8
zzufCxkDu3;X?|DVNs)zpH&)gjCEnI(%s!#>htOx%ka-tAC7WQ64QEUs*Mp7hf_L?2
zDQGHO!&ySmvNv?>1s&6%qXs%+(DCY|ksa%I9o5mZ(`bCT84H#f3nb*Td3n%QQ^=<j
zZ!}L*SZd>8YnP0N?d{f<i)DPd^4Qdc#X)|>GV?QeZ0Z8zI@P1xyi4BLpxi@>4JDr5
zWcq<Aoe?l0{2xX5dm1CIL`P#^MHwT;$ICZqyzxzPX9l{x5L*{NAJ{E}?7J_K&u3_#
z8Faf_$5;CSYpml>>D)vca(e$|<R<;B^53ORO#)NuH+pWaH0=!?Gw1D>#&-O`w9^Tl
zarF8=?ECL;OFQBVwyOA&C=;(J{xt;gV%FwJvu|Z!Ju?`O6*n<QK|H75qSW&)=_hy}
zwm+s4{$qtByKwk;!p;0l+qU7m5dKZYAH>Hh!uK8`JVN*=g@d(l{#%geISL1>;qXm_
ze@WrAhj93tgr7+G2RHlKbrpL|-+(`nWRydfNj@=bGtJXph>YZGB;G%)^VbfuJhi+k
ztlOSfiFNRbc;WJ%r@Zl^gL=BY<M)KQF{%IdK%ej^;l>9Q`F%i|XK2&@;a+dB|Nplg
zvd3k6#MU2c^}No%=B{_zyLUKeel4lqToY>dOTNi}+xD03;&&_=9x?4+{cEXqYUX&D
zpE3HOOuQ8BO7lOa{gvyJu?;j{HTji`hi#C=o;3ND@hwY1Q<DDG<X0{pWyyAw&8f4|
zmpr`H+>zmA@HKd?c_>p}sJ}l;;kI6>P=DX7a9fXJDEthCTe?&9?=Jt(E8Nmq4E6h;
zB|J<Q>CIgoTGvv!>-D6Z4SJIA8+ww@n>>Xpt$UQhK`FiO?aNxx_deAz_uEHz2qT$q
zer&U;cNzH_95_CgiDz)YnRzC^a`F`pIAhPqtz10eV4}^hoP33Yu{OVQ@dn|*6TjiF
zlhYgM*nT;MaPX?aZN0)cC@9?4BaDMTE8Nl@#=-Lnw{(Va@D$-;9FX3~+2DY34Gt*B
z;DCG$4#?-D;9wg1!07=GAF!6Ij_wHC0dv8?(r@m`xs4xDAGr3rBOJK)TTZ^hfx}g~
zc*23hRXO<z2M$-|;tj&VrQ$d3-{IgK$;q|v5Dw-l+_mpeyZ^GnUHcA&e?j36Hz9p6
zN8t`PA$@Q%;b9z*-r&>VfN~8ED97M{d<_oBXAlma9=czs%nA$M3@|XVuA|1<gG+`F
z^b1R`@;fpUy`cS;k+0DQPA`^;XY_&NV>$T>2ad1h;t2<i&*kJR95}w0i#G@dTYd+>
znFn<^*zh~#<odM`4tf;s+CfO(e^I!@eJK0|g*%*waPYLk9j-$-c#QBc4oGkM1A_y~
zH8`Lgg9Gw4I3S;oii5qufg2Ba2gG~7GV<sSXB*7jr4HL*&&?kh2TpD~!hw@pIr$0)
zPHyGm2?wtIl#{P;;Pi00c!O}T$nx9a;HzP|hH#J!%QYnLFNNhA3U5@n(@!BBd|Kg_
z&TzkQJmFy+klxq<1_$ud-~fIZ9FVWU0r`}~!6<xCun|kz21j8VO!PYDVjnht)c%0>
zV*2qN$shgtk?aDeS9T<Sr&r3!Rq}WEEEmtnf8dVG_aB7MM-S+MS06+^ww~-u=(p<%
z3b*wN+Xa7CxYHXU`9H64r#C|Ke@fv_Z-n%~BZO<7&z(t2dZV9={3+MSpK^@+$=ArA
zd`imS%m)SIgpwF2VIL-FbEU=!3Gvys?|c~?#8}^Q?OSO|<rmX<!nTuq863o<FKoL>
zl#3^QF*d+oz6=gx(4_XZ$nbr9r@tHX;C9S#_F8xkkDX3PNoKarnGhyUSGd(-en|G8
zQ@E{DCKUb|h1)v#Axxa0a7%M0goy^iMdNJy4AU4FjnJe!o<xK8w5UwYDXI+3DJoCR
zDTc-mCGCa(PCv0jd{}(%5FeJOJH&_O@ec7}dA>t@SQ&g2e7yBQAcHXPi+OlYTXgvN
z6LDOd4&&oFh1)uY@$sa>ZJomScv#`K4q<%c6>ez`<Kte!g^x$=Gfd+>q7gY5d_aT2
z2W1+3P=>(=d45!UO#5%xlRLzR)t5WOht;1u#D~LMIlT}Xf9wz+4sRbpf1EP}@4qPC
zA3A`K*^-~Fa~K~dDcsgEjE`d!ZtE1rN1ehQo<jPgR^bj$A^mX(;lfA4KEwDp$YR*w
z0~!oIDAVABG7LV*^P}KH*!b^^J9mf=%aa}A!}4f{_^>?Nq5iNu+#x<}8~rHyqi5~*
z`s0~y@IjyM^v9#baX1L$;{k=+I)?G_8-?3Ch4Jw#h1)uW^~cW@ZfOqdkJ||sKDz8P
zjE~zyBXThKfChsP$~5?(41*8y9E1<Eul@gYo^pryfOoPlcZd($=5~k=hqoQ+4~MsM
z@j~O)kAjac4Z-^p#QP%#@R5-GY@NgSI8x!Zj$wSvRJg5E7#{~J+~FytKlW3&!&69q
zOe0+QIM_bJ_=s8z8+<^6!3Sj;d{BnL2YHsn$N$FoWQVvw=YAwySYGZB7nZj>)Ek!9
zJJcJN_dCYLxX$PE;{CY5E*&M`inX^ra6h;>dH@&q632~I!nn9w;kJ%pT->Q}Tc<EC
zIuvf}5Y`(vE8Nl?)*C-0T(sS8p9U9}#v4Q<axl1n27?RAG`OG)gA4K;z=gd>8h;f0
za?F_*9{ox9d}H~pd-#3Gjy2~Sv+pO)9iMIY2Y&4-{P4BL7xpt*1|5OjyW{*7@Bifd
zWcvG({`JivI+(v-U5S5(^CQvtT)r9dQI$W=1$>XKpVhnS!&$wXe;b@X-4bCxiuzad
z-CEY5no9UjcH@hqGpWyy1ba_(#=h2%lwLkzIr8j-&Y|K2d>Zg4J7f%dP2jKAn6y8o
zI_kF;IGe4S^D5f$(Q$qi?p`kXmaZgwkK}J~!AR<|leebbrqg)_N=I93Y$u+#lQ;91
z#Cc)3x2D_W%^9JJ6Qhi7;uP>R&J#zvNB;irjrOjS?@tdt5*~YFUKp$Uss_?`6K2wr
zk4caJkU3k7JpM>M3bvf6&QYM80`biHE`C!_GCoRiK8o&{ySID5U&+-?;d#D`j$iOy
zG|0Ee(Z-sn@k>&;4@Q;mJ>;o$Ih*cQn{GaI>-+q7`|j2m6fW-{+V6i?81;{GUO_Qb
z|6hgbFCRB|4jMjR{bi>)uQc$(2zYjN=vzDIE67LeSzBh&($!|meT#6n4@G_?_&2Q<
zHZ%A<dwT@f?DqrYE*|OF*be3hlvaI8f4Z6=U9QYrfb^`|fOO8P3uhU>;pTnpy*H$D
z*thqD&aScd7dDfwo%qrlM*o-TpNrV^+OsTuSIxaVNo01u^?~=xoWZ8G^00nU+j48;
zUxbej!b5#mnA%u^wPm%zIrNjNlZ*Rl;;L?{qw40{wq3(Kf!d*Tg#1It(^kWElD^hA
zh3WffzH48A&J$`OTsmbg=Ls1<pmmX~_Tha{QH4L)IQjg|c?Ueo|3z(7`#H6*EQ8)D
z;)mixYXZGw{MOc0WIw=X?d_Ai-q+AUG19=Jr#<`#-}{W$yNPnm*&z5est@RC<9uM9
z=fFC@;r+p-=X&z&jc<n5w{K?eA?xLtNL5zn?J1vT&+9z}oXcllarU8Hh0o$%AI(in
zt4f@`o;?k(j`O>2<__B8HM@4?xbvWhFU@77D~wBYweQcI&dvBLao$d$r6P;JW8fn-
zjeXwiVb+-py5p-j>a!ig@L!Hay=;_nic9%MzUHiy{qTn+ufyPt*Vi|rz+S-a4|#IN
zxXw83!LRrWoB<(zZN52DyJ`8(9jEetJ-q6fc6^7z3uEJ5n;(eO_H5jx<8Oq&a_z|-
z(ieGjvGGCLg){rK=Zs$qzh!#&hK-7OmHaA3#SZdz8_%52x|ZO4@njWuNmi!2_Tt&X
zx%rbnXnRgNy$3%M(k$<#A2fbgXF{_#dHMXa4qs4FC7o8$>C!2U;wsHQT>N<h@jc?#
zP=@X%sNbx(70btQCT0(DdyqqndbP9v*XtgUy_K-}Cvt8h^^lBIhSCLPRG2cJCr+F+
z$#V{0;Lat=mGQO8=-fN#7lv|W_WozI_a9l9{qF4ZtY&X~4ByFkRk|xSX5|e!XFtx}
z6nj9=7S6IsYmbE6TaSO6_OWJk|DWN%w;Shvj?x}dbW7`g?8B}gTr!fp+Sr4bYR^oK
zk-q9T@PV{(?sHFjn-7b#XVT;D^f-5?$4OsJdgXlu{iDuQXi9qj_RuYUC_m-1=|0*D
z@f1g8UAt4dD}(LS@ZhxN74Uri`%bpwIx`ji@+DSQD%<zQai<SFJ?oGK=wIYJzO#XR
zbpI6fcs!O)Joic3r|{=P&x82fr>QGCc%JukW~zAgAB2sAZ#rLK{&3D?9S@GlTjfrp
zO|)@__Xy~2n-poCJMOea?evue&c?lueANe2hei*cs=oVj2cLIMd_TX++pUE?n|17s
ze3bf&t{QlFFLhPk9yIvWvEt&kYb6V8fG+m8ERSIO_|RTEO84SS*%&!%+Jd@DZy|9S
z)5OnIOj&*;cVo0I<@|(?d$YaCvldlxUXm;S5$px;#-RL%O!>pNDgVYn<qscJzRLBz
z;oM^~W#jH=?PJPLaDG!9-mC)a6Lj{FH`45pR-JAH0|oS!&WYRueh6Dh{N>@r!3FAF
zJQ6>$LHk<pWu9SpK->a-h~jq3h8lDSG+{HOmtJDewGY3L?{3oXN~?as^&j#b`wcop
zai0#wy_vW=%fiK5BYmVW+Eh6G9fTjGaN2%2{5Ha)gjcZtR{CA?6#lPZPxg_7rvrL-
zOWVCgpCC-WaoPv5_bBx5N%7uau+NbCt{8mgSG&LMen4|Z7<}Bi*q-}E-{I)~CUjgx
zz2w_^4dc$fiecOAcbiZCvP;dmqV!=YeE3$e|2T@iF5vg-A-iVom^J4*t{gbm(Q6yD
z|Epq{+5eS8zi)UTl1*c8X>WxW_vt%_cbu#-@9CVQGTB=*OnKjnUZSl<xv%9ubny2o
z;tSuupZkUW&Ur%I-TLw-&T-(pcJ0x4`F+1N`Z2=37u?@K8(dhO=1hpayxCDOtg~ly
zzrhINSC5ah`n18yF^NU(;GzfnK<z9_+md|J*eMzO({-1JbV;JZ9|bmMJDv4<?SRhG
zxsG9-_0qjyl=PBk0=<<(Zza%MG4xgfy|sjIj6F<SzKyaI)Neg@LY>uJ3CdHR(udMr
z50l?A(L+4?=oQ*SzL`E&eRz+~2!S^}^uIU4p9E=iU*)0bX7>Ng`_^Z@#vd%caKRtB
z(-YfY{*KeXPJ04#GwYVan+DEl;NDH$&v&!$jc4D+^!51ReZanzzR1*hwEqR2hrpjp
z+paB=M|xiKg6b>0R{Fi^1=?)2z5k%jn>z1A&OBOD!FkRjJ??IT_ne<m$$bg!2YZdm
zbLn2*0@>Pw<?=e`?ny3>pd%&6CFlp?sRF(D`31=Z9(T#Uyu@qOxr=GWocVpc*)h(%
zMrXA?c-1M33Y^m*8!i2Cbb0KyhTcQrkNU;6i>gmmf2#fbBf(WS{<3aQ*9Y^D?fBdf
zw47iu@+kT)jFB{QlD#R66c`J<i!N&acEe_ajT60@vU%!9d9yR)g8re0_9T6!@$tXt
zOVszMk4-p#M)LR3S;)8lejv`Io2htV{m_oAv<FS}?gzbJLH_N?UFQ*~Jsd^YU^)-9
zbhdL|y66#I@5(-dmiwSf&kfLfH+dH+FU@!%Q-dwm0@k6?w=~A##b6q9+IveHr#BWz
zH=h>NE%kn|U)iJF!Rb=$3s$_xhTyqtmnXcrEzi|1x4=8`JjogT;)~<)d(gkBMRl6g
zdAX_6B(n#jO8Ud`x{TeEkllk%uxxa-GoL>3zi4O7g-q{0dh?-fucMP!oI3yp*D1%@
zs)P5V&43?ajNOM$Ek-7e620{m{z+zE(!;Ukn;Rn8FZR<txpR*A=;)qR+Lli=i0;YT
z(EWpEKYKK^GrpLve$Jy!7kSs7D8>CcJT!7<J}AS!VJGJldC`VUzc{#VnR@o))83Wd
zhd&oW>pI@g0)Gqm{g|=6_ULW`S0g3`dvq^b<z?3|jbwX}i~Q)Lq$_Y9wf5+$-mm{;
zM8}5Hyxu=>Hm`U;jJ?$b{B+Iug)`?$(UL!!I@8~Mlz8&<PWO1(Mc5!_TpsbWr~P^W
zqp=;FKRTJZq?u>0_9mM#>i6BaJ5idxMBJN^#wOSNz|@!UzvlhBj5F7=&ZoJC`?-6t
zojp>Tmx$87&}Zh%sj39$i@LEhbu3wbXwI#Q*LK6-Kj1r-AMPERCV$4aD}2&xT)V`L
z*JqR&uOG7Qcs=pS(q*O?PfBK+kNOZkPU%dq^|HgnN9+yBA+sT9>*+si-!6*J(=Lc7
z`z5R^{tKB*BW$p(v*Dq>#{Zz5OyE2)=?C>e8F;5Ypr;|;+XdE!K2LLU=Y{a#WsC19
zIx)tXn%&%)q;a;+e?6aX>W90z6RgM>@(lj#y+QYwVK>%L#yZB6pI09Ajpx#iQuwCp
z?lO(n>-qi}zPYyPvz}Q>PDSQQHjpR!<k<{)q;+mnocoLLZ)ac7*x#U+Wv3O<gAsJN
z>Q|~>ouUVQP)nU^y(zcHIgd(vgW>_5_O6$So%@DpqYo@eTZ%cBem!mVJGSq3IxQu8
zxMI@uH+41?bYf4K{aPQw7lm^lPQOfJeA`U8nLmS8*KaBOEy90;ETt>%Mt)A75!%;K
zb(VgVzLGrW**Z<3?o+6Hdf%Y#KH-w3@F*F+j!ts2lpLjt)aE76p#PmPeKVMK@?>+C
zk>^X&yH?kx_A0}(X*%P6VrRcB+o$%+QZi<}=z8f3$x$+`lg@yr!eNxYIffmgIvr-~
zGl6jK=)OI^m+CX2^GWE?oTlm|+1?$Z%P+Iv%GVkAl&5wW+fiRFtT8txIerV7WUwQp
zgQ~HeWP8>?liG?KHy4gG_{HudZ}il@U4bpDakIy~1Q>f<aWv+=U{GJ@gN<(HS_YpR
zrvB$Nu#hitFW;Gb-<|KywtfT~JkSyTbZqWHW84X5j2jVM=xNO-R6<(=W6T8f`kWu6
zbM)L8*Nttz4{e+2n}U9EGW?#{*#Z4Os9|3UxXIDiA=9z%GIxV*WWIk(`p(!&lRDpm
z#tb?)ioW$M|E`38lG|&XlcjI!D`R^xw*a4!>2&qS+Eb}GllzQq(U~URDtOf7dFCv6
z^%?P`m%Zbj0Zf+LN0iV$A}jk;nR9JY+J|NPR)>*f*Y>(Pe-FBvcn%|#(9WH2{cSt}
zZu;QEI>IE2cI4#hl!4}j=xs2u!p)C9Nc!_^nC45n`QO6-a6hn-{9acXp>kg(Y$wGF
z;k8JZIe(PC-_iFM8!s{*J2lGu5o6`6SYPm&pP5Pf$-&zmQ*W<#VwKkwsq)Za0hZC*
zts59)^w9Prqqhyef;=R{_6XxC^7g<|biCJfBlQi_bRXq+DolCUcJ(X56wm$t1^>B!
zY?Ata@kTa)cyS55*d@e^7`(lWxI2gPQ`pUf^$>6Hxp2zw9r7*Jj=oF%WpDaNbuWxT
z|L5p$Ie)AlgBN``fWbAC8LbG~YBY2{?lSUtnLHA~*kreao$K!+{@}1X2y<s6XzZRL
zt-GII^WE6eouB9YBh8I#?qJm}$8Odg++Sp0mFB$Ji#<I$|2XNfUd~zO$@*etV!t}>
z*-Nu-^<Img9nBapiA>R}YkbxplVC15dwxRacj40#);e990_#z6+cq^HCM>A^N|(i}
zyz5L{<}2%&r;JOVRmM9Cmk;asp2jrX%U)gK&3lw{8Pp~<?{q)*NIQ8*&k8$g?>>1c
z&jZLWP1&-)#*ybC+y~nqkMW_?5gmi**mH<<kHE)T_)t6y{en!QI<MW^cJ8Kkn&xeS
zebgTh@!9P^7JsG3#rMy_-xxey#T-qHHN^(r*TG-yO^)g;t8w0%l;I8Y%j{QC7<$pH
zQ>fn4wj`fRdH$$xv6iKI4EWTQW}m3iNN%4ef6YHDt>mfn*le8-Xx)l3mVnbHk9$w4
zyZ9W}yaah{W^bR)DU<xq(|G5Qc<(sAkK^9i<QVDFah+zq7g{9a=)B{4-vq;Y%3f0+
z|2CM=w{<Ok?d!(IpESJ>Or&(4Gd7#<*{dgB58sr(Wa6U>OWAC)=d@OnAwBlmidgiZ
zZTk4n!s{1oy^05_kDoY1A3wSCXzEj>Ja^Wvhn`V=o;NfO+|74ih^}0j^|B1>Wd+I;
z{W<13OVOXh=9A3+$+^Mi-Y;-s?#~5F?Z_(%meTCWH*09-9FPD*>N_RZBxho!Yl3%A
z@901e{a4u9H)9#N6c44>V(|15`dpncD7u`kTR>RB#;dmTrHXqV;ZGCZkF)Us&f;(M
z-Tk8CL)+jx*S-P|rDtNuI|^p?J$!%ffAakjz6*oGo#OW`9m71O*S|;qG_bW9ee3q-
zpO5}A_}?{R@E_<UpL3!()1`s=gG0Ptk3ITN{W7q{)K|AiMm(v<ob}XW9P<z9daz91
zTHo`ucE%jrJ5#)wvPIusIxH($Z(3K8)%Zd0vKv1|TAll?^M-W3e}OeSBhM2{%QJrh
z_t#^mD38>ywqE~!gZ8tJ?|f=k*64WZ&WA4^<X!i{1Ht(e3cGircO7k8?Zd3yX&-G5
zVS%0;-}$*Q%oCHYxJ!CY=O?}EsL$AI?fi#NnqlO<Wm+Vw`Ze&Y=a=AD89lCd19RIt
zk7gNquAVhP(b97MtX|!VvYz^UP{EyUtOahqe7BC`<zqXF*No#izN6<(!uC(}UQO9O
zV3D<q&LVc>x;y!es_H26{q|v^YmZJA1+VJ?XR?Jg#_d_|^`6r&kKH@9o}l!i<vw_#
zd<xg|)0*P-0Z&t9=6cK;7wLaMKAgw5rchD8Q2o2d93p-5!s;z`ts{;M<XgNJY?m9G
zt@E?eul3}m@#Nv?ufx5`w|6s^m;Lu5@(;!+lRMk7cV++RDV^kW)V+j7_^<k)cQj61
z5%Wg$>zzZuwfHYx+9O*Vda!f0)2G@?9Tgo719YU13h4OdAUb};{{r!ZzhZ3}{2h)y
zp-dC+url$u!=(SbEjtD&FwZ-99w~7!eJgx&I^<k*^<~U6tIeqG2<I#5#|_@a2kxkO
zn0BMKr!cjt$N8^!wW+hz{}0ioQf1E1XU?m?O<fJHT$}3MWuQ$hJ8;`J_38xgI?WA+
z+tkjXHkGE$^nB3Jm7-0lZPkOPo)0Rzo;^5dUq!yfnA<H9_T2iunWDW%Z4jBset45}
zk2O~H=o3fjTnXwVo+m6Xquen(n3tI`@RE4avk9;vo=%1zg@0Lj?dr|U*zmCmzds01
zk<P^*t?+wo{80FCh5yRN-)-Q0OHbj@Js19{?cW2>q|XdKLh&}yF15b&9qcvXN3^NT
zHwjnU{WbXe!umeWd6;O%Z$7-efb)K&bA0qn_Y&?;K*to(DYtUZQQ`KWj6|7pOcFYi
z?k6_hZl$pr(^;oC6Oa6B;PG1iH`#g5!Rv-z4RKf6Jj<O+7bD({LA-pK^EEV%m##9h
zEf-H?dUTKC#md+#G3*ub@JBntBP;jRo2AbQO=#WT;-L7i((&>-2hidoRVJR~;c!y?
zXPNwTP6@bq;S&LFriXBoDwD1V&x5;+xc>(1n6pB5t?xf8Bt1!Ig^ZiNb#a`#;u72y
zSI=E>4V=%W`{Kr!wMFsK;qSBLp|Or|;_MUQ@<ib>go!1(#|$iLoHkCFw;1rb$IP{z
zPbrO+c_tKon8K}$b;hVGTlAYVMZvNQJAklLp@+U;g*&(8efs;LKbUIto%#dK8UCC$
zBfTM8<Q??o>*haxX2vF%YVJ0Dca-0|X;;7ZoV(GBv`^`i_jK0EF9IwT%j~5nVplr7
zlP_b7=4FeXYB6l}llS)aa|t>pR`J4oeiMDmIAT(yLj8Mi221_E8WU*D5zNCp$sI(t
zPoAy*Soe2}e#f(y$>Rmd5WTZr-`WPgy~wvK2ZcRH*qxeR2*s0q_j~1mj(b$`!8-Tb
zPEy<G(v!CIb3M^rVfwpC$C-GO)OWh@82I@$;fE?5JY1@Lk-s@d7EFCj|H03BJnyFO
zmmMD1vJ;m3QQEiXeX^52Pjef&5_4j!`2H4kkiB_3@9K+=;lJ#>2A)x#-4#tQ{7-p`
z7V+o*>!;&~qvQYn4{-87oge>KPXGUq)BkiF{a^Y5J^VkdJ$a0iv2A-}oQ3fwbA?`{
z+TO!3u>YZvd##r;XKCj!pEh@#e>}M3d=+zWK66MOeeY1~hZ`R7vdl|9eFnB$are+X
z9KK!}JHCb86^zTrnYF_|^IvO+_2h>wwpw$Ce;{nbIxowZ{OP3DfJ0+)*=MIP4%Pkk
zqM=x=xxfiS%mw<{BSpis0U8R-Ws8Pq2GP*P{{r!3^XJRV@#QtgM|oxpQ6`?|6ARSc
z<X2`bI456xox%6<fx83Z!@_ffzYEUXgErYZvcoQ21Fe<@pZlm1Hhh7?ZJ8Ou6<2A_
zBm6b&pBLb9cfb8JvETkV2Oj15UTQ6)neX419YvYi!=y5_he_jq*%>;AnRzO+uU>QD
zVeIHWnFMnt&EQS@M<lz5#m><4D89kYlU5#XPP(1-1j(&sklaq<e|X)w*ym-}^?9|&
z5Y8Od^wWP~=A#X!w4Xy5JKE+g*`&(scL0mq$tD>wW1e82m6^jGkdNc{MEI@!B&GPd
z3w(Qy@0u?N_-FTLv0jkyy)|wfA%-8S_AJz~_oy8|-#YEvVIE&&t%=y2j6J7o%;oku
zrPwzU!<R5MlKm>w6<>hsCu+VFpFHimIrYQ7HA&Y0wU-HunSDUHt=t(#y5!crnHQ4o
z(5-#_dy=~GL9V7uuw?cW#lcjbI6aJQG;hLQ8siU^#(z%Z2^W6HTS0g?YcC3OYea60
zD0**wYhcgOq15Gv$Vv4H$5H>0!cRwY9pB}<zUf}-ybW7Hn9c$T@7vM&uQ9OZd%>QW
zRmf2D3mMBd$E(5XdCJ>;i!m3kH5}=_`9EiEn>N$TPjeO%KASi@&hzuEGtC@5Vfl>F
z<Cotb8NYGj=!x7t<TY|B^fTkY*maQ!k86KL`#FbfZsYs>8tQ@Hkyn|1_HX2wKWF~t
zb(B#vn!D*{#qXIr%e!Z<@$rti<Gqf->!GaAHV$6z3+J2S`(VC>aV0#BgD1@YcL~#O
z{leaxHQU{rRYaeK`Jnor53euezV`3!GI9BJ+|~Xvb;;w4IElKsd<M^rsSM%6r>>__
zSEWIRH-4A9+F7$$(~eJ;+Me!e*Sp${blCC8Q|(6WJY1hSKi_KZ)lwaFXK)d|dA!R<
zq29{38~H|9C#`3mZ>W2(e)4bO<hLEnD+K3%Fwgb2-G8gOF28d4X0?~(Cj#0MWqgYg
z+TYAtoa&G-vj;4Pe?XEo95>fhPux;-U1^;aQ)BZivp+1ud{mP4B9)ye7Z3Vr*8z=X
z<`Xii3u}ZXzjE;?%gAMv);`zXR;*$z7+y(klHZ^1!k^0WB=g?DyvuV65Ah(Pvty8f
z=5}sE-mcE!y}J)7jjf{}Iy<IY;cgFqDE!w7w{_6oU5BSNgokNfBbuR6=jV&2zv&6j
zwMRhZy{aeq%ZEz&{gY?Vjtp*sef>k==8O<-a%FIn3*km{hb7w&XV->#wyF$n;=-84
zO^kS@@=OR{mZ!NgxJd|KmdCMj@q{nS^Kxsa322fGKF3<Sp8n3P8(R#0b~XE?Ll`<<
za<mwVg)mgF@DPSp@eK@_J%Xb`7>b3?C7P);uD+r00~PM-7sAkf3U~D(++k=M;i7x*
zA?S~ae(2SFnCN>+Ph|13o|L^#Ps)<*rMx%t4DfWHStCV%8T+~c{UaT%K1DW)_U&Fs
zfAajD*e(&)`3aM+(@grF3G_MR>2p>_CTwg+r-u6*51)+VRtJ5H_Hxs=s4wYIU!nfT
z*B){D0MhmE!6|TeqKD2beCS`1!*)QAnm)kH<znY;UHo8Rf8vMXbh7r*DtykHL4Eof
zw%wm{DzbTpepvfbv`2-pz-sL)VZOh&=O=*;c*98fFI0BChz-A)J(V|%_SVQ|d9Njs
z9YfzD-o&S&;~1-GPena`3k@Hq&oFk+q|Ov_mrv|k&Q4d@2<BYB1g?%4>8**6!p52F
zwdUpXuq$itTl?;g@Qphhmj6pKxSBmF_!uR~U;Pv|>732eDzY<J2Z}d%#xLT#@V<B^
z^Q80SQxW(eRpWP3wTsu-3ytqJ=-x=JnN8~aGqe=vu?G4X;!~FbX-xlS``S2i8r(<b
z<mW;fhqEi`C*9t^giV(mA{}*_Ie0(QBGR&Uv-(T>vz`b|-X6#FZu}hgxR3W{H*rtu
z7332|Pba)(&wA0dH&lE6-;4P5WxOk%)w>TbV%`$-p23FMOg%jIYNfG_sq>I~wc4T4
z>@Q+2KM6*o_%_5}*>-=C^SuWj!CC<My8501%{sSDzDhS?1N`MAZ_SO!=*Zjghe3XI
z2l%bs>_zDYABEGrUfICu{|Id0cm{qV6W{X5!<HS)-xT-86;2x{?_kQ)-Ef2LKFx>A
zUtDyw$MI{z9!v4u9o*$9yU1DoH}2=HNeWZY5dBPG6U)CRzBHgCQD$BrI{N+PbNiIm
z&$+#|)^cpe?IE5V)e!K+@Blhqy3F!Mbl{_-@j#I_lbkL2f>HP(d8M(}2d||Sw4a6b
z0PbrYzt)bMbLgZY$M0bJbntYp#*<)lJiHk1jlVtqLyf`4cSZ;g#_!`hllX`HT{<}A
z7o@cW?p3W_uXa%}b^80#V`e>hWL9llW3a!f{gSujm})D{m(-=K7gtnh9$>ZZgpYNP
z?7w@P_VKjVW=^E-i!NbbK1~(uA5oiLfG+I!7osf>?JqQ`^OJ+>nLaeA=Oc!G)_9;<
zdSZ2m<~-}zrTW_Ze;{+pQ{9ROl#W;2pLi`nyqLvu`w)9u{C^@l;<>hSDfOBMP7175
zrO;Q}>wOAg?esnJBZ?m9%@n4$JP^sM{_<@QuG{PV>?YdMuUC0l{QCag%l$hopTS?2
z_ACA2tv<%g32l05R0rQT`akv>wI`5znD8j;M6WWQKc2WBAd^>EQ`B9$+IylsWv@x@
z>+tKnIg;&TuL*uZwbG9p&h&bZ{6I3A+&NF@aM?O1Ql)v5NWz;Yi;t$#@lszV-swTS
z%zu`SmpOxY=mW_lcY5h~xi85FZTHUh9xwX@xD}qXW<CWznKd%@u>AOE)WOO(MZTqQ
zkfIz{*9`fVikJB!e*SgzAMolL@?L{2p)>tgM!bzl#*7)pVDz0`jBR#nQXiB>?_duo
ztY$^&F-7zmZ$_HED)I@6uJ8_Rzbe7qd6PPSy<W1I&^ha0TI-wC*?bUtfb5!LzRVhb
zY-OOM)ITiHdRs`J{|R16e=Sxxy7AX~f&+uk2K)&4E=)?N?hY1<r-O-oy)`Z9eBpE*
zKBY<KJEUW~7Y904;qBLYjmceE?*p&8FRHNE>uSg568;R<k4Dco#CzXg7op#t+SvuR
z@A&iprcL{IxNh-!f4SCRe`Ds$rLq0`x<u_O=o0QoFxU=!MJ5`23+KZ2>mh6}dq2ST
zn(%(Ny-LeF!CnT3?M$?EybS&d4vYJRuy`T$b6BhhVKI;2LMe>pKQ@5HSebY+;^n}&
zaPh`Zx5wfVu$TaMF|bHkt;e?xV6pks(pXH+8Ng!l+yN|3vRKUhGr;2g2ZBY{p7EC`
zRiDgc>SNop)1A?c+pmLX{*LYp*#QT_N8MGT_UrWNbi#flywV>jEJpvdH(}Qh_EG!F
zoW=>^zVd{i4>^qRa9>%iamEmR<rKozR~~rB_I>48o40gVY-VYm#Mp1PO<x%wot;S?
z+R^V?^KK8_AO8>XJmtSpzq2h3{kA|;P`^Ixs&M^Y<Nr|gD-y2yy$4<g+X8>)o3jOS
z@zV9n)dlrq-F>WV0s46D?OH86AQl~IeD;o0AI&%EZP^3P7PtVuN*5U0+4>FZe2hK3
zJ(m0QnZf?dJvz6_S7GTuzj_hroZi|4y(Js9NFTcUMFTcrJAQuEnwv%M6}}SKg!zk0
z*Q2-??4oa5DN8!851sb7@JD~=FnJl}GG5yTr)k1=RanRtSWK9?V}&;3(q2ed?VxzA
zgsr2D=H266tL|Wqn0lz5#<szJP=D~{_k(%c6yv5M^v#35#pB|=_cCYa>|gJapspHA
zCdsRtIlPO>>n7%w)7C~#UL3?JGB24X4&$$x8I?yFJ@j+4Y&iw&RQ)faXZ0=mkD&Z$
ze|X@ZH`Ru7Q<R}gz84>{U9Py-Vyhpw$Vd2?O?Vi$wfr9nw}%ie+@1h#6Lv46vtbXg
zd8=J=HbF^URXlb`+^zt(tV@hGxc!0J*AO=B!<73`Y}kyY#nscZ?Q@c$f53+A!%lQ<
ztyo`%<^&kEHjdv=I-XA+&c^B2!$a7x8ST#ow+Y&;aQY<m62_k0^3i2^yyG|R*7y9|
z+rKDTvbXd&ulKLiOY)Qqi^p+qH2;T^=lz6Bo`0ZkbMk!Oj!Etb@g`PAo-yPp`y<dp
z!5vEIp+KJPql`TFMxMd^fcZYhjZ03Y-VVD(_*-iHwX?0O+jprko_x=4HuO)iW0I+z
z%R@BhPbe*?{P6?w+!0m>%hS7i`+haGX4^5z7pd2eq&w#g^r4M}oguvz>VH2&*uIJv
z(pM)EHbr3}{dWvuBNZ0Xb#cNz059RNBMCcL@k0Iip@h{CmO}UBFSWYvW~=M4MWt(|
zu}@HE8A#WOzBfMDUe~3QJJxjt?8s`3!-vv!*rg+EIY!s<-|4znHimSa2@iDL%Qigs
zW9I6h>mlfp&R%=*&^r6y>@`t6(ogm^N>`u$<bbY@f*H}4dm_-)$tMC`ebf^Jx;ky=
zGcu0{x;p;&wz~RHF8{~2)zx=fI=dfr;Q{@3+VB+n$koT)1O1w#c#&rq8&A^yMk31;
z?UlKU?e>?b{r*yN4dJPqG@kHuIeLV>d|E?Tj;zm7JanfUpYE#v$lHxQzDc_9n8Ev)
zH}eOKDa^bI<B%!r!8(HeNqzDAj6=-)q2^c)5BR5W?+C9kYR4fOH;2a@-#Mv&ys=`t
z@do1&jiob(l^k!Zc!jl7jsL>q4UMJUSVOkB#?l%`pZ%WtiOHQmU=OTor+zu#X#AYr
zSR=t&K`DD$>jQ4Au?zfi<KEM$n;UCv=%7s6nfg1eLzT)a!`gtOtypHAgE`p#vBopx
zy`ypO@dpfyH8^9T^jaEoX>Qz`+~4aT_iibOcN03l2}Z@!TMif)Ym}SAOK1*{wrK2c
zJ5Q7T=Jq<Vc-gjNjq&htIv5vzrZ68hUp84t$BpK@IkPIHyLKY%=Ywpw2w}QsIjl3c
z-oEvEtv7^q;by`vBdk=LdXq8DMB1U7Q@!(j()W1T8~)yR{Y{q66!Qw&2h>GgHD%i8
zU&(9up!WG9X&xFB_8ejVBrG1B3AS5&OR&zMHhdoWhxPU&#Qg_x)jvy4=P)0yzFD|b
zUu*6CZTi`hY=5XZ8qN8+es&>weUyIo5b7Zv<NDd|>Y$%}6nk0yx3Q0zSNJ*q70=ju
zc7IcWzGLvbv*HxBpUburzg%3!QC#}CFt(yEZI3O*N&R_XUFs6*_xnM*@OW^t4EYY8
z;});am;Oc8)yVqNLAv-H@_GWktDmX4Vd(zyG-MI(FCRvBgU1F1cvnq-6CNA1pjVg5
z@5IjS#P=NNFO!plu|W!ZPV(-dA6$nmca$w_-EquWYAj&-N1X#Op>q=Siw@?qZFtb{
z>}JFBPY3<xN?|M1Cp;&t!*4f6`VZ<n7_0jd_AB@xx{~L@2k6rLrpjH%7-^!T3tgSs
z)oavTmf9q1C>smsFgBqtksN)iBjSV&#z*e#0U3^_yb~k~<m39YKN9u~axK+{`@rD~
z)NQCS{bs(6P+O}A`cvj~`+dCr&9@8rRx01u`96d1>a*__P1x0+rX1<6gyxvx!<x>m
z*VjSYQ24q*SOi~}zutHKEqV{}{y6@}!It+B>$c#*@pSE`K$bby)WW>%esFtUMhP3t
z%gh4<yzGLu$&@4cYX0VK{#T<5oxFd}|9zw{L$>Ho2~&Nq=^dJ9x4@GM(zLK|`{p+X
zFx+m>b7ntEqp;G=ewDdkW!b;5tK1x>^{--IPGed)XAVCT!qa;2B&=sF57w*y2k*&$
z$d{_p%&R-xeF>fl^XrI{d_&)L?rDI_Q|-6n=ldG*LztxfeX@H_pl(~Jm;Pt?e+>Wk
zSDUc^6a4><<Za`BivO}TGgki#?}rnnGIj5g>lY3o>?XA(+N8n`<o}*3SN|zzfBxS}
zzF)!?UG(q10b9!QBM;Ang*1D18o)wBh_7kZ9;;=qa=w^pgYb2mHVD6FT7DT`!P_t|
z##mmo8y*I06XM}W8}8rL*Z5Uv)mmRIvUPR(5ZmJ&!X3`v=l^Bm4RsRlHt~Ow{jWN{
z#s5>_!Pdq1ceF4k(9*qgR%Z`47b>!;^ssE4e&`RhW7b^fY+al;>*v+RPqK9UPocX9
z#}`dXSHpTsy|)YdlF%<>yoJuM+C6>N{kQ&P>m>KzJ)K{i&Q;f(g?tP=WcE?cm4E#w
zrO%cBCuNDQ9QLGqs#Nz4qdXq*+P0s1X5F@Jjo0e2#=MU8qS5f7YRuR6Y-7IoXY`pB
zkDPn>vP<IEwsmu+=_t-T<V@BE&J3v^vvlf8pEE>Ax0LUrSgU+_uGjh~>(hNatH4JK
z=MOe{Rr7wvy2#vN%t3SB>M6VrJFDgJjTIG~msl~qquZPP<7NKrpH%v@r+>^Fd)r^U
z*$=VL`Zaz{dwZ>CF;?49F=D#Qi@wjCXSdR?oY$_iNAQOb9S5-foba0W^wxU^#yGdI
zf;xz%HfT8;-^i6bH=qkv5hqsZJ(Kk6tCg;$Dz)bU&=ff<b@;K+(f}>9pygr8KL%P_
zcrN4Dw-@LBQ1)7zUTKww(sKq^qc<YC=Y~=7t@5{$Os7HD0hX6P0~@!U;m^L0XFbn)
z@{r$&*Y~eyJ@3pPZ5#j6J@M_BRLNO9ODp5GEeocO6%B1kzcmJ(P0PI2li#5{>e;kl
z_w!QpxmS<i44z1O&P}9C8UO1E**(BSlygP*0o(GSij28*&$T?8*=u$+vOw3)S;2ot
zgU%dKo=@?#IDRw6zP|Ns$-AmA_Bynen)cqMz3kO1{Eq4^+{t=HMTftvvP1Mc{09E8
z`26h~oWrg@HdAISlaa5J{DssPmx<@g&x$oulOJhHjc1fcinS~GLKgAQO>?#|>rt(z
z;8!t$z9zchg3Whxo@bJ=<6(?PGsE%aHgP7*JHXt_;CCKOxba7#517Dw^LWl^p83Sg
z<(xrfe0j*XaVpqqV*OrrWsUV^bmzNs{@;u=^Y}jfTLd}a_mjOJzsfY}6rN^|mU?i8
z8fVus->UxG^?h&M7WlCK8#y?isEoByx`(h~bIu0{9qxQ$b)LKOQ~Dx4$<9yorP~4@
zsDz!@`y*vJ-X}O`(uF^xaLemF;eYzD?|S(<h-T$0dKLF!OY1|T6&cD$MCqO+{z~43
zBb`rs%#XL?g31^kocNw+o~#E3|10f(bX|a>fqf0~ubKe{<=eW6GT-HVc=_Kqe|y$u
z@v-o6&+I9X50?DCPD55b^l5APrZd+Rru*va315cJE`EH#Z@=KlH{9OAp}nxXi+_QC
z_z#J@b#dVLB|IMj4evbQWn1hX3(;ZrSX2jlEH*)>Y^Yz**92!xOf=;_iLYUSe1+N6
z4t&>*e@^v)e@>D!h{N>t`*x9^!^)ZPUp~04hTh+HFwctZSJf#UANb2wbx!vJUq0u@
zCmu^K(&HzCr-0`Jb$z=cGX0&3N_^FI4p9YXarx6L$k&VF0|uXwqd5a@1iDD)wb!8I
zm>M5Di*n@q=Fz`pf6UnRWN*I-pY`{1erSb=NBXdjT1Dq1;=OHgvaSC3f7UPjAGZc=
zsu^7P;H;cqcsp%$u%F(4LZ^Jd+i1f>`RTbjy7njjZe9Fq)7R3^8oxo;r=O4Cpw3}=
z4?gQGmW9w$Z1TE_^Zjfca;)8T{PG-h3RCYirMsehKb$m6B9oU-9zA(^1$PKkS5$0_
z!~g5vy5u?eubXxT-w%P#*u43h9gW_+z?V?|g&OB6-@$nvK04iXTK8egXHf2>(UVLW
zeUZt=UvcuZz(0O+#iYk2*WJlKWB4$+pAUtQzhXE3is_IaTDSFA?6&@j@Rm6w+AZ~}
zp<XfhP~yw4vufnS80UN`cNWjq#Sd9u#)+L>oOd9c2Ymf)M}$7Ho<7>)ylF0HOkr<C
z=)VsEk4^N|SHhp_6<+JxlU7cxzSwV_KXK*Mx9Ja?{bgf)FEWb$qxE%U-AVt*yutM9
zld%tI5AwZBReb;1qTl|O^S^srbBGn=ria^*${8Fc`s(&DXFPXyb2k6E*wJ;^$nBh~
z`6Oe|y7AahQT7#hobkK@---R9@jAaXel*Wp{MN$BJnvyHvzcc%|G&ob5&mDw^9kZz
z!SiYMmsF(Zpidf8oE2Ty&j0U{_j<oIPkpe#7uJzBrT5XilfSR`F}&aBx8|s0^Z59}
z%n11OeZSQklbI?VP`9twnr2SmNzr@|G*d<b%%q@I?{$>VzVDz+%1Y^7WkD}{1A?-y
zCVy-sQx<e3^iElI)S-x-lA0XQpgk(7J%Y3`y+?Vc{(0sJQhV{ff&BHpFYlsX?+5S>
z&vNWjY4YN4<)A4#il3Jb=#K`rY#p*U{Na9?r1(s}an3duKf4bM@sB%Z4F90b*SqSn
zjQro@U3{Zn3B8MN)V;Wgch!ab7zYM*fwq|5ZC&!5-)!oFjC9tu;cFFifz7(n0bMz4
zH$xY^k7|D9Cgd06Nxt2)c&<h!S_`23bc!cscc0CZJfrfpdC|)MEy|Moq1orX8TxaQ
zDfMwO^;CbpcOOJLcqjR)oOC@;upmCgG%nVe<CNEaKH<<M-WGO-w_^g{x_si|A2N=D
zVddA(S?-FT=B)ID=Z#(Ed54P6$*&U*9q|P`p*MMk*Qm0@50lpwRu<$DokSe90p{$L
zSMpe%<e~Tpd_-Iw+s}cA<eB?BVUiW~Na$U%qKx9})B{<mzKNw?V-i`3XF0utJ5vT@
zP)COkZ|a~Uy$|_PrzCU;Ywgfc2OZsUp2#No8J?^8|7D){K<_trl5h8gJSkUotoutq
zZ~hfaFSMofE;@<p^WF@d{z&9QyVyoPqCxx=4d@K<p#5;3$i2ORr^=FEpbQT_R<94r
zO7#qs<?CH#L4U5uyLbZ43B3!yE8tH-?WXN5e{_0|=LKzEJP<#`%i_y6zctXYcTm@a
z!jvzx6#r)Pg`SMwl`p)G>0Rvt-sJy^48&{dQiMNA+J*S;FXBDQJD7{{-b@=8#yosK
zo2akDnPhF~A+OX+wrtAt^{zUpet))QgN20NRW^AP|HQlW3p8c)t~LoBF}+i^(#D}x
z7&Lh2f4lGuO)9haN8+ij&y!y7Di7Jj^sc(X&-@F#t31*cph<c4(@Z{j&U7~Ikg-^}
z9rni|UG8~X4m2n9u5zHc_?#_A<?CJLP-cwxX6lt-yw(IS9CpHa`p*XC`kbj0j?)Z3
z#piCNg+9k;PwkyDldN-9gGW>U-&?xGKfQ}CcpT$>D1F;sKKc4j*|f+l$J(Yz3#|#g
zi+8tBKh`xJPBMCztf*^@_hw`j6OHi4)z8QXTH2+%-~)D0zpOHkkzTT*yqMlaD;UkQ
zzS&H9d9|~lctw43kJz-(ozT0|61Vs;@1hkNGI|&Pg&)0(R^sGYCpEYtj@C>Ku2#@~
zS&!WY3kAOaj_;xoUFPdu<xpmhxlvP&@XNdU;v8+V6uq$rY(A8kUu*M$FDc$t*Np6)
zpAPWNcWr1r`R8p~)vw#8C7<-a1A6=Mfv#_Ye-0o0vK9XCw|R)azqNUgUrO)d7xnP<
zE`C8*?l-)PU+^xWceO*}C!u#69*O_=@m)OPy?8J0;?ZjOuXihpnBHyP`Cs#{ypekW
zx=enS$HlHtdcC{!dRO{2(0`BBPw*f^pJntDdFAI={Ukm$^1c`CgZg$upW4PYbdyi!
zm*i>7jp^OWHjnRx<4KBl$u=Y2lCQ&cKX0KSvBu^DpNqe+`8-eldKdjS!GFDre%|xU
ziJJP8HpRQzjgJj9q^<#jiJuc+bgEvfc^93e&FEeEtNrL*`L7`VJINFNri4f8za7oQ
z&)qSQXPo{)yfJO{`^e-|v{A)@X9a!^Pe$LY1_QD`_%5ENeroffzP{c?+Zxi|9_X9A
zY&-p|4dV1cQZ~~q$Yx)j<f**;PMa4v%5~Vhz+yu0sweeNLbt<<(g<gX+iYBTQvAt4
z+zjuM9lj9LlU6S|IwH1xiRXzQ6A%7Mw-#^ZojNp8hwb<Vy~SI|U$UV78NI8%&=}LZ
zXoQ~p&ES)ARj(Ahlq|%{wEC0vL$pumj;#u4D3;QBl;P)W+3+FPZp((Igx*#5i}a1?
z&VE_aCv-Drseaz_cco2_F3bJMrl;%#@6tgr;RSwdS8vkCerVHD@BB?RExIA4cPkrT
z@4_H7<!<C%Z5*B^co)X=sz2%b^M{W{hSVo^!$6+-9|ZJBZr#$0)WgY5yf<mUb>{oT
zga0|jp&l+@-|0@uPF+vFk{4z8yeElYO?W%~f%4f#Cs0oDyEZ<2$mm`2C4P)|!z0<|
ze;Fvt;2HizYv40!lxO~0n+GyW>0No;MEQCbuhzhy@ANgcz^gXmBzRZf?CiO)Zb@Y+
z7y47|xeJ#oov*Tl*~E$<P7`=5UK8-7iF`A9r#$JcnBFO`3EAYo%{#JD{1opk$fkxi
z+6E6}-pZ-?&a`^olBwIYGx+U)E6CfI97Fu>mx;<>ZtE-g@UHT6!t_w_#h<GN;`_WS
zexj7#B9Gz~#DO2NK{irY=K0IXQ!)o@DZN|%d-NNF<(<N(#KeU!zTOp=dgLw(XemnG
zVcH$G2+J(9X~kc?EA8{}cPa0ZGk8exF21KYzj;XPOMXjiTH<%VI7q)yheXDHhhN3C
z%^Mm$=yftuKke(AX!t4gw}EwNs3uKrk{9SBFj$<zJF>4<ouGNUHUJIzOUOt3gSM33
zl_xsG*SqRP+T6vwtF041p?9@)_)uI-eZf<viu$e}XeZA0Oz%oxV8{AuJIxwv!h3HV
z?T7TyU3vZ`Xh)fa<SRP(9@D$%AWnV(@1lb`r+7CyUggn#oet=4L!$2@;*d{DvJBDG
zj~QeZyU>;eU-K6bpR!WIE&sR6Q}sXJ#$QJMdKYagsQ-LR8@$WtT|7dDF};gN%KyB8
zNBKcKQe7nvjaPE5Hc#Rw^sf5ChvGMEp42_VyZD;IHgUS6+v+qA-fB#c<O~z1m;A4j
zR{W&CxvvFv%nWLq{X7x<|7GKg|GbMQdGU~X_VYyf!Q<Gu#1#)nm!HSG=tYhxy^9A=
zV6Q^2@QPoG!6oZbfj)kkc+6KByi!(%^*z&nQpW=C4x=U=-+j^<y-!^|(L>&@e{gXJ
zKTX=3;0N<<gTMXn{x^LIvdxgEYimX3=!8f0_wAA|^4k$@rOI#eE;aLGY4o9MGxCj^
z#@e*jZv1Ha*%sFGj={F6^wQsndF^j8_uA1g+V5z(IKr=jUu8$rzFzM!tG$IyXLwyr
z2YJ0sGx&|(sbki~ReT@Ok@zhC+at9}*3z`jbR|9vl9QQ_zM{TX@8E)Uux<BcpXGV1
z9aMGd`*!{*HaxukqIDqVjqE&nWV+TNv>tR3>!NYWJ`=y)i>`{)vR1TOXWJxMZ@X<J
z_cF2uxCFl+&e6f|C$bT{fb|LZJks07_a_SPxARwF@3vcK*?HC0>r><*-a&_1|F{x-
z#aLIWNXyopWc=CcSl^DdFE#hCs(h8}bB|%h+kBXB?=keb$I#s8%o=6?ea^cC^rY}z
zEVZtg;asY2=FVp!vvqCpyCPA}A7_2C?b1j`o9^1GOm}(Su;p!2J?@Iue}8#$cxA`j
zyS#;MFO1r+?W<l_+o4`>+Yw%GOMTVmw$G2<ukF)bZ*#rB(5+vD*JoVapUN>m&fI$q
zzA~zRJ@;%jd1G3S@1;!=zMY(|uCJ93!%SqMa|LvlLIT+pSu683w_X$PoyJ|T?W|iy
z$FTOn8qzxC()R60?Ox1BHGh>ggrmH%Ej3<mJ^R)~e>1dKGe2E9`IJR-S!ayH`&TNL
zjitV$JmOX}mp=kufatznb|wD1Exb41g`ILAcjVG<HLdqrAJLQlmtpgH{7!(6(|K+n
zpX2clNL2d4-H6Q5--hn1{|jsX->$EXkMTx{=6#^~W@xT4G!O556}*e)k3(|{H1|Nq
zSD_g{h274C<`!tC{j|=4<|y}V)_YZ>>WRaeaqFY}=d9+|D1DcsbHo;OGIVZG+-`4n
zQR^Mt1DODuE4dRw_i{v~o5?e!cW6&iew=zFDKFU^oO_VGbo73X4?XYonY3q7zjnp{
zvd7(_UjLr#RIndwbu2z1>vd1au4A1{XTT-FW(rIeXlFin*BX5(T;}jC7C%=;yjtC#
z(8C&L4xA=D|FPT@dp4R`n|{!&=OmF!^&9BE53n=fZxWtPgQwzUGrasNd``m8gyp9P
zKbuuQ_*qBY_ky1uJ|{iMEy_BMlm7|uvJUxPsV98Y{ULQ}?kv^+@B6J)oBJAH_9{0%
z0#8KmYg_Lh8^*xLSkJGi#5Y4S0t07p{#^_VfYDLa-cIwXHqjqJZ+?_Fvjsee&aYU!
z<}9tk>sKsZ9j$4wSQC={3EXcXI?lphMf9GH+(qwMgvXHkdgQJ(W7q!v*}nDq+XzGV
znsuC&-tdj88@gwq%1H2j4!k>?a#LVHxQanX3LM1#(Z^X4={fW>wLefE@Z-@9;0%6T
z@vpu{`Jx<0c$|70K2q=3Ukxzx$XlF4X48!53(}0>+qs0*K}()CsCulW{Nxb06dpBa
znSw6KP`GTeX=7koX;+apHK-m+qq;PcUi@q(-5Sz80KbKiRmy{UbU>fvdIEiV-8=N{
zuLttU4fAHY_PV!io2#sR)HWrbaNBIBKPZAF@H#3+JaFE6mSj!&j*oXzW(;2G4vla-
zo6G-bh<794xBM23tUe6zCjK~CsohE*DeB>P^D6Q4wr)CS?$TR=bLJ|doMQ(4(pgpT
zOY5Buo4RXN7-qa>`dH}=VZz9lawXp?WTvs6(mzUj3CB4>|B16<YhPpJ>iXI<DIZzP
zXr>*mtJsOX(~-{Vt0T4eI4q3JjdxuJUv`Rmz4wE+W8q;XHo*qgRfo^@y6y)HRTEZD
zy+V3m4C|?2xQaY)*~1%q;-|c^kz~AUA84)jhL4I|JbFL+{uyUdj`Hsz|BaMAio6>r
zBSOAyl%af;f1AyFU)r4XbhB+oXH$mssLI)oGMXvtA?Ui2Hl_SG+WgP*;|tFn;bljY
z|4ziKB7f!GM;YtUBXRWntK|C{w7o|8edKupxJFKEqR<?Lzw$wQoi=>yGJkd&4BSe*
zW$1<bX)7M(F5{O@r>9n)yT_?@#2rEU7UIT<+d|xW;`+pCBYvExm(JiiR5?nvPgtgp
zz8&Z#$#gk5cpbWK@kWeVMjqnnN?Tv?RJ=WwJH>8$x35vUp$|S~z{K#q;=L>V;TwCv
z!dHjI7rsnAGrWuc!{N8=vSVpq!^H>WBAyLLCJ&NFls-ay6;H)a@pZJ7-PQi^QKO01
zK|J+MrXJMc_xxYR|1|Ms3q&Zt$=hk;>y&A*XUngl{0QYo(6P#2HcUOgS1Kx}pZLMb
zIg<N@Hhr5PG4%HcyCu>qt?IE3ABq!5uloFf^s1k~I?#&+@KXn0yzwiicIzA-_!;xO
z{x)8?oN(EvicdWJZ5l;)sd#nJqCAzxqitdbn!Z?J(r*ek<s&cYC*`GeY_-+8E%Za^
z8SJO&Q&(-BREJ-Jq0d7P6HjS{H$Cgl!tUq&Y}#+##f)QInfCkE#rGJ$68YyGij6e^
zKZ>>VyUy<pn+w0E3HWDWbKw{4V{@5%f4H~jG;BHL-FB7NwQ@LhJ}*)m{e;(e{$25f
zUx1&z@Mz`ND06pgj`RH1IAiLSzlDeYi@JA@kFvV+_|G$w8$wks3L-T#NkoG7Di&yM
zGc)0;-L_~dy0yzpLJ^9sQg0}<nFOj}+$u_owQfm3t;2SA-Icba?bZaX#i}i$ZS8Km
z%mhR%y;$**D45^-^E}T<o=hen+Wua@-yeA;c`oOC&-Z>i=Rr>D@w=w-ZW7xkUs`Z)
zoNSh@9{&$Fu+P0tzC<)KZXI}hK)%F&zOxhd_kldQ8NcEqo?oHw|H!v+@GIJm&=b{3
zugF;D`!#FReyfg<e{RvG>WdmXxzA_yzhQ8A#SX7ugn6v(EXN1`3w$9zLpI@^_?_k~
z&rZ;*(&ux$z_n{w@AtM(TqpcZ2j17fq3|o5(i1j$B|Tu}^n<rjS6KgTXWsgcnNb_h
z!yo0`n)M%x-QIS?)!R~h6DD~xafNX{?{K{yc$sIiU`{fY;Ff-VJN|N-8oe=N`(U0U
zzYE(Yo|R43d1$TRR`ihVo5c5gLiqao6e|^BgYowrbPao7mp&%>fVU*iSKfVi!+pHh
z!84u2AtAmasWBG<dnf%oUnMWt0Q?<ArX4@6<@CiB%gc-K<5<f*tR>~z8t>a{*7r*-
zinZ4vKS}&(*<Sg5Df~XmXX3#$y&O%UQ~KmMquvhjBXxle*1#Ogw4NPju#Q_|)$zc0
zFc)*p0aktUQoe;?rDu+BUYhm_6K)Z2Pgz{Kd;xHVeK;N9RG%BY(XPKALhdb`4MV`0
zgD*CIh~D_9CpQc5-`9dW@agJ|<P>}+Xix{wEN6|D7L)R5v4b<T>^FZ!i-ta0ga^>#
zUC?3^YmV_uob?s?wD=tB!>?%(9bzsWidyQSOU2@<K3d%S4rn3$5Tr#l_TQxiHt;Uy
zdE-pZje%Dz{aVo@X=rDC_SewC8?SYiy+&`=Z}8isb3{A!MOl7aGv3q{!H<d&g@e_7
zI4D}WpO`M?uUBgo9#gD0>91Amo^q76%Eu8s*9Z7cF=vqP(&Ryd>s+Ef4R~%YG4LB_
zVslwT8*&?zqy5nSt<dh<-x^4}Ftih2YAvFj=qBF07kr98PY?3vf!-+>OTQ`4;LGnC
z_UGjDeNb+jnNQD$z$NhY#C=(i3>fCwOujk9yy3-BR}S=@Qt@&eJEk>nhmWn#p5kxo
z&stti1^j0D%X+to=k#tZv=qPV8T}t&jnYB)b6@(>@<|H(Vo$Vp@V02{$?Gl$hH`8)
z*Xok!fO6zXYl`^tBse1Q*--KD2Hp?SFGJ5j8+=v)&XDzGbI2i9+!m{rj7wjL$7)Q`
z(jE9j;;$J#j>Kc)uX>jzMJ>`1;xFk7$<f=<6~xxAu80u#%YO*!=63_P1D&G4q+WgE
z2={NRgHM2#n^{K^zNqJ(d?5S0eWrwG#FwHs{d<G%zj>E8hIDI^XXt@HBE469&GRD*
z(fcF3`|@Vb?%Ok8`sip*c5@6r#|KGywsDK=BlzdPC4tlW2yX5HKS4b09O1k^Y{Zo8
zRFC&l9o{#Ul0O-|_pI~3>9Oaz*Vz{o)Iaxc8)yqVxi3C*sPPTOXV?4d7azYDd}agw
zM)+S2Z}^>0g9`XjG!X6X1;?A9K@9xf>C+&1|6jOoZK=NJZfU6R`2^uz@_cWd_UEPG
zd-<bn&w25^;>pR(D;mnyWRM4RrE6>A{Cyqw3)!20X1!K!boPVQA^XuGL+RWX7|-(7
z6?wcPSt<5y&mvz|7Q&lJ<RxN?TRyz_bl2{X6Ipj3^3sHD-HTpVUQs^4SAAW)HK2<>
zm#2$ciT8uDJQo?2F1cTIfPnqKpI9)AOs4|!9E3dv?2-%NEDT*7U|$IAlJN%gl7pOw
zf%}W#MLNv!_1`Ae-{j+8xRpE<(rJ@;KB&`Lc{WJP`(I~YQ@}^=lN0ov{AYul6q1Md
z5%z+lz^Uxf+1mdW;LFeAAL#mfxNdptR`^AFLq2_Kvf>%%adRjxA8uaqc5DvM_Q8}M
zyKZ>kUFAb$+b<+HC0lNY0bQG3MO<U!Dz3ZvE%2cHmiSD3sn}?(ev^OL!EZO_Ar4y1
z--c)0|Hl!7_~Q&1e?tHG+RLVzhI+uwm5J$gze74?&WYWEA2bO&F~V7vxQ)CuW2@e9
zKJuwOA;CUwUFWRtdC2Ly+5-3E@CCHjxfia_EdNqxybrEh3>?>7%3f3AIcLP+_qEoe
z)jymo@yE-E(RjA}>d<tJC0kp5rD=Ek|79=CO0Ujh(%$cy-+BG#U5bCH$H$0&8RMKJ
z&&A*mjg$1B)%%B6d@mCftvbvyx1XN<F4R$OQ_Uq!?4>yK8uT@OZ%-FzX@vsuq`tA`
zkV|U4Vf?7_q_a%4iV^3QpGypj4_sd6EbF+$)NR{t=9Qnp*|v+2(VG*~vvp=l&mL!8
zh%@J-wK^NI<0Vs)zM$)-(oD88H2os-1b>T|ElGc;>I9A{?u!?OeG<5SOrD2+;&S*>
zJXsD;KBgXPc=CSUao7hJI&slydRNa@OULl+j*r2k9cG>vpVgn1LVlv`0emO%S>(g=
zb^GC4Lq6E`kC+$x=H_uHagBOTUwvZEB;X*gq%+Yi9wR;;yH=HEYPOkW!g&r{j>W#}
zn++Yvp?)9YyA8Vb8DfvuwLa+b7`pPIH_55ugP_|de~!4hoPKq~b=}vq=kl(e-+})9
z-f3pk?$Fq!%vq;>x1A+sWUkS)pS0sc(?qu{-_w+Ck$+_4rBA~f`SH?2<PYv4e~=Up
zg~s>A1xv`i3;x$W^T}$>zn1k2z8API_&(~x*Fh{RI9h84!qK&nZ(ZYuyh86wIWYBZ
zbf&)woV`=EPweC^??KMH8aW3HpCBQ9_aSpQYEFK<rlaD3bGA3ubnsbjPC0<g)V+uK
z-0!~3@83UWKI`t!8kC37Hy97Ec-+lJ2v5DClb4e7D2S)@sAI#EfrddmY5$6FBwT$B
zUU<m&(^J^AM$S2qtqS@9E3s9dhL$U^sqzObj?ww9A1;4gW1#oz>=@evV_;wEG=}s>
za2)&o9lS5P%a$8xpVoLkWd8$xzpEq0ILn&I+e>cHr`K!0j`r#-VZL&5WcP!6^IbD<
zQ}4zLu<4(V{uMoot#x=#`#KhX(BnPfG&vOSoqTLKO_CF6{dZ&q-sUXL;b!@1qofa|
z%W8_q=W<^-=D8_a_dkL^#kAc#-zvQZTrYqZSAGs~o(25*^>2If6Xky^D>3pgg=8f?
z>Db_HJxM$;u1{9hp6tQ*`#jw1%wfr5J-CiTi&k`h41cQ&UrTjx(P#!VXjtUcTT|pR
z<o77{ZCGU5%keK&Z;gyGb$eNBh<vZ=57K{Oek*QzjM|!XW#a_1EOg>RS6}Xc*M%pm
zBm49tXVpfTU-K&Ft`E$M3=XREYTgifQS)hDJLe0`srfiNqfYWo?(Fa>tW|z{G;;L#
zP<(G|FP3j#MOWZgy{K=7Mmxr>i$P!2O2dBsGR8gmWZ#0W(jWR(Q80G-z@7cRS}?yE
zj}BcoO+^B+3uni|Yai%<kMjEvq8~I<KCN#h<A(-iYYuCc92oYB1o^5{XYBiWI0fyK
z&|SWb@J_sYy=+wy+*^Gt9N7A*^s#tdI@y^FPb+puHWdps8so<Pl1K4|bU{RTVqDdr
zr4MW!T6)Fe_DbMBnqHC*t@m&6^^#z)@1Nn*R&r{2uO1qTXH*+Z`uEk3FF2JOkbi06
zj9|Mh&0T(B4m-AZ=VsuO{U1h;zU=>EYIx>SXI`nU`*ndr^Qx9<^MaD6^ZDPK-#H+A
zmGtqX{cRB+PqNoppSOa(zj#kP7Bv%G-`|1H-j44tKA8vHLEm53KKsqX8_xIX&>{VS
zzLTDlj+3t;d`H2jYR2Zbz2{iFm8=@bTh_kEPI~J)%kq=tS+$kckm=K1_y1~O{G9>D
zAdmlu|F_>zejz<Q)HF`nQhK6U|0;HS53xw_I(ZlOdaq&@)??RlW8QPG@$GTFue^%v
zO*OfK$@l{Db;uFaE#bOLE4NRgzkbn2pX8}7eZI*%h3Mn>v01una1J7uBL@+P$wZge
z&>MdM#^Cjrxc0j6p!ga2mAtkh!*3_|-+^DX$JO28;j*F9qq1$%-AlNq^B!d5LMJ9&
z-CYKa${!(C8_93t0pfF4zY7*qlqi3v@ThMi=<D8(Yy|10o|hn9TYP$b5PYP3pC;cQ
zv9cwd-byV{dL)I6pC@?)f7TcIH2=H$?2pWOl(B;PO!?IyOpAP&I74!*Z2n{4^lbi}
z#Mt7aIRERsE%m3gh64R5zv*>-+Ov31dc}|<7fnQupg#MS;CA(x<K{SH1@x`eXIiI0
zZk0oo4U3^$#H+3yYdvM1Y}hBkopN9GjH`K@UhdbE@>{H)YzpXe+3!MgNPi~LnIB~h
z4(F@fz?h0l<O8@d<QU?rZ}irkCI0nw@neBGQh_-NjX!7&>GAFwPGh_v4T^mla4yAw
z>%Dv{UGjY{*Uu6?SjXWN-*@Y!wmxe5&y$$EI|T1vIh$|WgfnsCTYV44A-?UQRvMyr
zG8xjhMv5~(9o0Nuyf0q*5%ii~W}b>%ZniFBjWwp^z>cLlJ0~=`o;dk==)M3v&lq>!
z4M}398K%^&;crCFULZDJa3!%Z*B4L&PKIl5=+HHD>eAR3I3owUT!FmL$u3yFfN@vL
z#^IMOhRzG|$rd+LgQPb@^Vm5Y{2;Bfah2od3KU<PMby`T7rXydg*oN%L^}So<U~H6
zYQC>mhNx+cchB4|!8WYaSt&Ztin>7RIASEuZc;8VH*#pd#NnR$q3W3@2Fz{fsJQE2
z_UH3v`Tk`mI7|Be<s#P7z*>~QR4<osm?W+f-lE{j<s)#lmTTqUKxg)_=5_0dSyf|w
zh39f-o1W{yL2u~PrLA@NgRDIps=FaVe9%h`se`&yI!xY$HAuhhr^a1M4N3VTL$2@n
zz8X^LQpteMORE4sANl&>4b8kKn2<ZSmR9QLGZ(W~TaSsD(iW|I>f$rpe5Te<4P(&y
zXZ!2V`Rmu3<zrvw<3Q_A(_0cXC-tp+iQ6A$4uq&JCHv%gJl{zycV)r)qSiNkRe5vK
zj-EZy&DPeVN64GU$(zTpKMt}m75?wy+Yq^s*R$tb*Z)0J_bi5`GcsOG`*Sy@t%0|p
zwM(1L>{GYCbWo4qj$X(DldZ#lbOSm60I$UV(mUmvyl1BHjLyi^_~<bD!;ITU5=Z|D
zZ%xb@6%QkW;&+>KjrxAegS@Lb+M-_nm*mLyW@e>heg3n!mk+D>M*GPO_?ItK4zE<R
zM{TzW9oR#j$mOxS;4NaB9puD&x08Q7i#`$RnBp_(@M`kTy*E3{+PEe=nS>82{5Yo;
z`p*WA6mp$p{L6qr@HRmI6f$68XoBZDXM$7K9(C7VI;8H`x}`hEA`4dcNBq3Ecz!ML
z2tPK@`yO&>*+=pBw7v*2G~=g(e3d+{kFP!t4tsAVX9%ueP(D3xJ>us%{(6Md#r}GP
z)BN>hqXY5E2gO{tg0Su<2Ohf9tI<E|*4#>#%3fG`oWGuPTUe87SIW=N^6PM+B66U{
zX{j(JZq0t`;)!kzPICJJt${cOI@I+NzvLuG1=b;%RovM7YiF5ai)!%F+r{7SH+AaK
z%!c}TVi-Mj|E*_#j_zh1y}O)cj^c{EagT-G&eUV0_tXHrm4EO3Au!N0_D*0(ec;$&
zm>+;a`KI3gahB=K#CHONqcc#Bf$y&i!0-iNuzarXfAo(Na^=VRHYs>P_D`{@l^-iR
z#To-%kZnK67}$*KYv@mQ_q0P_<kHP$hIppf*XM2UzVyju$nxjl{mYPL=_u**4)RjU
zmqf{z$d;*|Bpb9gu39qBqaQ*6{V<bpKgU?o5BYk*um@EBJ9YU!{qz{ulIZGlSkE=h
z)YVGNR((rHXO(||Z!ho-;&rl3?s@j;;KYgMsRTYiaujy`eC))@^wm@6(Ro$G(DO>r
zyOsDnMfi=+ao*GFj%s{^G4zk6cP02%M<Q$14I?JmL(W5ece>Zc@15VEj{rElxyNi7
z#oW^QN%kMO^ROpDc?sFz=tqb4Bf!y=-OcFOQu^pxospjzK*zG9>Oo7#Kk%OD9mc0_
ztisoN7QcuXZy0i&YbnX>qZjT!@O9*)=UQg*KYb?n<ZqXEQ>S};n}fG@)AP8N-}nq}
zZX}7nVfjowY!*i8`3~TGyL0M&hx}JRpC8>${2(ANZOqMi&D2{*Z|S8ru<l^*hFm2!
z^P%1;IdZOJ;X!)PmTI2IcJ<cnEB)%Ij!CiMC0w_9dolJhvL;sjJb6UqW~BPVYD{RU
z@ND(=zNPf<-hOz)O^mZ|DfKt>_nwJnR9EBbQ4RF$=jbu+LZ4gTDuO<*phxUF=9z<U
zHA{X~vAO=5cZjPTzSXhdYC`~57YSEq<5LM&;n4KEU+&!?{N%#ugunKl6XDr7@*)0@
zcD&o#(4F5THj*FGG|bZ*rO0;}y-|-3km7y$0LY!|1JnofhH5RUH&G|=mvyd5#v;SD
zziI+!%8lPL?T@~k1>{-&uc3DH4bGOAEXglPvWIL9u*kP@btZGmzbSj9x9;Cro36X-
z^{>z2oQa3fg}UzYjDLO2_TIWL`q$?RKmPR{oGqd6hw1sTf$L>lf7YLOYT){uj^4UY
z@O<3&=i>j~-@9;yp7(XIdi^7wf3kBwaZ0pxLLY9GgH7;kme_0_zop|sJo^~&c1@q(
z=*fifWihDx71!GwrIkq+zpwOuPdIew`=>TLCT-^zZ6p1(RZYC1L^Z!t9@n{sE_~?H
zh469(x-?~qTB2d+@hI`uVsxf@AodKupt|9>;_AKV#)Z&qA^Nf5xYFtrI(iYdAnLEX
z3La6eM|_e7$EuZyPn3@rpIBcphWx7+-p~tgX;DqyM({_-?YZ=4kITuN*&AbjXQ^-t
zjqI~a{<oL!fu}F{J+z1-m&`wM6gZd7knM2ohHL||BQ|E2Y=`Uxu*_RQeDoZ4K(<15
z0-Jy?8E7lMf?deB6*GA+Xe(~gnf^oAiq0c^tDuwb6I|WptV@2ZKen5T-ci5mg5|N7
z9QeMLwZRj+9L}kPj=OHSgSkIudcx=|dRlr?tV23$HFi;YYt@d*mXj7YZ2LIl5L3DK
z?O(5cbAxQFdZEONt}e$vxCNY1Kbahck6z`TbPGBF{a-w!ohrn0Co+y=4A~5NPux8Z
zY2pX@3O1f<P#%-H8;mo&f&9)((9wZjiREULa4uMzfK#}53|PefNpb-iLuZFtdD_K$
zvconO`ycQj|Iy|JUf22If&06-KLPl(wiIhi;!__j_n$9QpJn`d3qSmuU=8*4rhPlG
z9EpB$@*?^4JI<$H1M5seL&=(xN5k}vNXs>gliQvUK7AT~*r(ySz+!3kI)C4Xzmt#0
z_wnq0?kR3Myy6FLzDPNs@qGI{ewEi-KYBH}8AA^QF}C<ieG!c%<^wv{u>(9AYDKL#
zn)ZL>dBx)~Y+r=$>}G#!=vU|LK+ZYT8HYW@(}!0)=El-anj8ap6y=|kXHs49Qh2L;
zWoY_?<TrYd^KJk1@oHyG`hxExpAUU0G`)VJnYV}W7I3cM%k;=JHk)PZ>7U(NYR+jS
zAGsD-4q|^BPYx|xI4XWa78|1ZyOF^?*kbjfYrH7ewcd8<i_AUMHre!S`@d1uHQ|#F
zgcq8+R`}?V<H$XaFz0L!#jbyj8vi}$q!_ws6EwYdQNK=#kk@_F)kz$=?AwP7*OE6<
zAH5ow$mOIiIvJhyE$vxaN*%JUk@&fd->s~(oPFiyLBScGJPZ1iv$ibvsBO)=kUWL{
zU&8-_S2+pgBkqG<jl_8isa18tH?21idt-B3zZ7f#(O1Y3lzICW9=bL(U2ECSTFA#u
z`SmEy;zgEcqHkYgP2Xot4+8VOtmy}=$&Q&OFP9ATD$gNrI<C}=l<wSyJbs(`uj2ky
z^z*|9%Z8E5w)12Uk?SW<*F~-HRrupM!AdNua}ry@cRAm*Q=Du4McJqy0h88uA@u(-
zu;`tKzGT{e1pGRi`4@bLjh>vzi}|~QHM|-w;+r#Oi`H@{*CekFw66&lx&40~C7v%D
z_s7<l_yr?df&DI?7tJ4}*H^f-v=?qa#XZ;W@2FfCyEwVL-k1|(_eWZcDgSj2K2q=B
zLC$p-ES46vyc5PIw}toyDEfI1{5Ru=y)M78zt?@|+dlmEoe%MjXz!%IbwQ}^<WURo
zJ0lyxIlV-t$no+O3#l;!f8*`&1O3knN5yVXym=3@pmlD32%e#jXf%8!-$eZ_S$aIm
zu;Hrb2lr~I-m#H>jve$M{g`>v^G_bt9iA|`+>Bmo{(*Z}5&M72^<gJJ?|+{n`8j&{
zO8MR^zVVO9k!}n-OYf{PquR)m&gI!2{Nw3oUOId_*U$}aFLBudQ&+V<R;@aF6SnnU
z*FP>^s&!Pjy6My{(c9<;WsDg`UXJmr<TWOoVMgu2KUR+M?r?Z`r73Pv{&xnx@!gC+
zo!-et`i$euqj+-8XE@88F>3RA9E0<e`t#KK^CX$4fiWfXwTz2iZh=2qE?pd1&Y0JW
zf7`%q6@Ex7zKK_J>gTgcWM&ioNfLRHF2E-kxf#CN6wn2nBklU!Io2zDH}gB<`(h?;
z>VClUt=I;`yW&OFJ6s*`GI^(eN5;QvmR&_JSZCIgr!;VM!tZU&CteqPf<e9#G0F8V
z4BTrKe@iz7U`aQax<9&nFrrT{&6RHZN@Dth%+dP$-YKm&qBnludrs@MiRlsj{u(-x
z+<eFHdg~s%(X>lOEYGgRE?QXAYk>7mvrOl}rtqmG7Z>vP_scj3+1F8D_MbnSG0ItA
z^nc#@nquEJb$@WzbX?z>h9Nf>2H;#^;k@50Bj-K2;|gG<pDgu7Pd_NmfDh`dPYErs
zU;S~1&e9bx2=}YOvuG{cZvyw5!Tk)b#lXFIN%t)7HwSRvdfmV==Pvi=-V8suIP~+c
zap}zveN{Vpx87S4>uEO5<9ov6Cht9t*b=|<KJ0yBgqe4*DQStC;>V+0lh67oz7sK(
zb+#eP5n_JV?o`pw_X*~q|Lq|9pzRk!<6G;Hj55|btwZY(j}=-=_G_l@FD}kc=)-yD
zR(~DL)p0XC4((f2H%1?Y{k{==!v|v87nd$~>&C<JjkTApm0W$B_Sd`n^Vna%Z0P(*
z+m&XDY@p>S_Uw*5n_7tde=q+FpJ#I(i+D`E>y~zJS8iIrKu?jo-u``KOW>UgnZwTe
zDD#dE@SJ?R3j=Wdg#VvL#_aPy^x-V;W`EWkcn?@dbJj@{@!~s$H~D!}_p%G`m_GVc
zQ<FQ$c~f@&yX^eT+d&_v;5eK6P1OD0>HKMU`z3e&QGN5zz24M4h|RL|-(cr|(OK4U
zlfQoO)71XX=g+21o%+#?>F*26G?}`y1Ni?(J3s4BuV#L9!$IiR^u52q{57WTfII*2
zzV&Bfo_vfZ4<TB||I5>nXY>CTO8a%BzGHL{*|B(fe*n%_@LIkVKB4X$f8d?N*+H+=
zpIkWK)d%NV`toECE@Y0@U-q7}nE6MeJ1jgS`2UUopO@+X0G}86@ZQ1uuKfM$JBKqy
zZ9x0K4g0^XKRpcCCFc+N^K^d4!{^ide@XzK_?~?>$~}kqMYHTd;MG}$@08EAZ}G1#
zTqFD7s%G!6;Ch-l-1T#Yq3a{^|G|=eI{y&3F67K5i`Vb-|G@x%{ulp$9~;vx{0I2q
zyIfDBo8>1O{6ys^+u$XwB@!{`$QNuzhp&?U_I;C0=<%rUo3sUNlHp84?e}-s@2}jv
z{HP4qob>7oob`Cy#HkY|O&Hz?44Tu8OR$aPH7D2a_xAC2kZXD7`@K`-1Ij0i`u^Dc
z)ST;y`DWnz1^vDkuy@w)+x*XmH|QDpU)J|a<C9rG&-!B*`~KM7z_E3*nWDAI@2Oy&
zt$lu(;tS9JSMEsmEG_?swYzp1e<)~=$srCpGv_g`<>(C&y?XaJ)8EB+-4Ed}<o3j;
zr=IAYayn}sL%eA8T)+qZrtbq+<Ii>B17AAn(&6$^tq;6|HCGa=$MJpZvDNbJg$LnG
z-~JOmqD5Zr>7T%fuJ6V7<uIL5)5Ar>E3o<UsVjL#dEtf7vZ{!f;*rXhOP{S=z7b#b
z?aWo{&n2FTFh>RBNAQ1Z8NZV8okuEKPI<Osx#%N*_+@xcuvu6qLl67+yZAc=E$#m|
z;m0ZlixPt=##=!BdJ}85zOUji@pr!e+baJTc-kfp+=J7~9vt~a$=POW8+<0eqJ3ZQ
zh6k~kxmB|>R*s0dGJDA3XifJr#%g?|)%Zy8)VzBb<7K`tvzeZdP4Z9fqo*TWG?{$P
zvdx<k)4RgW<IDMbmMQ;WHe9@A`-#otb+6W(_Q87oe)4%Q&f5$ewX1u#w&9;8$$NG&
zhTy3Lhfx!5X~Snz&ht!iHTp)Gg{@UN>RS9AYEC}{MvI@CaLA2O(|%lFaid(B@YAN;
z5j1HdK2VKT{Mm_~`!w~6gMqm7UdEJvD&MqMKCkbyzFog34L=`r_1ow^{Wdq@>9-5<
z6<qzc($jBO@&AvC`}JG1zdn3EV(`NIQ(J*kYm|=}jDda!pS@$)f%8=t_LKWzuk~P;
zuhTKx^Eo<Z;TOO|mPU2&0B-f=iKcI7%{|D^+kN+A?_l0f^X^vU$w3~JN4=dGc{8%3
zzc(R2x=xMi@djiFJv#4$-2eWULen?;b2{XqYQm1ozp()SDt{xI>Ykfxfqxa>*0R4x
zw9UTDoU@5};_$0-Ptw<|=xfCs(%1Lq>FZYVbGGMx0d{H$I#^?G#~y9M-Y&qWx&vNn
zy3FIp2l;z!fFJ*lZ{8K+DZ!w*1xE}xG`C<V6!*wxyy)`OiG4hk;hOBdU{P%OFne%R
z@0LHQ`8qjgD@iW$Sk@Zj9Gl=;Uto=jSDP41vY#t5>s?(q-_t=FTe{~S=q3G=Fh!3y
zp@TNxenGWjM#YGUF-Cj(Mxq}^{`9%t4c`SH{raac{Un>B-6rUm056-M-)8iW?5=do
zI{psc`%U29Px)KpJFfhDIk<fO(Acek+{d}deg8X!Vak7}jd`SFZ9ab=Hf^~-&aud$
zVmZSatsW4s&hv3}EaMzR5B^y&L8q&book_$9rL4%XYKS0)DcfbhT7nfF#cB9^|!*q
z!;?l2ZyF-UQw825@Th1J%rk5X_;lII!S%2m|A2oO!1L#UBZs}Re$La>pI*ktku90>
z)!r!%-xG=!IrC~3`uhRN|Ky0>icXB*kfPt`2Yvct?3NpE#m3<aU8}rr$Sl>lgIRo_
z(UUH8bHVZ#fZ08VM1D|3I#!*42MxXuK7s28$!E}+krm)eJo@ey&j<Q7HFEhS&*KZp
zH~Dp_l%ugs%deTM793RKqlEEMM&qM2;-4JrJYj#HeBbAuMKdxQTmH|<j2!_k`9H1F
zd*tw5r~{wKTH2VtJ;L%&RObz@_XTvp9$yZQg@+U;t7atM#`4a;bC#&pUvc_n+R#yw
zL0c!?gbtIxyP4}Qe@Jcve37Jw{m-uMI=)YLRZ}BB7>LQg&K&(VsBpjaP&S+M3j^;S
zo4x<z+pv8X5`&KM<?L*Hp}WKVa@L@4$4dT)xxNv&{@DTRduuQ%XQ2HD{djq6?@5<P
zhbSK<Sngn)s{*im*oW~#u74qLeTuzKUf{C8_4jh!*2UVf!Og@2wZK)#$DQNPc_I9B
zQDBUB`(w}JnrxQ*w+?K}RRKO5!!yUaR`Jk(`Z($&Ppn#m^6u8xPw8)DD9Ag%<M~@z
zM>(~u^zYeYL~TodSMzrnyyW5xxF!bR|5LZlSN-q4{`D~(W}WJeswth6X5Tye+{=IG
zedFw*5WY6`rrr43oW<F*oBpdOyL&h6z9BTd6MOk|b7=Z@WO(<Dq3PwTiBs@#+*~R?
zPRETSt2>T2b?>6)rM*y3P>U|#Z<dWvFX^+?UXUBj<8ZyR86Srj;R~!W%DbJ-ragM7
zcgiekF6A-yjxfd-uz}@uUJqvZa`x8nUX+??Cuh&vI%waw@~X)DQ=9oWYWL;Sc$PWi
z;I5O}mjjM!mY?>eBz3dh{Gb1>^G7oe9lER1tl1SV>Ub$0>Ab7Pg#Qp_yjAA5UHaRh
z_E=MN`Acp1Q{hX^yv9Fr#ue~&mEN^WFm*lqotL7Khwo~x?0hMd&b>rWz#nqx^iJxC
z=)h$W_(l8h4SDMP`Ss1X%c;4SQ@7Jt+npQvX=S_);0XPpP5AQ1$?@Ev_o07MzRm>f
z4Zj)Vf==jT-%)N{{V?S(dVWRcwQgKAuk%{d&bP+SiTilcw>ed_h~h{2&y3VF_j29R
zi?bg@uaUAjqM7E{&RklfLyxR#g6{m{7a!(0{?~eq4ZWY_nV;EbcyAkjZ-<_OEyX_F
zAZ&_-w+F^C^!W;h`qr4GDc|9)(>aHB&9Csc@OXH|)=Zf52Xq!e1HI|0!@o|RK4s`>
zTwvs%?~-27w<fixql>)&Q}vxq)ospYE%d-#!nr}y_msP`@=9%J9Xa^hjESsMja@nS
zTw-o_j`L-5cX@XB)o&0NUt!u$x8qz*ZJmC^a?aphKWgLnG4JO5NpzZQcKu&^H#{xA
zq4$V-DA!Kfa?LHsHF=U8GSP)^X0Ko2Ur&;|>+s(hw=(vi-pPf>ZMls5qj^u`iqDFf
z|BZ)3>&lrwO@ARa^ftl1pPWfF5^-w?VZXM}jUUoQe_HM{^crx+MD{bLCq6>>!MC3>
zbUh(;HuX&PwXtUE_U&14K%KAsUgY;VzT3+FnA^I*rQv+=?5bgz1tXkghBMX{08?b5
za$#e){4dXyZ*!J)p3VP^!#<j&jO*TeM)!EOjq|YVy*Pg#+N?b%W9ea=uw^7Te1pC8
z$>IDgO)l3SBKclBkh>T;m4hSAIi)8mA7UObttYMPHRgcxK2w(r1J^kAVf%Y!lf4Vp
z7<5pw*I9#Kd`@I6dulIK3`b4nq$A*949~IWLC?W2L+-t8I*aH0^~EQ9>${uvslQe4
zMo$>}UFUe-^?5SQo-_4+sMbCO`4f)E!rQq8&>`gYiFBN8=o1;^_KC;`^7=%caQj5m
z$GR5Y>irsghK|hAr?wwHvAkgUBpR!9d1P50Z-_6%AA-59Y-pG}sdbB|v}Sa2dlni=
zM)1Gd-FJ_Gt2W`($36OUNSta8i~AhkNk;#Cpo6vL?|a4$OtE-wJIcA}7Pni_A;ri7
zd~=&gpS12F_$Eoez}_oV>zlwCekV`PHF$fUT20Nb#e>=>pGAgjJazlchc~DXQgcfm
z+3UA({gwjPZ{)h2|7P8XuY&J=h5NtIb#N2BzMShn30#k(A2ipOxNh;o_YeEdpue2!
z@{vUo3)5v>o53~d3{SRB-SS~_xY7w4L;Kk*-JQ`x<2pJDouHm2V5mUfRKlYP{0m3A
z3Vcmx9_gtlHTfvLe-U?&Av!7T=_L9X$4EyBhVjg=9B<AW>%~MevhF>^9pv6eqq{GV
zEx9VxG+sCtPo<7<255@?v<H8KokJ(MG)<nwH)FNu&K!vCQEp)TmI!nlE4&0~7zJK^
zFE)s)30%`&PT}ehYtkA_$HaBnT5K3}R-V!!x7msh7G^z>kH@wp;lXkfT8eJr8}#1#
zy6AJyxqnaCG8_GE*U?08(NMgsH3~PJx3$6QlP3Hms~@8HUY+>#>YqMuEo1U*bKu#i
z{1tSG@(r3V$VdBl{spe{Og~*rbbzh+0(xU8TjBV7mSfD3FN1A5H#dOS$C;~;?FjjB
zS-$M#xy$pe{g`X@_`nv<sBh1t$Fw*7Ib?JX>)(rvcCDfh6&i`YSzk_@ct$*}e!e@<
zAsQ!YDttQXyxD$z_<<v=7oTiMI=MQ>*Y^hBEsHMHK5zEvc0b1a7ovv>&8uEC@rQC&
zIqbOTcd_^c+)3_p7Y5|e$9D(k4dmlH`cwMG0{FfHoK*#J)>^Snd8R%b^8fBUJlFHi
zFS#Z<eMmaox9{H!j+6BGV>!<$o{(RZB#$J%()mz@eml1$riUWbt;os17ye#H^#(ca
zS>eiQh8JRAh{=m0UQV<40nSlfXxeM0Xm8AUH)Q1>5t9>p^wr-UgYPt_o=J%ZIYXMW
z7u|R&UPPX864!Yzitcc33Az2T4&ypWuSVc-F16kt^c@Oxi_Sup{HEz=(K;8T&9ZAt
zIPU=e@fG&#E+?;Z9W{*++}|A<v(zDe-o9)7c;vO6p1$@hKHBmUgFiQROJZg0j`P8-
zzKxCju1oS>xfy$)RdUSzD)1*eAlrR4@5<M=-)xWZ?rPrE9M>?m=Fs@bz}Qp#vE%sZ
zLyaT41mi*SS6fWXiwUo}Aim_J5ht~b88N2iA-+@I2`*{;9y6p)f)5ohvgTdCy%C$o
zJ4xR8#@7~ff4{ePYX?0l4mhM|@f`haW&7uAeBG*Z)cl@S#d6Qwc-Z&ff8xcf!-@5P
zPiOmq&z`bu?}p@?CbK7GUQE@qN2$JaoxVX+gg;B)YNqjPp-jV@;mpGG+#bxH#y5*I
zjc=ClQ_4?Sre<ZRx@Kj#y5>aFQ?s(Tx@MeymsUslHa)SH`+f5)V>iC}?u?1e<o(k!
zjm_nm;8|}T{szKl#^CFeuva4#_ttv^U&BGiCr|V65<h~zZ)1$)c<;H+BiOe##t6bE
z7}gL2*f|_(cMjiO7w#_y?{>^4uIoKrKfGf5{d#8Mn!{t0(5V@llpIB_PQOo%^?Zfj
z>JQhLf6{N@Qh)g272nM?W1|&kxj6-J_fyV$bK@;^Z_noNy8DQ^_H8shB|JBS^RO!U
zabvDKhGn{LJw6jZ)oj%_UL;T5&{}%r4dm(&=Ow3)BOb%2Pa-Sjw-7r>pRS1YP}|=X
zJX`A`*-&)kKQeZ?8Gj&4>^_fcHV^2Y|GklYQ@)>^o*+NDpZ7dJ`5D(w&VBO2>Q(<V
zqq;HVEd46Dc!hC0i2GAtS$W4*^!m1joR)(dO?ww`-23@xclc7LI{V4b^1NBviVaTe
zJiA5D9sG-FPv2OZi4~d5dh)qjdwRe36gV@bz>k0V^k}m+M0}F!GA{2W*puOmFg<U8
z!`w#BC=SIlNxsW-H~TME{AfmxzR43IPH8?qky*hyS0E27k2CF8jdC*e@O=}$^Hg-i
zn3XH<cr6im{Ix%?eEPL!^Hd1=JqUg^uh!x)_xD0$THw8{Vdk&Mnsp0I_`r5_P>A`3
z-_7WykQvibiJYuYn5Q;_x0*wtOfT|X$ul#?#OO0OJ@u?Bb)4xrw~W14Wu~WUeJInW
z90z^N#Ogg8Sg%u>-gRh(S)YTp@-Zw;)U(-GGJ0u>vsvoFZ7VcJE|=XxZ73Tq+VaM?
zO#5DJ9_J)&>7pNZ&sC=VxjRZTz2N@!o7h8g$L!3WtMJLE#(EwK6&+|LM<X5}hjl=H
zh~nemdr#s&>Uq7VcZ3Vh*6?V>nD>6Z!lk9?YU$ZVPQt>t;n%g9EPHwd;|S&J@iX2y
zVA>C@Fg?A{`YLqcbF6z0>vVlo^z3~TI`3aJq3Ql8Ig=dEh^O#r>ckrh%!C6S<f|6Q
z4|Vl_Xv<#KxfwXKe~Gp41xE3d;Gx%vv-`}**v?3c^iTOp<ML<uO2<8ONBTR(xJjQ!
z<K+7_$Na^S?sJMvPZC^9W<KWA<4))yz4|%+kH9ZEdab+2W$al2jz^be{s4Y+^!e{u
zK~4iYWT8XXM`AtCjh>UaJNVA%(#&rE*&MjYf{U)vvok;D88?3c?Bauy_+R+anselF
z)N}GHu89U4`7PO(+<%I-1J`85I$CGwMfUfd#TkHeV(n$)K3;7m#SYJgCugIt=Zq_^
zE}lY9fidkxSI63CqRWe~<oAiC)kW)POYRQO7~^D|Ii|hzMbqQicVBOl^KtDS<EHtp
zmS<<TyYeqxBzyB9z2?oxL6h|0hhm45*pyZ1!iEo;o?7CE<YaR=VZtq|(21${nx3Y~
zsw0LTZ$>xPf2|~=yl69i)2j2he}idn*k0OQf1|bO-du-Q{3s*eCyHO<o|`FqC;30q
zwC6^fb&JrY;wkoNt&?nRN0)Y;VUW%Au055eCxvYlZ(*O8%|U*0o6Wlag|^vB&u&DI
zU^npprd*}(BAmfme7)G=aBc%O;qZ!|y139d)@J`6`~EU?NgZ0SMsubPh1P5$U!qz~
z7jcni7k}87XMUM=NDp|qW@n4`xHK`J_B4DiRJN`{Yk8lymOtRPpdThnCw~hYrTilN
z*xm&WM5m6D82ReaTVkujnS-1e3%qXcce&P0t~a+w=j)%e<!-J0OmFST%aA_0BOA;Z
z<eB^OKpk&-d7zFry*v;)WQu!U<NKh$wHu-Sb1e?9c+|rYa9JF!2S*3NhhVVRZspo@
zTuXZ6k4*aG>pMN``|#%RWe7jQJA>A2X$Ho`^70GgE5Ce)Y;yg{ru{?@Pg`W0Q^!O9
zlhf_dm%sA#aa@;7>3`Yl`cbAQ`p1<|7xi7I-+nv$0?F&I07t2l`5(Ju{f292m@!To
zAK^s4rvhAuS3KCaf9Z9`#V6V+n=M~hXWhhzrQ^^qcbUQ8N$<Mr_ij&(^xmlW`S30=
z*T(;ImQA^3*fxDXB>oqA1J-)}bF3k}&dU4#v(4eyL2M4=%ZHl)-B0Gnl+Egae|9c_
z$EDk{=Q9R&?9-!T?Hk9QxGbi=X>4qc?+zwTAouk|q$PG{?693bekys0#gRi1<U>3X
z<Nqbtgiu+m{WA|^@7U)Ty=LG(F@yh;{_5cku~S(S@;!sO=0N-C&U0GA>~VM{Tr_$1
z@Q+uQEsl1_%40p3l{wYMAHRAAc~-8);6wV(+<k<(#NhE4Yy5KTCu3`lx#)O1{+!{T
zsGdDG)-#Op7c+L^R&*H88DuSs-Vcqa$<U8AGB%dp`O$pOf;w>eE2b{}=b1gPfUEdu
zc<$Ll%g=qbYFpd!$Tj*rc0TKuy&yl<hJIMk?R<cmQC;jN#=fa66TkJd8R{DcTIsW|
zLZ=E}XW|ny5<69%g?tpn4xf*Vo;fMje*Os~sw>B_M(A5TE!JL(t*SgX);{-y<EtlC
z#WQoh!#5qFbL>oWxb+JBHReqibLMLLJr(~(pY2+%_=mj9(wy?Vz-*qG*)w5z*Yb^F
zv+OKvZMxjMzAt?4WZ`J{xx<#3x>-HH<3022zU3Q?Ie$KDUvsLdi?DCn-1fe8=Hf-m
zQ|vE_`1^}QU(wsr=CQ|$>-4{9FS@twD6Vtxd28V_=~2-=1YP8xi1so3Bxu+(4nHZe
zb85>}dIz^TWm}8DOPH~Rn+m6_E{q?v_qbR_>nKNWhtD?a%*!)+%1^}}4G%#p#)fx`
zO5x$K>A8gUB%p7E{Zq2zWmS!t#Z@LFoQp>@4-bU1Y5QO}pIto|&ap0>(_5wk=hQb!
zU7s$8tc$LjUN3ch$_Q&p5tnNIEP5k?{N|418&>$2IpE)e9A%GV?Z6n#&gv1*3C1Y!
z3r?Qti6dwGCx$$pq~9Qk%taO_yWh3ctnUGL_~={peinZrh=0jl5dWQrO6x4{MF-)3
z6YCQ0CAWLN1>b>xv$L|L5<f<Bq@W#rL_Nt7z!wfzYo0D(7EJ6>9U1dsdGqtf221p%
z!LT$QD=gr4uV4YDTHuKS&neKP>4|8|ip8n!OYZP!5=A$NCfjc>ts{QjDPMmPJh+;l
zhW)d8s)n2PsjRU9oL9mx6XBzeG=?%Y;6=Pw+3L8w*TwtdJ@&HgiX3ud;hn^>?au>4
z%^2d@2tS94T{_Kx-lF9!;7UW!hRbL5h@O+~Db8q~`M?a0d$Q<K{Mw$Hh2cyVT-HRK
z>C+~eo=*HnSB}vw;uGnbXlzzb;@RuACB~gNGP?ZG@@Tg+&mi0MJ)il=$LT9W_pCbD
ze1Xmz2_v_$XS2&)nLj@$^Lv*6__(rj;;W>8%z?IQ;-=B*cIes@M`uk~UcapdofV6F
z`t8of*d5YswcX|e_fSV}WsZfePS~?teTfd&tUfWz_b!icCUWhS&IhVE*LJ|OoSQ~X
zXTY<q)QJ-BV_x_+u>f3P&*Q^qW#Yp}WMosMhZDCRmzm$d`L5`(_)_HLLUZ_{&Ca^X
z)W(zehM&hCFR7SWU5~$*!Vi>=lpZ_}-5L8|{=Ui_exbstKCjXA%ndv3b4s1|^WgC%
z_=*X0T+8B7v#aN#Pj`&MpEse$=ZtpRXN+~IiO27ldlPXMeq;lFWPF8buYI_*J8=`R
zx^NwzX@Vw|%e$9{O!&+y`U<7{XMh{&TlX9eddfw+D7rQZZrZ3fU4)G7ewBI<HMO42
zUe0sBcMifX{KB2mtx-R>`WO5$;r6xp@RI6z^JVji3u=zwUvV!AU+4Z6U*Ku<aky+<
z;@0!<;pkVorIh@Z(OF@AzUvy!#?qMqXC=(~Y=h^&<)#lke&;muPQ0I;I<)_0xF_6v
z2smU1E5MO@K3zW9IisfpemWE`IX@M+W_TtWHs?qF+&e{l@G-w%Upy(^4{<-n*{;vk
z&^JggjrgM$e`d~iW@l!fPye+s?eSGJGp)oP@m0e!@m28Asu7v{tDFom?d16ESkLTQ
z>_7Z5<EB{q8HbWjFE|riuxDVkDIG5QF5nFG8PIp;t?$mfzW{7?_-D}~Yzce#!>sK;
zvTtsXt&~r4fF2f?)~qiIthumrej8^vaP7s3$b0le{0{u$z0i|$1b5yKue=d1*|M7F
z5AY3x>R-+5`6IFS&8+oL;bB|qk?AV<=lI`xwtKh3z6o+1(d)Y;)63MOk@#(Hc@%z=
zt)Iae-Cy*dEjPz6?K}m3<k{RQoTv85*f!;y4lwVZ`1vk#Yp?p!r)F^e&xkGm#@sK2
zhr4tCIsC3I3)!#M_y&8kN6)wc`&pOz4fS2wNn+)cIrYpU^|tzR>+HiOV)M@Hb1q!}
zoCnuJ?%mo4*9l9hExK?y?Ddv@TY*h(d;{G;?qdI{{u)5OES!Zb<n#564d-R5)|Y0w
zh-JIr>o~FzMdu3EN$9m4@^x*zpReO*49(Z^iSRY!NWMDxTRO0#KwXn_zosa^i_hHG
z>$d;w*kSSZc-4e2LkD5wBb*)3@qeY{x{BPIu$Sk0(v4f9*L(b--jF7rSJX?90*B(8
z)N8#{q#J|->4s?ReX5h}gy%TF`=oX9o%SpCXHEkg(d4Y2bDv$&y^`-<D%QV-xF=T&
zPWW3mEyDj0zq<86#``orR~DV3wZ@}EuQeVStV_=OkMlB<zgrmR_g8tk<dgu;bEgeG
ze(v4WAr4As<5yz`o*y5tmRy6oc50B5(WyQ1jn9~5@Q2Oe+NpfU`7FMtN50|F<Kxv6
zN0hq0dIjG-&p|us{u#tH#JBCu)Vdcy!z?uPzx6RM;>XQt@^zY1I!bYm^i+lExc($$
zxXIFBpGN~1*P?;d&Co(L5G`)<X;2?dw_7?)TVCIdL52?Fwu}}X&^ulHU5E|`@pt;@
z!1?M!@m!p>NS8-|GmBoAPCpVI%8-5O^dH3fd7qrdkmKj5AG>q__ri;Cei^+Q`;PbG
zFqa<WgGGZ$&?Evqvf<Ln%16mRI00Sx8hqyQ>)0*P?0X0C>$!RS`k`m9?Y`E<)5%*N
zgCE83!~v6a=7Q=m;(N=t8R02p9>}+YoEJ0XnxfPRtvmyl`&^8@wfQx>wnwSi!8<l*
z(A<1@gLJ>+>v`3}B|B4gzlon5>$#X-ZNX=szn14`%2r@IrO)j3E4lt5&xSl;Ce7}d
z@N91RCfNvb5z<k)H@zHAlxM`d%6r*&Q@pEMw|K)|yOe8B<XxN3wPL-GO^o04?#wE|
z1{`tpgWmfj_bm>ZI2YWGHJ9tZ<h{6`Pl_K3uc1%=9O=u+0iJ35b?-T<IRxSOFz>#h
zbuo_}?;NfjpZDDRxptwh1)e*TYm0OZ`~JgMdN;T}8~&U8ILU4U`IFkSy&PX0|4sg!
zo99DL<(t)$?~`A4nS3{5?0Wo&2K=*y_-FF@X5+`nj?chPtHqAjfRFq&K3ibj=eRJ9
z-}2=*dR=>d9Pf4P_Vx?LukEdqK5xU0M<Ye+R11C?JjH&?ePjMgJn=vk{E>tIyV!%G
znizKKF0FAdvfBIbaoxSO!@KujpQdx}MiG4&Npi|5{8i=W8t4m1vQFh?goi48Q{`h5
z4Mppeqv0IFmRkH+eEi2#tktl7`J=G|@<)&Fj=$#lxT#PAf9HfuLOC69F5PbVK6~Y0
zzK>rC-v?;(NYmjBtl#Z(xfXo1m6&;tgv<rDmZ{z+*||750P#C9>`28fdx(9M2TBoh
zDK3o@cg2Za6yH1r9&_MC`f4vV1QHN^KIY!5`r(Uk_J6)yHmQ~#fKTs#3mEm@>2GoV
z|73pU6uN*@@uBK3^-ol^%ug@q?%Y(mwS?HNBCQ%s$$`YCQm+O>A9JLPc(4pSLR+oF
zn3?VvQDQ&6uiOGUu_vA`@4i!O1Q%W4L36~xgYc394~mVaYEI5Js!`mC-XM>%)iLo*
z#SGKl(cAky!6&$yHu~_idhmoc`tY#NqYF4@jm4)BTq~VS4LUecHOtKzB!I=BPdbP(
zOC~gCCf@C21apNSTQ&eg3OK(AoQ<18(=WF;Ilcf+?kaV2EfpPtq3A&3E)NESzbzP)
zBNGfY9Zq-EmBiGsQ1?W5Kk>&|J;IlA0~VgFpJx#qYsj?-rin>2UAPgSIKVX5hehj;
z-s#2a-rVF*HVmBGu0J@p%X`eNI)|ORhB<=x(EQ@h8z*=$*!jhy)fN}fFP}f!UMv}a
zi;5RZT>h}QC<ISF9ty#d4~Otj>cf!(H?x3M`L9m+XgYj46&~Gopv28BISnB<k5O@;
z#LX=k{5mrnTMTW=8=VY#=YsOyaHhPsh@WD9O86<|rz~S$oYhk+UKYQEz5WiT)?9ze
z?og)ViOLqkTpiDsz?;zGEa*(%j=3qE5j=6|zQ;-5E*zV2&=1<e|K!nPnKE*Z?)3@Y
z^(faPMX`(_$0?c%-;YA?XIbZy=$9OPm-Tgq!y3i^(izI7P2)#$GJmzlhdH-CTXbOi
zDleC|kb34`dM<kDH+TVfh@~FreKVBNy5<0519GssgP8oO%9gMbZduJ*7fpy|_I=xN
zpJ_OeJvjb7UFZFtZgOw?z8%U$)83qwtzMpSQ=^yb>0p1<K3}%Q`@*%AL38Kq9#=mw
z5BP9(L<jmI1#jKXTIDYo^l&-x$lAqWHy5WIsm+JRFAKA8&dZ0|eB4hOy?TPphpOHs
z`B+FkbUwBqce4*?)`PSDW)IHikB?>2)T@<u5}cJQ*;fp#f?d59_1lO`eK`@YOGYHC
zX<tq!-4hz1H_m_#9nu}FWr6GhbnN!=V19|7hi*yogCAUM)(Zz3Q~c}v5<5U1{Q|9@
zXYegYO8%6WlWv>}pH08o({)~6uH?X`t33L4NcY0eQ{m+|m@5bTHGUp0`pgVh#+4T}
z&@l-NG3JlL%R!!v+~m0Y=;kN==ak2EpLxH>*O8mZr2?CH?l+g0Zgr5c?q>QI*b|w!
zytK}fL2?7Yqg?It;<MvTkMfMqV+*3-t_QwJvDQ7n1D<<+3lB>^)%RRuN)OaCj`EE8
zGJ3{QWK?rl8Pz<ceKHz#Wwdn>@D`BK9`NPLA#09+n-06?v#cz8a%%CSXY%o4WmeCK
z-g;&l^xw_?JK<}O&h+7)_^}q9aUHaDc9ghww33*i5j)!avl1^y3eFalq<2X-SH2&b
zT{^o*xl;Oo=<h*Z#+d<m(wZyH^r`Tv_^~EyrpuNs3h3;ZZ!>=E!y=n5ItiBT$lS%i
zGQS8v<V(IC0iFdWe4uNYZ%4uVUUWvSwPC;^n?_HP3rAxAOgEoB4R{5EWFzV8xJgxB
z?p?M-yf+oP>KWY+jfiC`Muhuxon%Hj{dVnHMAyki373U@q_zH9&}jj@R<&IG?80v0
zHkT^hDt@X=OV;73lqc(H&f#!<0buR(QSP4Evxjk}0b4@)TsQ{aIIvv7Ji?W9PXe9f
z$}+SRtYeuc=If{>zY42Izpq{se`c_L`o>p0{gg!R#1mFOHSC<$axpde=myVjRz|#>
z`KE7p{7`a2EEAzOS8$6C(oe$we()n2D0eQ}xOV*ISuQQ6j&m{=&!UI$FFcl@yC>f5
z(Zq}}BkeQZ^?q8IC*_Yuy5Dyco^fvX>}!S3GtKKfTc11{&#avNH|3dP!5Od_`a8dN
znwvMcZt?+WB75OrD=tQVB*;frVJ}X>URc^@$jjx|NmHLfHuCJxX+C{p)Jk3YGM;#+
zf!fLp-xfU#f30@uUF7P3&U<{C$2^)R?(t|Ifj=7HRo5oLml1di`u7;FN2r$={;!lj
zxw1&SaGUBV5qw*h2iDBwyS`?m=(~z~l<1#@U!~W?2lXQwk-MUdbcXCtWCF4P|Ld7f
zX#QX93p^SwqjLx2^8dcvk4v|1=;LzSQE;iT@^Se%W2rZw50^gv8g@>{mWNwX)xItF
z@zyoTlW*+FZ41Gh@Fe?P4=!Y1BeEwx4zt9M!eKV#p7-bCP&jgN?c-23Ub5lVovMlk
z*mucX2e^`bzfAiq!JT3l>HZkk`)tDm=D`<?sAmnkBRa|UE8nw_9-!XOAd|$rU5&?O
z_7LB6Z4RwV^St8RbWN$-7lyrRZ~IuOn}f*~$f+tv(e}~ODWdypJ`AFJ_7@%;Pd9iy
zY`X9I8IIW+Vr^Z&sA#EQT;E;K|L|t}M*0*T_<V+RA3q83t=_oiqIh+v$f?%*8dq~@
z>?FLjGjHtp1Zcw8dw)^YvV8Hv?mLOsN`_OjVeHoNt}PiUxlkM^+cO{i8C~nyK(C(<
ze`Za;{%A&rC{_TDc5Gg|@TY!0!IGf%Xpk$}oDSdScrjckGZh+&uf^-4jg8|Dv8Oc1
z*TWte>{oVfAFQ`0Szbg>2!5-#tzX$0@p-Ys^D7e(j~B5ow^a>G@7hPbUAEk;A>Lvg
z6U#yw*RBiKCz_1(xYi{8bA3zrNW7PC$E{BOxz+(3`LTJQ9e<w(kB8Hu16}WRao>}~
zh6tyc=V&<9{E~^GaGHeAWvjn)6j<8M90*IrnI0^y!11?+W%W^Dac=PA(ySMwH(&4Z
zTF2i3mK3lkw{avN=HdXnv!J>4$1XuGF2*05kBqbp^L;XW0{LVW!#w<@Ij>`YPljB0
z^5Oer-JX2#y{^GN8S#qvP4Xe1Y})VoeFfJiyQSX`ke(Br-{ZrY@5e3&*3Kn)Hf)J!
z!&?1XzvRHy`pq-Q0RGE;;5-=rRr0@Nbz;o4PeZ?EnRgbspNZsp@Q0?$7a1WK0yh4I
zIYoow!nWB(gKWvPl}C;X+nj;&TjBKEk|JzL7JK2^l7-{}d|T3QJ3^U0+X1d!JvqR3
z42%thPuY#%zIJ38ZW=XEZbGAcx`QXt*|k-^UM!>&->Urnz=y;7(Kph!CqArwqN-&E
zKfhgEzfCmW06#Vz@8b#iQ9n`Wcn?o$V3OUnFilsi;_GSkh*&)>m>LS`6x+*@05|fv
zZwID)n_7XrsRgbD*zrp6x3<7DHCz`@HT!FlPallA7N-{+%3b91YO9|ExTr7Yx@`tI
zlD?R0ju&%LvpH;lS$aCCqYLThm@g~!{`^Df=iH}C+}Om+pAwsV%FmB+j<kGyKYx0g
zD<9{2`O{MPE|@=6j=?#>i&17BWxlpg_<FCy(|Z-4@aAhJKNI97$)(nqNY5TXvpzd8
z0o%&FLED=2*L=DUgYp={x$<x}XYmnur~Bg`3=aJ#HSkXT$Gtq9`hiTZ$tVU_4_XdB
zDkpDIUTJ!ihZ8(e`hVnmlvg^_6;~^d5rZEb;;8Z~!kMx3BK%v5GePhdl>?Z?{OKaI
zHG&-KdHKC*e32sgIqUI7sLPk&kE!l(2|nQ))Q=v;AKTCG4*V~DZ&mvo_v4S9`ZW6%
z=M(oGhcEFNejm?od@lKAoij_0=$CcQD4Am6fvzK!3ydHGrl^q|UvXdDYjb?hygHcg
zEl)qmJ=y%XBB!aC&*NE-$Gd7g9{*d*>HR)T`Ft+F&e`hwb!qV&xs3;p&f|q@1h?j`
z+v=wI#QD-osbBePwQ;~R{qlSd@mZfd%kBhoDA+#NJ{3_XkC>immwI;7`e5oMD<tDq
zM=cp*?bZj2KIzLGG*CTY(-YqMBk0P%wcj%fSY(&F$eD;otbaWN{9J<UeG6ayV&rlD
z7;@u3_u-0!T(}ZH_uxwV`GuN8;mkf{P`*XYp`wg>@@fv1@Kc&eAY1hDx@QhO`rVm5
z%{wbvLiBIeT<&BZMJ6YL(^+nQA?!XoJ&A3E@9lHmy(0Hs0>5M6b?SD~J><v-UN3R4
zD^^WJ$Wb$=A)fT|6{USLWPSW_9={yPp0%AdP);h&`uoVq|GiS!)=N(0=S6?y+k+1A
zO6h@3KlEtQLH&w8f}XzG5&Bual<+hWJuKWR{xMtmj-~Jd4Q7%1%b}wtqN}B+BhW;)
z)avOU0n2OrAM~S!-BlnCx^r+GwD0=DepG{-Uk|r9Umqxo&FejUc2NIC7BA?FgM3+3
z9CV-bzjy~ZR7@mzU-09hNxV~qKj_LNYgODWne_5l19O}a@>R9?i<S6`lYD<M&06#O
zs^@Zst=4Yq2vPR0h4S(^-_2hqc$7_19%qi9hfp4;=&7mX?Yulr+o=QBUU6#w+BY+P
z(QrQo^w(a++9xTu%i6VOtBdxs_R5Iqsqytu0(mpoG3lciYY&mT3BAknMRYxl{Z-D!
z^*e!2|I6O}YJq1Dm3vTLD@gDB-e%{dl0m)AOTmHdZT9+_rw!<9mOWHob1oFF*4$md
z?dHdUAqET)VAuf++8fzgTC#P94+Dv*$;Q@o$TtLO(N;1Tj=4S@dOr@`UgLcap6LVN
zG4vn{9)~{bkS}lf{@-=7OKpD69a(d8?yWwZkTv;U;#D`#j!el9bA2$MMv^1hD6LO1
z(f*eQ+v|KkbvMsAdHpa~{`$=g$|WzMSHO+q^XkdL_%He{Utf19{=<%p@N|P>`A30O
z{2{pIZ%b#pIbn3T)!m}aqdR81JY?g%7`b<=uN5D9y424Ji-+JdJ>y;X?4shtf!B*%
z-%K^l)sji%z|-%ZU(-eHO85#rS<zC4Y$g}iZ;LE8?Wx6+y6+O+ShM9B%P($iCNF2U
zoi)DIoLTnXlD?doQ*>nC%n6rF5$>f+Wjp!K!btfRvYkQvHytkaYuO(DLx+pqTK4~+
z@&DmMe2cEFSRC1Qc7c2NpxfTVb(dGkY0Ls&!qs+g<@$QB6c5;w+x)VJqYh%{V2(ny
zU(r+Yg)hdpI0yD&h`*BXooeHg?(u4o73fC!{`Q`ipYUv(_^ZR0#bV%-|C2=q>X3;L
z_AteHdxo<z*0W#MnD?&xuN&Nbn(n?u_0=>}_qDy=FVl0R9`Az<)Fwmyy|8OuEOvWg
zAN){%|4r&I#Y6l34b;*8T<q@CV{Uh!Uh@7o>(c%{y|llNuH!pzo})e|+XwdG^1~aZ
zTR$NW$JVE8I&WaDC3K$eQ|9M_z^{jAPj(ZnGd%f6)`iCe`m7Jn!TKC{ek=94EeDUT
z_u2|PV`G`SxF=q+u}r>C-}$rR0kylt&x+l;XpD8*_*i<{)y-49+MVL#VC^m#AAiN4
zuTY%Qxx08^FVk+1cZZrwV-$*0KBqa*>DIPY^Q}<*AM9Dkao&Euud(jBJf8}EB>8H9
z7PAAs#$J4^K40Vao=&oL!iwK}_%Yyg4}C2WY?S1#uSSGzaQOkd;MZ`yI?)8;YCl&s
zfG2|aLF|F@=>z4jKR>A0wG&%-y2WuG?@B-9+I{`t=P>KrJsg{Sz74=ByOmh)@vZFe
zAifR42(D@lIeqocp>mjqUh?@480AB*qW@pKr##oJ5#g4Lmp62O6L^1vPu}*+JRJYh
z$1yPP2e&rYCA<5ubQ-u7%nd%wva9APFW;5!v!%X`9b-o7UjOxQMz&e}oSzH(r4O@o
z+aSIBi#)yiq=(mR9$p9O-ABBB5YgPyKUqlc`o4hf4W)O#GX#8nI_ohXM&fhjuS4u>
z)Oigt-!}C5FX${6k1O$AsA;;moaXVT?JH33FlOQO^_B_vE3VzB^5`Hu%4f0qEWvvT
zx8K04<;iwf-o2JJ<ojr)&v-uCsR17?i2uIzo#yLgyS~#rogCwwRLS5G*LNa)6Ug7+
zdwm}hjSj@yTkkJ+eV(oYG8+BPKwjE(pGT(-`go3L!~Nc(qw>;Qu;F8XGlCzIq}Ot!
z<*PhcE#9N!e7w7UF+GoCeOrkB8;Eyj0AF!_4*XT(@mHOPf9aNiyyfwb^*j1`&dW!-
zyoC%;yENp*qkX(p(wC30ytVtUp3V`@<!4s0KIxo=tWmzE*3)*2?_;LDTv5d>9`4id
zkc~;y`{dfY9W&gz-x=>W?)x@=j3%9oa_0}*`SM~4i?>{{A5Ww`f408Zk0;O>#1lJ%
z{3<-U{Uykw@Ftmj^ehi&R<0CB2tUgGh>zWvVZsox#Du|k^`7@*3FLJ^EHR-!M{4ss
zE&lrQW4q<T<ITR#HeN49#m%11P8WN7PVpJsJ*VbsuLhML+o|pp^Zm(XN5Ug^IsUIc
z&5~XoZTl9FW=8f`@fbQz_>^66@tBuOt2tEW=CxurpGJ?V&3h?lY2&k+n7Q7ItGt}r
zwBHrVsrk9HK{+)qcb0%x?bzN}UM?>|-|4`7T7TcE#rONbgLGvuR?ClZCkj{S7j)UY
z*a4@#qW}Mq`u{YGOU985i2ud=HviRjo#*e_dPv1}zU~2kn}~B&t2QssbotBj`){r(
z-kLq0*cUwKj`!kp!I|{w=Nw^9=h}fjU-LEIe64;CRQ`r|#pMs?9m?n1|Kh-PC-0+2
zLT9qx#~C)rN|yWixwdNdArA5jIrk~wFC2c&(0(EP8ZHjKUZSZjmk@i4|F4tZ@&{iA
z(2J_kRs6w|fe60g40zL(Z*Uf&?olN^h3D0u%zlNPvb$D4!o#kQxO%5&gOljU)dTFW
zFU#0p-Rswp{jxmpx~D&sFKAE<LJyB;k4rMrqrz7eIwWY9Zv%gd{jJ{~$>W=jD~h*H
zq{lDh>P_|`Tv1$C!P@Y3cismrOITk5`i)~P31AN~{%c<--r5D<$Oj<@(KGL}UJtJ7
z^tN`DQg1bVxK}cNzF*+%^85mw1C=iqHomFnz5ILmGII&f#CqfH<(v)Oaon4AdR{%k
z@=FahE3G?54$VO8<33~7r+-(xRo71U;nj13S3Sdmb*9D(#2@-QzyHnoUGbni-?FRy
zJRf6+nM-}->T4MbPi<=`-WmbF;ac&MIZ)A1T&HuiBpcN4cRfEUmdPl8OHNZ~NvM8T
zrt>7gwK>CNN=Jt>C92~!dc0z5E2`tk=Bl@(<lQE-c|q~kD&|Q-$8z!Pg5o;KwRlo8
znS_pfA9>4aXt|vIip`8)4=uYc9h!EI@WGm-Yod(ro*C95`--pdPyPC3JA1uq$V*5^
zPgXv5|BRj*;vLRjY_Gi1TMM$#*P|o(k<T_4{A&&3d)csAtV8zE1pHB55BA}ze<!*m
z()~Yw@n9=t!%`Rc@*DHyw`-m!zixh*a}$Jn<&#y*65eY~$4hR$5}Z^<JUtlk<;dDI
z<&KrF{INf;_{P=e@VWFczJ1Si^k7$9;^8R{9cqN9i#f{!I^dV@Y=aJQ=)gY1Ee+6N
zewp@$hqlOXs%5^$Bhcd8{=E5qr}arvpRn}tVuY@L@aPjO?8~92ycogiDmPZ}^^|Dx
z_wwZ~_t&x4_vJi0R@HJHwMeZc`cdDmWW{InvYqR#BSLOjI;n5p%OStczOp~Q>5xtY
zm$u)k#*YUpd|Fz2e7?nHA^#5f?W`H-mn3RD7_z=?J7&LR#Q!(_l40P%x3?p$y)E)_
zGZcT<gB$4q%imoed+YrDGjy<QR3SUD@6Utvy|o3qxhFj&o;h01q4Pr?|5U<1s!b$5
z<lAoeM>3etKMg+rDAyqV5#L+>87iOfqX0bpzF0pGJMZ)P$K~Oo1I_Op$iu<BhvY61
z;9<#LkcX#|lM&AHdH611$oGq0hz<6O+G;pIFz?KxpMGiJSwb@yUvc?reBVm=UwtQ!
zkk3&~vJxNTTgc@%xxT!zcxxH7_x6F69q6j?XrIJqa?mq|UK;hbCg}@t*hiziV4dK+
z;C?V{oz@=3XP3S&XP=3BVx!<+wKw&pocer-wsCCFS@@{_ey~4aW7H2K9FjwHYxVJ`
zqAh&Ct3~!?BKD$WV{t~$MDf|}J@0yncOCy};Pp~>f0lGn1NHG*_GqnQ-HY6@%DlZ>
zz_|Yxl`T`3EbdN?_j9YQvM;3vx=!(UEQw9ogDtPb#)#K!uS5i!V$bE#IXqhL)JdjC
zahmu|v2aZ?oM~21`7K_&CVL})rdsx{sl59%@m#<+naf!=`982iT{hnbJ`Y;EJ>Wz1
z-8PLLXe&dby|u_j9!tI1_TSDW#;&sUW^BBzH)}nTUCEZU=bW9^t~JW0t2gnvKY4O)
z<9yFH`1O%;U#42U_`dlx-@c)fWf!bW*}ZXz>`X5|3x4HmNUl7&9w<*X)_Ih<^W~{}
z(qJ6t_=ZJ3j{mwW568YdDgS(=IHT#SKJNWEBlJ~YSE1{wjvQw^P%zG@^YRKw*82Z;
zoN+Dq%lGq3f9d)8_4xV1ZGIoYV}2YLqNmI~pN(@|YvCW^S31jZKG<F0b}#;t-H#}_
zmd=eTPWN?{Vhx?wwt+sHN_5q9uHP9h-a4#LR}DK53VXV$D-_E}S4lrfUr9&7>kkyt
zQR+1dp{Ekesr{=7_$Z7{n$NkZ6=tm4D`M0?hwe(Kr{LCbChgbdgRz6w)?}DJPY*Y+
zHn%@O^Dv%b2kFGx#SPsJ>?we+A80`TX@5f_XH<8vcR{)%0)5>chFkqO5k8aeExd@&
zBly!@=wWYvtRFL?3++Acx|hFGEIIJHzn>O8sOwS2isbF5RsYuV#TDH>e;iEnn}5NX
zMChrn`!o;gtjCDa^L17eXa45P)4TKJN%l!=lYN>6j-(eBVxJy`=9id~mOG*O2CnB0
z6uEV%D)LDivHkT2it38+y(_}({o=RsNaT|q5U%=sxdJ(*81x`t;?n(5d^gcuIV9zO
z9z~z1Uuz;dTY02e*ocXDdwC`G5)I4|`F&c@XW(@|*EA@n<mZ~8$-w9RT+^W5t--mb
z^#y2hIy8wx6P?wOFQcb%FTuV0pjZCAvHrcsc~3p-;wkBC^{8n7Weh&3gjdx|?B;5?
zr)v@HcZ`^I8L+&a_Zr^jd!K%r@6G1DeBJ*7=Qri^Y8&<-pI5(hWuET$`P24urHGr0
z&_k6r7A0<W&+wxk{$X_89B?U~v^k}0$nHt=dQs#n+gL3EPf9;L`u_f$yZAANjEWyi
z#ETQ&THZLpJ1*}|=&$7{K5~{+c89@-jr*G}^5aV2cWX}<d3Lu0*j=52tN<4|Ft;z^
z0k?N%CA|rLd?|Pn0eBO@n`CamDxX$9K|aj({=@)m)<^i=fuZAsUvW=x+gw-Bf5^@8
z<I1ELSJuz*V>-T@BKZA$rFY)O6Z8VY%gV1B;Ee#M>H`1G_|ikVr+IW=b0p9|+GnD^
z`uMDY^K75#&0_-RddS{LUQEQxi{{U>`3P&g`v~{G&b@p-UQ$5kMhocNjw_DL$DPFG
zK|W4=w9ij`;8AJ=d$m6c9&qzN*#h|=_FIcLs>-}vzRMTzj(juuGO{%>_(DFsc;i@d
zLGxL+jSod1kM8~PSX;vP9bFzKH<s{u*sp2G&Z_oZMea&Ds~Yxls$bNFk+lfMEbt}Z
z1^JNTTlL;dyR;}1JWs>s7tRKrd|mp;6P}*Upl5?NaTxs!`Ff_4v-I-y%*8{{$L^nt
zPV?zwyqwpjsr~d>%{u$~Mpd_Y3;XA+-=6QYOaEJ0?D@msb>8f+^S`kfl9MbncY7L<
zl}hYF#k2L@i;$IB$V$CzGq&S-#?iR4FM3us#K!*FBi#Ef_q0Du?@CV!R{4TS-VdGw
z^h=&|^+I00N41l-_xtji_Vhx<`+dDoNM1R6L2D}1yYhWI2lxAV(2HH#p7H#W3OmO$
z?5|?&*<+mJUygu_Z}|6eJ|3drpjKx9J)7*VoLs!MW8UGdi?B`P^LvuABjmf+`tK-b
z?$U^yxomgxQ-`;H?4rWwYOE{(Lp`=YeQ(zkxR>zneX+p33jf|^+$*HFl@H8Cec5$!
z$DWs{N1s4l_kkMfxUN3+>$<Ar=Ihi?Fh{;j?ta{p$+HUhs&hGyI$tgw`jPT|_%D5N
zh+GOjTz)R)Bjgm+8`HhL$nDMY@+j<G+Fs=5h?Ce9#U_1u6zWTgQ~W$i!5GE7g*;06
zJI$lucMr^$_<58;`ISH(g}Ug`@+i4>4-ek?#^9m7$m>xXm`8cwZ<$AV;)TIB@-fcN
z&8Kw}XP@TN`n4|%LF=RB&F(yLVBRcr;#<m_-Bu_jeJk`Xls7xz=glS~bHUtM>Ik_r
zdv7B4xMX90?rh-o0L_U{8Vcmjj=RZBSKq(QpT$cD=Fhg5_<4_kba(f=sxA|Wyz~6o
zC!qTv`Tw~W7mX?q`#kI4yD`sRuPwkU@dCVZc^<FK!rz;XeR`Bw(CUSKPfYB~vHmZ5
z;kW4LXN_l%Jl#P4T6qI(Me@iw)}!+ZK1?vjntiJ|R_G?(Y~_DYj`eS;8-UUBNat$<
zbwlDcPd7yVjy&?y{rD5~6YINySMTF|#npUw>Xo88*_NMhFQ0!t>GKHR+#2L}uO*k2
zuT$a$dK9`YKeFHLe7$IZ-`%|4!$X$%aWnl!e*AdbF~yHRp6&Xy^11&W@#9tCN<1S!
zJbrVLS2y<K$L(u9-={UNztWE%Zz~u-2H=$so_q)K<Hrlo@%N8;en2a9bmKdGO2J<!
zzH`=k^swhbG_Ud2LriyDLg!5p1F5&QT6OR%@wNRrxXvqdV@c}Z!PrN8^3=zw*hg{C
zL|X$#u7cNtafbX`)uK;fEk}d5?fQZ6R$Tvgf)~AZG<g5?{NTN0l99RWVX`^kTw~Fo
z9PlZ~i1MU5Ur4#wD)N5w(MviL$Jl*P|Ln<|9Vd0m;25g(XtMUDJXu@j$=d1AvWR^U
zS<ZP^pN}hR#DEX2G#SxZJo^xIH}H(k0aDL+1iDH_BUStkd3{2%W8wqR-=OP~e#{%B
z`z&mP0hjikdWM@v^q(E6*h_oW?gE#>on8N9d<P+4-!zRJjDts)7S=a5j%-^x5C;`Y
zJsh0HI;m;hb_V$pt)aeqrhA@)_;2HvO-6FL@ynbIO5P{9?lZ`(xO*>IyIpsdb?ZzZ
z#nJX`PQ`E?@O6r{HE3<%GQYRuI&5V0GB1{@?C|Qln-+QSN&aRL=l1PYzMLEcaqiTj
z!soq7_XTTFnm^{tRW0-9=TS188=sHg6zAxMut%y{*m}hmhrqAR2X-#;@$1Lwi6#B;
z-<O|9xrg%;^809xkVlbi*1D`NIhGts32V-`ZyR=adQs=`=HI)`zxOlwN6@MZohjax
z&fo6$C2Fm1&rrn69crzLdt=}$m^<`)>u+=SG%0TguO#k2`o1Q~iPoD$cY6Dsyge1-
zE5(-CP-u7s->?;5Nnbv>Z)jNCF7RQ^Di6RJF&B8SCOLa{NLaQ1s$+1Su^%39|J7hP
zy<WYc;M^=Y!Da4baw62e9C8}d6gTSZUe1E5S!tG;i-{Ta_ZoZ@z8NeU2=}Q=2l7|f
zXZrc;GXFe8^-tUL5UV)ru<slt&O4NhDn5{Y(wT^&iEuoPwdTu<-N%0&@H*w}V|}Cd
zoHy{DBs-}SYP+N8X3msfwl;r{>Lr79eCy{u9j|q3&9iSxWV}79Q(LN_uksR2)Cm>;
zr2Rdru0FvIWP#5;52DnshY^=bmdAm!ANu^c7yeX!NI25DEcWb!_)Wf_>B?j2f$cXA
z#+Qp9|NKbxS-N(-5U#+Ha8*;_{78$dvwR-hLoTWx9`7v6rbb`4xv-QR2w@9VE0Atm
zROl>A3ky17A~X%sZlY*+1bD2jD+3<u^ZsBDKJOZ5S<$$QZs=Iy`Mrkw`E}cTo89^4
z!Sp=Kr{|Gu_6yi2jb&|iC$Uw&J{`|Eh58rz^yv))?N#Ci4`*j$uY|Ws?3Lu#V6Pgn
zQ_4>_Vy8mbt7`06334+Ln_Ys<o(R77VY4S<v-gF(I*j&u$-WD>l2^&aMCm7Z$?Bc~
z`Rag9vUc6p#%$j7U!U{zkn0~`Gf?krzuMC~t?Y-g{-oe{^XdVA@<@G^mhQ3xZzrF=
z%7;(2yL=vvUpbIRw_oAmTksa*(W&SUS6&L7w`$=mBrldflfaU1d;a>UXO~tU$zSK3
zjs=`g*jeH6hxOMJ75(_Fm%kA7*XPXav$uZ_fBikIWk`SBhqrCwKzJ)A{+-}`3;wzj
z;L~VoAfIkZ4u-3bPXl=Td-CaT_xkp{K+auff;5fybi0>#FFg<%-w$&I{=B;<V&TjI
zdm?@?uIPw+B7S_7IXg%AbK;-s9FoL{z?|rw*}jiz@K2{%-xOOy?XX>E^Jn=6h0fK)
z_PhSFYm0rIBKtdwXRSU-`hLv@!BoIs823=`_g?3lAFh8^07q@Z^Xd}AJy;{)#@0k7
z*KTedJPlR*xQ_X=oK?`}*AXPUve(6*^v=&na(;&V0_o6kihJ-4j32ix$@2|T;lZ}#
zn~VKE8El2;6THQ9G>D-sEU$jz*kNfZ9SqC0#{vtsMe(X+J^?J!_sS`#?&OsDa*nOn
znH0^;CEr;19?DOvfPaScJ$ye+`GleP<XzC|HRUz}abw0m%SATc+Tm1z^IWE}?jzY@
z=e4kxr*eH4*7IuE^<A`{lKi;lmSd|A4;k0^av?h>Te~PA8?v?9C$Mu5{2y5F5^CT2
zKe*ngz9*I!#~r$?@Oo{W9G&jb&-Qg}n&#O-_7tuQD_4O3u!*(zt~734c^|UTi>-Mc
z|Kf~vIAikzij8#!vGN3ovVk#=_(s0%kz(aLwLZmPdGf8=*?e?hYKqTiu0G-%)3bd(
z<E(zcC;j5}Z}|Q69n`z=sqKE+1b&kENj(}vom+PuFy!0lvY&c3`acWAj*fqCBWLvI
zzxVnh-g}qHZx7II*lD3bbnBcD8br6R<<kxMn*|=#i#gO;0G;81F+c(xB)?m{E8oA=
zo;&2%&d=c7p_|}o$>JGBrYC}5DBY&KkQ+B$%3d9xZj1eIkJ$W%;?Ohmcyet4o{SgZ
z$@y<%ZO-Wf*VbJ1&ek@S`20v~d%4Tw$Nb#Qa`-VG^<~D_5!)jkEOu|H@QqK{KGfb)
z^+-#f3y1&1JUL=0)%}HA`KkG}|EG8+pTFvT{(1oZQq5cM_9zyE*CHAlnNi$0m0Y88
zNip9}W!^pbe6Q4m!RLGZc~N1#p)<EHq5c~sAMW<ir2Re(^5NpO2r^uYOp1r(N0mx0
z$^B@Lq4b0DYWIO3uOH0YV;JE*@!gI)=?8<q&%kd`Orl;Us}r5EhWMr^Qxf;`j;a?(
zzSS?LXYF$nCxBbVGT13yPoPt0DIcA;e^~utE5K_vc*}x&;oUqjtwsHXF>L-=@Wy^T
zWWxLI$lL;ZH63ar`TDkXNW6LH`sYRt#9RGH4{s%$>mLJe(qY0|B{-8_6TZA!LjS&N
z#d4C*1o+Y#ldMr^{3np(3h*Ht!kz)YC(X|#fGhi~8_xysVdJ@};6r>A^nWVAMXm4C
zt3UF+JR?1%Jel;ha%A!cg1uuod;&LLmi2N_^<|!}CI_`Ef}T;2lGf<1?~tdj`_@Dr
z%EGDjc=@ov`9IKAd|{taUb*6y!Dj#!6_A;)KkVt`yO5dub#CYUQ}uqlnj3tNb9vl*
ze<^g2zJ0y7pL@cGJ;&xqXAQ<fJ`aE&?aSTn`1*s~$7X15ZP`0LJNIE9rlD*q->Y+F
z*v6FG-#`x_i%Hho3@m~}u?0519a^z}-M6iI=lF_Fu5G=0@OkS=U(dAyi{Ox~xji~Z
z=%e~N&%T|0+nfF$_Pzx^s_I(*oHGN2hm`k2X>(?R2#Cs4#YZzULD2fDnpRqEGm{5G
zMG%6DLN60YTWxGhs@~XYuL)XfxZ2CTLTg$d0j<^6wh<L=YwILX#T);<w1^~?F#qq{
zkC`)PW|9d?iTBFycZ{>oeyqJ-d#$zC-bc?Dyh$D<U+Nfc)d5cmPg)1$T<bAU@}jy6
zM|>Ad%yq50muh2<_oFBqj<T4ICrbcdPqJhFJr&ONe^WF`mz@MXa+V#yn2YSp0i166
z2mw#z^HVdtTd!o`q)hLS2gG(Z-cdeCldAUAIa=-A&r!#%vdxqFjCzkcoZoGu{^y#<
z^+D?iq4U6>+UL|d?;o-Bx$aQ&*`MKEshZC_8Q!f|I^-`I-a)4dJp4JsJ4>~DHN(3$
z^{yquJHOIP&*PoOt*=$#HY#=RrkLV$$nOT6L*bb&`d`GUv3fx#ZF2+iOIfGQVk;Yv
z>kDz`_Q8lZ?rlAs0Un*}_(KJcJMKo?so{0yUj?My;D25DS2%BG12))BEgRs&2>S_V
zni;n*ut7_}NZJuT@}~Pd^Q{=uz1MZYPttuPb6fhF{b+eMTZi8Y^VDn~rS!FeIW)?v
z?dq0lz?#TOCA`34rn^ihVh+T)#xL<r{?z%Yna-7Qo|;cTi}|^2z}D?@J$p{aa-jD}
zPs*6~&x6w??EZT41J;_;<XRlXIa2C5!a<uOao((Xf%E}@Zzm79zlW&x`cy@0+5>50
zhg@R^<=BC2W3Nv28#VuB8+&j!V@GP$+NS2+wo%G~fqQf^&U;kv#(w7wDRW%Y-1Bbz
zvq#<|7bebee&^3}>}F-(Q3sRHMLg>E%sKimchi3aYeavX#n5@UZEB4$9CyYi`d4?x
zXUg^cc{gJ)?znxgN8U{z<2(=p+$-l{LzlfdH1#fGj>j0$B-jr;KSaOVco_E+;jB?%
zvoV+QJ0Jdc>rmS9QV(lc*1S{)co^4l@6%j>yfpgII<Dh`EzZ4a3$my8t9O)TIbX-K
zNwDR47MOmO`+VK%G2WE(b#0?%4r^P6^L3nKrd-C1=j-6FOi}kRUx~Zr^!YmfaqAk#
zBL}3rGj_p|fWdXf?wgpOK4S--tMy<`)-bDvYn?u4N4`!wXNNW4h8|BjX9pXaHV^ao
zC}W_5IA>P?oTi+$OFL87U;0+aiPi07eRbAuqP(+--`ceuXYD-5o1`w|-eJdLf5#_5
zXSXi<akD&cR~wgd)r$I9GZWu}CH;6W#X_tf^es%>L&AG0cKp#J@(N)$xA6XG-aS$V
zJ<R(@`0ao)@SW!bqcOh(-}B`CBe-v*;rD6{s+ab+|MzkYYKCrj3uDqoqfSi7(ADx@
z$wK5~?{<6>4rezzw=XW}c>B-N2iHE4U-?9gTQPoBXBk_o`bnQ?BF4NAa9jPn;!Gdm
zW<S5g*vv60!&n1GBF+Q2d7hej`6RqIN8%fs_$EQC$Gdqf-sj_Y!^;vEep}`x`1zeV
z`qGdK+u>(%4BGCD-RZjtb&RJB`3a<D06f4kNl%VTou=<yrM}X8|Ewo{GIc%+^2PQc
zl%Fr|YE8WlGO~D5M+5Ma)$Ro?ONhtcrp_hw+stzjwmIga=aH}p)jYz0Bc$e`;rC-c
zgg@Q(O~Tr&{FEC3YYaLl)BQUqUm#=e(R$BT>N@%{jEB?q^8C(U6M~$diF1Unf!-eQ
z>;3O}wpy59B+5Hftad+Q$;^S}{V5U9x&d@q4cxLXAMR0MU(~DY2m9){-`ca;hq*)m
z|01+wjCKB_18~O*zNd-Y0)7X%4Laa_<RCqV_*_xkY_c!Rem6xS=0;dsF+a*y5c-gG
z)_1<__?x6bP{8YH4`E#)yyTyr?tHN@F3&Wx-+AcM2m6tCRB((C;4K2&QJmEf_BZlb
zn!z*7bqITra|O7^5${UoiPr$=LE47Uj&@}beaN=v;4s>1yEKTl1J%4Jf8;aTKicox
z?(#K4+Sh=*b?f&nOt%NfTax#skD+BES)QH`qxp(+eB)2RKks=$E=ly~?-zS9r#8cA
z31W^Rds;2?b@_enH~ttG-{*FJGkmUEuXT)p^JESPzjJvr^o*}E)wbTWGR?N$a(@oC
z^<2a!sjF#|1`(tDPr&V7lb4*3x+Vv4*2}$S{V9@q&Om%$81!Kdy<e@#p5Ne`gvf)O
zi?hhgi(9zXrQg>`9)vF5(g4_}AcjpHFYcLwjvqMKYV_!Prf`P6o_A0UfWD-zhtB8v
z$o1I(KZ<Y0IQWk5XoDN@Y53jd!RJf)wz1F0Zx%Y^_U`???YDT+Y>)=bSFF*D!D4;}
zVx`cfVh=HboFC|w9`DINyg<Sb01We7Ff^(?#y$5KO_sWAAX1qQ$2tYao_pjy`Gm#W
zG7;;%x5kHW@j?Fa&6?m8-q%l=61o6%q5M(q_^sO6<W=Yjw|&d??5aJ8FRsw`wcPjH
zbiLHqv7{fjWs~ML+!aDU&ToTm&}Y0ugyY)KYaH|Ja!+Ge@!Oe`0ULO36vo#!0QZEc
zM`#-|zC8|hKv3mmJ+E-$+y`r23Ro~U^`y2B&jL=wz90Gu!TusIz6l*V54b6V-u3Vt
zIObc;oLu0E@<jOxF44Av^jCK*mNFIV5B-iY_He$4wZ<&u#=?Ka`XtWz6kx82d18Iz
zJPR?;5O6`AApAYxf@_nW^Q*6?+eM3?lxI7p!!B~mpx*P;yikSxPPYsm3a84TmOIMa
z8IZZh?ojfEeN);~{yUQLHWA+|+>P_FLf&qbHkAkRW@>pGX*BMJzNZ`se-<*v7!2(J
z`K`?4J!qsa<LWaNf9E1&KKN{;A!(`U_#Ec*L1pYj1%sBaGazf-eT%}ZNr&S>1&8j#
z1Rwbz?;hOWV}d_%MzM)<7D0~RoBcgg484!=1G)d=l;MVZ()sn<=%4&b8RmS+o8;N~
zz%TV@>K-8S02R+R+?~p=etf%y`!a3tXZ(iMNS<YEOvov0MCw(>EXc10<y6V00p8T|
zNxs!Qt9f-=23~#Q3CXLAz^mkU5$DA><SZK*_0WR__{OLKn|KjyqW+MHFdiHJz<BhP
zP1n$dZip&B6m|*yP=8eF8kfH-&!Xq>jkK;m%JDL-qg;bpr^xXN>ggZgJl_<FL;45w
z3zYvZ$5Xz+nbp{Targ#YH+QRX+&Ywb6ZEgm@2hz=%XzK;p3<T4;}KIzeCy{-?3V~S
zLC+Xr*ookSNuVKVL|>aew(zaNZ`pk7X29b1xh?~}O0h2&R<T((oYeJV@BJ>N>tloy
zd+&EjIC&rAddMeb-?2}CGw4UYPw=mRlf2VL`xLw$fZp({80dEtK80R>%98Q?C}Dyh
z_$2nw!RN%2$K#4~z9zrbNPH32-o!aqW`IY>Ij>dkS^+Edo()(#utsqY@k;1A8#3Pp
zpN;mOUb~&^6xPtRb!uZtwpgUxKQte+<i0C>KJFc@|EVS9yMKo7f^#jBdxtU?o%S?!
zb?DvsBKG)UeHVO+qDv<Jsrom?JAzK$cI)3H?=-7e73t*zFVh|{Hp<*AetW$XKD5?B
zl%-*M4D4~w2d>EjwDC2M`WDG`%wI2k;Y}549K`Es=hNS%?2<R(&wxjPlS9~3g}x(B
z${vt+k?4F8`oaO|tQ21tvc|P7SuX8M*m&}OdB`c>htMu0_9c^dk~|CE*p7Mp`48!G
zxcqS$$9)HK=$6sN>fIOBx7Xb<b?U2zcP$YQEQnEG^>6pTD|v#rEr5J--<`2I+F-($
z$J`S3m*pAE*kA!-bd)vPUfTep(8u6qcWg8AHAT;Qr3<Pho?|#)Kz>V$Cyz__qv*S3
zi|PKW9veEqJ+^Os>e!pA<k-<{V}I6hra{rJyRmQTX6)8ksbiPUl4I9r8{2TqJBP6s
zb~E-u+7>fXW3ij2%kd|JzN9nb28<6(CXa*8*<!JjDX~@zb*&Xv-r&jLfw1C%*&3b<
zJm8y_ii=GrD;~gi95V8N*MSSzh?J4;=rFpQv8%8)Gw($2XINO9srQ?atCn%>r4Am*
zVeI#QpPl!&pPV{&NX<Je_cPLYzqxnweidV<t$obDfUe`6Jj}oNt%C1O=t0T{buM)w
z^<_EEVN)OSZiXwtGgU83z2G;f6LAjXWw}O%p?iU=jpP@t6ZN@^P&M=*_?7pF#;D7{
zFT$3`H&*mLqJHQ*!Z``&L-buS4`qN|uagZ5X2NM+qV#lBuG{M`R&oS*cDwf{_su)v
z{mE+Qm=V{Q;pCW}K`vY2g(J5Wu5pYRjJfQSHxl;A#@#prld=!{*pZL<8H`E4m^KLg
zWZw&C)X+z!55oHcY3nC^<?GY;LnF)6_fnRBsjF@`d=K_l1mA-`4&#lyccmKfUN2%!
zTpxIE-D=!hR|kG$4AGh>b=17D2Qlse?duCXBE}8<w6O$n>~idX857Uz`~vKLPkx|r
z9&}aFz4BZI*XWY9{Tfe#J}bdDIZD<Jz>|k(Af7>Z2ICphSh5(t5cuy(tluRYjhkuH
zEI`gV*KoraFqpa}jP;lM{qyft`w~k3Cd&uPeGEs=hO9qGmLncejeg4DQ!Ntx3{K<?
z*wBv_*2s5WOJA$M`ZKwXpQCeGGw9B$(^GYbb-L1Davj;2wtk+opjZ2`&jPOQe5uyY
ztMOxU{Vx5y96y#h=V#*wvE}avEE)9~_^1SYNqzQx1+P2Ll6FndlKY(6uGwKqKg<S?
zP;Zg1xYp6Op<N?vNa!nD=_lGX+<Vk^%{q-6r8~9Wyb5FS+qetC!~8C8!~aMd+poTh
z>;E4qyHWT%QeTQ3#$J6F_iXS#?<iot;(YLwzH9MVd>8jz2Oj2Uu%%5y>C1q$rPs&h
z{B0F8PuSAHJ#1;vK;FSF?C8%f5V6*bcJzn%ou(lfcq^pxcKYER=f$;=vOqt9wB|a>
z_3<X~-#YM1E9flp6xBRS6`gIYk10Mwrg@$teW-5d2|Yr61brp_2<P{xu(zteo0ISt
zhNSxoJ74WSR#7!c#VW9#GFD+tk}?ui{*{VVY!tHLmHU|VuiUYU$2bnw4MWAL2CgvE
z^VFA{Y5wY-t1|nm`h0=;L*=hF6F&H>4@lpHd{YkJjB!-%OP0pu8fXKym?iHS5OyqN
zM(ISM2N}mFPGx*Cx!*!P(+u6r+@!BzE-{=rcKYQ9kC%A`^vxNE91kAI2M^e4zR!<O
z-Op$km%c7GVy@0ReAlB7?n~>Og4bFlKbd775laoVT4Mi<dMbaN*%(pl-+1iZw&8n|
zyc5g%j$HptJ9>Hkx_;Pujb1*s2;aU~*S|4;-2gm!cn0Dbgl90GA&vRh!r#PR2j$K4
z33;!UVR#0ccNjO1$KIj-w!GZ)@1ON9-`3XwpDWMcddyM8SFx`82gp1F%0emj89j&>
zTZrK;L2R?lf{%{a=G%kJDfBfMhgy#~6k?3R_qD#G?s~-<n_4cvb)>&Tl&n8c_$>Sm
zQEL4`;@<L7+{ttkWQN};Vt#=i{<Za;A&m)sRd-zLSa>V$w|38MF6Kr%M#obNK)>;z
zAJ5>PfjqDA&q!YN?Pe?-y!y1H-|kNZ8mmFOiJ;d*pyf%(D=4I0MB4*%&ug03`4-?V
zz&*_0XgR4S4>{_z%_oCKd$Bh=`A1eG>%BGE7=FzQC)K<K9dr<57h)eP4j!yREQ@zM
zp9DP=H*m-EQ&#Z+$N}|`SZ|<z-U1ECM_Shs=LU382za5b-llR*)&u`yA0E0^&}E{G
z4<^e!ja(neJJdhMH00z$o}vjIC3TRA{WHoG?fccRced<Gw|9b%$()UI5$`>SH8mF-
z^liu$^^7wPRy8(V)_(iNZfsESK{gxI|4U2cENL5b)3a8J4NCc<4N6;d0M>>DIA=Bh
zG0=HK%qg@#=^sm5v}YTXcI*PgWNC{Q!4?gG9~h%AgO1wJQUH08ckj=?w_oD!{nT=K
z=NQlQq?Qkq^|5}WmP=VEgAHDd{td{1v|H2d(|Mp*t~9wI!yQkpILlK6Tsik%mK-5X
zN}o-oN!u?{X~GyrMw-}3ns{vK7f9N4?;B*Li;*`t6`%e8Idnm6#a4d9pI=Frqvbz6
zTqk`k<aa=p+%dpw9PjVX@V*4^xvuekYj@j)ct?Nm7uZjAzq`!Q?>7z|S<d}t%*Sox
zhg4qj{dmW?IQLm-hZP}DVIF)(+G6w>S3?KV4r@4UrhMbqf7lc;Z5uL5{YM)nigOXd
zhACbk?$gO+!+Znd1@8+r(wCr3(FXsEc;&az$Txaj$wQ6~<FnSc`UxFb1bGcX23aq?
zPXEU9A=93I_<s3tWBAzPQtNqDU+eL`=r-6AC5ZK3ur`D3bc?i|^qOQK)^XPtQum~}
zZWC_m5V0=}xCj&Xq!&QeJs4{q_U}vUjoNbPojpT>Q>eFy7tXm2HV^CjxE7$UpLhA+
zp4S-6KqGwXO5~%Tg?HWgi;+JmUnr*Hy|5V=Zwq5j#=ZBmp68Vg9r@nRSioXJ7w}uy
zxBe_%=bd1zjNWb)bFCu%=<Cz|i+nfGr2YKTL5OvD;r~O2i*KdieN~IECW3v~N%Y<C
z16{6=F%Tc#@gA4G{f*+i_gl5C8?4$%{~52l>6_SN1%J|(8#hbN*VHz^Olbp<{~o|S
zx2;!VJm#Mao8Q@b72v^oL0ilV+rY&7Kehn&SdrC{|FqQ+y8?B=6Rnn!{Ttz^(`p*C
zIY;juh|Q`wa_@_KV9i*Y87p<(n-+jBVUEVHUyhH(*`%F8?CCxTUiu&ChTx%+TRBgh
z?YR}YV$QQDbIa#?Mf;zlz5AVC`A}OkytCBVhetBJYg6qW#Jf!VbS31yVY1>S@Gtif
z{gWjxHItVd=bjR|=yy9}A1a2^UEKH^7+c=~bNWts?_n5Y=(}J7CtAhELh~~2$Gtt#
z689nAqTzML1ik=xxkt<U(6=wwaLZhm&~gPg@bPuPo$!aj`{Yyi-qN!VsJ*4v<^B-;
zK^+UA?Z!2H(!DC5Qq7ZfWVzg9(&rhI<z5-95;igSoV@a!BWw-o1JYH;W`h~%<!4+O
zHfITJ7{+1FL>+g2$&yE<9@92;@W0G7o4R~qs!i>8_(aSvS@?v+od@|P^#67|F8x2|
zl~AUbTjFIt$-DDJ&MxyyHhATkWDoMVC|k_M5;z_JeGYk`U$Y)}$=S+xn{rhuoaPtP
z;XKO)CvE?+!uFqw+%r#2-OnVPtvjUcZ~aWleF5T>^i%f?GMcIZ?^}n>#yIY@VC)=w
zal+oKhVM$7Z#QhRYUqQ-u=)4EKiWIVYV`e7_ABoO_O@^OiJZUAliGkjxgRa}Y2jDc
zh*=$ydy-r`4e$fMwL}}8IYZo+lrn&C7hf&&SGoU4dNVhJxoknu^O={V9A?@t^es~R
zg^)w;7jCMMFp(Y)0{4aBNuC!sT5xY0VB<I6spoJGQ1Bf69_@z{7Uz8h)J@z&e1PM_
z?l2UMmYkSw_xmQMpT%jpvio>Km8tOAEcwYYldx9<cH~Vo5`OX%Vdq&KF&Dx=Ecxw5
zJqMky<erDd<4Vkfc61E7SkMFUb;?P$IKl;=OpPP>a4)`I^Jz;PSoiBNN2ed^mYK)8
zOtHu1K^%cH<L{F8kdPO|5uEn&Zp2TJ-`=?!F%xfrIfXF<(#nFp%oqaoQBQFM#v?p9
zufY4cEyNJ$#|YmM_A>1uE8)|t@4A2|Q_E9*{bYUR)5DKRt*?A~_%S!Z?$X~K#vX$3
z>4jVydDk|oZ$4=KQw5*Ijmvp1TvD!25OOVj`g{H^aT!tTx%GGG2G}p!r~eG*T8_25
z>^`%R^1Uu@37>#xBbXOh{TTM3a2K?e>&5Wpg^ve+e=lsUgRhl!jIS!`D2JX}2VEBY
zt0{c>0_?f1gD=11|4G_~wJ(n~f-=wbzO)+a0&p-F>p}o`r-nc`KV<oA@Go_oKG$4`
zeKyKBee$;;UmcLI7j|Y}XM^vUDd&%Nw8QqqoSQS*(^<|RZAJfXf8o5X($9DhHU-ys
zw{BUDHPify#J9drWc?mF|9X`dN*><895l!#b9fo!D}c@;&vM<el`hkFBv9v3pKQzk
zk59q#*B8@aJzl+gBE!3p>YXoxFEs@3=r6Tq@TK~xcN6e!Nz$WL=>+<Ay~+ED>`jlO
ze)sd4^<G(v%=>A0OW`#p^`8GNiB}8XgxUbQQlBx;!yko>0UXnhpe;^0##-A+{|4{H
zcf}3xbO`*#{6zAY#=YK8CJmYqGiNMyrsgx;i^TVO&qU<iK-OB%l=|4OzI|SLrnHR=
zteGNq1-_$=M4O1Zh`LMX-4q_`kNlefcyj#ydDNIY-?4WhzJHE+Y26~<NuN%~7paS6
zxzb&*ms0C@|4pjN)l&AfEk$1AeyekBYy4EYzZdyrI*rG>Xv}?8;*@);^MOm^Hq-aO
zs&13=tiK0l-DakJ4-7bNA%30T1CzLho#4PTbvttPgnmza6AXAIPH2-7U)-Zg`zBZ#
zp4B(O9J)OP|7mzu_*e1WBwZB#Cnnc{{({Exn_zDIe;fFB;(j1<p55`p?HTS1{@LeT
z@&(+_r;f+GQgdl#{`cZ&$)T#3Q+1j3vXr^E5WBaBO8zF!c~=MgmlhqHrEb^0YUuS0
z_gScYAnJOaA@NO+e!=8XMpqbiKi5HjhP|Lm$$QW{&iTKc;m)0g40rC_;+Q}EWbz%q
zJxD#ybCHZUOrrh<4>I2HDt^BKK3NFAqV)yEf3_*VNB4r{Kj@j3{zIcX^LVci_BX{{
z;T_4leiL^O!fu?5?<Mg*apH!yJnhFbY|KB?o#BuNXSvh&)p9rlxS$TEkF4`V&wx)O
z?w%WjJ6nbrE22-D#jQ9a#d9@Z|4qEE`4w}kh?OY4-HP^{JHH{*(UQJ~-1c8`Em)Od
zomj8lJwpGwmwQc9T<2NM4Ch&gf?nP2HFY$b@*JevYbtG)b`5FL7x$XX$J2eXSBjH+
zO$FF%8UUW7Jdvimhk0rSz%OGQYd7|rV(_P8*l*fxnN!HS<Rkh<j00i468o!pKT`P~
zkg3%2Jn1WguTslZ9td<&YPre-!QKkXedym7=UIm&eCrU_e11FfD;fCa{r{BvBHtx%
zVBK`u37y~-r~fb(bIymH*~(AS_Y7&9*N51=+vfcS@Rr$spf79HbUY#Tmi8Y?pOAV>
z^F{&IV8+}1BLj_I_zwAT=`-ZVvF8}ao?{$)j&bZc#<AxZ$DU(+NF&!O`r={O8s9TK
zgK>Yc*n1oce_iZX!gt7r?~s48nv3DNmU`*}oX^p7+5WJZwx>|6c)+7*&lo7_&wHkN
zq(5{>D&11^eUf~k=ns9DT3^v0YgKBwqCfbeTF~E{mHz+zyL7#=2K1+Y_&w0yt*-}W
z_}=mM4EGcc1zx(lr*QitYHdQU6@A3eBa+6{!=TYl+5>Nmz&eF99uu+0#ryslS0HYk
z_CVpGfv^t-;Teo)NQ!^|EO;c0`A5P3g%hkq{)&iiVZRICm{YMUiFbV`mu@51afM^Z
zYHGQ{F=Vw2V^l-dzb@AOR2egu_&aKWV>ccfGpu`&4C~(GS9Fg@^MO=6uD}1Ek4K58
zBgbKX@Gs+oWi6A$w@iskV@bHfiBB7};(AHFMVy|Kfp34aMXq<{8P>aJ)w}<|yN;B2
zNcKC^mW)Za&3xd03;tgbbP)BLfq2LjS!pDFpU7RQG-|susn5voTAy)G*E%84I1zgy
zlaP}{zlQ5c;o5%c4mJ22$SW*FUST2f3JZ}}SctsBLgW<|E~ehXd3(f*7=tTN`?>U=
zxZZ@IYf}9N<!3lzA@c?QrpH2Ld3r2FmJgEq^jMp89HhTX4)VmEJCi$p_gml|zDF_^
zl^yp}GJKD*HN*E9-@QDWd??)C>caguQgKh5b1fkaJ}lf90{65LxyBRsv=ynJ1JFYf
zH>r9)S)Q8LnJiDu>rBSVle$LZ_(tH^9rqZZc>fDr&wFX>4RqOhtys^=`;-CA|95}}
z-PwAttxdJ{LfBtq3`?))+472fT<0MJj0yH8rwIF4;#+;hd*+;?epz#h%p23~ysI!j
zom2Fo+IeaAUk~g22e9+@{U)6+s{TXTd3R*cm$%>@<47mt9ephKSwsEZhRC(4d*5we
zk@D57^Y;{;>9_EF6!&=t42C{J?2)vk&ceMRVox%NIN7s+lkth9j_5vK-8eHfUR^aK
z-QH}!EStS4&k&zkCUu0iH#e0gbi@|=B4tWPh`cx0B(NTvtUF}fiF$+lN#8J+oHxd(
zX=gIt#oRaH2hbjc9~p&ykTK+>en>4(>W9>Fse=PpL$3r+<)N=?Bd=z?Gak)7LsvX{
zdxm&)y$e?buxp+1=rs!^u5>)Q?Mf-jS>n-KQsU9Dm9oa8VFP4}NBfFX<I$V0khF2d
zqqh)`A|4GK97#NSGWbr!glS_yXETma1RiBfc>CpQ4QZCK%h2T#hM3}U=&>y#j~i!O
z6K4SxZ_{RBu7}=N8k#{4@B6W|w;!N>?xnw_^U)GM3Ublh{?^GZn)*RgnfEFEt-C*y
z%Kz49Qu$xoC%y5v$lKg!&_37A(8ct*vie)#Pq)9-upr&v>iDeG#h9<~wdrq##JTlu
zayymn<4^1ZDH})GKFM;G+X)_`t&}WRwvUPlCd<`65cKj*%Kpie+qp#Dy{l;y%-|F6
zz`UG3G3Cyg+xfk-B#m@#r*&4U+%dQFR`6lQ+)lvVV{Yff%(<QB=~Di5Zs+<rX2#r3
zDFZT(o;Ih*?F3%B&Fw^dq78Un54y;lPgic|WUK?qe-r0eCuYv=ocluh+V-nQq)g4r
zu(myocU;@5-%W4#xN3J}hW(Rm>fPOHO>DzDMf;Arg6G%to<dcHq?Nx}=37`5a{tOk
zo`{V-4(bZ{w_BubFL6d2zYyn!h`RuJ8a(^#!wbZIhXwqcd9~~O1^ijo<-SOYT|WVL
zbg*3UFxv_{9d}QQa>c{Ra^(kzSOM~`5HA%r>V*D@SdordzVU074+sA#puXKSj(H{}
z=2q%X;vx8DWe?O-SK>QPUy`~+-#vi6!!5j{jQW~)h0#Xi{b4cqb<7Q5E&$IY6d@K`
zj{J@@HX`pF@0k-o8-lSY>QwGo1yQE}bqevm2=9NY;N$xs-Y>*Ax90-BFWljP@4FJd
ziGYu1ymr*eSg?kVd`zAd_KLn6;gFejH^RLbi*t7K0P}>Z?pE~27|av0?w0g7WS&s^
zIm>yDJR#tNzCw3-LSNNmW1epQYXvRD`O>HyyR<}(t?e<+FR?~-b6&k1W3X?|kMksd
zlfL4fZ0M#E;3)V5wND%4SpC~~+$+c87@LO3JPh)<F-_%RfbS<WFCzfE58vO!9%`rd
zliWU1|4*vBS5z!C=?f+Azzs7N0Gn~H!p9!)WpeFy+$&WraZ&(!FxIqbLn==aUhX$K
zX-=MGE~2(k=i=_X0AjiQ!EclB&J;XZ&~ZG*Ccm|zy^iB=Qu%2k9dw$n^aRiH2t9$^
ztk(OaUnI}BdfH3xllX(}n{u}o^#%54U}MN!s?c7@4c0Dwb|(aUhG9EO9chUem>+V)
zn2J85!}oGuCjHL1w||wLmxGt4^74*L6pe9SnK03grA|xayp8J}FaJu9on?Qv;p=LA
zwLk0sy26n@%O>|{#eE3mwVd{6hs;mtRp#30T(-hKus{2C;Dh@*<R|9-^4=)MOt@Z+
z?cv@iUkz~MicLLyiHeV)ue5ukV6%9@<CO1eu}|-<;l82J<M$Zyo(`Pppv>&}z9Dj&
zE#A}N*gJe{5ccgM3*=4e_QJKu>jO{tK^Lw!W!OK|YZUc6*B!3)+`FHQeMHuw&gXtN
z{Xp&^ay>Ip&%KY>tmOS%;3!Szpj&xQ_vwnCviYm#hE#ub{d#4~!^abR3>c^ngf2K!
z=4uZh?i{+{B+QMuvh-Jv?`gc*uJLAlu<;H*FJ+Z9s#>M=M~wQ{({8O&vI+RL{$<=;
z>tE`Ti4OhyHh9dbgGKxs>ks4HTHkW-QuwIQH@aNV#qrGo8}U68-}reIu(@MTi~n8P
zTKVc*vYGB!xe~fC@_8laVlKF&=W}u{Hu5mmLmyJlVBcTd<qy5{fzI_lqHvfEmf$6+
zu<W>4;T3RjY_0Q{1N1@i#cML)YXa~k<eoMlWPTcKR5!1O6tA!8VIB?s)Oq;*avp)B
zfYXIpU=ex9R|gv#5M$xmsqb>|mq}Q{@S%xQ=8aSS68L0p8F-GiSTp!B1l=KRqV#(l
zm|v!CfzvbK^p~5ZFEH}}WCu7k)Lv!dx#{u!$T{ip{i`m{9AnmJMD-e}bH=zv^3F1y
zXQBCpdJ;NvBXy<7Z=$Y*{wsx!r2RvCi?$!<N*hg{5tZvT*K_g#bx$GAPEZ#zzv&;(
zrOR9m<}22VgYmJ<1B@}AhWcY+n<nxLY;%QOn9MI&_KSGkL7XkL&vn?!=cKN^JI+@8
zqiDvy6LiBqhRz?+zD#1T;(X}$JCk;SuuVW)ev^{4mAQfv7sLZ$rCmoI%sD@cIy*!@
zp{Mal%r|(yJR?ItLfEH(V>k5ko6vPTl;55_*V13?{cb?N>tRdQVO-WtuQ#C4GUfS~
z=L6|{5iFE^p<^os_I+NtD0OZ9z~^6J1JUMmpMR;soZUJ=-%WB0-X(mmfLagg<$ACK
z^tHe*Vd-~lB!7|bG(Y-CGw@{S_4IpQ1n)gy3LjAOp60nPsWIJaEbno>2|VTl4-J5<
zOM81j`=)bJ?QL})N}lP~K30bN=Ze%gt;#lJ%!>IgXJCwlXG`9c_h`dDQSp!mkf-U5
z8}zR?>N~V~Z}zju)npC;Z9U$jS`A)ct{U%}>5ses-nD9;nd%#^KO@aI+(@3&e!`pJ
zP5KFKxVOeYzcyr)enJ>$jGcZ$1bG(2^juWTz&V%IXQa-h?Q|L2$$2i|ZO*0IF_${{
zX!k*fw9ZPMQz`5ZFL*-xyKY)=PP_}S%rU13WHI*3_*m}8JpXs)E1=$d@DuG2`ZVXm
zZfuyD%76ZulK*Vn4MH8yoHD87;Y)!Qp<xSz-ou?wU9>Hz_sDBfA4uLK-;?jC51s-H
zup1M51158yV7p!kyO?mC!F$SshPbm@@}AXh1*P4}@t?*050kLQgurw3R}SKCJ3S`l
zpcVI3bIlZYDj-*kHdSKHgk5bT7lGe?;#p?)$F)l4sY<^rku!(8yknS87(N&Kr(ec-
z(Kpq1dK2%=ozwM%@Ag2dZ^oF%ddykNx9=?6%gr@3D&>3AT<9dw687rG`*GK4%AGv>
z&g-PSlP@Xnv{h`tAZ$7COBC>NJ)IBxPU~5o8Q_{yp~iIEM~rPm#;J9@o-p)pZyTG`
zF*v)Bxbu;CB3!iZfphUq1p|7fjkY~tnvb#R1L%9y2pee~R<xc67~HnxD-S7K60te@
zNbr-z{rcns#u2#AMZgOI%uVu8UgJ#k<IcTUf;<b_0nRhrzJclM{+BMyyzcY7{XFC-
zT#0zV-LPGQr%7K)+BVQdr%JjQ@G0n%YQ8@Mx`BMN7jV-SPx$lI^Amf-<d-n`hA}wJ
zGrSX1&`rfc^m~3Q&PhA+%X`nt?^IDwk^aO<8|0H~BiE;9;HDJ%3HTQAg7Y6pp0{da
zUIg&Zwb2LvD~$M>pL<9+gBe4=ZhEXx^k~xYP|$>9QWi@wCi$gdgyNT|<QM-4$uF@~
ze@m_f@VCfwy!VFf$tQqQ_*u;upK_3iCw(Uw(zaA%Y{K0Ml#AYu@uLiLJQH(t+T(c{
z;=-q)4)dk1*SZlncj`tR@2NUL$uE3r;jiHia>7}USPJ=sJS_AhcthKX!k>l=l|`kE
zsAE3#r2~qFll8qcia(O&QZLcJ<~a==3kp#$Wy#T91RS`}(Pg@)*&S#2?q{;giueZ6
zK*<Lan;CcQ-yRw$*P$5B|15$(az5uynpudi(GLI)aGqr&@F8>-@k!fo1J0^(@00VF
z_OX-=F-N>_cG!;3Wr)pbyJ?z(pEA;FzoM0)XtiI`Dx5hsCv1ALrme-A1{+h;DFisf
zE;>=JbB)befRlRBnS<Gzvl`|A!0n0&os^YU>W<c~)Y#AZL#eSJZ9m4w1iGl>{kNNq
z=CEa-l0FUcmL^9&MZTr(PdmFI;z8={#t@m~L>)%GLD{x}8=l>;5eMR0wBr})dgqEC
z$#q~+hP|DO)Vp8t9qz_^a)5Cs_ti+_NuqvqXOk+MNm<7CW4Ec_)Gr?Bt^-{hGrIFX
zR5{n}<MyE}FS>KHD!YwsvF1Lget!nM#`l}lZ;rQ;W$5Pzs%+qY%QoLrzl-=AFy7^8
zGx>d#jg0QxsOzAgpX`_YAfZ&ug}8d2<KvrpUw4#^=N%_#TjeO@9cF}Kt)uJ*I1|Wm
zZ&GE~;JzUfIhU2{H^1{t8lTE?^tby`qjM?VbtpXUzBJJJ7mP(c{W+YwW&h=l{?Aio
zC8~`0dj|RL#Mc*98SyhqoQaC={G6lh<!p;FKkF#-a$bP<LPvkgdDb5DpYN#mO*MbQ
z8$dbXod>;4c=vEFpwC&3J{}<+ys$%88zW+#6E=Gw+mAm8UA`gIc$oEZHsDlMpYVQ1
zjXA~9$3+-320M~CKyJ{Tymv4NKJucjC<ol1L^)w$c>(xqH|7Z2uk%j))on+i4&PUE
z{<vRpm>Odc$3)*l@LS~5qRs%$6LTM+>JYZ)flK;ht;*i;;d=@EJ_pYZ@GgN(2F`gK
zr_}QM90zyA>&Cq$`+cu}vfsHJ3-a(clu>5LXM=zTVPibQ`l+~D0bJ3i`VDh2F;C?7
zh<2p+R<S1=-T7xnUu&5A0JwkeC~KmOV7@Oq%D%;Vfa7<L{w`E)f8{8PqfFl)@UIti
z)xE|#;N$J6LwpmCdsqh89#`#%tJe{;B^*ChWt`_sz)Sn60B4|i{yFbQp2lCmXCp5@
zqWWXoAF>SaKICZoRhEIb?pI|TcL(E87~|g@Wk1M}n`Z-uUsU+JL)GOtC$bFu_ie{G
zW0<RtK5ui>`=ZF-kM68?)blD?Tc^qh&(~0<adjbZRfBes!}6|$$YJZ&O}J~}X7+_K
zS2+6m9^laJ&PBU72^Zveu>*$D91n1nIm*7vGT{Boj<TPy47mG(qyKx~K$(lL{`kYg
zb#Jj8eO}_IJBN4n1J4(zvJ3f5LDV_VQRkgMqYUE)R9Pk4pw2n!H*tHNxJxFw^9)D3
zA96gjo2kkkWIMoms`^bFKF>1LnWD=66L)%(-%eD&wcebG`+vzd`6$;qvmN)Gvg~+O
zmpu27(to2JWnW@F7e4BMk7ofN_3ftxzHnyA(dJYIyGNB>MYu5Mc)z3^|4fzr!%_Ad
z;tKdY;3(T6`cIYfn=n58B}?J|ZB>68f9D69%!l5eLm!Jaun)0S-cf=&X+BoOo1Q!B
zJzwVY(8i{IE5kh~v;`xGU-;l>T?5@kpKdqK(3m)%+=??ao&laI;;t0fS>}trn#n?5
zWo}3-@>}T-o(bP$;r;J#n?PD)j*lytNyq#QcL{x(bHuwh;?n;86aJFVf2`V(Z?<y2
zF4|02?dGsg;CvJ6M{r)W6LX<Gu?RZ2VDEh46P3XhEI_Pj1Iv)Fa|Y%!3Eu!ZTiwUj
zy0l{(`KeZox%g@H2_F2G`hD<!@EiPhoBGYU{9zx;pew6Y8Tsla+~3MMuTy1=)AF47
zcUTuN-i-416?`Vvqw83H0@i<&i**Wg9L+L(hhUkb-+I-4iK=()Ur`5RS2*fCfwI7U
z#Dz}-zrc1bx-ihh^<zO9@>)&~be;dB1&#d?Ynguy?g%;qYuUJdQ@qFnnDhzk@eH_R
zipMaTVCQ$`O*9+5-T_nQUx;|keyr!f#gX(ozlVOO634*RY&8ecc@Jd(csfm$5zk-R
zE9*^l%=OD}qs+w*4?iGn)29@!KBekEi{C-SVe7FD8-bH+cR-i6zGT#rPu~1gs4@QU
zxa)!U{d)3hJ3Qkzca|BQJ`cXD2A_uVbSvbk6?gtTgZ^S=@UbChL9e`*r`bTxpS(Bc
zGV_qs<q?lD8{e#Nf_*+a-)qcZ9V1?HD{y<65jSsbfWEI+_x7|QRuIG->0i-a55R{i
zfbFegMf}aPiGTVV?UnJH^?J~>psQ{l<b?3(vaKj<Lzxd_5q4i(!t)~K3B3CUuhdDz
z^Ow;dW$YDIM&7-LW#GjYl#v%{zrD{g7oIN%o@uA~;d8s+U5IzoSNHH8#(cujKkeGf
z-a|R)`%{!_Ii(z&!gBEQf2#VV`=f874E*u1D$}wQJ|O#e5amu;`ZUV{e?7{zEd5xO
z-Qy^G`(4z7Z2zn3mt!quJ=Z+PskuBO-bHtQ(^3CNs*kU!vOm(FaJA1<c)FZ*0oN_6
zZZmxf{Js&tHJ&G^IxAG2h05=^PW?8??`X3`{l1I%#qSFBd$;-xJ)fBSNR-hJjDg4I
zVU8j2L@{V!!N(J_P=9hQ_o%Co&v75(<g{67qwWW<vmNV~A|7?8Wz`(OTCpBym-j$!
zCegOVy;yHTZg_WD4DzykJ##2WZl(<V12BY3joQ^Hi{YNE8}auld}o;aFjv7#oG)P+
z<=;`(AA0^sbWKk>>=QfWSmPaIJ;!y~MYDVEm;5`D>kZ&NPSrn!zrnWy)$cFxH(>AQ
z=r5}3K$e9q{twm1A&>lh7T0|69cZ4g@k^8)uwRu?Hvgc?{;JA|s}7c7{I?zT_zhl`
z;rvIUKU>*lZ#e3Go@K}h`-3W5rP}RMzuEsjRraEz-AdKh3##l#{0)ETIrW?0KPQf!
zarE;^euo5QPoa#w&AbMibavr62t4n>_o=SoJFL5psy;aX$5h#mRT*{D%^CWbPFmp|
z_gnAD@P0DhPh&aYxkvRin*JMbQRnFUCEC?kZ@=p(`}r%f>|2hq7M8(Azg3kH)?M^t
z!3P^0Wj|Ja&%ZdzhH?zFz1dOrNDI~_$eE5)Q)km>gumFrd*~>Sq3ASx!_%yxTrPep
zUUwVq3l}c`x=He^??nkqSd9_lTtTm^)o<c)Kg)oRD^=O0YED-;;0h8}w7bO7?yG3m
zd{W0&o_D8BarSoE&v}kI|Brp4?|>@H<8RRR9Q9k<=)ZKtHs;_R`GmOKeQBU`E#INd
zX|6U!jHSSaXM6#7<BB$157_1(XmcbwqbK{s;vDJ!D_DrXQu?o$;{a856@BR8(VZSg
zov+be!5j`-Nx7_k2W8+f7-k7s9ZXpPPrU0W+r@PN>)`*WGRo$#1K3BYKfEm;e>wJE
zM}4lT{kZl(5454&xu&*q%|KtTJL;ElO-0$Oj<N=pq5V!r+0ClnZyaSmVHxz-b0}lJ
z!qjH`cJbnc;KdazN4+OekF=$4a^R`>*iyus-^F?mnHuQa>lwAV2!00dYrOIMfu;jo
zbFi;NKF9vYuW$McVpNBMcT_bZH{vS9rg7Jy5Ax7@>F6o%{oH8cnzJ*?HD|O~bG`)p
z*JI83Bg$gv`}g?!WE<eXT<>+v;Q=)-d{<e}f%tuqv~kU2JmxWh^8j9Mchud-*bQj#
z4OK?I-9UPSPq4p~psk0rLfKaxZA;&i{jGM?dz?BHFjhLsZe?5W`Z7n^*|hfo%MwS~
z|6_l!0m@NEJkwr#SHP0$L%!J{?X?q>4Y3gQ>F?3*d>&;sd?PQ;g-t}f-#egaiq~sS
zq5Ww>AGQ6~hr0?&I|{fbh<RV2#((Tt{KovwbHKBlb3vVeDkE+z!h`vpt;$YU>jU<S
z1<ZPXHJ|0MM`x&dUsk_QarAXN%fMHYRog`wbm6~au8fOq&hYL5ysHxB(Vb&ezm(}N
zmI03=P^R(HMm_;N$2rE|MjT-LJV)CpDxT$Wlzs1cS?{o!<gtIS9>#$4kQn24qzC$Y
zSJiuu{X>`RQ@;t@!>X@#Rn|qk1IKTv-{jvbSqJ*2O_dSvFJ@Q|%Q1hhm0~SLAG=ij
zFJbLx-l&N+$M&vkG``_!{LM4y6ZHKJ>QL5Oaepakbq($YVE@daXvMvTZyD!xc49A?
z>)3Aa(Qe$e!F4P?6yN1WEP!VKR^I{N8vOh-^rdzEJ?tO+ybWd4S)50NW#E-93NB04
zd04@qdF73#<6{q8Wi=iw^EAF+iSvK6jIJu!r=<H$PfED&Q+*JJ@6h%Gp1<!Xn}$9(
z)?JRW{wzbijjAlf-@xnb>Nn?o?rxO1bj48Mm9`9Vdm`TRZ-J->`PY4+?S6sNRN0Kz
z%e8wY_F8<ZU&g{aQ69=iPFjXNn7^wwkKvv6{pQT;sv8d8Xs!87BW;M?(3jMuCp{5|
zJ{-IGu612?w?KZJW5m=LKjRpn#pMoMe1m+3vWp#MKU8JsJIa=kXHl=nG0$(SvQIne
zZB+Vjt}46ZFK7q+&vDeb<W1SvbXE2+@ekW-n)*%rFIPNrk}4zLTn}HVW9i{-W3a{$
z7TeM1r5qRIoZzV6O5X}}9^<Gtlk`H{;f}H^Sq8oxqRM>Gx7weg--JFcr;kM6O8HbR
zMtEv1eXNHML8c%tCgh~btM>GeN6&n23$ZxnD8`2J?)d2CB9D*1;r~MiWB=9DSOz)c
zK3=ALKD{qnio8DVcXGd$xdkD}ANMz9{)M-3FxLmn{dFU`E`6GF$DCeOWwfFG9G7LZ
ztzJaAUQ1|OT@2m8K7Q@!BT8SyB?A|OmlzXRtm;3d>JtZE;NTUOL!UIEd^hBs<rj0k
zK-pH5>HU>eECU_>L$xQ(A5iPcW>t2ZqUnR`H)Xu=pzNzbm60!gOMZe5zgLz0mH5Ei
z?{>8N4e<dUyF-<6yhR--!<@hEsP`&)0cE#2%KpYOz+bJ(-rpnZMAdJT<6$mq9c{*O
zJoIyuDkGfZ6`fW(>V;Sa9eo|jNDtzR^CUk_;yd^-i&XvpQt{<d^}9sbkY9H6SEl;=
zLWcg%<2%54xugDAu1$dRVpT@GT*rEt@A-~;*AefKr6ScYZM|`{M}gB%JL>&~Frn>S
zN7+!~5BhbsD&xJl7qBh*I}K%AceD(h!g3eSZMiS$|1}b?=-;RMB3}Pn;d+8&%zY{*
zJyw-*ULMxN{6{$IT}b@|IF8f(VP0D~SI{I+m7M@S$+tbPG<!;R@vn(HNnQ<fjqO_V
zcw?8xsNH{s*$BUW^Sjui<a!m0Z`e7;sNQ)H_a+q@M*FR}OFTR%H01`^#Uj=+#%L-r
zjBBsNcUZ!>`>6hwn>y<8ed#gAn3_?>sG5U-Vbved=M}-m16PF_yVgAO5XXk>%nq&2
zzaoh5C6|tXZ48_Eyz{#14q$BAKXNP$OZ0nPSG>3l>jB|?>K1<o#;xVMhvRWM-l6!m
zm}ku9DMej%^|zeS(bL$ZGuEKX8F$?Ek99BIXN_qu>x>t7;dj@Xp9ws846J>?MLF~n
z@lcr;ZF&!|9q?FFxrW~{WMoZiiP6+rY1aO3ewWCFej2$bttHVWwh5y?c%<g;Ax2Gf
z$f%lpkI{}8U-9gHUwx^wz~~&09E*MivTUxM+cCEQIWE@t_Lzm3EBN85Kv!MlD>rxi
z1>;SG?D*#e9@{j}c#OGKn{W>_^D(Os&!x>G_D+DGDs>Nfm5S#&`;FkehOM&zcP={M
z3lE7l-MM2<P32It=1#yF1-$oJMtjTySZw3P(SUQDG3wWZHTsn~9Zy-~+PC?QS`F)+
z0@fQo5UkFA32V#>G=&{;=ot1L5uds&c38%tqliQAP`EC_Tmrx~`O5~r$zx&6;b2)2
zc<ouiYqTY%H^uAr3;I6k;B)N5gU&v^2L=55VaJ%pmJ$CFkJr5m{F5G6VUE=Gj1`t)
z{hJ7S%mY0pj>0$nMj4G<7b6aO>_zN63Y(HJb*<SUVE98}SKT`pKceUqQFL<Gvj7im
zsSx(BLaPHWl^Eu=UqOHPuJTk5c((rE4h#7;Ko`o<k^a^4pY5*!KUd(!Mw|`0z_9X#
zzDSf$OfA>?gR(+7F|hB3eS{Uwz$xVjawBxgORyKHOAaD;7VFox;oz%E;B>!fYz^bx
zZqTX?x}X*Quot+fo(+4_DBNY>+X&ka$I(}?kvhexOMJi=@*<|{ciV>=P0sgDeV1*%
zo1g<(uWQZE6Z`@HcFQW*G?A4HFrJ*34VYplAs-9)Kj6vROkGg7>65jw!*Aq;E#vg&
z5y)}EZ^%w<E9|7bn2UvdoH3!Ux=QrZdQt%S^@uMT#;*|bg5DavnQ#+c$+N#m@a%T*
zU9>Acy94rOi8+qj%(=b<UTRRk-$5PncUzEgg>jop0k2^oj~3$_;o-GQp%ecIzFP#{
zD(ClPqZN<u3k3$$YJE>W-wzsdZl2fhjS|CZ_d%C?UWbjyy5Rw^0j>51lsS2tG-50y
z4Ek_Rx-Q$Xem&@=>#*HE(46u>Ug}z-;D}~{Bj$i(kLtU=7jU4i2kml(qq$#Zd_3fU
z<6#9ytY7Z<KwS^o<qU_>KQkO#9B^z^aM=BGhXZvzXqPh_fh=%5=78gIP4iyB5e6J+
zmopsEEO0bC;CM#!M=#*02OMaZGaSuX;CRjf#|xT2dI3iaaG+h!aHQI2)JJ0=n+G7b
zyZi%csZ+<|_d#nwEo{9}p_g&y-Wby!f&Q)h6#BP}zeSG^+_D|NH$hfML4OpraNMy<
zPDetPM+;dVHNhCcI(J&e<+`63)@Avv5yUPb@6JA>c$d&&(9PP$OVu}7<m+z2p!ChX
znxA?hUt!1>+VzY-t#7ixQSX4`0nJanfTJF8pk2;z1O{f7^Kro>J|+Z}P92!LoQDV2
zdeAOsIGVG-G1&pfGzCYj7jU4i2kml(!x)qqAJZLh%vNyNgL20Q>Uz*FXE*{`;5gF(
z$2poVy?`SOIM6O<I1Eo_e0<iyr*|qowR^#*sOv$yoZ&$HC!?KkjsuRUf+On9oi3>B
zLA#vcz!`{)aEx=n5!P_<j@TUSm8hrIgLXN?(VPVz=R4rIUBMCS1wK&MgLXN?5gVTw
zAJdCOAHsf{T_p8~aeVIhKwS^o<qSvogv@Y+9dMK@IHD)y4hQOb&@M+fT0(Xfe2jCz
zF+sr55(<pZ6%J9?gLb*YF)lMcIzmah914*x=zCl*;22lyLA#vc2xo!AaNxtM@Dc3=
z9H{F-yPV;uACVa!=R5Fmk-|swh}`jkx*oL48ID*MI6muuqgcUVjLaPl)b*fU?r;pt
zjE`XsI7VqWhW7%F;k6#L>luzGgnxSg-#}uljlQ{o7|Pa5f=fmr{xcGBE!u7OStHwR
z*oxtA;~NQ#Z6M}?SksIEVs7r-!G^=}Il})_-{yPj+^#yd_rd>5__rfz7e4*ab7yNm
z+iA}t4g-0hP3x;4SIhW8DeTXpJo1^@?#nZZ>1U5aoipO`E#vTQql4Dq+IJE28$nwa
zv5FF7TzdpLkF;C0of?{q+(g)_qOT#;tz+985Z4Ni2;9tgQh0=M^POV?oi8KyaMy@H
z=eBr!YXtA;(=xW^JI5FiL7l=wg)81Z6fX`gE`r}K`{TC<>8~4<;~_<zM)NqF(KFgx
zm5=O<KXAWa`^khQhPEOH0Da{nu3@|%FWxE2#)x{-SGEv;mGM&g%dNnP?t^V2hzaSw
zh#UU@W9UQ2VPqWFiPvEcypm6jGF}nW5qL#R=g9FI0$zvpZM@nJymrvO`v~CmP!Q+5
z`#N5aPx9-T{{%hoVesoY&;x<v`!>Hutt4Ip)QLx#Um^cO4*<VMtOu%*YhLf|+jy;a
z;C0?d1h2OOug!fNulA56zpnm>=-0K>uS5DazlKL8@f!Vz*aOwD2co0;2ws!>M9%&4
z(Xa;*mu=a$X>4sKo0WUNKG>``Lm&R0_s_uI)V5}ovNg}g9=oM&TAauC<BXf!M;X6a
z+q6;Gdlqck656z|dsRP|u@CE=P-pXwv9;J^zMM8`5H@cm^e|(<_6dPoXrqeudqZeH
zy1gFur?i<ziP$dfOU8+-Fb4baqd#HW!sblGd13o<FS%=t+^?F8v7CMEfh}snUS?h^
zZDx-5D$4kGJN~k~6=#EJpR=q5W&F)@mJx<nN4%JIWgIyxzPAA1TekU4jqfe+5jJWc
zA%Snq|ES^nYT&8VlZtQ9Hx1vTNUt97jeh*-ug~LqecrLdw>Q|?yeY3|d>g@@@r{1`
z=&#S?yKT&|!}rV3CzeZ}Wa96Z9P|nL@uR=Kgm1n7&G-ZKx6~)0?EHNu^!N9aK4H8-
z>u((^c#d~NDg7P9H#DUF=Kfkze}|#-wEnKb{Zgu*%h<>F)Y_1#Z|B-zA}-QX-$AS;
z&c3Zf)K#gnb0=aS$oWaE4Fa|fsjHfygY_Q1*2@vBClSEUe*EY!H(JVE0rrtx8%Bz?
zf#Y#)kn2UV?B^)syC32&V;_3GVA-!xCf5s`-&5;F0I)uup>AV_y2iWl;_ste$4f|i
z#=~^pN<Hw#7|MGhZ^g6uQP5lFt(co<nZ~y1;DKr*H9w^p>u@D-Ijf(swH!3ujkT-|
zF)H~@PVeT4h%bFD5NLX8n6ZMfu?p1vOILhr75ec_V@^onuIBzm<96JCSC1SH1HRfb
zXLZ$a9gbQC-Upft#Nl{8H-I(VMlKQKShmU~LYq0fA4KO@|LM%GI<D8qRk=J{&P>Bl
zoSoG9Cyu>ajTae5GB%HzfcYcN)PeqqtAoJH0pxQKHXrt2uwEzD`ba3yRERk?Bj1hh
z>oL9$wn{i;G--Q)F+O{svDFwSzg_Bs3^W7Bh&77-h>PvOPvleRcaX8wL_SpE?Z%3F
z;8@fFJmKSs6XXV=ALa_}Mx2d#g3N<S%t_>dJ@XLri1vBBB9E!QE540z5f+X281OD}
z?x}4B{ucr74TN3cJ&d!{#CtPrAUEEl$YnG!N1cO|%;k}}j^#5A?8ye2`avgDj4(R;
zVa`6(uNc~IiZvwExE?uu+1e)H1dch^Cj@^dX<QB(bL>`>H-A0UsOMo~4o1{l`&*QA
ztRDMU{FmCkU+t4<FYPZGH{Ops2=;^S9`NzHQN{}7;uTlq8JF>UUQZ$4>o)vehra>P
zX*Xmx2AuE5IUUA+uSH)rV9~#uJte!CXW2FuXEDI<KI81#GQh!@#CGtGF<J40f~^g?
zwgIov7(@=cq*edgLvxWU2|9%podS-$K{uVkkR8J{ety7cBAkSYuoBK7;B?B-VBnbT
z{*Ll6XrSR>4tm#`CzwyQC1hvW2U{rjN=)E`G55Q`<98uHHj{409UWrbKumdy5##-L
zh$o|L6XxfRX@^nfgPrR$2G`1U#B7fOXHrkf91YgVhn_ls*t>~7t*eVVeSs6uubGHb
zbH1d5*72O5w*T3l?bwEG*)E)x(`5;qF-Gmy-<%`I_CZH+UE^ID?2~vPU+K7bK#dtj
z4(=~duK7*iHI`++^&;|#)t<ns{}|$RBj#xI>pfo4#zNa;g4g;i`{@&1cs-W<x)^wE
z_VgaFXk(%6F~MtiNap>$sLcIH@awU}Yjv>G7iD~^mwEtgEVMl)cx@h>8Lx|v2(KG+
z(XY^b`+A{YH(E=9*Vy3R;&mh2u<bFx>&8%Xmi*hjN2CXi4qo4Z9*7M%0=y2Wwb1sM
z;59ZjGr#VWd-T2314jq1?}o5$ao@UEdH^=ZxLONsj|pDG$7jZCz-4D0pOZasbnrS4
zc2<=8fW5>k+E{3NOz;}Zk}ou@58-tb@M?_jJzmkqLfd14*YN1f{950K^uPnq1JTjF
z$1B=cXnRcXYLCf`*T?!0ULOZu17muRSG2Lv_L$%`nkD}^;Igw2o5{hCJxcl&c2@nM
z-s2T*ta-=C&VrwwF@O29F1+UE7aSeD76Y&L5!kP2W1;P_;nytZ7wkTS*NNoUfk(iv
z18Xg`JtlaKjmpfg8~c!cy_5Fq5v*HiW1;Oa!K<Cc9=O|u*JG()@8!C61b9Uo3vK_|
zcx^k(GpbqQS=c8?i4*34*BJWCF+R|eYkZ&;eOe3Q#|C;A&tf~aVcTPZ*H{+3A|~Hw
z@OnMtugqi1-QN;;MH>rkj|pDuv&0E+?ftrS)cEywtXs{!ixUdGqK$>N#{{oNUgmXc
zpNn5}u(OUDUf%`3+IhX_SG2Lv_L$%`JTfz0!>)DfSmL#ue(cEJ;}vZzv^^$xtv@a^
zULWd1df;K|f#Z6QSG2Lv_L$(+&cd$?`w+igO*`ud_!Vs|v^_R>9h#Y6AL~Q>`Z)MC
zFtqpliZ&M79uvIAvf#C)58?G?;MMp<@9~N@7TO*gyk@bpHufRB-buV3fqq3B3vG`H
zUc*_=u^N3yzj|p8@SIyO{Q|VH(Ds<%)gGQ%zmDrec%8s?Yk2SRiZ&M79s|6#gu+?$
zYx5E5ftDQO16z6#A84_jfgXtVdfjSa8@4?rc#VA`Gr#WZLwJ3c`nA`30I?nD0kl0P
zcnxRq3+nq2ULPR8_Ilj{zhd1&+hc;)`Yd|jxjux~7l7C1BhUkAW1;Oa!K<BxU+?Zi
zc)b^R4IBZ#qK$>N#{{pjEO_10hw!?U`t=C-6>TiEJtlaqPuf|$`;upXe8@#Fm@MtA
zDxBfb`Pw(&E_8Kg$Z!L9g7DsueB23wZ;BNA^N=@wIG(Tvd^qouDPNm8>LRZj`@sGo
zjNuvWJj3D4fo2`vv+EP*CgnL8k=u?uYD3*uau?2(aNj)>Jj@?=!;>w4JQF<3A9ur}
z^T#<y|1{pmLAx(`&q*?WJoSE(?Z6Gk5V%1bwq?6;H~Hh4=FR+ZJ$L4hvrp26XLp>i
zGG|@qkGsolob|cKkynoWqLxrJxv!Bze_O_h6ZFU3iG7Ox{$oi0a^Azh{i|NmA8q_-
z+o$LsPUdH(&_Cvqf9x0bDf;8SqGKlidwBkSZ13rhHh#42Q}nl!eoG4dUz6)<LjJLz
z(WmII_OFkL{(qhKS}^|COZi6|Kic*o`fmvZlIMz2=zpe5|K~>kEjk|1!}`C`_~)$u
z33z%~|5M=UVg29YUkm*oPQ5QChxLC8+puk)qJMoB`QLj)@}I!>|7!Zb1Nm?6wft{k
z8$a6iE&3<#3r&&#$ui$Pq5olT<)HundGw!@)B2x)=R=kMX}sr<`S-oj|DgYP*#FGG
z?=$v4&g*8e|6V&H`!9j-qb~os*?$RmK2-X@4*M_AYx{2t+xXG8Ptm_QnJ1JY|9LL`
zk8?zQO8()G=3xIH9r_P}{*N(lsh9GPHh#42Q}nm9*nhYuf_aSz{r|E3C+-hG9A}Gv
zHSE8@5!iod!?t~j{`JZ8Ln-qAoJ;>h-}Wi_SLYgg@c)jE{J+5XAI~%OQvT7#kG6e^
z{?X)loD}+pUHboH`A^D!IrM)$&j<CA{%GSz+df49jiFeU`2Td5{O3mhjk);$(4qVO
zN&bHVp6={FH#|M~{~P_YA^*mR-qIg2h7q-F+o$MnWQqR|JEHYJf$#3@e>c95;{Hzp
zo)4A&#aRFCUdR78vW*{Y`xO1dS^R(7<^Shq|0nQ$)ajp_{hxs6L#6*j`2W#f`~SGd
z4*oyd_9^<;C(k#gtpB%utp9n381LlbUTeO(KMcBSqyKi=f2sE`=Mewh$Tn=-r|2I`
zo)1W&|Mef!KP&xLas596`lF2>ZTl4c>$A{*@yGPfO8=#lf1X$AmHiL-A6e^1+df7A
zKo<XR;Su?NiS_oVum8E_|0Lk~P}l#f;s1qu?f-3L8$a6iDf)-A#DAJy@}FD$CxP#y
zPXFBEKM8m~RQf*y`H%KG{sa3D@gKD9EA-z1KRgsm-oucx{%>*7KL`K6nSQ;xueAsI
zxBN5we<wUW&_4y9?)-oD>EFurzjyQ(u%Hdw_9^-|C+|5*q5t{4*Z)p@|F5S1Mcn`4
zy-T^T{}MNYYW-;2r|54a&jqH?|N4*VpT+)b@vj2??Ow0{Eo{TKeTx3gS>k__dmsP%
zKO_H35&w(zF8(KRgZLlX_9^-s$$P_6<bRlye{-nH|DW3P{-2Znt)IxA{~zNy0pkPa
z|K|{oOo6AH^9UabJUPT8o$xf^dsf-bN4VkX(H<E^eZ+g!dbu8<jUR14On$sE(|Lq_
z@#3#$D6hwNN}kG49^M}>zRPh=LD;GFS?tt@q@9}J(_Y%CN1adMr}ngO?&OQsqs^x|
z<V`!_`B3@vVa82(pIR^Z6m9%y`_bUj<h{%(`t*Etf3Vi4Ir!5~IvjOA&Eb4U3Oq-f
zPjm3^o$!39e0mY{J5#@3+f#gBz=Ae@wEYP1X-mk?vhTC{i1cZT_WOI_(=8u(-Oo**
zCgJIxPd_+3x#`mcJU#Gf3Oqfm`z`*p(5Hdk?L&Z1TiAweKN5Tz9+9|LAw{1CKIT)W
zf7;`D*<;D4^B6DfUA~OqQ?&7;?MH%7jVyVz)1@EXOZzmTFFw|%$#drVT({s26=(iX
z_30|+_4F>USHOZcezg5a@M$<pzMuWEKK;n((}~oly}N%v>Qmf5fVLkEKFxA2G3JU(
z<>v2ytWV|L87cR69CdxV2XU!r@6Jg|KE*jnwEal%sh!0>JyYq^vAN%$;#}8S$8{SY
zOz{(rG=DaSxKu)JBA7=v@yZVlPj2yt1U$YGM;V^n;xh?&dWhS7aQx&J580yq@E+`<
zjZQzj2S0O*{~Y?6y|&+R-VydY+J2aFd}^k6@mulYIT^}(iZ7?#kMq}fF~800E|2Yv
z7Y9{5+O~|XU2C3d<Tq?g+>_+PJvlaVL=Dr}%5R;w8TdxCW$X*_-Kg_0ce6c!ZzUT>
zbZ6I^?cy7={QqW8$u551HLX8<cl3kw*R|$n0ych|dJNzIOifR(T+qqySMzSCFyM-v
zW*~ndx|83rK7c!)N{WpY<M7+So=pk9S3MU0AH{d5OYoiP=wSKnYVnO|d_#h;v7hKL
z%olxeuJMx%d~@2Y<$PP$c^iqpd9#6w0<$)X`n;3KKF%n96tSB}(XIiq9uAqc`M`~T
zm{D9m)aYy&9Nk%uaU=bW&IrB}9rhcYG1J&*gwL&AkNn%vH2H1gb%Rij?^Un+7prmA
zmpz!1xp|%6oLe}=XbNDgD864ED-hpHZbA;i>_YXeY7^fG=l6F_^^I_Iura$H@YD}B
zwr&DEX4I%H#Cb<Q=Gy>xT1}&6lLz1HjuwK>MyHi$G>yzNI>+G~+vX=we+Y2+38Qlt
zaNBlTpmRH53>xOI(C@a?Z*D&;XdXR2(3C&KSg{><Q$=C3)M3nK^hNp*pTzZc+|NWD
z&B{x~(I)H_5l3Ge5o|04ZUEc9`++MTaPuJW7CGK%Bwp4XZ!}emuo}yNyLG?~@lrh|
z)HrXH(fBO*m*cLE$Ll&sKk)IL7;7uO(Y}6AplLncC-8>vLlbXd+{@+0+jf3i9r)GX
zR{#3=t~&BD`HA1;Hh>p?uby>SuIsHuJ>vTTz5{=l-ssLB?uyqvsDBTN?rgyC{eX>o
zMWPPM?p0-M+l=xXKPkRJz0&~i8DF(u?ppJt;CIR%dE9~=GENj20)Bxkdd3AhJ@`(2
z2<KT!<MC~?#W%o5O(l)G*6a|p8HKV+e3M?tGx&@=9wr}oQtNR(9FIIt`S%6RQ*xEJ
znQ)t?(OC){%Wp_qo7ZD}>VXjMQXy|vVh$q#1NqlEzV26l7mIz7uUTG-Hd*@v53xUI
zU#)0s02hVe)n-r0F8%#_>VwgMds9Len43-DrU>xu&Nn(epkENYV1pm?^C0&gqd5N^
ze7_t#unlcm^Z5;U;>P$@bN?idcddCw;BXekeCcp}>ll2$d{^lwYrRO2ZUwK2Iioxb
zyb!;B;DYlhF~+px9=KxS<sj%P+8;ta%(otRqi$in1nw}`S(xjeP<Q{+My&yP-HZJE
zU1PfH<Tt@bZT{u7uDaL>O7;~G+y98C@o-gVd=Ber-h5?TSKTks?;8`k>bByqq=)*>
zJ9tXdgZHhC#{9Oa`8BHfT>+ls{0J}MCd?(q=*0Xq-GyGjJ#Kn0L5}m21V2$9j{}Vk
z-fz}gl}VjVJ|q1Oc=9%PUh8d~3mE?Kv{^fMLqYBPmHisu-)+_gFmCKpsn^GVpUI2t
zpE4iDy?qj2V>f>j_#z!gULTxN<r#Tlp<%4}4QOlxjM|Ye%&M92!Z|gSe&fadq@QOj
zzFR+X^Bl+=bvX2AG2YeQ=NZ}V1MTGd(VLeL?`KH7n*+PixkHWF)H%EQ8^ep=k8c}?
zIksL3Ird1tsz1(vY>XDNap0;@<H53`#?EW!HNIbY9%S`bg3lTNyC1OHdC{i85TmBj
zGJaioxaf{Y-;bZ+$Gn4P^zxWz%+$S}<2SdhF`B^OolThY`|Wv+oHux|3A$~?`IyTl
z{BA9<Y6Ivmg#NB*o>gNE8Ci2_G3Il&tQ%B(L|ekG3(XGj5$X}onwLW0C5@K?2VNov
z<8z$#&O|-xOVb-@vM~MxjL*4WJ!C?S33v%x5z2$Zf=ePp%$o8c-kL(g+YbF(JQB3=
z*+%WX1)v4iP^^>18-T+C1NsN^3we#<C79#exMQ#s>mGlX9_n}N599GU&UO*JCqBR{
zLf=OZrq8kUz4)9te~8y@1FWR6o@XB5{}#$dKxR0vt~EbR*d5d}H-bm0kG1U7Lx+&R
zca;thc2nyD1GI?lBtLh6f62!OJyz`rpdod@I;?lGGmK8^5z5b+0mktC$4NPhLRU|i
z7HGN}^V#be2Od3PD(PNGT~G))0N+~Z=lh$Wqk&)FFk|>Mz}Z&BcVjkJ;aw5*)fWs;
zO`B)@=0A;<?QG!F?~OJU;9aO=-Ag{aABuSzW_0HS^bIAsxfOkwz_Sg!8Nh2k@SKM|
zrVa2HBGJGUKgztT11~MY`#13JHri2!_u7Z>*Frh;Eco;I&6@@qcd|`6;EQ0qDB4YY
zVPehAizjwKUYo*b&%UFma{=f}JE3HC;O{})$7uqdBGHe@dG0g;e{>9O6u^f5LbmZ@
z@C9Fuxj51hfi4BCofA-A23-&X{E=a>53cVwMbN%qH}dK=X2*a})=S6%ax>E8U_ayl
z^~eXBKcaw1)2;IF@oi!aS&&>qVxHt0;*@jpSl628g{%`+-QQC5N8L|c?(vvYm%JA*
z_JHP(pv(r3lNPqJ?S6nVfrr(`2;!PJpAUQ!mp{e3iW5N7>R=<+N259<|4zr6;th!Z
z=R6GeZ?CGS|GMA*vwtVxSM$(tCH~Hn^V;Z|m-~03pCW}17hcqRZCBKTpTG~DKJ07k
zgN<TX`MYdYCnMfmcp=V3y~%>FI(@LWbU!RNp*vz&=jcmt4NKIA{U*kB)i-px10K;o
zWr1+I>wDEav%RnG;k_Hb8h^S!Hyk~Ur`x&VboZO>y}O=!{Qv9kv*EY5eAC<dLlpmI
zqer#UC)wc3R<7yklB+a*m94!lPlL;)-@NmsKG6K0bv{a7;7hpmf{;T!&usY9{d<+Z
za{t!z)%{$bs?WO9OFq=Kl}<Nwzgg#@=C9@7QQuHyVm`Xu4Oh1Lx$9+Xug9%EU*J8V
z_cXoS@~`!ZqLZ#~fewE7BhaHQ^gVS9D#{p?gJ%pE9@Bn1>T=!!&!ePo=BBd`brX1Y
zwd<+h5B%OWo`v7$_23a3_7i*?d)WH#ce}2$Zg=axtN%23t0mub$A`A6BjrJ_vy#q+
z=EpSpYI*EoJ<8VJ4Yz{9P;%BCJ#FuKf(Hq&c{S`)!<cPU%QADR{;l*w^#Z9Uz^B@l
z67vLH&fjJ%Ft-8ym?#%EsfNeh4szsd$5=+nZ#`eP{&Lq#=o5**Zs{{G0DIe*ZL2o6
zk}WY0Hy&O5qUG-6ztXPz7!M!gfpXImA9SsGqLDEv9rGNC_3B;N{gsFlL>QMDYrvj}
z?)>v`_~v67`&Tg{gE1l<KYd#GiGPD{m}`H(%Ar3I4`3V>`yCnm9jvio#3Hr6;CzLC
z>7l-JofP$<%QE&4UFKe6|0(sMdo#k5LFbyNTgBLdL+?_zi!%JxI-C02J(mQ&dOLsg
zl`DKlgs<NAZ)brAd?5Iv`l7@-D&QFwXo_N;aq@u;UP{bqTGAJ`(TBjBql|c?eaF6N
z;~C1vGsHfl(T={0?dD*IFA(aW{Mpz`G!cjM;f@axm&TgO{Yb=eiu>JOg!oT%r}x%*
zQw;pAUmJL|3Qu@#_|YI9w%7Zd0i$piV=jO37*qX+!Y_I7ur1rM4coE}+v+_|5sTv3
z_-;=CcBlvQSckDAfHB~ewoS}qZQkech!}zeUJ$Sv17v-`ny9aAg_QcB6>$(m-v-7p
z(2g+)#IxHQIEJ<_l>IH+%6NsqBlx#_JO+TrpunRaI1f3;ijAmcT!CX%;rlLu=0HbK
z)s=L^yu%|T&QXszZxA>SDx8P1;@k=62f}~q{I<{+Nad5v^NYoChTk5Uz@?mD5c5+!
z1-`_-&OTqgnjdhUoL|p8^`XrV^cQg89D|d;sz`eWJ)As4x|?X{11<f)2j<#h)X%Nu
z-f{_OiFi}7j%8)C%VUUl?E}v;=EZ)tOa0fBzt&jMjJEk#n=2@TlncrSWk`*)&xj33
zj1zH;lXxHaMDjiQu$4dP98<s#A1s)Jf1d%_4hb577ul~v{;8u=>e{0db(<0UclK?7
z$A!K@U(R@3PkL0)AUrBXzcfH5EcjoLnK}J#RXl%tD$fU?D<VqIcyFI4<f7jM#MB)+
zh3{D}n=UGV9<nm%BHd2wB29PTN7H?u(L6SRZxee#T*t)x!3%o+<N@r1ihK{rYx1si
z3%nzF2H#V~KB<#eZ0JhrN$N}LN$N|@4_e0(E~lP#(!q;Zbw51rHr&r(9NXD0lV1J{
z;@g}r*WD=QOIRiBn*YppANVA(E<5Mz;9Je-A6h@aCE#fB8E2>HMaWRGF*zOg&hd|=
zoz4r`KiKHx9u#dkte1({HR%-J5D+pSo{HRo!4d}M1UO^cEZ2DgVdP*LhvVDAI|3b%
zP_Sbka4qBmxK6C$4*4MrVr`15vsQp*7Vr>(Evwh62zW1yv%};wEq{b<H((BfclLmn
z0+z9jFuLAjJvOI$T|5@XTHJt#a7Q6KT$eTctWSPC0Ju4q=%M(wGBp?S4flE_|C&=V
zzNpLo-`4X4>^aX9IQhuV6M8e#JZ;QBOuHX*6Fk{GH%0H6(0g1LsAp`*od>+YJJcJf
z&ru%jLfeEr!nH)&K6)=o^SqYd-B@QM(dj8;`1)ZCz!AirKF9E4jQcnSbr{N<QBFSb
zqa1r>?G4aRtiK(+@2u}bIqL@;d{>D2t<Vjke>I0PjxYN12wR73qJ|-GU}0}Ip+`_h
z>rFimsn@)6j|lVE{HyCZ^&ZFEgZZwHo>J??T@~i*hwQG$yaJe4KaBH~;b|uxf+!CH
z{$%}r?bPM0Z=u{-pLk&X?P^|fPW^=b7X71~^{X+yi7|+a2HJLL6T^H1(oWwN&@m$X
z4x>%xIZ3)o+oPYHziQ{Sf86u;^_S}t=^k#Ll~}8{W6xLckD~2Fz(<-R2Tkys4>@ea
zft-`KJ(wr!8;Z8Neiinh$)63#J9F0GuD+MJUg4k&V@n(W&ln?sHq4WA&y~F3E+aog
z2RPQu=xpKRi!~E)(^hOnJ{##BNuix3%GqbV!mH$A@SUm;-gMB~YL5VJ!NbV!B7QV1
z)M0txO(%W{m-9W>Xs*v(r*m1OjSO?$=aIbqLDy{P66jtNxtWE#{(%1v;O}evi!tvP
z@8~B<--YzUnz<G86?SJm_&uB5Y0xi<<|p_FIz#Xg#@pv}>6I#_Ct6)Jp<dy4I(H~}
z(tHu5Y@pmwJjwM;!<evX!?0-u%?;uA*=ldYNf)O)IBBH&a?(|o$@Wsl0>B6C__5@t
zRQWkAF?IuV1^FcElAl(kOHJmzIpoJjJaKL=`H7&M;{aDF^&5Z-;wULUrzPYk2)q(c
z%?{f`&m+^^3>ABJ;wTedH1Bc#|Lx)tZSVfCz(>OOPx@X*f)BO{L%&iFiFLJE^M~1P
zLXVKH+rb~?1HGnJDZU9SK9Ksz+g_#k0JKf1Zz{ftIo1WPBUp1}|4M(AVQi_ZJ?-1U
zJLI)6))>;w2Ao<?X+Fs`Un7I9E_p`kBq#r9d%`jQmdO9H`9rU5Hh|~)O!+IoxzLG$
z*{QacqH_c2taMt7k-!^tnxeO@_@e;2PS|^@-S!mzkoFVx#3t}T0DPwHjEK?^0pvsm
z01I`$)&ts>%ETAh=$(mQw5{pXx8w`P&2<c(dFV3F)SNmJ@WFm>3VDn<hGlHr1K(gI
z;*9GoZ#(Rs;wW;$uujiLj@pc7*tb!cgLPT-ka=qZ^72qN`wk1f7xJu`%c*l-qwsy0
z)76SN%E9Bh>R5;QzsR3$;ur>U<nj&cT7O>fmfNVGQ8%<Ua0lnQ0QEPZJ^i_Uz|$f;
zH}p4}`WgLdL>`^dzh>79b82Fqew*(zMqhiQF{b7j<kXcJ-kM#THhh1VW&XMi`G4bw
zcGXp*AJ_n!qsWWPN8NVLVOn5r<kY}iW5NQ&H^<M4oNCN{2Cy-2t{#1r_D8NHeDKm2
z{57SPRTDCdU%xj*_VqW;0q@z@wdjj*F=vu(H~mZCj!?7xYqkx)VAq89ef6cVWz@W-
z+OqCu)RpvjJVB3_O=IJop|fjAlUMNn+e+uw-f4~g^?R^gm`iyOIOzZ$KRLLoF8+x-
z1zqk$F6>C?hWl@+>}W%7WMzMx7Z7>8W2Vx+xX+TgyP7V{z0*0|9KYF<jQi^NiGhD6
zn1KK6$v&SC(Mx->_-WWz$-gJguuq(6pEzrf{Anz^e(4P>BTFmKopH7;|M%SKXX9O>
zd}gA2@-o|Zu03N4UuSv$Y5h9+ewL&Ci8H33d+rQ-(j<Es{&%|X+!-_MLVLP>mMyxT
zjvq7dV<v{kIDYo_3MvO&&T%=Y8t2?|XF5i4)SvBull9lGwU^=Vj47(+Wc-?`OJ}l_
zpaLhKwr7eN+2`0Zr?Y$}%4Z2AIq~Fxhg~`P{WSU|O3pcVw(gb~kpB{RaI_c5bIggj
z%sMYuJ2uONfApc?m@K+KXU23fS@w+=Vq%&$ge)6eJ@?P<F;zm5!%!K=Nu9gK--p>R
zNhA;;K?ISfC(tGd?IKkIPA4A`d8x2E=%lDPD}m;7ffU6(3GyfL?Cdw$rwh(cJE(ik
zxih9u(NM~1;B}Jvct1D6u89E?^O%z&4-`!yr*de?`Wo@)oI6K%1hk!ws<R*hvqhhY
z{!Z_yKOtXo{u<g@37m_`sE!5V#8e9H*%)XJ2TF|N<aZ~YKno(6VlDpn^yL5A0uN5^
zHjFElEW750rID3N42{nUHEB;STfVGv`Lf8eRi{)eE3YVrhL!*H`x}?vRI$|Y?vfjp
zieBd35LwEa7cW`1eC3i=H`}s->eop04~{uy#`Kxf>{CxYm7QNvv05}-u(Beus$!-6
z*~krLEGS;NM3m1sZN?1tJM**|Gx>LZ#ZCNUTpU?;Gyi^W*^(P8R#rxq+VhvMybfPB
zLfL3M<M9l`gR=<6DR|g;HXiDobMRozG%mt(1s)HcFW|Wz&y9Fi<6-At#Z!&vn|NyQ
zn0TE3KIQzO{{KPzWj*-);_uhh-%HeAfGEnb&m;bRQT_ck{*J+O0-i9Qay(Ud^q3c@
z|No5oOJq-Qygy0(|99~B3_NGznTuy5o=fpOf+vEf3=jL9rT#8Ze+T04NIWOvxe5>G
zaSNVz@UT8tT`wNo?_>1GGXM|Q*ui*);5iP@P&}W&GaSz-Jmc`x;yE7AC-D$p`FLzR
zK0JOr6Y<=KXA&MR<>ZN}cuvMM4bQ1~PQx=D4;f(&p40K1h38y6pT<*&XDproo*<qg
zJm=w=kLP?mZ{fKR&&7B?i|2AY*c>w+#`8Hm-@@~GJXhjbh==pP8qb&Td>PL?Jd5!x
z!SfY7%kV71vmDO~JlEn`iDwm_8}N`r*Wg);=Ndf!f+vb+J)RACzJ});cy7gW8=l+o
z5Xb!IG2_F%hllq+Je(9^dE7MPrWK#)85Ey7SpD`|{o?Qz`5rHg!xPOx@ri>;Kc5-*
zu`+4JfBHS&@gIJVvb<f>2C0JKX4jO#jw1PcyrF9h2Rx)b+IcN>YMO`5!GPzmIVA4&
zj1>Lzy=bTZ#s^{^_<?_>`g;}Ro%p=!>QhVjH*&)&qR&`W$^QcPk(JA!lFqWrS1!N)
zdi<YVe#7-kmy|&%*w<B5Rz|L=sI-?Xvrm%MjgtmVUbXUO`xFR&>GH}7d(rZh_I1lw
zR-n$J<x@^2Yl?p-ohAQw&{X?^d1u)M{uV7?wyI+FD*V7d{JvuO4J*qk<WGaIue+{d
znR;zpUUA*>8!O6{?Z{!StF$AP_Nv7d_NvIrYbsXROCwOFfX`lx@}+=P);e|21&dH^
zNu^!6{Dx)amG(_5moK|!ntlE9%E~3BOK;BD1!^x_zRIpdx0uk%in8U`EL(C*MLESl
z{JX5U<f02MS@5|Ft|%_K;F99=F25vrQAyFI_`ik4_<Qli=Uqb9Hcq{P+={<nk^jR<
zuZ)y0DO*L{0wPS=u3WVezXZG*$@Wc4RxP%dl-nnrIO8OYn%eHVid7N2Jc9oa-+WG-
zAwg3#N@>pVbve7^@6#yE_&4a3#6LlxQ)IDG6j??DEWf^D8Ne%FvdmX#Pd;(R6!kjg
z{fRTqg0U~(d~Vsb%a-4?OrSop3SdbHmn^N2RW4a>FI^rf#|on$zfRWzZP0~l+~qf{
zN*!3eFB8iYy4NGC^2*4K7zl%6K*7<gR^CuS$QHr(;Qy3YEQ;K)bd@paf^ysSPjKEK
z#g&eCvRrbfqZk$e`a^xerj8e~{BxBRE9a3yiGQ;Eyw#w8N+VfbyfU(^a%p7M@|F5!
zYWWfv1hOkpK8=Ip-=O)J=_QftDiXsexGq|<tm2Xzt}6wm)j!qW&DT5X@|7%ChJ~)2
zC>QWLN>%;K&W}_s#zOJA;`yg=jazY@00(?}-SvQ|+`ep;jfsjW5p?<1FfP0Jl=+Zd
z5WQmM%H=E1vagF=v!o3FU3o1ay>1C)av62?iB#_Rr|1fDmkXjw#ulU6Wy{MexQ_DQ
z<rPaSB0%|BXH~Aap`zjz=#k>(%hB($n^8|F8Ue#Rsx^Rj;xa91lPjm#H!WULwitS&
z98wSc1W~$3btrqsI<~ru8bx(=TKSUy&)$~+)>Tyf&)nN3-DnGKDYT`p=^EN3O}dw~
zkhUoeG)t3oqlJ)WX+zT_%}csKL5<*wfFL3YE`YLAPz2N>h=MHgAxISw1;Gta0V|*g
zy#McaX67z0=|cJZ`yt$$o7v7eb7nttW_ih)P3s!b-?Srjrn3aqhPIYXanhz$D#aW;
zzP`D>4IQb(9?2YXfVPG7H8&<VAh@O(Ao+=oX6KV7_{HlX(;4gz_9BwGaNAylohe8e
zjtlOn8~)%+mtFkun2~p#`n5ZMJz;Z4OZzbx-)lCt!cY^|(*?81nl<PT89sJ=9s@SF
za->ChwI@)M)^{`}+Y=MZH?$#-6AM~eHoE@b#EtPo`e12aNCh)R(3J^yT{C1mApzNM
z%%ZY|RjbR363fb$%<o%(|AG+o;`1_%J5Ip*0zX&qRDmHl-wia(=K_O6kpytoVF4uE
zFl)oDBN~oQ!X`ps44sH4U<-2N5sy79u_?J89l3Cg{?<CqqR@foED9lbT3fO=pf1<9
z*^ahVMqj0lFI|rM(athN2MN);@pMzQY){tOLaAmSaP9S*TG4%A1eUI^ye!dL)5gZ+
z8X73K)g)>+)U?&qLc&ibP;Z;iNtmIdD|}<~7I0CQs880`pv#!J79&SulEKK&a`n0^
zUTa%Dns*080L)wxEe(-K!2eoXFV@<OT5FP})>7bSc#SpJS(5@Dp0%brsI?Rb>E33{
zOzWSpW~MDil!pM66qgibuRwBbja=Sbzpb?%8Bmu1>!v8&VCBX}BCg6_YQ+g519zp2
z)oI@FU)G*&#|(BbrW=($PWl@O!Yr-|-7YDyfOAn$jm^hMSwO;|_>B2ez*iK-aTu_M
zB5rJk0KU9A+0okC(#C{HKPZBNkrN;_WmmC#Xh1b9YDTc>QyI_fb&Zna-Nl!VVo4GW
z>0Hs+w!X1Bdx_NEupZl<J*d~!wPrvRER<6i-c}EO>YLGzB5ci+1jSF)&~f_doa1e7
z&xSyNibGF4px4k;v)*Ex`6K<u<|Nva*|r-_I5(;(1M!UA!FCvP$NZ~X%>-LK@elE|
zG}ToLjtz^z*S4cMio3kb@+Zv-b(^CX1!3ES<|4E5(J7jKAQHdy3ypQ%#2bs#;Dzyx
zJu99Ny2(i3pGMI72LwPouoKT^N;J|0{KItZEk(q}+})Orp_A#F8Op<ikI$bwp7X-7
zoDkw^Zpq%-R@17+T0zC~WB5RLln=tgjm~q;_&li<9EY~aKvb}9JNh*AL>=|>GU1h(
zYr153K{L_Zo}8Dty*`;4^wWLW!Gm5wQ+@OL_6-(lKKko44@Qb-jWJ}7ODm<(X-LXk
zE6|ps6LqB>N}I9v+Fr9hQ7}Glz6iLHb`|Mr*?f)s8wp1<rGjSS1SHgk#^|=TwNU0@
z7v9*6%;~_K0e!Y)vtqW8U&$GmwmVd@R7$wXCc^STW{DXW&#VZ6AWZaXnp)N?*NSaR
zb8>Saa@EyiW>AOL+-L{}ZZ>8-GTJyIaC1~@hL|dW_}55b9}k<4m>BaysR8xD%r%w6
zY3|rm-`0^-)?{rI{FZgemZo}>7xX}5j>IZ%BLE0A`rl9{6(8qrX^Ww$s!D?p%3#(F
z8Iuz)OAh&OWH#rPbYpA}=FyE5+E|7KcIqKnI6nb-mD5{?S8(jMO-%`^&``$nGV^k#
zW@7v_UH81qj`oJ^*_p>eP71`Ps!EZ03aTnYto)ojI}9qs78Vd73v$yuY{VfP<YZI!
zB4eSQ$w*p|Ya%MJ6=A+KumTo~w7G&@vD#6Wa!~*%F^Ih73KKq<(hB{AElAURjeIPy
z6n-KVLBttG;p9P97}za)ia30tG9M!rPx_-mM8rYx7kZHC0L~V_>qwXmnb=v$GJp#!
zm`#7g0|W!OXafLbL2k?=$gcptOGPxC6y$adi1F=$t$dSchoFH96HFbPd}RDxb#>K5
zS$Nls0)HuHGRMrs6S(PDklqTzbUPH(3)5oRQjrw;^ATeB7p4o0BabBz{|Y*612f47
zT;L&jM!14pTcK>(kY)k2llABY+o1uhfu=cyr?-m?=5T8-h(RfV%jgy^PS1g0z9Ch(
zbpyttM6JoyZP~ROvd8CV&R;uz8Yc!U@AkHqrl$7#+6`tvWO}0>u03V1Z)@pjo$s7(
zf|+dyqhHU4YKuZ+wi`hWCt*7aY?hR%S|J|f@hy!l9mzO>0%&*YG0}v9Ndrbv(?~L9
z3Og^eu6|2>6O=z~Ze&Gy0wK(BgU|Wyyi8XGTLNh4U)!4JhACzPPR?yl&aG>yMYVud
z4;`E&gm5i2$;RYd3sXCHTT^30Llly7#eu+41vS8AkJ{E`CJw8X7B61h?TpF*x{NoO
zmuT&1!#o%b$aO=Rdn+3DL#X1=uSgc{pH4i!w1PId&q2~=cu=aY9XOHKnzn+ZaRE8K
zWT~6*MMW2gH3UtJubYCHn>sc@j;MpuA?Z}Klz=H&gk@#~Wt*MoC!D@vUS@Mkrb^Vb
zLOy{;)^^}f5~3a<tiHZ3nawI!zct(8pozPV1?>V8lk5)Y2;5L0QP}=Ffl+X7vbClb
zq)>6u7i=*(Qc%;>Zs?ghxG#7TEU-#p&~Qyj;@Os6*Rg5S_8`2w_yj*U9--~8gmH3U
z>Q!=kb9>D;m*FKwW)T$?6qimfW3;<gPA;?ZN_BZzHQGU&6`xRFQRxves{rGN%z)XJ
zEWOcb^()zdBE?jg&|Pom)i%B8H-eJPM#+l;$4#3^4{&U7k^aS$x0`UeqH_XUv(;0C
z#YZYivEI;h)q!?CLGBqR<Vn%NnPvt*+t4siFtVEqXJHW~tk{M?*g%Xs=(&s&@~Q2x
ztlO%ul=RT>lP(%2=6jPcVpnG!3&w+K8R|<{`AaBuCxkJeKng4rz4CJMGg*0?(UmgX
zI>J8C$}gF=3oXbM0zrpbz=FqGgDG_j3_7CakJRAW)>e{_m2X{r5>h7S`dDHR)dI&0
zfdYP7MRAnvqDfGJod5iSbuD$<1GX^!in}0}{K30G#w)Cd#G93(Pee=uo*CH8Xr$D-
z`X=FMovmQ)HS5G}yJ@w>GAxY%A+=UNl$S3pZ3$GOP4)1bYu7C%S_S09wZ=AS?b^v%
z<DhTITg%}>!F_ZVN`h|cjwla2-CI3@pxGMPM|aU-GHp5zeuMC-<9u0`6t~kv*KdR7
zGgO}_tY0KMpewe;m8fgP;t-VfcG{y}`rch671ie$W%Yux68f)NR#JFkQDu1%7f11=
zIgPs-i%1oP)rA$uS0+R|1iemK>Ehz!6O-p91WjdQj=?9pzNW1Sk!P=~hon`nvTGWk
z+=H9CK!&4XH8ieQ+0BrvYd5&&41eRw-rP<Im5qwi9?YtMmxPv#_}k(E+1pG&w$nF~
z2|U@h`~v@Kbl(k)Zd!_PQ*X1kHa1VgK+TSnfmlZq{M@!0F4wADh&wdlUtC&QRk(Di
z36HqTD~c8uuObkhi2tI(s=}yyY4L)}sCxkjswHKWRm96pw#m`~rbVK81RVyM$Pk{5
zRRk7ly;(L=$Qq(?9*l9c3e{hn)?HDLT&iW}uG`*PlT4N(+*F#DRx_DttA|PyeKgd3
zg1HVW8eFg5(2{JgUf0psWaq<NRV)G*)r*Ul(p*}MwM8r~E-9=O1-WxCDqFg=up$g!
zxdecf<%J823}4Z8lc?UJ5*_&VL}^(Sm-et2;g$}Ke_`pOZvD$D(!8VfyDKrU5YcmV
zB^nR!N*v)u>Dp?k*9nNKSUK88(SQ@>90d&=gwSTJR5oBrElYfo0g?D8(w}Rne4_9u
z(@AbYv(k*@Softb)J9VvFeTfwri5+;V329c;)*bV#9_%s(;Lf=SbQDLMuihDB{+07
zK5tTk4bDPey14`W3RU#=U;_;r`)aVjBBHZF0el4R^!m1z03b<-NcssH#1rw~E1yvW
zQ*XP(g)AU%Ax~8;t=UZ+gTXv&dKU}_D%?T7k#+&7O&usvNDt`85)hh_jdh%sm_<9x
zn7B3$#TS+n45C|K4)E>5ci`Sn-j$dY#stSIs&7%3AdlL~Gx7~Xh&+9)>EN+Ehho?S
zk&I1dO#`<QK%-~1mFOp$>#|!KC~BE57WpjeCUuE*HMJYDu#1H~Y*@gm2=p)*GSE9q
zi!XzghT0)4)<7Ht3~C^k{wY7UwlyLysq$o3$}n1=q7BQktD=5sgwW5|$;uoFMd?Hu
zpo-Y{g&wYlHbEsBCB_{COwc+kGlAv323dw(`jfRllsy;dmNqqF%3DXWvTwu6hF#KM
z+tec3QHjdZbL+Ixp!D>jgND3hv~Puh{Qx3I98q{qbx?t@oQ7Q_Yz|vn+OXn9uF-7k
z8``m=j9S7fExeP(a<l6Mb-cC~{+K>AnVA_A+1PB>lL6=Iol7I?A6IaL@jE>{T7Q`5
zuB*XHq6l6=ypmZ-uC!yZrPeI+b`zg~VKvz?zUJgJ&YYArZtX;oZZUr5Y~EC}u|5Z@
zP!u-;w+Itaw-q`9_;$1egfA*uu>5$;LFXpmz+>Fl&LOUddwf#-f^fJ)EUp6@efU}{
z4~jfhU2-BNEUIvGH*KWA;-)o5zA7)QlED<=ZrrEv;A9W75c9XP0{vHT*<l@bv*abv
zRKv!6Oah83uG&*qk2Nxzak4jPF@|L_gU85ms7H|P=!PkhV2*|7phAB;*r=+alJcd6
zRd!SdUlbp!>9x450urThFDkC6t}H4CUiD&zBi#+y$H`vP%F6<`xTvsdd4;fo9+%PJ
z5NyTqMUaT9%PY#9%t8OqUA}S==#?$6s)kM3m<lTjtI8mL(7lv<pb&fDC-}%v@?rRs
z|Ma$QmwM-3R>gb?!zqg8)V6kDF%df*()?Rkn1-&v$vigVwn}tj#o(-ewV98b;3%D%
zHZ+H&v1UuDBJ3^9SS2GyU823EOVei&R-x&iH7}HwYHOOM7vSWs*={yV=H})GE!37f
z@nZfQnJ}|RVvjQhf$70eYsb$vBXMF3GUEkINs-|;oUm|YMYoR*83H$CTAOUn*NwmR
zz@mN2mJm&W?A&>dC}21W5!A-3WVI0P0=rGXs;MvzVwjZv9~v|Wxa~C?>6(Zxv3Vi~
zg=W*|xScKOAr4+-wr=6$A<2!6vY)4^r9~?Amc}H;IK+tYmu9vR$Rivv6<9YT9LAWv
zfjPQ+3peus$^M|PWf3^Mz%!KfBwh$zVq%;YbD<lQF%F0*wD0OgJ&GB`S@7t9Y_SLN
zM#C8aXDUY6IS}fQW4NHmJqGKI;1Q(5)vtBfa}eYvq+>VGQ2*C~zS_cx)Di?5nGo6S
z*bVrN!v(>rp{Zr7=tzwW2yuzyH5S>E6Q?9<VoXRr2Kl~sJb{a&P7$?bgl(*!*032Q
z*0K6dNwjRN-#(9AO~Smb4cljAHjPbI><jr|qy8prGOII#xS5S}PJv?QK10reb6VRP
z;&1>6>ZvFa!gSYBj_4*ZEgqQ-#p1y{QX&$ry6{D90Ksj47wlLqE?u~E`J$pl()Cv&
zd|_i-Ezcuh7^`jSpkT~C(Csdz{zb<9T&RBA+91GGr;Rf%Jk8tf<3qE@E;%za$x62A
zx4Ypd9I7NmivyfQO%rzmZZ{m_Y=ne!kPk8&K8DR4mY0MtZ0Ts??!I=+Pq58T5@Aad
z=h9?h-IRpgM+?1x6ks+d=%i=eLJa>*d|{@WbfoEZs#gUbY2>g^((xl%V)!9Z*>sbm
zsx86g<wX_M3kw%6;b4l#`g6Dx59f9e4zCLO0s>TE{Ap~)V1@nI+|yQ%^w)OCDsy5I
zq!(;5#$mdtQ=Om}nID=)YxZ84osH61xtD>vZq2}zm}^8f%9(68<Hn6oa#=x`#Xs5k
zfPRWOU&FZVMrv4FsWJ&VkU;(k`k&KUFqy*svtYJQnvwn~7SLS3l~YBqU}AQ&X4kT?
zC!9Mg)4j2N@8r2;Vji||m{AmZV(b&GZ^QNsbhA<a`sOXj5$v~)dpo{j{6-O7{<z%P
zYre!f#2i&@cj0k-i)4k(Ej!*Y<E_Amr7i$s27q-owBvT1%E5m8x?tRwev<I@vZ0m1
z`@{&w^Pv6+IASw-6@*8;6YLypR(7p_0ys%3-PDBWHrV>yOv5lkjfb?!@uqcSJwTEb
z`nz(H{*r;V<S7-iA2ZFToGQHq%Zrzq&N}W7P1}i9{#{g5P9!{nVT5Awgc4C^3x*zC
z5O@h^+}!M6QbqwjbT2F~w|*g9N!g+p+!DBqkEOeKY2ope)s;&M%PGX;iTMY<;IE<x
zrwi<6S-@F0l!c3`mlPE)DiZDje=sBDVsMpZ%PX9o5Cedu&kh8^%qU0?^w2AdOL?TB
z9FbJmYzoth@Mu^RZ+U6)s#su<E~DQjU6a+&)5^TY_&Yyx9`zS`(ZKG)Z9=-^GaA%|
z?ux>S;=%<>-8?NC9t|@76>0gj)RbT7ZTVhYQCL#6vaI4nTWef;0{=8Rfj_5NLX&yG
z$HW_i6E6mUtQ3(1m3C>_YIpiXDXT<x*+D(yc$_K@v}9Zu#>RQ*Ph;x5E^y<gamF*g
z%RD5V9^lwD90*)YBbZJnjUDon70iJ!Cz^!WOP1`pL}w=(l}(ozhs#e)f?V3x-W77(
zIHRAdHuCl)lgrR2*p10+?MCIbc7yU-t7up|&OnYEcZO5NQ#F64!?$|(tvGv09f6T4
z@-bdcGZ4A!8k=*W0m+ut2kvv@76Q(zjLO&1sXno2btMMyBH3pO?T%==PN*y^O>m1M
z_a_QbS&wZ*FKiL9pIB@)byhCwFzalx+%qX_uFI_ich`cB8%Tn14i->6W4;E}BlK5^
zi6A-ARTzxnW<imIpeRBtfi%4chkJ-T9Ka0#R<4AvM7A~8nw^@(I3_kXA;)<*Dv3G?
z8_}>*WtP~+C(R0C8eA8Mv~ZMq(k{{&3I>7u8;zX8C71SWjFWaiMskEd%XFZOpCTKi
zkZ&E~25m0KCb(4<Ny9;q+M2eyYVL$V4aIbyNnckFTN97L$cYd)55nAiJ;YCpVpYgl
ziEqBi4mk@;51v~K0^u&O;iw)s!34c+vWPZ0b4mDlHasG?p#&Qn8d-cTkZ_?tVT-rL
zq{`b`PJ>z@A^NmnwubS-`n$CvqaT30wathQQlYC^ox86@rv4xorzF;(!t6l(+mY;8
zcXDD)P(xvt;@u&Ib20(jYJqWbq&s4>2ixr%+UmpA1*$w2yLo0*aB9Sn2bmYTTGmbZ
zrU|5L)~?Mx8Tr<@4kuZVcP-Z3+E~}V0dB6OwAR!qd{h!+AH&v~?V=-QZnJzEpt5C%
zc_0Wuk6LYZ0>!dM0-y*oa*S(eUEnd%t$~(@D+7?rxd;F)5$jN}zh8>33*M%hCi<a@
znYgKXga?)zsD^aWaldRe%7UC7P)rf{t}%cr=Ec&XaG?X$QRSF{DVV@jm6TVbOr>im
z#iB*EmEbTp#bO5bJKKEAG22l|LLR9(=*I)M*$G?NzLcXA_c^0xMKpWXTG(D<=4Y}_
z4{GSnp`buLz^KL+-O+4%M9v#X+f3k5_cnF3vqiBk@M$#DM1~vvit$E!E5w@JmimQe
z8C@l}L%X|4+J*Gs(e_Ui+kc>5v6&&BObYawJ2LHj2R0-n(?!ep+Hn}9OFpD?Nb#FH
zgZLjAA?=K+ntGc8rzn*WaezWg>pae4xMbxbME|j=6{WxtrTzq5F<{dvc$_F&HxFsj
zYUk=8hB}W0&}vcqCFjX`N)Qz_0j3v*uQj9q*d(}YZa*2}b@l5yI3<&{!71*{9p!m5
zQQK<H8>>wlTWi{}Fkt@U>^28b>2C}}RPur_vkR1M2AEC?{R(<1Muw-o1-mm~8h)?^
z!DO3Sg9J*K^A7taA&P%(*bZ5PQygYm=yq+{dbvh~46p~G#PWf;Xtf*LNds=?3x$yw
zTtj1<=og^(WO9uI@K`XEfn5BZgLH5T+0v_acI&2r@y(3?wmdkR&*K@`9c;Keq}57B
zaa^)lBX|ZLnIta6kHv3VlW4ci?G0RyKtCtfMHu*KzXu=F2_b2w!%Ny@=C1#t86pFo
zlY0`9dbeghDl%}*9u`<cy>&9PGKs_IWJKVS^=8omZgz8`_$LuO*oPy|Bw8I;a~=E?
zjK$bUXY-u(qFL&-2@j6zp&g1E4{*#fsVVJA0GV3Fe#B_clXB#W^?^N5y>g3kF=-O~
z;BXejI@I&6V&bTWZ0utTl7(S1jR$Qw=D~7cXMlD9F@bzrea)8opv@5v6%p+i=cdpD
zFu?%CVb~V5byMDsZ%L=iSGzZe_)JH2qz@LjHD=EaXeB$)aJJPaVP(giZQN2K#Af<&
z?qW-QK!ST=+0)ds_eTPfI82MA8zB_%HQe{ufneLfX@EG3QCLO$5@m%8XaC*o9KbjI
zZs-ARPE%9pbm6Wz6ebsB6MPUZ@K)Gf1Qia(eY;NIzSZ=2B5?p73;WUp8qntxKSO^5
zcW@ljW4GF^PU~^E|9P*-Z}wmCSEw_+Q}hM;HgB_@;XkAMdHG(kcQWp(;5!!Kef0`8
z5+?dc|5E>Q{Z+;9{+?rd=Js0B>y%!zdw;U`_j~7LoZ$bV=P|es<rp=qXIsykd)}^J
z*9G2#J=Q6{UXN2VuIzDW?~T14R1d2Adlh;cy{~(J^t3<3pXWd859vuR*<OvDU(;c>
zTtW6ilStxRwi!}Svm?xAYualGl)aWfRaIcqndpKoy^dBKbFn9%<|Z($36-ZtMl^Ey
z(&YlDDi%@;g8Imc!AlJc8MGUW$Y_(0Q{;>k4oeAQ#NRD($HJT9@dpzgx1TUEX`aNe
zoHtU;mAQmNaa|C`1+)?l!`W<AC!<T+8=T!FNw6KPnLCbaN`_d8YzSyLbtr8!4C>q0
z#R&Z-##7mYw5)w%GCVQe-hv%0I0x3)oRcW##w7^DT+<Vo7!{r?$$jl%2JAdSo94Os
z<;4k!YD!|^<jGSKC)8}Ikt5->RMxgNwzlUkYd01*8{?s(oW8PYO7c3ONx3qK@gMom
z?G)euQcn;+)%$inCov`_VQz!VKAM`g_XQ(3TZH}OSviSPXji$&VW$?bn61t@5RZz1
z*$&$NdWizUyW28JbfKElw{Mw<!AVn4I04<%nn)~aMCXppXtKux@{Nor<cKkWNV_R6
z>|D%t$5W!GP<WCbYXMCO7btk{fQwZICoK)6yI!{WBohU&&tEe|jG#`~<0qH}$uWPE
z8FB>&Cc=sJ=nS}3D4@ZmTtnF+a``q0hn5)%6<KdX)?m=Wk!v;pp(g_k`c;bf;(@yd
zAR=<hdyL{Dv;M$yrMLh@5{^BZyhD$XM>C>~>&jLRi{6hC6q3a@LRl1ZQH!vF7Rm$3
zxCH^K1=Qtr^_+@RvuZI>0vs>8L8W&>gtBd@)}RrVIdg_(7mQ!spa)?{0Y*h!q+qwx
zLcp?d2Ov@O3bTfR?Pgu^xU3;dH#piLJQOFeNR7oTjCN?+^QoW8E{=IcNf*```Jel8
z>`^q%NTFihDDx|q(Y9vW@~2UPy3F!McgOiR8VMEv8!<yov^S!?SZ*BAWa11rChl;9
z-;QSF`I%8}DuvkgV7V=^0n4Jc#j?#qFXIkX%M_CLpGZrOmxJZ<cnAwggiA-$rI{ug
z8_dMhCBSfOaczBM{cwCsesJL>k{2xTjz-xBmy9OFRyC9+_efC=O&F0;YE2{+$ZOaC
z*&O3t8|Wv|Yjm`6Gj?s_3|zi}aeQ0*j%4GeMyytf-O!6=AG#RXtiwi3@sJ%CIx3v1
zx1@4pWZQqKVIWD!7JX7NXCQ69l)^){i6k(^ZIP_VN#OFAhK?r5pGa2{03__Wk#!xh
zHU+hf6lS|nfdYUsSWW_+5(hD(BQVWD${0B%eX?}DHm|@!Hn$EIxQ2wS{FYG~IKwaf
zKR{Xm6#xmRz;)-1Aw49aapFuXVA@q+Mj^AhDB&vZ_QQt7fI<W<VJmT>eQP5Z{Lud7
zhA0ToxH1YV0n57`gxwLBM1ix-UsGMs1}Po~1y7Df8qh`QI#?D3OWU>)vm|J4R!Xa>
zHd}1H#+clK8zCx-SM8-4WSav;!GVc)$DR`akfwbx7i+Lg7HgB;yV`AI#i^fcr)|uJ
zo(eZ%6*%|&GbYcQGVe^Bq=Gj`!0rRm$HbMqhzgkKYV6`|!jj<qTj;ZK)CV&ak>1()
z8T~4XA*3JcNQ7QuZ}gZ**(h}YlnS@hpz(7vUKmv}F-b;M&}nRoXw)z!$ZE1Az8)9u
zKrk}WNYFgS=S$_HuvcKEz4=aNv_R1sXWI}<g!?2DRlH(sYa;~`)NJmJkcx<d9Ho`m
zu2)=ET4^h~)m=raawrR7_lHq^u_ikKGcFMY!fBL31-CUo(<eK8F?a<v1vx^kDyE~-
z?aKD`$aokAN2#%c#y%SeVrEK+4o9*zyEw~?9!@@XH@roWdCE8EGzhDZ&~xm>BgalW
zux(T(BrauE|1&pHVkAlv4erknJuh!^!;MU)F-ufk@Jx|#xV0z#f}TJqaPWZ69ZMR*
ze=z7VdmyPtfb%CpMz@FcU8*pzvh$FD&oDmQ#Y9Npl81L2-(og!>@D5e(mYYt5lsBp
zCyN7<PFWa}-!X_tMN3aUY9nRLpw-sN)Jdjm6z@c=#Ei(!(<-rd!rb=<86+x2n%n*;
zg9>o8Iuo@^{y4$IRFl~5sCeUuQljJtoi&(wC-hJ?A(u-MxuXS%lASI>s0$rbqkuK^
zEk;DkNr>=V*I0vsr)XhYFa!dOWpy33s8$@Wj1127E-YJAv=EyNDl5!<7l*s@X2PF`
zyl8<rn{Zv?UkGWfR*2bpBh?dy<d!cJi`~)`4h(QKl5=COfGU@B=Ru{yhHFmjRSqjK
z;^8>U_*RsgJ<VcPn-%^_=Wllg&~5ezR2ukdw_C#ES7UFm><y??p^elL595RG;ArE7
zzQLR+HM^2{e~+=T*-wE|VG90gr_^HpS_`AKbxQ5FZBuGDOu-Ak4KU!h0e+_?r)<XG
zrlu*Ic_K^ZhKM8ETC%CkrJHlAVDL@yyqcQ}negToHxG2~VAd%3X7&R-C%y<6&ZR+9
zR3B0{zGfe<UAsvKL6fq_b80y4hx~`}&y^D<O4NP?oOVYq4P@W+*rCLvUqi8q<D^+z
z%I*TP4~kB5c6>zyXz?;aH1-YHeMf<$Y@`kzZev&5lIR+%WI=W?zv;?n5VQ~eI0GW4
zn-Uo+q5jah9e+UqpeO>?f{0wHp#DVWC8XglEOqo^GgXEgLECBp4L&Ek5qNQuPUQGd
z(C*zJK0eR%urqS<@^jELK)MhT*_bcWk{xIbj6cgY;^)dZi335{zleUR0k=p{v6@)7
zox)duE=q?;db<dMhI66cC2T*@2yMzEPGX#AM9WQBfI&ZinSqLs#HEX7Br!c)Gt_5Y
zgi`c-IDsO4HYByg#CcG02!paZ1(A}HD|_Ausu2k=QglPlGzHLL`z9etC+z!68M`&k
z>6p4;&SL3sCS`Ihq$jg0+wk^MD3NIuDVv047aK~#SMmP1qN2j!9cLL>-W(3(4m%u`
z!tq9y=jJAsQUk@b*-Ue?KusMx6OisQJ}pLOCtHva*r0%A!6`9BuEtqJ%a6mi@huLb
zvLaiA+n|avMSI1oYk`bLfki|#lX%31GHGO#mE2juAwHb5O7fiqlOv-?NI#I*y7b;1
zNoYW!H<DQf&oJR)VCV*MdW#dC=y5J9F9<J=?||;X$`dwavTTlYIl49<7hvNJMGx7d
zLGjxP3o`m9av>~;A`6{e`v&kG$T6nzfS%d+OgV+;#V60R^sC!C%u262Klu*ZRXEj(
zAc{tUTY(Yp%EF3L+=mR8+nQupiuwaG;4|Vcet{db_~gxAR)VrA=Q4F$aQYwq`Qjh=
z<mDA%2`zA9ovER@t$mB?ozcJVfIj`?-2X5`QvMIO_GPLX_lXzbj`F3rtGoiXYTQL$
zf&Yuua#afdDpjn?V5<}i-WSlnTRK$%W+`l?z$ue!1Pn0o4%sJOG58=}9G7^9?Gvw1
zcq8{!!hM_q@rN8V{<Hv-bb>;IZ<v44bcbms{J!(ar8mT3WW*aB#M)gvUDF$-K>R}w
z3g4ua_yhNeAC^xwYDg982?c%Pbzi?+{_KtKC>2BJ@O{R=H#*Z$bK?B;>xNDPZq0AT
zuNjo!{;MS38r+CaL5uwN>IQx@Zqlm4U0TKR3kU|z>jsYZZSmO~9fmIltp>?01J`FS
zbZWq1QZ<3McHzy@?a>YVW<ZiZ_v|fx2Nz98clqPs(s@XnVPZJ;Ok;BOfHo?G7Mnxh
z!4ev^(C#j0DjV5<V^@|tui|tMS!_?lcX!(3E^0S-!F4loCs5Gj2zMfmY4BF*?tmCx
zYOeVXMRg1yTcCeJ>{#;SeM?+hZ)pZ^F}jtIPH<lbt~fn#RK{0nl<w~omD%<meOP~4
z*L&k*MzEh^n`b|}uP_8F+!-UkPr|y`6JG{C)??PC0r=R*55l)MItUUP4EOOlI*uPl
zk8bity5!H%CZBXO4)&Am>m1*NXE@X4{2bk&z!AnY{3qi_^#9RkZ)MY6o<-{hnf{>s
z|99%2tAoyT^)cP;{9RkwUwAsa!*lKI-Qw?$etLW^UiKAii~s5P-!1?9OJ90=UAkRA
z^nOqOe>(r)ZTao5eACO@l{?2Ij%{=8z2K2^3c>x@)c(sa+L+Z^8M2o19s#*-2VzWm
zAn0LY2vJGy%gN<kB^&G8#l%)5d$S3YW$jz*>zfl}v9E!m*jU~iV6POYPx8JF>Ju1h
zt|gFo)9Jojda-n1I~Ue)<XT}jE-$S>V(@g#HkJ<SUhd3DKIFQjAxlWAqQ;$h?Th=K
zBKgI@NM4eDm+&C>4JX~*o5ON3EMqNm5(M9xb-d#QnlkF_7=jfT$eP?W(9&jP%QQMr
z&$?nd7;53~u0-zhK~cYRTG8K2aQA8_mO?CUHVWF@-0_jaJ4mKo@O0ucj=ezrf?HwS
zvQ<%aX<1o0Zq^DG4J9LUbLVwSXLEa1TQQDdI3mT1_J+SVK0@5?Fqc88)!49|HCpso
z9rkyasDYHtWx2K3MUML-^5){`81=Q?omL_$w~yEzT}aVF!4gd_j%#mBCYDu~EjXcQ
zVHLEzwQVh~8e{*cS>~2YVNl;380#J%tiH<uj0W6z${pANUnUs)!<(8~+uMLwx_s%<
z@+w>X6<q{Db;dPdXeVs6a6>J)1)J(%;!-4Td9-v|JJ#XX$^hTgA_{gM;^D!mW!05S
z%W$bX%;MwmTV0hFepz9w`FS(UkLa~*A@)k9`O$xQb0ha#x#c}&w~ffE9>c`~9con@
zT}qj%1%GoO4976I!bxSB$uhUnY);9^qCFcHZWXIXL2<h#k9nDWWKwcAr!74!8scgS
zOzu#MO^vi+_W?l`ne%9@2RJc>-6hzTZ97n2TOX9y^5%6lSh?l`CwU`0yHU9l?VYxH
zrneh<@2c&0L(g{e@4W4kzm51+$9M96EP%d3U9a90S8x4&m=A(lpDynqx=6jMZpU}H
zekbvSutx!}Du^}oKTumWaF0?i>*sZ@cd?%DjrH2qeD6%y=6lWhBz*!txYZ`;VmhH^
z8KgI<YXC9dI|9NP^(T~3+~f3obLAHvdA`HkBZhsd8?oaW{fB{!jVrQK*$!}4&+XRf
zZ2L*bnI(k9@XS~x7^1e#oM?aL2j@Jf&W*S$<&Fp5wPiLmhuRI<ifngC80Egb>_L9D
z3+H06&J*myHRoF$fZ2_UZLrw9&c!^Oe{FNy6Ky&sN+X;Y?COmz!zCn8R!A*)a6evT
z+>(``i8cefr(^>ol=jjN?5fiK+MVM@`cLUNO;)?pJ<u=M9$|m?hUbO%hT~B6_-XDy
z>4x_9*15U4xcNAzrEPs~vSwR&^H|WwCvnf|fxuz$j(5g#pMixBF0sZ<E}IxjNFAaF
z)?>57?bF#@(aBzjAGqT0?%9eAc@83rtgf)*uv<%U3Gnhp?wFFZIRs_>r;O_!SO1&w
z>!MD_$*{e_5vC*1S{gXYzV31KYC&%k-g@XdxwuGr)HS%r!G*tNkd9#>iPv3wZH(w^
zyVJ8Wd>u5bNpMgXNm)tFw#H2zn;<r#k;qj`XaZr2z%a$DVt8pty<E97*IjyU89&9=
zBRPK`Zjk8qb^(G49M|-);)hl3h`{B3$ILa(xPY}cIgRw9kbB_+$9=H#&s?O+Wo!Hn
zX7}=1I=#HS#W*=u)wU38hp3)>ULKoRYIlcm@sj(sa1OB+hnz${mP>ujt^{oNPqt84
zmhDP7RWCcXuzufG-*>Dz{BFB5$klQP5IeAVAi!)YM3+a&i_76yp5&QlEYg~V!6ep4
z8$d%gKH+GIS=tPa(^F1gR<bkzmnC6gW-CvqLvzi4JZaI_Y>=$NX|hS!MF=sTw?A#E
zU%;!0v0d_vzGs>e?y0uT9*Upa-GoZC5tV3gzpsCGEGqRD*xT^3g4JV5q5=P@$nSt3
zmmG%ZinA8Owhcdh+yvhwAc<3r>evB$6Y!Gwnc-HzH<%0-WhE5{{KALTo<7m)KPZ6Z
zMAtpD#bU8_>vPlJxTbXGvSpi^PN<w#SXnh|1uubXX)6L4?hoMgNbY#DD#q#k_1H#<
zbAOck+^^u7UC}t*L@Ls^*m2N}bJ(XW*JnkVj@+~`as1SY<R&)mbpssS7K=q`Zoqa2
zsrH8_BhUfRx2;MQMqB0vR4d4xjX3d*_4W1qX@(@~jO=p4rc&N0o|rfldjN4?WfZTa
zme-f=2ZO0j!^0gIHTcos13_G5*>Z;kP+!r`<Q%P;=u9;E>dMRRtT%0?6`P50t15VO
z+nN;Q2OQJD>Wmygz=&W5L<rGHBxWc@P!w>Z3->c%Cj{=HKn9>;qoLr^hp<dse9^4y
z0)%vzNfxDrn63Qm`p}!0Q<BTEu#X=e!GgaLa2Tgyg^aS^phlT<bnTG*aV<xV)Th?A
zn)RD%aK><xIrnbwv6cak`HpjeZOCg?Ea9LpDRXC&YS01jJXyHk3n#ofko4sh#l*%v
zw8m}7yE*~>-7aMVh5H$pVO^ozB*wOqeb7sTbnVHKObbPP-T-xe>ipEh>IYaOSpX^a
zW&L?I*E`Z1uU~Xb#mr&eo$562W}MkPR}=G{zn=i!*}4J$drRE!l)^gwQ~f#b0_nG0
zmlo~B$Zk{yiLq}T)TKoqt_SfMg>Ml)_GOFl@#jWK%jxAP3$O#{x{_O~;%}~VkHAoT
zT*E#J-)MX-_!9Ug<KsN}7<|X$TY`_(q6*)M_&71g6|~rgV1C<v1<Y0WR^uzj$EV2E
z+M39OmVzOE{e@CCYM`m`t^pb}CG%spJ@X4ic6PpRda?LyE6K7Kzq|TWi2HQ5hTAq}
zXIl;sE9BO4b}Ux>iL}n(UUGB{i`_jWW}YtVs>FBx=&vw+7w;~u-1ek3*maJd!yr~S
z?fO*dX2X0l=@8$-(H|L-98y1I<&dK$Pn*13r6vrU`_`OYGru~Mr<1Rm!~d7!|1<c?
z5I%hNbF-GuUOnT+@qf?1Y1*D~Pt0ta(IacOdUVoRvoa?3>Di~}qF#JQ^a$ViqZak#
z+nAFx@heBIIja9ryH!!%ZnbCXZk5FM=iJ?@cm8g54gA)_H1D|+FFZQ?=trh4%NjJT
zF1v5e3yBAFKc0K_tR=aR&n*}39OVAYsyRo2!}$Ap=EIra&%7k_)XbKN6%%Jn{KxDE
zGak&iYw~Ne51%t5^DkrW9&_L9?XxeMeff;Fvp3JVa_%&Ug13#{I{KQUa{A`<ZST|G
z=gU)eBd>4ib4wpXIY0Z!-cR<f>QiOi@%Y}2>(K0ujE;<wJ|#kVT<>wcAMN#MuifhS
z@mKe{x>xJm^}W`^b?jWm@s}ATy-IrhaK@3nj_h^a+>PVw#xLr#s87M9UK2))IctL9
zqI$w{6UIz<W#Vo%cg91B8xo&MJTu{n2|qySVWW4ezaI6+qn<hHmnfsGS-ocMR+mj4
zHGU1u-D-57(S0tRdGX|`S-WN&H-6A0`u(i$&-zZ8{NSXlDVfNR-RiB3w=!r}WK@Wm
zn~^K#roNl{(!YO3e{r9cah90$<J;1^rFWmcefo}=GGt1xL~8UuM!z!ph0#xqes1*F
zM(-Sb4fxuvF6eVXAFr<`blx2GFMn^ZqZu{JKw;+S#4yyfVRMFEJ+NljNy9b_o8QB{
zgnYc8dH>PZyes;d_xQf%?Q`UBj(B6pU;F*F-{=_^PkDX1H|EZ9yVWh@emSn!xO>K4
zF?Rge-eXG>d5NPFyVZb18FFLll(kdt8&BHbnSSY{m6I;$dqLkT`(M_-p#R(bM&P|R
z<67iF?QrBQzMl=*t<J~yg+taKl6%N41D+hPYCyq&83U#a@CNigWb**DvHrW&wf#pN
zdfMRE2Ol=@l|%11^vyw_j_-Ge?N*;2y#BEIfxFeqgC85bwddBJiwEr<cn93K4!jxv
z&+d74&qsPZ(&Mv(&Kxv&_~#Grd-(ao3JyJT@WX@uI`B_9D3_VXj=2ivXL@|5$7y(P
z#QWO7L5IyAeD5K<)jfx7=&_;4OGDop`r6PE<l%9{T86!T$lRgRhVE8J4An#12W=uJ
z>UTrO_b~5n^`W7KL$4cp;=pG|T|cUQ)Nb{_$lW8Z9dYJ}i;hShapcH?BYu7)G5+Vs
z>yG@`k(DD}@A-PqX-6JAvU=p?5qA#%?C`}S-x|?t)blcRb@FxI)J1ZX7gLBN$0Qyf
znJ7~Z*>{N@!u-JpZ1UyZCho^DIYY0(R1-sj{N@9-l2lcot91Q$6Sh4@WNRy%3UMIE
zQA4=!9!+yUwwd6{)i@Yg813FL*+=tP6l2PswSkl@!vwC-i(d90VbFB)z<2!1ulcp*
z;!+|C)%%FpVq&s7mhroMomEoP4E<Xj^OTSC=X_>*DP}4*AnKnt9iy;SZ8?x=cz!-_
zJ?9?EO6(d6VM!_qH>c8#jzuy5yqTrQ9q<&yk`_LlXXB!wak}|ai}_0ka%ou{Dh`)7
zy%bu=I7F1cyu2#hbhFe*^4;Y_K91NV;{Y-I{7U|sL5x5w9P#7)aAR!*A{IWaQe>G(
za6F%8R9WRl2ocAxs9%rdg`x5E&nh>U!lai=UOuFnn(dL$I9}egGP#W^3J{HVRuLK*
z+Cf*k<@OfbQV47&L!)?k(;Y=~3tJcb+3|30N;g!}_?uzjTyy}6#WN=@JVGc6m!BWj
zBS*?{9)p_^E2nhOF6}CRX1v_HLx|Czx)7K1Ko3;c6*2~wC*@WmS3t(Abu9h)&^^^R
z)$JE9Z+cbDdh`vhmUStQIi>YmyQPwr-_roM4}S8dQwtUch^CA6(WuzMf{KRcPs6W~
zv==u+O~sBlMyM+sB<lUZ<;`4#UsG<6^;}UpdDB<4G{$<TwDiub!i|n)4N*p-`1$$e
zZS~!=8!soqb<b`LE^p3q>Oab%VT(rDwcbq?xDxy<Oc%f?e|a;iprnf>KOWz-(w2BG
zr>B2`C}g6{MCs?}Ep)fy)ua`BJf5jh3X+^y_>2WOn6=UL08#pR=r`@OE2uEh@cd~j
z?2Uqv*_DNi!sX3!Z~;Bn-Ng97c*r~OVn8uEbHa4QfYQdpyu9LueTL6m)Ut8|6eAI!
zSUl6yL(|G79}CJ6T;^yDe<s3<preYw#KLEx+_1x;Bg%j&mN=d13!v)S7@?9D&kQp=
zjsnEunX#JvQ<!P#{r9w$*jEt6j?<sB5VwHYx)G;ai46&{<i+`(O2matHCR1x1s%iB
z3&TYSP0zn+ZWTWy5yPLgloNGa;~M9^OF2NkfmR^~6s0p`A%AJ9YrUU^B?TTuVn`G|
zFTbiSUOUsmXFF{}EX$>2V|3;?xJbLP8I=adyO*fX#yAhTG-!os@y<YAC*xgFjLu96
zk44r^c#)A7OeE3pSr{(YgM}{nF~evt-O+n0?4x*Shoap~?v3w!N&$5i$Yekae+I)V
zc?FY!NvEH0yrVTOhCg*NZtjYPrtvq+;KwpXN-GU+2Fep_ntM;D3Ez7<O?Z@(7@xCD
z`2P5qT~uk*zUlceYY}hrTwkBwDW%unY0Ddzx!o(pW~vh918c9{=kxUCjYd+nLP|Pa
zAV$L@#T}~;04o=@csl<xmp3kvMc-m5`MTD>ImELyFv@S<tmTanNi7;}EMAQ3mcL>w
zC1KeCcXi6*QhGXOAfmLk7K;!0P%itJ_LmRnzqo2;Wp`Go7#+k@DaX-mlS|JJgq!@t
z_|M;n>L%P=Gq;y;@G1Ec2FK$^eivco#iXKZeluSg-d%mPiyvIAV6xN%`47`tCYbC0
zR4qmT24R1P-1};`nJR7s;mBvvRGmnOSnsuXbyRZWnP)H1Mn1ADRt;9aYeJQpZ-3Zo
z{(OTt-+I6l4@{Wt%++9+TTOW{ZnB-*t6J<@raeZaCRxG-1;$cfFZj0CqT}~r<!5l!
z7z;PX@;k=ziR|JGG+3{qo}bSS3%A31P<PMAUc0U)TaROnw>s0B<DF^ok3QOX9DTI$
zu!e$4#%N>AG8y;XVX7RimzsTcJhzW~Kd}$Pl2u6=!ErAyGywF&J)12|;aL`--Trbi
z?^I`AZGoiDAZ+W9k_Y+*x=-OhJf~PbQND6PE#!Xjmm8_jGl>KLpzh#r$72^K?i+(!
z?qZWQzx0$CjCr=4d5<Z5wo{^kDTkNqaAFP;D)$vm;&n8*9SbY?b}pYK1SUBr&QjIX
zWvS4;sj&_}U2UL%AHd<-=cX*)M{4k~Vu{^%byz+S&`HLPTYGCa(t~cfgsz74@w-%(
z;4C#>jl;>GF*vcB344Q@ily-0SPvS5^`J$#SAG=E3l*qbn6<L7o{Nyd_-5hFfH?*s
zqX1EW9VrFyD}ZkUd>PgoH0d)2VdDj|H{A3mo(UNTTQj}_P#q-yjei07qVG6-8Tda-
zKF`KY{BaV;IGFSBGH${WlCkq0jCUCPdSk)gz|Rst!{uz8DKu{K%G6{CENOW{la$9H
zM>2p<TC^Q!Y4rq5PlRgx&%l}8TEsFHbd~{o8FG9U{*!<HC-uRyRyGT_yP9|=!8Q!^
z=VQ&xa7&+Q;zRd9yeH$nlxd(#sBt(uJKRFfKtGUSA;(y=30o=*_H6MXPJues!p#yt
zmQn_InS_)xhGVg9Vp9M;4Sw{WjV%?-q26N8#CjfS4YU+`1@ObgMhu4Y8zTQRfY}@P
z`JjYfd{;BAFWs|H)-yrt2-KMoIFWV)AV(m#jM*EhoM7z}P<NQW?660H&R}fym;l=>
zp`J?3f}Q!qolK)ZmGQHl42DmxnuC?a{t`M4sbq~H6k%2a&+)qu5G;`rwHD$1@s$9d
zp`%bXC4e=lrfnWJnVbgrfw0dJm?K~t0qVKnlsF~8uNNBRoqX|k78v6kp|cv>RZ^*A
zC8PvCO|X&XK=I-KOu&v4SAklgR$>*Fbc~O&Wuk11JC!;d^&ypNRx}Nb1Wx5{P-C(B
zIvze_5jtLc$V)0UCZJ|8L!Z&W=!-NP48oGmp*Ri5)5&xjpHX6G*chRklnpvt)K+ZE
zF=44xHa6ifuX#FtvBfnM+<)c(X~ZGu!~8dNOjrYam=7Uj3pV&{7OLwc%?&o?snibf
z9fjIT2vTXl{}8hQxoN^&>K!enp4egP4Xsqlabe7mmcwL<T)Iu_9Hw#Afdi(2P{wRP
zO?BADbS^^eu>2Y-aas&_95|DHrsQek6UIoF;Vq1@PI84%%pF4P2>1!1=x=aCepu(C
zu{zog($z^pjr?;lIb6mXkIAIpg}WF@g6Vg;>*z#C2XqKy!Z}768*#&UoXy1&rM&}n
zITNjzl-XKCn9#<sFc!MT2|R7-v_nqoP^(x6LzrWO+zx5GQZ~?}7(R}6m=6YT98yWz
zAtY@fbljgV#&WFW4r^i<JHz&e=gPqJAIzgLjUgpRB@RvcCU#?UEt35)pOBJq^S`4+
zdq|%yQmR8)nUpUK(h<cVRCSOuVHwb$De!|b2xA{$;RhpE<Ft-M$jE@2DJ#R%MEGW5
zd?sD@<cVv#ni2TU4QzxdR14tln&yzFiU2;!Q&|2?LCDkS0NQYHpgcu$)$rs}(4Fac
zisq{8KSKC;z8U`(@Yf&vtC(+ogjYAFm^4ztB)q9#<HYXLIN4(52H5*fqpK5hvD+x*
zElgu2b{{PdLQV>7Ok)kkR#!S^G;$QWOPdQbb;7yQO{PBG&!yh@$J>iZy~F65dKc2Y
z=~ACcMN=Qb?k)9%IQZ1Rf6^EqYyUgT@xMEbebE~K^YyhP(kFD^CQlKFgKv}nzI4ut
z@E-OosZ@7;&j;yrBh0%k&wiNA9^6PW3FUP(_To;Fa&zP8G`K=3C0dTg9xu%k0KF7n
zsn8%q_qEpG9(=8R@1*in98Nh{Y2kxZntBqKYQs6zJFBr~=9b?7yptOHekjXo^?pcY
zDs?caJRQ9nrT7f#-9BiY|C_DT(K^`i<o!`^-yf;`pmn;|us?mm|F1sigR%3#WZHK=
zs%)3Bgrmy8zbp$RE?2ky+j`pBvDE#yrqZP=Zgy9eB{(nXpv)|cD`fO>b4}Xcd5tBO
zk%JDb#vUbcMs>ES)PYOx^MW*llKb(ZvpoT4L)~1nT%h(o*L>%x+^(Fo_x?y_53Hg0
zl3eVA6<%|n`5|x*viUzm4aG{gDSPvO6wdK-MKtQ?>`ou;-09{qU9ikb1536TVJunJ
zU*2#|+_3(x!pgU!7V1j4npYoN=i-|A{zlLLKWTP)un*GAa{Hj1Kd9UP7uz#;&BPzq
zhdE7XJT#R`Z_jQFe(&^Q2cPEj`M`f;n$!F3_d}Xp9cSI9<n?|?^Z&JSc4g29`EO)T
z%3<NtogBu{gORXZIXmj{KFmniUF9%BuL4i+b{^p*>>fe-{@c?W&MH1g^M7;Q4$FC`
zx(WMZcVb8K1niofh+WRJFpnCEbyn_}KNLH1xj%U)Y-8a!S=|A%LtGPpc{{L%0qYL+
zJ#{lM?!=C<LfCG??XZNuPJJ8LqcBtYB;Hx-D!^PVac~FsEX<1PfKec^&4R54cQP%4
ze*t3rB>o=?O5cU)AZDqrf%46uN3Qw*W<V0-Cj4J2?@r9jZU)7h)NSy;9ec!g!gdGz
zhQaT4e0Ko00JZ|$={gxOr3jk=sGEeBL*dKcyDCKr4n?}|ggFc5L&C=}z}^YS?*e`n
zcFr?Tm`63@;#q<M?3Jef6#OTIC*ia4pMK{52y1%kgutJ0!-c0qEk5CIk{B2VF<B>v
zBSo|i$8P0HF(<>uuK*uye3@fY;Cfj7kHj$?|3~08e4T(8Dsh+92?94C_Qmqf#t!ev
z(83sO!|y2)+Z6R_!KEL+#lUuUnx8@+N%Mrj*H>Q&><k%>8_En!h<5_^K!z^HkxI=(
z$veMPDvXu5i@_Vi4Au=e4MW#1yp#lHt6O2twlE7MY>;qDz0$6L>M25p^irvn0?nB^
zDVzd|GbIh=V={8-M#1vcrLfIJJ>q|kFE<JveJ_RkHsB2x+out}628acU5P!K<p@co
za7R_@R+L+o`YNDS3bje7L&QA|=K%~KkEmN<WB!wm$$)(XDf%iXeHm2A$+0kRRhIzj
zQkb`5=l#X-xmeu?N`r**WZ*EhOxr22O_un{GpWv0C&BMln4ec`5Oyg(#z#0epO`6d
zGqEe+!+@Kq9+eQ%Or<&jdA6lI6Xy-+M?Q#4O~_<$!I&E0vl6%_U4%RdJ}1NHT=f}s
zgY1we1atWY!Mj!XBxls=Oa{%vU|)%Q)K&{Enueb7A*PAl!AwT@WaPJTS4k-OA0!`7
z01UNZhf5fFbF|3$6!;pSa?l}lQ$N@yRwB1ZXR>g`vPq@b&P}cvPRP+lq0CqvEkc^S
zp=ol_@qUWr7JuJvCA3#2d=O4&u-piF3Qk1uBnE54siJ9GkDbpW5v$Q`QKIUBIz>)<
zNSvf$9+m^Spve;!#+T+-t(`tBGxr!e<(8hqG;|IVPE0yS0w;{$V4GMRrNhCYp*#|1
z2<!66!5xSh<?uk@|GQz*^Vy}gyE1WMADI8H9KeAt^|bz+|8eg_{-gSJ?@Rt2{;S@J
z-l<-L_c8zD{<r-T{Z{Xj{`vkk?*ji^{}KJF_nWuQ1MFw~EB&YSefnqqX1`G__aF9t
z?*GJ_?GNzp(?9f%29+!Q9Q~;Nk$)H9?(!PdD8C#yKk-+mu2on1D{<cHO8;7Q9zyQY
zjVd2hKIvVkdw9M5r`3J>^YH(YSFdl<KhVm%PG6z>c-N|I?>>F1_q4i6-wd2a+>!qf
z%olW?ca8pn{-VBCU6}g2eir7VdbFOYr|PHG)9R<{MV+ay1N_faj(%GF#^~ScXH~AA
z1X#kH3p&?g6l&GKSEag5Z`Dh5hyI4XOMhNh>mLBG2=P9xPQ?ABzxIl}0p4ADu(t%?
z1n)XE*lX3N=tuN$?+1wGhw2os#Cztg!|}gS{Y(E4{N9ATx=@evdiJ;$65}o2ed=g$
zg}MT~o#UVFpRVsi+(-B;RIj&JszUELZ@Yh=s`M-U^HOWklP*sY>KyO8eii)hQ(y5<
z#;LUFevN-B+!OsCJ^UW`sXzFC^jE64{kQyYdIArev-QWkulRHw=~wAWeWsp<xKBq+
z%VBQzCi%o#tygKntOVs|?`rP{zVFZQYxD@fZ1LK>GxVRm7rjdVd-}WhO@guB9{+EC
zhS%Hsy#Ipty!TcABySCVli&&e7ydYj`BVP&-UF(ix6b>XH^lS2T2J>-JzDY01;6#L
z@s_7f)SJEUs%8H7AUS+j-2n4fZ+%zQ!MxLdR_}t}^3?Yr6Sa9~zn%1Usi)q$&_Da_
zr`2t+FZDm|Kj~lU<F-?8ncu39PO%m*^HYAEUWa^Kp1M#gb%uYcD)p<8S4#blU!!)Q
z?kRPff1`iBU*a$G>-}2)`~EKfOg}4i_S@&BO8r`3RRg*d_3sh?VZi(p_7Z=C_eK8;
zK5a**9`k<Y-R*7gN<e+IcNEf40-kHs8-AnrV|6d!mHHztf-UuTsYbaF_D|lw{C@)X
zR8{6>rAmB;)*u$bZ1DaB7in$~SpF{u?PcQnf!Cxr>0g1e!fm(2pzT4g(ff{mP~1v=
z3sQzs|L|!V8n<CgKM^wn&KEX#w<Gip@gcra*QOjbgBkjK8yGKpt9^q(Skk!>(z`+(
zH4lAOBZVgH6_4&-Sk>x*lea!3O%tXtuecd7tNpcpwSTg}8~pJ9-@rey;}G;wkPQtT
z6Sflg%!d&2B!88EictNIu7tS~t;A4XBj$8vAV_7UALU}Dzs5IVF7=KUQ%~$L^@bL2
z;yoUxCs*3EbjO8K)5C<p<}i)t5`^Z7bvmffveKWdj>Gxj#ju<B9TyBOv@segaas&F
z{Dda`T>5F}-M%hHx=db%G4keL^5aa#=t7-IJU&d9<EIe4v`Q<lFx|8<yt~K6<Tz(8
z#A7n)ci}EZ(qj5uERIez4o8PDCVaYjL>pTn{9JfwbFnaGj&`B?m3m6;68=}}6*`0o
zZHzUHg{~e_nzXrC9CXO(62y`xcn+p#Q2Gwqa6&o;nzrz9c#c<B^5=N_h7Kt>8`JwS
zkGaG85ysB&Fct?LnqfXE$tT>fte4q5CR9ktQE?^4Ty+nrm}k1hm}v7a%q<5I=O?6Z
z!V8g4lYG;rUiVz6i`&t7(phY-MtPc}LueQKTq%9rkgdb^U`P}oWS$LmWo2TW58q?;
z+8`!cjuXg2eRANtAi$;9BE1l97i$2dLY|5Oc*oO6z*AWM%+-*m(*tNj>p*#O`9>_m
zlfm!)zvC&ItEL}`!iTvU`kn#)a&Ru6DVP)CHQ$1mG)`9^k+2z<1M<EGJ}!+5Z9Q@K
zo!}-H!0tWY`K#pYvlnRjxiO&?P2+s%#im+c{F-54V;WDu9NLwR8I4?UcWHBBh0fBg
z$<(JmF7?LW)y-(?9Y)vGyO8cpmwI!jdsmpfrJj%npZa%~M&3%#CoEy(-rN8GWEvl^
zl9%D_zq1?<HjVF%ay$<GNq6;iK`@@PZ2y<rq`%lN0{yT@x+GG$yKj?)!q36C$$wuu
zuZiVUm=Ltf|EhF;{r^-td7I0@jU@c>q&fKQj{+$w*UK(|YhhS;U2O4QmcI^ChR^*P
z2u9((jH4uU@U`~6lgef9i&TE`J&?+oc1%9_8v9;ICEFFBgH7dH@BNTUr4A;QUq`-D
zil2!&fKu<BKImZ5$`mrK@0C<Oc~B+#UQ6Zb_etwKm{D`Rt+6>Dv`$v*;OTyj^3J5a
zU%l(G^I%GpNq8^yK?gIcydgRJ|0k8-x20&R#=%Mm|5tn3+heJ7)&F2qdE0xwr@f@h
zEQ~8;%$HD`i51a*yX5{^DT=t(^1yqai(Em%bY=ND(U6p2Z<m{EUMf&~pKHEz322kw
zgn9jew@a7G-vG;KrtzEO;Of9;)c^TZzN%hRuS+hzq25$)iS2FtPl*ldSh}a~CAG(T
zK=;*K_tAZ0elBc4x4te^sli>sjW&LW9;$~SY`8u`AE`&^k$RLs9-<G|zW%4`um7b6
zg}7onO#ef9SZUJQtoE2#G7z>uZT$bAG|#g7q4!goN4^i!ocBIV^YH(gH1`X8728d@
zK5Sr@5Cf3jo)5J<0^U1)*ukgyDVrz%zBK<*|Ek-3FGS|Qn|}Mi)BJTSPr7n`Kcv}K
zeHovhME?KprTN#o`|<fdU(VP4pDO21xgx+B5vP6oOyEb$dH9`%=rdh8*)!Y~aiFs2
zg&?#y+4EwYFQSCadBhiRf`U&dVV?_EbRO}}C2Xb62MxC8_fMKHcps+u;eT_Q+pP?;
z05xeLKKG>8?GE3}F*tktch~K(oUc|H{&jvI{|f&>|6>0k|DRsFe!%~T{~<NQYxTe9
zH~6Exgtt-s(EpCVT$k%Fdu9G?y~3~XzvUm|5A^Txzv<uV5AqN7`}!aDhxi-4v;1q+
zH&m8?J7|peu2hq~DPDm$(mTS-_l9{_sYAV4UXHg|AFq$}j>lW!mFN$tGTqnP=oNb}
z`}4diZ<Y5)y;E0vUXOe9|L8T|$==U(z4uYQLw{J0_Wz_O=s)N;{qg$G`mg#g`eJ>m
zeii?}hWB&&HT_xrIw-!W|Eab2mVQKC;C;?}TYuJj*1yF2f_IsBsrL=<2Jdq3JKndv
z52;PwQTk76qxVPk2mF6V{nF3YKlgsCeytw&cl#gm&hj4fJG>p<Yu-eCzxthjuJ;k|
zQ{EZgr;$_J^w04wgsm9gmvlSc8@-+0JpVDA*E$QX>-A66Lhnv*m$z0wrtZ`?Nytv0
zu1D2W?{Kj_tk>%4fOt@?^78d1{>cbE+v9gWQf}f{3-eX~?|#z170`_JYP}Vqv|oyE
zi(chjqLZ-kT?K6X;=7*gPw^|gd;O>Uqx}2)UnBPIp6|7LJ-rt1x4Ox@)%&XVZSNuP
zdHs_9hn}wQ0mYH(ennnMVXe->N82BS;$!MUF|YEzCg#g30h$TF0JZ!vH5=(6EPZx+
zdBA%Z-&lMTy@lR07_lEypAl*=s~2&SEZe_GTn=Xu#=2E%C;UE+?=rwILM+b%Yd4zB
zSG_$rbw&Ff68E>j8|i%5JJWj#n7_lh%=O-Mozmp$TENWqUh>K5NMIiZ&VCH4KL!@*
zU{^7|k$6`t{&>}9#FmA36}Vyu&!nBBzX&Q<>PNjf-Y2|Os-NHAUxhHGJ_DNgZ5@5F
zHwiIc<T01d1BE{T>Lk_6@6;dDC#eQ~zjp${M<93lsay3P?-l(?_+PGnsowSm`!9e}
zvAzZW$;UMR4NzDOeDbkcJ*VdQ{nRx5q?gdE)ZKbD&hvo>bu1{(@%q8GRR07a59+^o
z59rVO51`~$t4!aeEh|VHc_!6WI8AsG@K&j>>otJA3N#sCqnH4~vr6Drsq58Wk(O0z
zrsT#+680|-Cerd9;H<*=TR!B2`E@_ITCMKG|C7{@gsO>^kawxyc&pX-VLMGX>u>3M
z0MB?C+gpOyPu&d{Il~S*#Mn=L4LN<1`lxp=Flqh>+>rK1y`RE|n0)$)&m-_z4WHHE
zf)Ky(ehjLFS*30Uon!sW!Sypf!=CV-gPjjuzZ6=mm#ks*`5*6o_>nqeIY~{|Gf-l+
zph5bt;XlhpDYkRQ>NufU7sP64bz17o8$Ko%9Yz*t()V)kb+_0~f=><V(n$iDrHbKO
z3U`)T0<N(0%3JI;B6l|Ur}-`ZM!(s=);|F-tJOEaSM(ue`j{9<hY!tZsAKMNe9>*_
zpuP${g?yv0p>w%^3tT3KM%cpm38U1H1=iSc77H92%8ma0UI-iK&_VCpjB>bd$oE5N
zJfH6ma=p7Uc|YXGe?E;j=z=~A^$n^s)!chKPTt%KTPIGt@&BdxO|z5H)6#w#<dM$Q
zm&Csf|MPox;+M$Y#F@Iz)HH!0RA=fTJyB1AyQlv^hVki4-R{%2U`WY;ZyfSK2L0dY
z6^3@EjGu$1S<r{RCgkn`^jVEK9o#q6I*Bo)aXQ?;=--+8xbS!Mu#dnz!E#jt`&V&;
z!Ko7FVqt35>+u$5OOMN-f&U#`WAQzOKIspDJ{o)dw(4xP6WmP2|2go>#~dxQFR8rh
zpBqrj=+~L5g{xG29>{o8hrHE##_oL1K^WgJLrVUc%7bf_dLSbSOvc0as$u-U2IDEs
z3WVI=qZ21JTVd;fbp5JddRU9ZWH1=onW}<MvG{hTHo&YC`$PD@2<Q6=ap14xWPcc?
zhY?~$k7}GOr|o$BUyM<{6Q|7$SD%L6*bFU0dGGWe$XJKm*xBb(s#Eg)4xvljdjlI?
zHxFHoUuxXh=TSAumf^VrKZF_emFn&uulkh&`>K!Mo<yGR>{E{4N8Q<{Ongn;-xGU5
zpPhXO@hwYxn?3`-l}Gxo`d8tW5yLYf`0ng85md6oca>)7iDF;TV}`))>@xx3!z>mt
z#)<uxsz^$bIn|lE$YaRan3FJHhF}$i?u7j3ofAu7s{#B1tQ-#OwQEQxekH3jwQI=z
zlGjCwd0u*0>0t{6gSh=c=Q!-!@5JvscH%y(nb>2BR*7#e>IxyIVBe_;-G*4(q2uUG
zor#ZWdKKm@u|I8nUcsH9ovAP2`=XklnO~RV4vx;$776c6^_Cp3mj8$8E8x3BU5NiC
zt`9?BVkkdl&0S)e`hB)KM_pju2A;4-qsE(7^JBD!$@oq}Ex1VidC<;2b!gX}sUHF7
zNZpM8JNsOW_UCHQ0~x;r=FUDDIRD6U3Nd~P*vEnCe4c>&7jS<o^<3(o$j?8(zH7(>
z_|Nw@sHMuky+<G1)zX>r@cFpq1Zl-L3VC*WkAe7IyiVM)(3u*Hn_N0me-yk$k_%do
z6LaQJL(OpaO?6hk*YV4fov9-R(%;o1+FwguAQ-Qp=lF|I>P+1RpO<i!v#$U1)`yVU
z=%Hz@6nNUg{_$D$b5J*L1;YQOM@V1b{BA+m<A+`$5ckOcX@_*;<Tt~&**Z!4=aBN3
zz5cl8v=etSu*JTJg~`s;D+n8)b`5z$aPL(2!F*;gF_^E$ychONq1c%^>Cijix?5bk
z1!_0!m!QTsSgfB&?e9zt7nqOehf*)4Zc(4;HB&#BI#T>9k&a{ZAhAE@6~c8FPPYyO
z-q*y>#2WoS-{wqe;LQO<DySiZJnC?sw(Cs&P`#Ndu+a2(wa8HWbL#J@Os&;F5Ykt@
zfd9Y8_bvStP8=t&I{Un?0`BkNcU8~lL2anIs^>=~#uav~d$u<z%?<eZy!ws)SL#K9
zS*@Q1ofiFlmEj!+h(q9eRnNz8wzm`a1b5<xE5EIF>wfCT0$l=#lkpv{{*)?%wxI&)
z|C59;hVebykozSAa9@M?9U=d(>UpB~Iq=k(N?Hy+1@qSd7BQ!Q&TH_wUVPsWxUXA?
zEcAn)!al!iF+a^pb@%pH#`mdiL(6Qa!(3?H533acy(`7<=jgk4K%)4E&PomUrUs!|
zslJ|$xJc;&z#Iy{gg4Q<2zK*cq36Wlz8r)w{0ri$gYCBhe{ULRj!Jjt*KG_Y?9Zte
z;eJ5yzlr~kN$8WQS1r_|V*V?je@5y}_?($qmO5QRt_LTz5#H_;`yT_JALw5~+u`{5
z8Ep58YmHFciQnd9Sh4y@5W_%(9}6kO;7rhiHSSsg%u@NEBiK)*exCZ7#GjR#9$>my
z-kFJcx23dibB4s+3oUm*7mPd!J0Je5Bc%p?1t{w-&@P^pz)I>~5}vVFs4R?+#F!F+
zxIyB}O5L7HSX(B{#rQT0R5SixjxS+xZh*N-k5<hB{TYjsg}#uK2k24IL>R8L4QqwF
z3Ex%Xf20k~N;M#S1YGO!ZNqny4f#=!hZkC(5<p%e_D|#gB%ymn0A*qugOC#m2miyM
z_c6X5kkgIr`!Mf<=E1o5{~od5l)5~1ouze4>YJ&X#Xel($V%Oo`flob@VO&33_f?I
zzLVM|;j@AJ4}5O~^bQGZS*Z&F(;M!K1eS5#AhzoRcUI~gu@41QhK*~8P{8d%sXOuE
z7edho6ZdU=zfbiPJKYN{Jo*Fpb$Gu@wR?X^Rl>IwHKqyQHMlcrU;s}X^b5F)Een05
zah(dN0`Cap0_L|NL0uQaxCOs!eQw0(+0^dTFH={m$3g2G>eoV(v|dtwQGWv5Us8Wf
zJukkQ>W8U&VY@T+9JFuf5mG-$-6J6nrS40eDz;e>%2}z&Hbuu--vuy>@cl^KBZKrB
z-ueF#3rTy0wci}^qyN!@R}k?X51%K~sEvaAJnZlZX&c)Xb-r-=p#1*{{$DIG=SArC
z&~K~X!d;oFN_7C@Mc7+Y8&Vr#Z%lnhohG=3-ft}4_10V$342xi#@Z0a$?I?*XZcdr
z+$Au31ovwg10Ad}Ukhmd)7tu^(Tu~R4g>DaNI&xmWDEoI17P|Q>^}vxvr;ca?CBJp
zn>@Y@`4Md=prUYh3E#QiZ^V4Y#{5*k!B+wMmiMpJ9^7;Ky1?{>kEi|y`&;5B{!YNZ
zA+BFRAN35N|DJj}2yL<PZN=SSX9jU+rJho?-eKUN#yi#ec8Ynbo~wSM&Ix$Pg4F6#
z;mi|bKJ#L(-s&%Y6K?BT;?MPe>pkzk?*HEZlmBP`1^*R)g!-$WP%rxH{Nw$r{mcBT
z{4e{bsWyMBzurGn-GDjNhjH87C)H)@BL7kUr~XI%PJh1t74-@KNQ@2q&H6r&iibne
zJ_2_>R;VGEo&7@1(l>iId2MQn{w^fZE4?lL72a38->7Z=6Z#kW74=v3lKQ*4Kz~(#
zT0ia`jbD8qqgHxj@mskoypQ5nY%9?hWMUqgp+2ELhCA}U2?=8;ZiPEUC2>Dm2l|e7
z+#z;0WZZMmlWfDt`ZfFlK&$$YUaxz3H|niwyV|0lK~P`9{O6ncHhqh}Lw{R)e#+DS
zNAN4<oA6u6x9iK*M*RtWzi!cA(O*_`y-(>c>tnq0_0QGcRF?jWI$Hl(P1cXA?Rtam
z?+x+}^9Fi{cn_&DUZ$7j{f~N1Z%{wf3%uXyC)D5cX58ohef=YSuim3i_kOA$)4$Pg
zdb{=G`e*tW|2gkj@AuyCyl1?py)pjZy>b3nf4o1z&-JJJIsQMqm%L&A&_IiJqvi{3
zJ=98r^%liD4whpTX|kTCbFsT`JI?E$sU~7qp^x;Rj{MlH-ayXG(#K#0>G$do?DYF1
zG$p@LXQ+hi6Kqw7Lu>m9l;zn-y+Yk<!2i!#wbjSOd=fc!4sz!-ajnPAOHFD6a_Zx_
zr%562mHMcJ^zn9JM`KDAivIRY#Qp~M8osIih0y+bfbNIAjsx|-5c(><8};8bZ!Oq{
z6m8Le*Nb3Z0nO5M+$O~vhK|#<`ZU}LH3@5H3bbl)Thw~}hMKJlaOYG#_Bkfu&xbi;
zo|E(q*8U+e`+6I6qu5T-4SIpZ{TkfF_y@{Ep)3_vf5u~WH$jhqeI)u+rAA@r<Pq30
zX{a8ihv-A~QE=ts%fTH}xO)dTIg!e4$aaMKg?<iZ8}7(@N&f<M{Y9+&(f<qjbLtyd
zO97<18Y_V>V?EHs|2ut+z80`w#@g7|u^!n54FjJW<Tjw4xSjC<-0$-cZhHKt+&}bf
ztj7Hm_vhS>n})uFo0}fPO{2R2{~%U5zK>DxCs@O{2Df<LjoUNt!QEIt!aYg%VXkpM
z?)AJ9cXoXRH*A4VyjSV3!}c@aUWT@IvARxQs4fAYU(>w*>w0~;zDRuu5Ec4F{4d8X
zBxSl3Gouo{R2SoJsY=}0wHP5Y@nH{x{O4T}_u}rYAEVtU^#gs6{vqo8Z*fN$Vchdg
ztgPIsSL-$6`-XU*g}bs$_)6Sug}ZO$|BYy!SjE9TSj??m7UFnueNPwZJF(7s7gn&&
zhtJP}{wcIIu5LZ9F4PwZ1=6|^?fd)sZnWl3eF0Wp4eYs*@Y}Hhda{&chi*c+f`r(j
zH^R0F-*$bv_`QI2T87=IGhq6-Y3mnqlg7sp`f1G;q|_0(feS6uI}-n|SEKNMBkrzh
zLdY=m4@0rOe3bVBW|)L!&3RL7#{Rb0U%?G*E)+sD>XLK4g&WU|{TA?gGyEUW4@#&~
zKf&#9kDym!_)lS1Skc5?T!4EV=8foOlzIYl5T%~9JHogp>1oZiPNja0-iYRn=m(AY
zkUj))^+yWPuCW&QS*%-QHBq0f&%vs-g1%It7gQ<}-*9|+__FaS^@@4{tDOqH_}}pV
z@A&p$Pqf0W=)YpenNl+Z%G^#e&tklYHBkj=M5#aHBaP?q{~3ILk)Db9s?;E?%`2?S
zEA%cVU&6fkqflaw{t4d;It=M$^GvDU-dAul>XqpC`CNjr3oTP!E_-sWz&)c1np*aH
z+%a^4>;^g)J9o~*z6-On=0h0ouG42B^drzBzYWRpdDzJ<)>GB9su%WFn;qZ3!m2!W
zeW{+>!+xy+;GiEq?xj}H`%Li0Vvc*G&KAzN?;y)N8tb!*y+vN3_!VIl8g0ts3TiRF
z!@MQ<|9jo4dw84m@!sL6L!@Qu%^xDE?Fl&M(qP<%hco1|s(YeW>Mez<+*^RV?oa}l
ziRXHG*ylhBIru-#n~wj-c=Pao7QXrTW@9(R9GEk`o*2_^MAcsottB7!aqRy$U~KLI
z_X>P7aTl^VA;sNOe7JkR4(qrlW8|xm8%b+%;~ReuN8vWE8};!pm)diYX2*FxZi<<V
zkSXd6eGbNzF9L$kBxowKa1ZoluzyV*jeS%lxV!8G2{Wsot8m{c`V4$rxpW*5;5dAR
zv_Kv(PXcE((Az_*7zHyEvI17`5o;05r6^NAl{jr5r?UX=g$%+|fsZxKL08H7iTP?a
zbhC2=g8z=e$2(u=3M}&2j;G@x87as^83cla#I<1s2}P?TA>$kZ`#{Js18{TmNYxvz
zL-8GkZ#bkV1sQ56{ttu1X6~)yebM2oL4_}UG#0>pYp1OzUR(=^5M^Nq;mN1%&2sz&
zA;Qu>d`X2b1rXBi0q9-=)f*gU;3Zwsr=5_5>xHo1NLzpS^$}kU2*VZ4cl#RNyHYY~
zHF-e3Om}MBzPMe^(2vmXmXrPAo7_aE1Tnc-$sg_H!KB3GI{i(U$#KIe)56!4OlUJc
zOqcl#oT2OJhpBd<G!2aLiMpNt-b|Kuh-K(F*r<Qh&Ty9t@fzk*<kAtvGIpknb(*;n
zhDPz6FJs{w4Wr$}Zt{$DOimd%Qg!gAl$5x8BbBVhH2cWQSm<`pj<Pcu3-gBm85gOU
zG7j^IwXi3`NQ-z{S`AxLZ`e)z<kxU$(nSs#FI^bP1lF`QEv<`f%(-3a*-E43#56hT
zCO3`C&~)6Glre6@q2b%O$vJ&P-nh-i<u&7CxM^huhB5LvEAoB_^N4dW+c58^G3)pw
zM&D1Rz2{>D_!!okF2v5-i_mv|j_XbKy#%B8rCr`mj1K0#0(ZS$iPyn*XL8-|>v+3{
zT@1f#?0W$uf%tnaG)rCIYax4I-|fr$&iURDdA|v1{ziGf11a9T--9H72i{#+Dd77B
z$n*T}7FnL!zq=vL{|M6j5AAn9r1}T`7vCRa7I6>e8b6WmTbM;Wj5)`7m^qw>_YwI|
z+fOm;cnmX#^YFR%QOrvoh1_l4-I(Y6Ja{?Vh`vv#C)6+TJ}K|7aL*xc*)#92F)QWA
z+kegbYsi7WmG4=|SbU#@w8-!Gkh=K&5u-N0=OKCWdl6D3zrR4@<aa0LN$KAnNTuDq
zAHgqB@cTPtRem4d$NRS8o5Jfu@_QW;?rV@OGjs-K-h6xG?Tfdc?hh$&AT;<_Ly8%o
z57C1#lXT`V&6y?7>lyQK%s7Y3djw{mJio^id?RpzZ=}3OVGeqm%m8nPMD%$`NneBv
zdpV@f=sOy-W4aUe{f9E|Kb3jkz^wesSnVBy`R+KpnRv(Ru{akvK~KPJ{Y^;6d?#Y&
zorU);oMk*(e*<!F54{t2&gMef;NGd2tLI_Po};s&zxf;F;lE*yoDXfpy_kLSorU@Q
zOvu7L@!o>D><s-9<_PXn8ovc1-yCQt=IPmZ=i;4@_gHy93f;nS`fS`XScrEa-bKM%
zgn8ic!FvK`t4rlwg4t>*=B#Cyt(IU%@Zz+08D_N0bOqi@yjAE{^$7o%3-WQ6w-@Fu
zL-(Yf!Nrl&hwVw-3bD5UX47g&iZCJ0s--Z8Z&0cVX4PiMo-lW9QEC^=g7a|B^YA^X
z@@p`+hIzw%m<tTwle*@|z&mzN>Zh1C+^}#@s_w5!UA1UW>aspsjV#)edZMpZpM!Y~
zc=!>_T`+qr20YBAF#is-3TFRlpa=6An3pZxlbQs<yGPlc)O5HDU@n1qL;0T64w&OA
zKo92QFkc4T+Dh;}12elSz`@)Fvj76~+U0vvtuWt&c@@mdR)8Ov1uGFBMEUkrdr})<
z-U@RE%!1W>Qa8i=3C!QY9C^~7RK{$jcEG%q<|&{HVffAeN80<qH(u9=|81H($~7DX
z0u(4vG{PZ43I;v3YV)VP-d#8f1S}Awrv)k&t(a+n$g0MzZdE&){?DCNJ6C6?r&g`A
zn|15vsc}0;j%%+`yRF+!*Ug)k{<${X`}cgkKlvnS??Cwe@_4k*<ek_1_5SmE|9`(f
z@9aON($M*yQ|d57;=p6%UlpG}cuG~n&JUeZA?R--TsRKP-_G}8;s<>&2*d5<b2Z<?
zHdyuXQ)(EdKS8)|#>JmHrP^V%gM5RNe?odZ%s_fisU#flJEck)z*}SZgW&_X!^9Uz
zpO1X{GVz7hucBW*A0izv`pr{n5vIOFyqF@yCy5UX`~W@BHBI{A^z-CbEj)TkRZ?!E
z|9VPUnd-#;lYE1z|Hj_re;T%ly%tZYPH2O}&<@9;3m%36n1oHR4Lgm%P8j_k(g&;l
zmv}+jZ^=*W6ohsdg*#vxR$~{}N%9SbpcA`P{og6o2m`+(T-XWQu}|U@_Jrjtr&PsT
znTM~EP8c~&xX`wCN=?b<b;84rO=<EA`d=h|aGZ7Q1om6pl2Y^7D}G)|mA?bI;*|13
z=eCp@g@KZkO2hDlDHVDr@wqsqPQnDNz@EWNQfdY|>?u`^9bK2ElpXtp%Tg*v{&rr0
z-d*I!RVg(N7p_jJIQbj7CZ%Lb=(;wgDq$G<VAUH^suM2Wl2Vg!tTLq*VD#3MD&+#~
z^czzu0j;;=p9=%4paV|BP8f&7u=CBtgKOCWZ%wH#<P&crUARZzPJH3mJCNsl+dGjL
zIXDfIa1jRGq=!kR)00wda0Cv+kT<0c!>XE;T7^Dn<8gdPZAvx4F(?-hjNOw`?RVpT
ze@ab2XH!Z!-$i;qlv1rQ+0JMDmw!B^T==tpBBi1*`bQ}h#=oP3{DRYP0VY13QpHS!
zgI`Ul6#C+@>>lKQno^Mf`4PunF#g}<$9;sqm{LLE|B!y+{}OK)_$~2<{*%~&cqCv7
z#!|$$0Xr;VZx~3E{`)B>FX9eE)+IHHd$f2-E%G^i{*tPEfb?%$Qb8Dp5f~_0Qc0MC
zr4J%+TT%_sb-|MAfK}U<)C63-a7pb9lK&SisV2B^@sb*m&-Nu%{t)ReUsAS*X&0_p
zQgtwV<C5|<67GXb%D$g+`boltu8t)&MtDi+L$B}CODY8;uo!)=KUq>Uumvu{)Mu7d
z9Q`eyTT-jAyo+?an{>iPIQiU?8itYXC6$2Ao+Z^q_@Uk<wE(O72%mT?_AjX@;Rgnm
z)Fe#81=u;r_wOOTL&OJ$KEI@nz|<E=?|b3MlA40SuP!N96XAYsNwq=Sx0ciixCkAO
z5Wnw|->~!hOUnN!dJ=qwDd?mh>r5}H7W9<AxTN}_^9=cod=xgrI1ED<Cn8Gm7cW>=
zGq9;}SrtD<xUd|iEz7D2`nD{qL(q2qvI?Q!5Bp&PPQl2wWmWM$^pz~DI+%c6Fl1X+
z({TEtWmWY!a+fTt5tzPWS<S<RE0>k+{ph_4|Il&uvI@f%*aiL95dIVBy>3~J!g0s4
za(#gEdi}C$f#Yx<j=XVMIX*}^buX*K(BWBDCt-LW{#z;k^~4tj8kSWv{k!A-Wi>4Q
z{L{!0f9o@ZOFW}+f^gGtLBbC&t5rDm@nyB6h45e%oP_mo8aBZ=Y=a5d3DfWpbbex4
zC14P)!cJIDIwoN?T!f1-_{n8eN;=}O9X3Vq57V%pbaejFvT{C2dj5D>1z-}k!$8Nf
z8iNTq1ATw8tn42~@1J4^xbQi`g^@183z0uC02g5!9C?m>5clq7bp!^Y%PI|n(D4Vz
zK|fsRT~<*zJxF|^;{f*g2<baW{==p}UsjWZGXjrD_;3NbzD&H)7lNhuv;76}Kz?kL
z{QfAP{}Ow_C_D*WUtLx^+ejz$!zgTo3D^OhW6LTABk+*8!)X}&t7VmfBe3`>@&`Jh
z{cG3>I$;wG!#0?Pqp<4h#9Q3q5jYN0(0T|vJ&iwD30uBNd4tw(5k3sV1e}DcFfvYl
zJ%hgQq8ElHum?;+YnXcZJ>mfae@*ys91cVK_eno&fhVD3l6Zd%_rD=Ln1YkA^9STR
z3{MfSXK{yhu<3`(sud>w9=rY_`96(ZVCWwx$I$kV*a13!w5%H1i7#x2RX--3(El^y
zO}=%)5FCS}=nMTEd*LtfFMN-jBeAT;q5UX!_&DVSmVScv<pt^^v>hXV;q-Cr0{uzS
z1Jl2tUVoDK{)+g*_`fcz2n_t^vN{3%zo8sN@V`htz)83Y7naDUPZ6&b^uUpeS5*HW
z@!7tjng~A*55dr-D{3B=U$&yAMBn8r%8CCFtcIyF<nX_6#fnPdKXT=Y+VRJv>zWl6
zh6}Juc<qWh44bZ7Q7mK>grOZSymm!3!Y0Rxioy{%0pl<Zov$N&XuW<#SwBrWZd_3=
zSmh+1umzrgj+<9h#h;KrumL7u3yj{fqRRi2{JeEV)j{9wD=Gr*J6F^sjKF!g0E;`(
z|5o(Fg}37$2KTI};AcqxlPhWjM&S%>`3UhNy&*U+`34(EpY@~YCq6OQ53NtFs8QmP
zej0z!@yv=^g!b@?Dnn1xv&0K_!q{g?*B_Eka2lS3p?2c`Ir15HbP@i?i8pk8g70Ah
z2L23te{w}N!zk>8DL4t!@Q8eltf({$c4D{Z2oDC}I1EGAXRxDuh6`}|v*brNcKF<i
z+6f)cksq+BcSWtjXg~g=((kS)TMzj$NVsrhctuUa1z6b&M@U~E`Tk|Xf!4pm{{4ja
zb@amNZ{rRZVf6sz^ShKIxG;hLLG*o(e1(hOC;y@I$1AEeMz}vEU9jqBE2{JW_W5Vx
z15-aIzoGpo@j6Jj$5&K69QzgV8zz0fAs=9BjqtvJz1Q&v<7vtrOq{{r7x`Sgst&>Q
zwpCUBCBnI2RSm;H>8e_V;mcQ5)d;+5Rkg$5wX5m~wBN9*f`3l_-m<FZ;mED4YR8ue
z*R`rzVdR~wY8=|DSJeV^cve-@Uy!bvRW%03YgbkADB;|>ssh+Q3ftf!^id9+^{c7@
zmfy9iI^Z;%fGu~gsuR$5&#EeuasvI(8CX?~umy&o?cP=8pd55QK>D!XG@OPD53VW~
zc5?*L52xWtn1)vD=zBN*VG@o&Ya{W*p053?Y6?2uv#PqVV<#Mk<M1#Xc`tI<)7iAD
z!m#|2RW%7mVA&9#A0vKn9CpE$X5s^*kFTl<?3;!@xcGkZU)Zv$`mv|=1FI?yqaR#V
zX&7o<Rh6G7eIG&}j6I1y=>IVBgOLz+gP}iIRXef2^`on*8MeR<@;e0&!I8FAm6ZH{
zihTbH?r<JPpI%k=za+iStg1SgfMGZuCfu*0_Y>F`#y_>H643dltEy!T_s^gghChqF
zVe)g7r@tcHF46(ZpQC(yjn94L^VbP?fN}-XL#rwRqX#Kh(Deo4eTaPibMgVEzqP7H
zzeRY*vBx;^{5Sl6hwp!louG4({D;vSPpc5=8HZL$4=jVR*Pm8((0S8oH3p}Jq$lV+
ztrD;ko`5NshLM|3D<AQV!v^TQ<+O@OI$#|7Do-mGVGEM51uou(J9N2Dt2W|04HuyQ
z_S4Gt4eHaIPAfmO?>wzyaPcjt)gny3^|W$+6IP)g`rm$9jlz~Y`JVI!>Q5^N=}p4`
zjNE-%ReYQJeGl=1Rrj7&Q_$W(yuV92p<@C)_n%hva1lme3iiXm1E<wt7=<Y~_TXvd
z`X2fpI<1;u)w@rt4%h@oVW<%~I1Y>dnsmW(n1Ge?dH-n@gpMZk!z7%BV~>*m-zR?`
zM=$g}aaxVQ>5mZqN!q=So>pPl*~T*%Z~-pBmZ!+CzahRbD17>~IwE}Lv|5GHF!}Yj
z<nzZ)t45fBQ5brbaDG5OeDbt92|MBV6ybe}&(QZrl!G5q4?ayk!uaRNH#pKo`k>=E
z(*1XYA0-@E-a|hAJ^uPmt7hox$9~i3|03ytonOZ8|3LnZo>nveh`*nZFFzvP$A}k<
zogy64GXk687<3W;MOX)`QrHEim#_!%x37?2#Cs7|Lf>iPOT3-y$iol}!b#W)Q!pZY
z5xvCMb%yc)<1j{itp#f;0UhuJ9EWz|ohn>YmBhQei0@(2x~6sz|Jar_)ePe$Ybtn{
z_}SJ}2VA&dO_l$c^le{LK4`meO^w0M(lwQq&pZ>-{4>&5iTghj?wxBYaD;S!WKFg4
zz3-!Is`@8l?==;MRZp#{L(uumnpzZh==dpi3a_a;SoN_r)dI(07j%A>c*K$W+?twz
zu0LB-C*jCJ;{8v^eSS?f!sNHsREY4C<9rVT6Kg6)JmTM5Q*oI7>ot{v&hM|OvY(Tl
z$u(vD7s}^95-y*^KO(+x<R@$DFbu@kRD|!F;0d@0OP?p7euf@c^-qMKAUqg^;eRH+
zu>8oHnuckZf>l2!yrbCnUkC>_Jx@NsBpih!i8VC?$B&X9(E7rflA}tU$H+IhFtesw
zVax2A8i8pzBi|oiQ?_H+_g8Cb9+uCee}?t}hF}UVz~H~FDc5o0{qJk42__e?8!SJ8
z{yF$-;scZL5RCi={V)yF(Eq>WW0LTHi~KK$-~X+tb{K=@za$)3^()f9zNV5e3S;xc
z>ymX9`8WK*aX4*XS0|wL(sgD3ck1nB>nZ?~m#?dK=)7WGO~PRLx++^BUe~TG>wn<y
zx^-0t7hn+D9P4UA+;3i2Z0)dax3218{I+$q<G-jUx38;VI1a5R`2J1nsv6qfwyt6@
z_KtP62*>uUtMso4_pWv2`wihezOH6q;Qhq!zbR)QSy%noy$X&&ADn_gn1CTzO*xo^
z0hor(QZ7EauEH=3yI>rS!16ZYE$%Q5r{O%bJ%xX<<J0RZ3L|h7#$g;<pIKMs*s%o;
z!%%o#9f4t3I!pRKPW++c6YHu0j(rk6Fa<|pQv^NG{>S7Oc2C17jCQQ6X(<PvURN#H
zcN`|5>rc^(edF*D9QzFU1%01gSAOiBgkjk9IqV7-y4F<+Rz0__PGWz5@4DKF{YU!O
zRU5Potg8_AbPS>o+G6Af_H)8f>}EfJKWIBhJg{37PD9%;_P|afuo623zp$<vVf>5u
zhgDyqJYc6z7=iW?>;zl>oP33g-ypvKgPw1q7h1>3e;E88>HlA;=j*B!xdnI<_fULY
zRp1_jF6jRm-~SeUunVSO#qaq3=j1aSIY#>7^epLzwmH&$iun8je=rIoF!Jxj6aSrX
z0!IG>d!Izlf32$yIPz=CJskV*b>;X!?C?LtNBCRv9r?un5iZ}SPT>yi%Y@JOuGMwb
z2?J}COW2a8yjlwx*Yg<$UZlRk6r9-t74hR@(Xqm`YB{g4ptCrwCg5~gTJ>}A%z0&6
zC7|o-v^p&NO*_&m$bORpwn8V2lO7kGhgC2IeXux1e!+4WfR!)^eXt2Oz!um7L$Do&
zVH8H-DC~rjFba>r7+ioOa21Y0+Y<Q#E8rw_!D(0r<1h#luoWg@1TMgSxCqB!3QoZ^
zOhD_6X>|hHU>e$C=`!^KI-mpYgih#(F4zdGU<mqP2lT@j48TJ$2&Z8aoPjNH5r!Ze
z!K^Q*l^sUl4%i8+U=-HF7;J(gunmsEPB;#S;UpY~)9^5i!z4_=lQ0RbtE3;6!A0nV
zDOe5DFaWKuPpf8VgJEcgU9cREKnI+FP8f$SI1j5}3i@F2Y0?kNVE|UbAoRf|*Z^B#
z3k<<_7=}?8fupb!PQoZW0%LFij=)to25oDkA6CFg=z`O*4#r^+CSWT}!U$Y|{csVE
z!4#Z=X_$c4o3KB$!8EkP(sj}g9nb-HLMQY?7i@%8Fa&+D1NvbM2H+tWgwwDI&cGJ9
z2t$y~^MWw6!wB2~J7E=!!g?5kO>hLZ!7<ng$Kf!XgyV1;9)@w4gb8>OCZY93(htkv
zB6PwOtcGbAfL15=hc+07cGv~W;RtlV3Fw4z=z{aG3Z|eB7M~&gup9<pB@99zY=RB2
z1-8HtY=>bOg%LOkJK-dZ!Xq#S7vKn7g=5gBNI$HAlh6gHVI7RaAWXnkn1m6y0Q=!0
z9D^x11=BDAtv6$TXoFa$zz$0}!Bh?%&;fTsC-g%XY=l)X1bwgr`e6(P;2{`<)36E7
zz!ta&Ly#+!3&PM2BX9@ogjFyK>tPHw!4cR7$6zNMhr@6Zj>Bnq7{*}|Cg4e!gjP#o
z!2&FUi_i&Euo|Xe09xOG{h<wpp&fR?aySAVZ~{7E9J=5<tb!@%gT+OpAC|)atb{@6
zgH5mjw!jt`g6%L2qc8$TVJDn~QFsK#-~t?ht8fh3=+DMs1)PK~I1TGy90p+mw!$Qg
zz!WT}|8w4o{b0*&q!W(45jpz9X&3f_vD*m;CZLUe(Y6zNz~EcaEB)i!NEiL0;{o*2
z9|qtEjKFEw2_0N|Is$jXG3bZmFwOUqu$0f!un9UI#GWwl5dL8V&cN8i$l1^X9dHcp
zgyYZ;Ct)L;h9MY-9Wc;H{z2=0?0f-sf}L<0F5(`259Nx_i|?iUZ704>$U(<blm{4v
z0T_eLFag6b{0#Av&+U{eXp2y;xT?1bmcdTwgp05mhX0Iwfl)XClQ0fba9-S>qug_~
zcnt1<30MWwupU~w$scHgZLkW?!}2eZ9~V*1#)%(H9zp&R(*Hc+LH{p^C+Q2o85o3%
zun8U_-qv4|ALv<x0Xy;j73~0Y&Qs2y>tBi2rNr+)sK;;t9)h9&B;PNioc|Z)1%^*h
z@1X71gafNqUQ|x}`(QQn!*&>0eNoNh-?jFlDn~8>hhbXiAU^9as&Qz8hoK!NVL3br
z9nktZ;s?v13p!yHtcE@qfPUBv127DOunUIZ2<(It(3yTw6<?1YSPrXTCG<fb^uwk%
zpa;fpLGDGuucW*|7xbOsdl-jN7~qM;X_$m5*i>*vIe5rp5eDE$;TaWyPRkiJ4#(jF
ztSUOA>^vYf4SmpWJ)=S}0Y_kP%Ndn`3()#T>g(1soLi#&z$O?z?~IB<Yw;O14Le~9
z+RrC^7v%~Dpko{1!!bAxT_yN?6X}7;HzR++8MSjK`nTf_r!PFCPQvnw&L}?*pM)+x
zqefx;65{bz^j&&JHNx;^XVek6c=;J+dmHh+;*6?;@hb@rR+XPoQ_y$K8I_jruSH)K
z;aqn{jlsxk&ZtG0d@bqX@fO$X&Zsc#yq@&Hg&WZO4)okeI$-qmXH*O>-bDUE-_2)~
z^PQyg4dfe4-Eu}vLjSGAvzmOrjqqUljid_(ZYRBP>`mm4n|#}OMzz4;TgVqU{#N1%
zZB^LAgB{;~Ms>o;cVGu-uRf#7y~N*5{=;bx>44=v@*Re1&TuY@^w*Mp=%_oR;xN1$
zJJ(>>J!d!%MLF<eUl_TA^uy#n(qBvZ>q)=xZqhFdkp5lpKGH92ApODzNWU;h`s?7k
zNx!g>^b6lZ`gg-7(l30J^b4CwzwmL=zX!IEe&Gj5zp$0`3!fzYdtr$53qL~og>9tY
z51%Ie!Z7I<K1=$A?WF$>((?(@4<nx<{m|J#`uCCkKOy}v{29^@9bKd!#-AhocancS
zq#w2nkbXD`7ocsB^weX=82Vw$0pbm(VHdO=B>u1*9)|wUpHZtY0Bv`n2fAS7i<D#N
z`g8K>a>^Av0)21+2H+}ef;Jx1YJn9n1YIx!>tGZH;RtMn<1hlJVLwd3F}MJyU<xK+
z8lHgGFO$#E21~D?TtNpchdZGY`e7ApggzL8e%Jv6Fb0G05Nv|euoKR}7+i#7u;5DK
z2kkHpcfbW$1=Fw|+W!K3LMLp4F4zhEa2N*QIBbE3VF)H+7@mX?XuXPXVHq5OPB;mx
zVFCtV5;nsW48t_+g4R*W11yIV&;jGH3eH0xOu-;5E+@UP9EM>fj6ffZ!3H=2Ti_&Y
zhtn_$lW-I+z)6^fN1*j9*dLa|Rp^4Yt4TksfKAW^!>|rUVGxeNRyYnLa1!>z1RR5l
za0;ei0$TqP`$IcSLnkb~hV(%P^uwJn0R1os8(|X+!7%KA5g3CpcnFTbX*daI;51x>
zaaeFI@qu=jggf8@tb&WM9;RUvbbJ;2LnrKnJ~#~ha2y8UVHku-*aA<&5VTehKUfAM
z&<SI(8jipK9D~hp9ERZ}?1Iy91jgY6Ou#ry!g-j2DVT=E*O8B7*dN+pCG<fb48R81
z1Y2MyY=<!zg=26OPQpnTheu!%F2F^&3e(W`8ub4a_J>aBf>p2%`e6_TVJmEb5g3O3
zFapQm7@UIRFaamw37CLsn1rRT#U9WB({LxWe+~OX2W*5+7=kX?0fR6GBk&N6!f7}H
zXJ8yI!X)H6+k!=Cht{uSe`tqQupHJy2W)~t*all*Ck(>|#zPU<0y|+ljKV04!BIE@
zC*c@80>|M3oP?`z8rp6kUa$ftpbI8p9bAAxxCmQe3PxZW_CxC-@)O$N6tu$xEQcqc
z1E!%9mhK>*paWLHozMsU&<`770ES=?cEBbWgDvn748ds_hBGh%7hxxq2YI8=4r6c!
z9D!AE4A#SO*aRnG8=QunFb;=d0*=EZJPa3L5-!4%Fa@ozC;hMtTE9Vkf;LzU?Jxk#
zVKa2VFm%E$=z=4#3Qj;Dj6*-1hXI&^LCD2&1x>IVw!lglf<73A4KM;*U?*&cQ5c0W
zI0{GLBpicB;5b}>lW-MILz|QI!wQ&yE|`RMZ~+G4B5Z{z7=dZn53S$C{?G=epdBV)
zIXnR!Fb$os^k&iz9k2@Sgg)qpe%J^DFa(3J12(}JY=MVh2u{N=oPiOz2s<H{8F0=W
z`@<OA0Y_jJ9E0_69JWF0x3D)1z{4;Clkz=02^XOC7Sc10ouLmpVF*^kaTtILuo>FF
zjh&$ncEJ!Ffg^ANF2V)I_tEd5_jd9fmcbNsLf3cE3+)r+gSf+X==>h`gdsQz7vUrf
z{x$Z5j_(s+XrCnA%o~Dm2ONP_FbV6S{ckAuFbpSQ)8A6wp#KNN=grt1mci*M;v@Va
z@qvqfPkuq`KTuDg{U6CU==c%!M0l9|6aE;zZ^f=ZL7s73{HNFj`s0+Vy9;>|*mxB_
zeRqMi?V7@?Y}abHGMpDK=2?Tx_af(%_m^<)U&yP1ziR%RxYfY|_x6ed)`LZ!Zp*%3
z{^I%V;$-KqiNAVetm2S)IbfK-YTP5@=H6a;VC%sxo*s**+Zru;@Rz?h`g~%$j>`yN
zAHM1o>uAPH;xxhEB5tjPym4=@K2Ut{JWr3cx5(SQHM(VYpT$zU?U%necJu{N;x6GC
zZ{+#gaW&5q<oVI!wLMnLU5M)t-6byM7-|-TuHl&l-sh#O9w`#$F4=3okzlk7Yng~L
zgf2*tZ&O>ezb?yx*BrcVSI;%QSMTkvh+gaIEAPL`GgKD4+&6IL;1xyt3h_RdoIQSQ
zCL7fPNoPNLTFQ8)!=m*x9<UuO@pNyCp6}}^?mcf;-`4&umJi@J-yf1XzY_TE_%6?_
zhyyRN-3i>nxLLJ};g-g&b(32u;Wce?bKus1TScDVof)}&H@O2q^htQ~a`4xPTarAF
zh{H?RSjtrga#iH_SiYPT1aFU}xA0+7n#&)NpFn={70T=MBfr2iHr1k^m*`02R!V#q
z#UWRA_nQ{Y7~4~lk#`nx_XYAJ8|B|+%I`7WXn6@Uh<x3|DHRuaUgFk@oArCASPM2@
z;ugWJ8aK0ii(5Z#O}I5@<SOA9Zf&GFCT^L$^hqB1dMp9SA)~C<W!`byK>>HYlkQjP
z$4()szxLIIQ-`0)SLr8=pB)vXn{r5cj5;jUSLdj%x85G>d$t{Qm((2H)nk=>IfS2a
z@-#oMrg59Wt(x!UC2}*kS+C2vNnR}CR*74O2$^M3@~=(|r^Bo5vFtnQHa_Y6tDqi7
z@YA{359M-SF3;~U^SlDN0Dk82qiviC$J=ea!zdo^5|L>`#`YSXf#SVc_PpJeXyM&P
z;1b^$GS#H(aGnfpYqW58F231!$W-xn1V0J<Nc*)Rjpy>??d5kHo_N7bu;g3mR?1mk
zS&ZQ3z-@~3a41N0&KDjiKX_G5-(~%mdI#)-m(+D%8NFg}@8vyZ`(HTf=_%{Id{^wE
zp^GgK%q1Tlx;S=GJpm-=_Wtr0(#q*<MuqqhQPCnwL{QY$&n0W*{odr9`{)a9(drg$
z)dW38Ja)d0=gBD3#3NT;C?&l`wY2#^Ip)hY6x*w%D9JZ{7U>;~I)4%!Qvd2U=Z|h@
zEHz?Mv(Km_m<s%r|Me;MA~uD2?))t3vAX*UiOF|J^vp4{BpH2W3%XWs;5j)|nKt)z
zTWWL%f|Hc#E@V<X19-%UpKkYSq}`Wh-z&}jT?5vKW}hOS8=8L68OLwO-=0!Y-fyry
z?L%+jo%u=AWjl@hN#xI}4>cRg_8zlrOZloSrk~^4#E`_Vc6<GSZ3oZybr(m^>)G17
z#nWf)FS1B&%EfJ0?t`SS760KWo;~C}an$}j;@2yFJ)+4!SU6yL==d!8VyZFnW(>a-
zKje8x!>?igKE?~!S@-=9O30@9?#;fJdUyiAas2B3w067BSD%@$KFQZR2a5)*j2e#5
zdP*KSKC6ch*-kkx73^W6Z|C{6@7JGF4(c1}F#2b)k?y3mp+34H9}tuLYsH`cCZ6Ra
z@A21Oc%by)g`OT;FTMNr=moyMZT;uh3=|KZ_lNl2I4saMJB0s*+h{lFyYO$0x1xno
za*a03BE6;Y)+qA}_$j@e=Q=6-8}eLdx1|?xGt+dxXx~;)F#I<13h@nL<jOp?Swb+z
zJU--S{*LE^4gIYLwjaE}+q13rd|zL2|9Q3DwrI(~*1;`z3|TE-nzQ_HQ^IP7tTl6b
zeAbDcF2dEn6qRc?b^m60pTyEgm9$e6$R^*xGpQ0sUhVwFahu1@mETTzq=mU7dPVn@
zUTI9cgO?20y}EsxOFZwUmL8v_b)wHaHp95?Wm+b8o_LMuGa4t+r&}najMg()upZ{w
z>CN?5ikMdl2=({fvtd$W7H&qThMhWjGy3CGs-Mpr^8G%fjihJuy#bL)<V$~YN=+MK
z>3sJ{ZtKkVO6K1+xMg7LlgDTG<OR3ARb<3IA|aL$gEh<^cZ)E3>-j6QQBQwL`8ISL
z^;Bx7S1Rir{Y8D&hM8mjY{}VPZ#Du_kEK=EwT<?#q~_R+SA;|8Y(ZyzoacuP`wSNz
zuphj{(|vLDBJY50kXV=YURW19e`wp@{tNoHTk7zioFnG5$1}xq`*5L1i(KFK{tLv@
z(6-q5qQ>&54zBgs%v{nf-rb^zewJ_-2)Ez}V{)U;<kdN!)H$!zx!r^34HWx^wuUJV
zbM)p}<4{FKNNT9aN!1+MDwTFWErol|UGnhk@i~v-yo<MPQRE(ye01{HcmZ|fUtW2e
z+=cuY@*Vi43>b4F8Kb;Jn_Pj|G=3_oGh?Dmo4{CNH-$#e!5qk(K*ohkg!g9I(&G(1
zXf@_Y(yo=_BZ}NqUisBcTCJ2_Da5<ze<+W$*&Hg7bk^Z7OuP?o*8h06?0U>LL&9l8
ze$h?+HEfdW2Yga~YNRk(?!jv=6r=q-guf)=*o^q)@+a3e=^2?ZdX(|a<Js|z^gk!@
z-^twwnK49H;em?}UgYVs^_T4FE{$H;v%U9%fo+55TcVQ0yjfWQzs?IOMzz!lBhGn#
zz2es^o^=<L?Ka$l=MQZ24i#H=Nm;2C%|pe0dGD2P+(Z0k2jffhmOY;xW9Yo7k!+A$
z@JW5!J7BSVX?8=g+)&>JEK=iYHg=iZpGJF#ZeJaDG)N<3j@>*m;_}My%O~S7nLA|b
zSc#|q(!R@{Fe<OKlSLmdln;!@N-X~{m%KwpXU`hd48cs(r~4*94RiZFjC=FjBWY)L
zOM}x_tQ);-PlFwZQagTP+!5h7+JsD=N=Drw+4(?!NuSLZy|BB~6FZN5?4}Xck)d!)
zl%>h;Dl{!8W;F6RcAnUE&+`e1=)Lm2d^c1aJMVr|!!FV47X5BfO<bgWlwL%?-jEsJ
zxVIZ^s<e}JW}_($rbVXz`Nc!mbw7Ul??0s)jI`*o$+$mSB*U){;v+BZQfI=*Pd&sv
z9_NyOVxzpoZ4CMO{q!w{e5M_fR>><()GleG28t~+61V(%BYscdH}WWR`26vT?vrE?
zq$~G;b+E|d-;^+^tB#BLrK|UIKS_RFmGbG80$L*l)ba=T%MVl17sTK26Wj-JuJp;`
zMP7c$*r*fvBiz?9W5m(OdnrF&$@^Nfx8mZbO_9WJHGgr5=SOMdjCdX@JaE~;OLuqM
zqnGqt+<Q@9Y5#@Zf$f7A4B28Omgi8hdEG^HlwLwUKgIaei1U%c16Llr!rxsMy}akL
z-b?%J{g(_}Jb2MiY3#zHYtFTHGmee`I_jQf&Pd&(d>T5u;{Wc!iv}+C#x5Kx^+qr6
zF7xzX(q}K)UT73anuX-t!;&jfs*e<&D^Q6|(T@tHT+`Pib;R-`Wx3z{$|K%4e6`>F
z$}M5LC2Y6E$1U-ZGGencj{AAGZPnxJ8ks=J0NdMV`LNj7w3&>~jrTh5>+rkK$sEzh
zd+k@Rt%?6VeU?AmmNzvkaUTojnZK^jqVF#3L`O4id!|p&_V-0gx^13beyhdPe_mg)
zM}{c(#fpZkj~l}=8Uvkg%=;wQ&KlYbSz|>qym@q^I1{sTii>Dwpr<wK@q^=1>JRO6
zm65hwU!~_e`=aM{6EEg0miH0J@mZoGH9_=mYNQ7XrI{A}zh4S_jPW;2*qxtYK4`Sx
zQ-uf04qoo*vG-o$?Yp@DqMGi@qL=O(yl|k@vj6xjjbgSAZl5ZY??h4r2TBJo6t9;1
zW{>;igXO(4eku7#?1G`~x_hF5*Y5j=w#P2;&m}Ehd1JXlCgi-4iIMIEYBCP*l>+FN
zpxvT_xK{92e;MWIXTLMnVsi77J?2=X5t$G&9sR6D8udJrCW)n2qU)1*dn7KcI&y(+
z()R?CbFzSv-{{^i@$wMUYI*Y^Vq-)^!k8fp=K=1f*${@#H&L%MPlxfa4x{a*!g$aO
z!!2)Gvtd*cM%CrC7l~KCP9|+)D}KWG5!+Hga^shCtaH*e77QbwM!rtudHMJo$E}ik
zfTkqV-P?_J&L{1gM;beyw067AmaZsdA=@@Lb-KSwqi6KrS>w(dOX>bfuNTPl)vWBs
zTCTH<^}7EcT!JOsTpfQD(aeN%2VVt{n?i2Ekju>->Uy^3t(ocd|8``<|CwFq?lQ(>
z()H^>nG8)bm8rxn9d@0Jo9c#&KcXuU<8SHPeS8oaeSh8Dz1xg$OKQzGHP0uQ-{>Ac
zGw>pA)e^rem`8EfQM-``xw@_UwmW6&(mHcY2A5`D_;t^BY{o6$>3ORU9Tg`i&-pr}
zYb3pT)g_ZR6$ICcY#Lc<Z^=VFf8RV-k0Mk0>z5y^OMf|uTs!wL>9P8`*J3sfNAp%O
zq->?}Ur9JJ_K}y1ztStQHEvp`xvr5NBAk2tFKMa6-#B+bW!4?f>N`FnhBUJ<ukQ%q
zH-g{R-!OMD+SlAXc8@gqK56{j16wTtV@Yk6ROk%d+}KOo{n*hL=ovk^$?d(`!L4<O
zHWU#e>Etg>xMkc|71S=+P~5L#-5ocnXL<HvqMMsbxsd5VCSu4Kb$HXhmDneU+zI5`
zjdGD0uVt5c^mxrHGshM(C%<9Cuf#8g|IypH*NFG>68jv&&3=mhKpb-IYqU@*mQl`R
z+GM<A!XR%Ph@QaT82;J}f4Q+~Zf!x!m6nq)$i+9yy*H~>w;el?8%bd^BW=0$FRv69
zX%I|f8)<1qzG^vF)+A10+$wRKH^S0&Pp>6Pei$jxVT~X+&wW}cL(W|D(lMf!E!n(J
zlR$m~y&Z<UE{l4RaBq)w&(U33<?bG<o+DYWW<E+jw_EXGmU)@(%3xS`<R$L@Eqz<-
zqUU#S^XO&5V?&mA%}KL!eAdfAAtScEQGCf(otD@0W*JovSy<sR)*@O7YlOIQ0ked4
zsOZ3(4&J`I+ZBDI#gmQLeZ9B#+~(=OrLWRGc=Ny;+_9U6oJH>~+-6jOOh0V-k4>K=
zx~NO1EZ*H4y-V3yB<#{Rale*fGhGJE{UfQL=KfLct+9sTxQ1~V_md5yV?&wCtsUHN
z7|f_c0pw?pFEzq3?e%_1pV&**j@yu#-pO5H*J+)(KBA^~OV8HFq;0j-%b@D%<FlHf
z<Fg-@&(IQ=H}~;oY37(^x5&QB{OUP9ab=FEo9?G(j@8T8A>^91P8O}S%Y8G)K5TyT
ztrw1ZGX*X;Vv~{DUDDJW>sYnNW^}_38^pCK^LfBBSV$r8n8CW`OYNwKSHI^gijFDI
zLfPzbJ?pO#?=`c>_Z*wqBj4`X^!a}MS;Y0%cbZ>ksJ-t&*Rh#9v&v_W-+ydI%D~BM
zY2OREBhDBX<@L8d=|Sscnr!(FmdXw!OZ2>WM+NQT)|9et7>CN3O%K=VWMnl^T6C+P
zn&tV$TR{{58XLGrj`w-xN4HZ_9-1i+9mtF!bC~!clPeECDGzsvsU8;_TlQwk!^4=r
zT3qDKS2Ayk>I-L%1x5HF^Q%8HEpv~y|AQI(KTL_J-r(|>=^|e}{Zd6jTgWI9{!9^&
z1qm~wv-UR22ST;xmz15^<NDLxVk?o&_xdsghBS*0v1-Q3flT3O&M@EjlpTz(V``Qi
z%ifFw*<6sK&J}<3rR~v%J<49gI1ZWLYmWyr_IM04)R~$71$pzq<FiF|XW8S~jrO?b
zEPL$T>>~E~#H+D~8A85Q+?(y7YxCV1*H&#0!vI+`<l82%hHC@re8n7Q<)e0OsEmP(
zxw2-`pL10_V~u>Pp$*$e9gV)0aeoi@T=Jf}u%VrnPVZdpbS0v3{MGfQcs?xW&pc1_
z?wmjKXpIg_I(>WJMn7hs(46xldwQ8*jXq%~{*w3`HR5Qt@zFvF$mqK><23qsWSWr=
z^k@6<T$*z0!?}(b`D*@R_*u2l<`{kDyybxN;7y*M9lbYrhh7uA&fER^=#6!K*Z03}
zz%lq*y2H)W9MLh4j!EwH95L2n+KUcU9=yfd<Ltf3-~EQ@&9!~6@4s<i$KVY^*T-IG
zIeL}~eSXRDI{K@>{ayC#3~KdQsY={QQ$!rhx!k64po~G9kefkn+So%L*83hcvXik}
zwl5lcFYI9<QuZtcO9pH$W-q@-(xbETW%fOuHah*<{5=ti*Kl-iRIKBClDODosSW$D
zdd#JJXJa3ro;a6XPyfuFofTG{w%i!X@@&??7GLJAr^MYWJKuelhl%_#k9_d-S=hio
z7BDv8wLM$V*+$qiG6Z*TAGRED9DJ>(r=s^-Pxou0*ZKOc>A%`DP(FB-cj(I46>Vo3
zV+Y<2p~Lni?g}-^xH0aOA!l7rv8+Lwg|rmeB(jGmb9QUS?Ido_k(8P;;*eQ;ki`bQ
z_Mq2OjD?T8`Y-Cc*z&2FV-FeSDl?uv$GVEF4Cu8L8e>b1cr(gx@CNGf*HTLQH?w@`
z`8AcYw=jPN>=B81=GZ~K`Bu*@htV<p_0)#*b(|T{dmPetnuiA{<^^$N=aGH6@+fjC
z<f;$7yqv66l#}7@H*?P^?}@)z$Ip4*N$R*C`BwDC4EbCgf0^@1?f6N)3O{1kar|@<
zuVx8{m&EljZmw@+!`5-#w7>N(bBrqTtH_TaUu@XMDBn_6^`fONN#-#SWBhX?^ObL=
z)R-Zk8=vUI3m@#WK5&ektD0lFq0IQCN6_=QCj8bB-zteLFA2X5w-9b);*iVRXrVq>
zsOur^wA6mqT=*MBe(YP+$Gmc{&oB6Uid*x_y@ZiKc6gk7hYeX{-l=yv^?v7WW1nE~
zJj;9VxM|)gcC^2qy^!y4FK=F0#<2#O-qiMOmA#4VWZszH)!`>VdSop?UXsQjZf&@A
z810@}evB4G3a>sY!jym$bCM68$e$owdodr}R5YnnwNf|lj9%J(nOAC-ulJH3_S<FA
z@{gH*8Es{94%^NiN9D`a&QPAbKYwjh>aXSNEERc7b)J&i=M&P1&LzDPv|EQN;hSrn
zVw0+ynD10_AFh#4x(vP4dD3QNTW(!?Rp&`14~Ox$fWIj3NuI7#`he^?&h&`wk09^A
zZHZ^MwS2DK)@P(x#FyHewVgiil>H>OFC|dBYiYwi?#rDylktiVKcn~=G4df-H}qa^
zt?UooFQI0)Me!r$B#gh(ze%ZnBd)o1AANqIM)rGZSoiTtDb4rn!|w!sTYkWu+uQiS
zJlb;L`h&0YbUUK2_4d4`m%gN;|JvOH*9=}gR35vk==pPP)#!5$1vfL^x}7_l^K9rd
z5035Xv+O%Y3u`w0n@*JN-^Kw4AOErvCA!=P(An{(jd`fsqTE;~yBAI}c!r;H^k&LN
ze*Q_W>GL_V*>3g?q#OBh<ST#7dc|!z?Oj`Z2kt(2m$$n<dZ({vU+*1teg6KvmJbZ>
z9@tY8+ci{YVL~vMtR2`hxO=EBw#yP>G@G2O|HUt}nYz7ei})7L;@6ZEwMFM|l@YNl
z!5979B8v8yUt1p4Uu4A@?aTMx?DwBBwg`xaTjC*Yck3IdH{Z_n$zsb0Zu4v0M^3+l
zEr*K^xDLM2)Axq{o4wt)MQ`2PQ`vjVfOGIB&(P~*Hx@No$&j<wv!xuy(Npjm?#s3s
zdW`cWGBWbYV9O_GMl5|BOQHi&>n-eCkpIoRH|v<$Pv1l4ODimLPUO0fi{#0f<7;zJ
zE%po`cM`d=d^y<%KF1orwm<T%JGt-Mkl$2iH*S=6ATy49<y*Kn{M_Tohc^!U<a{Sn
z8GQ!m_m3z4;9TR$z2_cJHW8O<8jV=hl4>{Vu(6(C9EXslguSwoFWc^WW!c>lI6lh>
zrnzKZ!F$QgdkXDC;>nmlj1tcHJC^t<6aw9FZcgug@9o=WkpW}2EtB>+iJvm=Iq%{<
zesb;7u8sQ;V%y?dX^)W2tXbv8m3O1nn9uMVufzp8r<<~3j314$ygtJekZkwplS`dC
z%d_j$8&56CX{AtR>8`}`<bdr1+t`PzncX#DtI_$KH*6oURTJh2VOH!~QUN3FMjq?s
znp(+T$!CvjeQ?kucAlIw*i<`O&~XACu07msZ{>rWnaG}d(TZwBQH>~RmctN_WY6oG
zP2Wo&viMMP?pX==8QB}t2Pq^!8)%!#_i?vA@6Ej5JkKcQD`~^*<hzt5c~$cl#cc||
znKL?@>cj6p=PP<=(BVL@IUbSnu!vio8CGu0C0jIlUD6y&OI*s{$h`3`?)EqGtKD*-
z;^4L3p7P$SeBIYXulDy{*?+}A+2G~(#4a7W%<^1vu64suYJ0my#6;ed9J(xasVI3+
z@(E8yAJ|Sf<-{p!wEemMUAGm|S(|OY9_3}nqz%Mz62Cj|<sSYrK48<L1GgQ#)zkBa
z-kW{hmC;*j`<(qZ`37D;c%$WW=*b`G71dg{#cmkd;V$tDET7ifpO)`y=sv8B26g%g
zY=COhe!4r-=aKT`WsLRekYAK^81lJvoMW6K_L1Kx3Gmwkev#+p<4=CCqzku9U%Y8g
z;SO1X_sZ(~2X%9nKhoCA?QZ$54m}CcBfn>0v`NPJ*Q3wL$k6u=*@2O57hi14(AEc%
zbJB3+=T4KjyXTTp4k~UZUI&)UxqC*JsL^NsYDCx2*4UOk{pZsJ5i{MsWlvL`^YmbB
zi<}>{G|C<#zVsZSgK(T*+t@G0aGPo&PmO-j*ej@!y@J}F+j?*9tL(qUH}HnRn}?jS
zn~J`D&TZa;3evEEp042~V;?C~?ir8BS<>x%t^2m(H!;6JCL#{zICIllhV)gH$l3U9
zh_QURm+9LYk#FL+7Df$ua}Lm8);Ya}pl1L^Ji3q%Zql#Uqw)?lSE6eIxdr56dGRpU
zt<Lo<jFh=W{InC7F7d-l^vKVMR(<i6>j~k-g`ZLU)NkQ~IZx3m2R>N_ze8pxdKo~U
zj(A*`Rt8XevUU08W+`b|B&3PZla1Wz3Mq?YgxmfX{2qtVR%{wC@0NpUHL}Nfhn$aj
zmS8uXo;~Yuj6Ur$b4;JCaf>ITO|sKy&WtXpkkQ8(;mBy*C;O_q<S>?(ak(@C8^-0*
z#@6H4{&m_U-e=2EwtRfp%mQ8J!^j>%R{Y7Ufxj-?7I4d)0W#VE*>?8G+;f+#^wj8j
zzUfSJqkJPGA}f1tvJ2NXd%RhM(W~u`?%{9HE=XX!9P;liv=_L|%lph2Ve=lO#BYbl
zUC3_=7;<JgKCADLa01AdmhyWMBFjtaO*3wO+=51#(f(P-u}qm2!6NOu?uK++`;iY{
z%5O(#4MzOOaBJP<HicW$CbtA`4V&Cf;O5VBt3a>(ZdNsJI{$P1VXfINh>ZMJlMfk5
z1Nmd7TgEoJ?GPCsGWEYlrWu*w?~#$;folFeGKY`}y^KsX@kt;ve~90=G1~vk7)?h1
z`iQwtCIgJNjKkxWvj<F~qwH<WOZaV@|JN}{1v-N0She%J8N4U&^f-pOr8H04&?3{0
zjO6c2$<UP*j3CqY9e)4EsQ0=~=xz4AXF;VPW=GW}MtMo%Z|4NRD})Yti49L?!i$Q7
z+0IM-JV!q*@)ay9j1j+AB43SsJ@WDIGMBMw{h4{WOvJr1Io~albD5j#Y5C=6_gSrY
zi=v}#n)F_vbqrhF@(`^@9-{TgQ?vT{+1>Iut+)TGzVf17Y%=+O@k<%?n#0v$i+n9U
z<bhl9B+uN6nxc-vV>1tktK~`QfKednEPlIDK07y$!}MCM9Fj1{VMe>L6Z!bhS=+*I
zUcHDG%1TGxe4!CJ=f5y^H}WIbX6t8TYNSDx!xA~u75!nMoN;_eZ$mX6pM6%E^(OsE
z_Vsd~e3=I}-mSm07#?(=mLSa1UlO;xwCMS)UNzQhi=^tk@?7Qn<lls({~fd=zhXQl
zg~dGgEU`1<DQ&(iQs?67lUTNJj#0Reg#d|JK*wdD5u-<er^JZ*9_>`4|7Q}T-y5P2
z>i2i+|GV}72lC$U)$i}s|JfwdPpRCcKlzT&N_#s^+*e0(V<)LIGq^4MCu;$`Cp{-E
z2i|b-W>3%SdvEmh?dZQ@SGO~IlkBDC62zJfqNVSo-Tg1-4cBRZ#(t4cwu*MirjcwH
zdG%gV+u#iYJ1jq7*YhEHS9GwDx2)agPj1_b#G~oY+-8y;sG@e3N@~QV==&_H+%NB*
zoju+pswBp`Z;BC@2HKBBaWK#MdF6<o?klt*MS2>!3hHR1A*b8u+HQ;9Pm^U<9&XZ&
zwaChE;RTRwGi1#+DY}K{YwO7mbN@tS%d6=xkqw_iHt%tHy_Q#pYzo;{qs-;z+WL8+
zdqs0@Rs4O&*qp98#_?HQUL*M3aXDi|!*6cBmphwuXOGo?^uZo$;3x-@rHz=tPppjJ
z=Gm|wAfxe|Cx35AkIg4TZ2eHqK64@DK^eZA5A#^sv&U#WC5`4n2Ojm<Tze!q-6uQU
z<j1Z2-j+D<lCoEgTO2oYOd)Oo+zM{XxmEJ98MlS2_^l@1W6R&WHzIms89mkFhnKh=
z!mX-&S(RxQ><*`KtH!Nf+;ZdlJIy{?#yKaDX+dV9P|M`P7o%s|D`^KyJ&X&kCSQ4P
z>SFyjd)7+qPGQo|xJwzSMt+*#L>teOXI%4uA;vuknMg?7Tac~4cH@|)9k(F)*DwBg
zNnE42RU+3V4*7kQeu7#Tdp%#AM6MsXOuv|GTWihpe;aE!jpuvxT8sSKFD(|fA_%LO
zb%E=a)x1%ba%(@jf0YFwv+Uj}b5QqymD5A+SvEpssQHW>H$b7~LyX*wi6|pZu|*KQ
zNBDiX%(I%C^zP5o>k+*V>T?U;0iJl5`01GDtCXLQEI5SD=}La9E6<L4KcH5gb+YV!
z;i#-)NFHsklx|(_)W{xg(k`<1D6Yo7l4NA(_53DSp1vCK*rV6e%;un=g0P*)_J96&
z8=hIOk>}BA_9RHLVLdXw8~6>b^Z3A8ZtfXBz5MEt)!3kHb6cusk8?{%w*5WF9=EKN
z?Ul#)o=MJmb%TGm?3X{va}UB=y;{*Mv!#2@(cA-b$!7U(|6FpvbQJ_-JP24vbmVtd
zcTm<EjkFqVl&rJs$IaxF&OSM}@_rsY#x~iQmB<`5_bJo=*H90s;}P^`%jl;0awT6i
zA{RsM)zteaek$(ecj-hoFR44DxTW&i6mgrxZO0pPZGpHQ!Oe+VHSgsmZu0xFrRb{=
z2VUZ~iklC)2JK?F*=p$nH@Q{d7ROD>p1h=uaN$<$;&<1?AvY(87Ut?_rbHNen~-lr
zUTh$*3jW$~i{iFZ9P)MSG0Kw2$nUX^Zj#AAD=q1mLS_;fJMZNsZVB9`aI4oYMx0OJ
zmd34J-15VdGoD8KC+#Jr*w9h7i}}*+8}reLTU(x61+vw+jo>C@jtzR{=}WXZaBf0o
z0vR2j{Ps-G9;L39=y-P`H;<h7k(cDnFm5Rc)53?d*S&We-I(s{H_XMwPD%W(zBxN~
z*W&`c50$f1=C%oJio6X2HSWxg4U9EBX)dHX80TQU(V}kao$Qnv4u&m#_#4Kb?iVw8
zOCP{J6-FNHKzB1TlgJ$AJ?SuY>tU(h;WBJc(9YLUWE<W>pJJqW(^$eMr}j7wr=Jg&
zhi%L;|E7m+<N)WMS$$M5D^qd@ZFTlj?y#qELQj0$H*1uavfZ?cZ^N!eTVaez<a~hM
z9MmgJ*|k_nUmfz%Dt^n8_j&2-Ez~KLT_i1DK++0A$R0t~p4SfPH3z-6Dska?&qw5(
zd$!d%S5$S`nnG9X?esB5xH_JC4_bHBM%j|`bON~qa*c+Zk^j=p=T3`jeWiOS2k*%0
z%gN>KgNVMJ$oY`d?MG&AtHaG3Pe}P~L@tEfcwV@AX}eZR(u1<;E_ow$fajv<spLH`
zDN8Z@p2Y7-!*4EaHFChHrqA+-4BgC2Hc%j+GM$~YS4sR2zjJxR9)uo_*6K&Lq#Svq
z!GB0%LBU`WlNT3b)69&K)F<a&#wFF%r#!pq$3(PJIZR=W6O1wxM84mh9lx7vC(`lj
z`M=Jpys=a#@(rF%^-pYM>;;(WwVfuA9YMCm$eWy<c5`<Jl2V<dPR}E^C~|pqNk>;d
zyQX7rk>(&<(n@Hr@K;6#ruR`_^TtGa%|Qk|wX(n_V|rONH!7|>Rybtw_MX>MY}tbu
zl5-w;-y|2puqZcVi4{JIvDkKI&N-L#h(kd&;j|M@@NUXmUOm(0NZZ&ecd6{j4A70n
z#9g9~yk*R++sJ8jwE432DSwS#nn%4xKT!OX#5X^gIv)$}U<_EZu^-n}mOSTByUs_c
z-#d^SN3NguX8ktTn;$ru-OktLHh^qJEx(Iuq$xKp)z78qdl~i(Y<*-_o+`>k$apfP
z67^C1kCG>u=csez#y!RYr>t0IH#(7*`gj;Wal-84y%|3<9l=aGME6PLT)XH8jksyu
z`W#V>q5GLlx}_dE_R)UdldXrD{FS+uS7uWBWYJv%#rMu`94NU5iW&3czX|`<b^Jc7
zRmUyQKKkjG8Zpv+(F?k_dt~Fq65yOpa_&BJPez8a=emQz*hP8d`2-ID?i1f`@m)a>
z3Bs%B&h*_I`ubd-EWd>wAx#nF&HOsoUVg=$tY@QZ#E>)Vu&jOSI-I|M;Y6k$`Oa4;
zUx9o(@)D1B-V+b4e^<9f&Z=z}C(${A%seuS;$XJ5*|TaJ*QTU@NgzKQpv}#zyZZc=
zp3mgZ#r3?y64DcoyY+vIPZq_Pji5(tUr|qg&_F)rwRw6UP&Xp7jbpZX_i!V~F^;^|
z$f=kbIT9~%Z^VCq-?rXxwnd(e)Ba`W&Gc`S<1XYA4`k<bxwU}2eoFe43FJnC{N{0f
z9g{r@eb<1@|71Oirrj(?nem1AP2sot-Hcz2@@S4ldJFYL%JS{JNLi}$J~;4Oc^Bz<
zj`eUOT(dkx3oULWjX<iAYe25)J^ZGzVS}kn&+YD(^Jj9hO`kn`9Iu=9>`T!RLq{29
zN!lNIN!$<N=EN<WSATUAs|}ogR){+ScZ(_Bhbgw|amONl4?n{1H|OP<ezabnw~`Dt
zZQ+(}B&N&Z%-ohU`R-X`n}|uX*mdXKl#j=-t3)hQCiOE`J}H>`w0U-X6h@>O`AOt=
zoUi5Q^&Mg!xqU+4A*L^*@XA#^_4;leuK(hZySz==m${h7@+CbHyj%Zopy!brDlBWV
z&Cc}|1SkFA3Bqq`&8{&W(su)R<VjhdEU0<p=~;_Zja-9ll>d83C;5F69i;PBwSCfN
zG~z${A^N7P4FCEZfk(~;?3Tj;d;72GyV5&&`9PUh&IA;_j-_lFha~5+Lq-C9$+HAS
zmlPS>g~9w&21S)Dam%#0Cg0VvW;nVfNVf!;IfkIu;EDsRgLLv6*qh6S-t(*LEB=_|
zjafd7IZ_pV`hUyXf#eM@DYNysb>dd0U5q`}CfrU?XJX=(8T*@k=ehQ3rF`|{CqTYu
z?gcUHnPq@z=!Vyl*+OO|ssj1L$U6zQjrW9M%4hdlByNky)c4U3i3~57{JWQV9&QCj
zx^r#8E*YQhPdu+5Sk~iHJ=Ks#S^Vw9pS?fZk7|E<-6Xfh?$awWenve;!=Ur06@S5j
zT>eOV9l@;;w`OCEHk`L+BFiPaW#`H#D;%=7kXI*4SPr4tVMuk~oSVyzD$#WWUE!f@
zf1=~1#{ul`=*Jn2CTdS+NTBo1dLQ|RpKAQ)<z4ofSIMs($SfdZwngGrh1)7_LGj0{
zg1>s)d@+7&UL10^mc0XQHnD9;{2^mC+Q!^Ej2@0|oLh<f2=Yfh&+p!!vp?G?Uygi2
z<iD8Rvn)MeIVe+6-JeRlQ+(g{Ke;tWKW@eEV!Vr6bACCHvA14Vd*;<FtLgI5fW9zs
zm_RrAp!+dBb-YiWLCus1+>N8A2lV}fQm(or9{9_zE4o|K`%rq-J=3nTTwzp4U9Jw}
zujxy<vb_^sN!%K7%e42#I8w&%dK|D@cFbiUf7YEZlILX&)W83w|H{h`U5;cuVB?TO
zhhK+$`N`bch3E+4R*Bmp@6B?>`h!fAbXm|x-M1HbnR4he?w!cDj!-U)dSKK=u>oZ_
z|ANz<$WI{a|1#sU{4$gsS9oO-?PZPN&!ooWHR;+mDf~`+Wmz5B91eGES=w{Yf@YRW
z^<rrSVLI=pe2-=4TxJ^+EzCSwAmf92WMarP^4?6dK0lqe)+2SO4Y>qzJ0yQ=^3HX0
z1F1azY%aV?nHWL#$X_wm$xEw|!tDJ!QnmAwSul#fB>q~zL7QmfL-x#{9P;z%TNCt|
zKRG>EE9drh<&C*@Bk?j9D}7Y=wKTyppR>H%z`G0>XUX;%AD+;7AOCAgxHv=~5PU|v
z-Nk=T$^FSWV~pGJ0QHjcCU*!E*PQKjxz8W78vV=!^7jABl{X*W;<&9&E_2_#){(b&
zCtGkH*}L<|Mw>@A@QN-xd-EA@(uUd}B;OX6`F%F6CpQMwV;j!U_scD<W_DA@5Uaz_
zIDTdf8)eQ{X0y3gvU#^0XXSZGsQ{*L+HNt3TQ6@vq5szo74MsS-%xRoE?i$A#x-I3
zIkYjtXzTc0cCSgISHa&j?yFNPo7?Ybp|s$v1BlECWb8j&Q32j>D3^B`GEydOG~_4f
zL&pr6O*VKW+uley--&Dsbvu$TyJ`JfbT%RvM=oEdZbz`IzSY_2kMtb26WMxf8a{_k
zb1p9J_c(IHW_tPT<nOSAgWICv*Q}f8Tx${eRpdL#kCBb?FFCK<@et#qzkB8K4akR)
zkG+I`IlV|DsQ1yN%yl5Yh<wLJdF}%iLA{PAtFW2eGU~u2eyaa|#W<URKgpXTxJ~0$
zC3<*?+X8MUano_(vxK*bTN8H4#82D$<;G;<$N6sbze+!i_^HCCuQVL7O%y-##5cT!
z54o|NW!lIy*=oz?o}_OY`8KoM@VSD&8Qd0dtLD9_L$7_yh9uc3;iQo%_}w|$YHb{y
z=NV}uADs`AcgPouPF_;Jt8sJSmJ)~jc8fks&!{pMtLEz#WKSa7e4dug%z^Yh$}$nE
zm0S60<W@dCfsxztHckp9t%uNIU(1Yb_$+mCTH=M9#D_TO@s1Q0SyW}Dp~pR9zr~DP
z*pM^ph~5Da+3Z7wnbTe3r=pQ^jP6(Jrvg6#{2azl<}AHgw&a{kb`02t%=kKaDg7U}
zommdN{@{(C?j6w^^wzP?e0R_FjjSJDFYy>fzBA2wv(Z1~KMO360q^O%UXKv6GZd*u
zN&Fl-!@h)-4;#);=qr-y<cg&I{TKFefmO+njk_Y4cIjDXW}3szO8J+^nKvrQt#Y#2
z%QmFU8s$2<ee$W+{N#~O?yO>cuCaMP_06)vZ)obc=&_i-C0O4HTPI_&y>e9XnOAbI
z@qMzjX`E|hD8p|w(jHq^l+VaZL${3V^n$GpV4p1M?4LQdM<x(v^3Hi?l8XY&^&cs3
z74Ko3@((N7bM!vkT)3^`mRa94`bU}e%VL<ZmhX>l>E23DDQkJMB(Gh!SBsD_)|GM_
zM$cj5-NpM2bw?hJ&D5I;z8XPp^dDckf0OcY7@28gbURa*o&Pb5mR5FqMYl!&GKE<L
z^*At%pBci>+*_RM?^ye_{8rLpM8cAHFh=T_>%I8fmT6;i?Ng>n*L99SjW(kZ**Ni%
zF{`}9e+ajexMl36^G~mN^NilpxnK*bksU^MjIh#0d@%RZjq7stF-G&bZ?EinTRQN)
zvCWWnZUG&Kf3#w*UF&+U_viHDrLJmRmMv*D#xnLM+LOa8#@N)HyNKy(#j5xBS=az{
z8`t^C;%xS*II%1jZE=1yV{Y>~I{Ctr-RaTmDs6<3B8*C-%;vAF$a1h=SiWD@lsArS
zcgdQv*n0y1(F<10y?kSCBelq=PkmdP$%<@iKs$|}Mf^-{Uor2&p3-Y_`myi5`pP+d
z1D&xbS5#9dS(!iCrXNE`<s-D?KVJENS`U)3d@KIb_G~+_d7S8#aiV48tzA0qqxef*
zMqQDGS+gyxmFCHBUT$f&Peu3WxNrPX5vj|I=%~JWCA+^|fm^|&w5z0ttYHvq)Eml1
z_I$7Sb0BjB8HdR5l6=^S+rs~kd}zae^e5TzPOk2qbq;lp6enFcr4Aj!-$?n2is!X;
z`hI+Ecip1;2duK7x?$R<<GhI9QNlbaiFlQ3d15=~W321`^wr0?34c@MyPoT1>QnC0
zdS9RAiTtuEQwt-(lHbGl9lK^lP4S*M=kiI9Y<1n$YrBV$^Ic1uV$pKvtWS0F(2LAN
z^NY2mZfNVnvW8T{!s%B1jGMiga&jH*?FCv_m;Mc#8aYr~BPVKo`ZsL!&)4iJj9ord
zX8B5T&ho(xYPWa2<N;i^|DKe?xL)>cJ|^DvS*{Mkj9{D0v(&jgGrj(}TUPdE)gd=+
z;t7QJ$`L8A{M(}sb4gow1U=)}D9ZZ{`E^#gGTM=X_pxpfUorQmbA6ef=4mT6<$}fj
zsCD6I7(Y9Vyf)e%**??#tw&Z^IK?$sboY>D|6F)uzMR$P4q4<$1${qQ1-iS?-SST>
z<~ahhZ^*7=?m%W7nM25A%5m;|1m_2u$Ru;^K=NZA*>UHJ8Z+XWOP@{}TR&#);tYz&
zmp)E8`e*tZ-jjbh-Fm-9uS{gu^`#xCM&5c$wjI`X%UwV3lXJuDBMffYHKe<?4J~Rl
z{@d~Is9Z7c%g=i*Q9ndlCu<bhXB+jJ@5cVE9v#!@n7VaEC5$xY%8uS|)d!gM0hwIk
zc~}lDKdEQithV1F5rq13S@bpXSN4AL!L_0)jDFYHFYroJs}JDHZ7G>yRLP?<(hJCA
zH1J(B$MiVRJ$S*u_T57^PDpb}rHrX$oGFg(AshOu`3n<9!JFv|wm`E@_ee9Y!`Nju
z?E1pue<j3?N!Rse3LT4Yqr4b8rmXG*bq9BOhu#r;yRW-8TGQj}_3rBP^t%VD2j5wA
zLE$#zoO~`T2)dHL;uhA^C{ty5?W*2a(woDyt4|VsUVkcOr3ycll$BR<W?sT*LB8wA
zig_MGmqooM%D6{H{h4wrJ0H5emoSF$Q}y##R-Z-w2=XJyzmhnKe8Cfx-{)7%eXQKr
zNUsFw_Emn%OplGE52!>wg1jp)pK7GWXX`&z|6?R3ultdD(k%WG**crwKL6f5bcyFE
z{#{33S-L8apFuwQ!b|t-WK%&JnX-4TsNxbnFt#-A<B_X)ymBdzH+vtCl=cmM#{ID?
zhOT^qMLi)809!(GV~^znbICj9%{_XB&(brO{GbT%D5Wm%EgzuW+D*Sws>7Sl?E&t|
z|0y72|4t62Y%1^K?GQS~?qA8C_iMy$TJ+*Jl|Po$kA>$JUEOjP{BAi(!Ugx72=@&X
zKQddx&91oQj)U*XJb;}&{w>2zeU^8}2U#C`ki0V5nA~_Xcizb-Ctmd2i7P8m%Y3q=
z#(eXDXm)2M3Wm`eM(0#;MXjFC2cA(VJaEmyt3BQ2(W|_DW&M}m(R)P?8+DfsTviji
zWXNvm6kU36kQI=xneSPlFn?9)WTE)&xw7{P@jh_b;H5+M*d?O$aqjImJjl1^H+wjU
zqc#8h=nMLp!)$<Van^TZR<yF-@aX38s<g`bx$#}uhtKO|4f(^b;<@ogV;MNJDBMmK
zbQ0FgW0Vggk27^dtfL>^^~*17c;%3XM~-_Kmu)j;&)j<b^5;a}pScNG7Od})%YX@2
z9~#j=*C9$-w;&FsAEMs8kMd=-`$viny!GH)Jl#8^Z}#-L`rqj5c~kH0yM`)TrF7;R
zQP1G51Glk{f^|ynnmxXE;I_eA@8+&QaW>leX7mPH7&DxwZGA-FEANpz;rE?&QM;Uq
z*i`g&{TV~Y&JSnjf<|9iBNot4?$>5lo8@tQi;M&|YVi~FNpz$>LVs(dZ&>d&>gzFf
z%T&@MdyTR#n@ihnIYj-ePMSsk=1IvznUmEW=&OE`cI|1#Pe!^<79DuU!MA(*cJ{y7
z*IgBT+wOrk4c`7h?^}A_>KSrbz9%IZ13Y;21@nB5w5$~UA`$L+Ywugcr}!CiiJ~Vm
z9`<F(1qpNah#1P+M3+ZYyN6r_?ZhQcTn>GFMTMl&X4^BlP;9R>YK<go_P7p^HsI>M
zYka-e_EhYb7RvG%ZP-y1(tAtOCoNx%v}8}tB_GtzZqr#@19Qm+qdud+Evnq2#YeF9
zAEy8LH08%A!+H6upFQ-RoxghrXqR|U>izQX4hFI|(bJEf(4Vd-TfUw2Jrh2$lh(6G
z_JpNh-q1F)Df}2i`E5qIn@3O8XPGbYIorn6NIOwyHWXg7Jt%5Cd*Ud4k0ZqTLH{|{
zY4n&n{|pdq8u9_;cMPm3`7KGp%o~r%Fn+I$z4WEdA0uav&+3N&jAC%k2bAy3G<zj(
z^Nns@rK;6v1^U+k%-=4Oyh{-N#Ndj#ziilGQ{L^Cypv_*m&iLA=a>Hh>&gdK%(G9r
z&Ci{clMc!p0_t;Az5(lFv$gsLfQ<Y0O{0Ao>7!TT*oN+rgDYy-D65(0B=yxr@|<Li
zJR|9q$0j}Uq@@0Njg6HV9Togdp=ay^zuU03qxT#48>1HKGZ&C4`}nF7d3ibbTg5HO
zcrPLj=DhM8`!^LIq5Lq$8_Sb>sr?&2vQx+&GGz7mu13~?WIe;EcX~e}gxqNRs<AeY
ztdy}1+!DBr8h*{S>C7PyW_Y3^vtJ_e6Uh5XQ|CtcXrZ1d>2cd0bKF*m%n8v?++v2j
zxhDOxznxkBQS3w*(amAVcBGM>+-VPFB%FHu*cju!ns6c#&a3n@fuDs};Yadp5kK{e
zjgv-ta&tR<?p)SP%<^oMk@7bBL(<=G$eT8a7Uq`dwLN{vwIe6#mscr&4Y<W{Ytk-8
z-n8I$5;tu#Uv`Z)a}1h+nPKDX1B+Go9mY?XI8Pb#8)Gd(KML%X1&LkyL0*YZuEVl?
zW#G#9%!UW9Y{dUO{?m+u8;o{z$~cE7i+mng^V1hLi1+NOcuB3kW=`KQ$M}%(#T~LP
zsL$!u>(8G2d*GyO_?{wNv&?}rb1)r-z7~0x1k|+g@;J_t$j~q|QZgF8vwy2Y!qaz3
zepNb}x#T{%S;CBn9>;1OyZB{P{r%<}>Z*xXl6X!0az)kU_eJ^%Ed2<)?nCr*@GKt7
z%zne<9RFg^il;fZH&0t?jIB4786M-5>#6eQg)aOA@YD6L*)@Sp>mz!NPM@pHnan6}
zo%oyhw{!F}dHVrUw#Jd$Nn0W9sJwRYcNn)8+=50tbL(V&*7DuNF*CUo|0!gLDTmd(
zmzSio_!-6zggs{X&yDZ(Ss5Pn)2C!|2^Bw8_~}Q_j3~*pp}K9X>)}j9Hpo4hce>qe
z#ZT2IHr6S<FPWFdYSi^3xA^ZX<{cx(`oo>)+KwtJJ-gTD><v1S=x8P^+Xnk*Pm{^X
zHtGFj>(3LtsQY4l@zgz>DciG+qZtgYWXw!yE%C@@i0-V2oHY|WSB2?UBCF<oJx1A(
z=jrr0u3d5lXFp-&n_2q{;ji(;%7(Ls`gaTUTA%)%Cz(NS@F%t&!(Zud*n`hckKXvu
zMY&csM0D}?Nat?(I6BViGwaZkLQm@=`yqy&O}4(PZ|lPwuJNqv+j{RY?>6rLFX4wm
zALiNRtpR<eR@%1ek5NDVmwx=LIO*pdjW|hk?vU%jEZ!H6e#nfKQS~=o4knValOvBl
z-g)$eTJfaUu1EjB_TE3v(W@*Q&t#`d=ngf&q5*~ybc6^)33QN%17v4rceCxZO<^dZ
zEG64cA%y`#JJl3d2(oI#MT4Dov)yTpIAYWVgRUB1*Vm{6Mjau-w9U37MqM@FiV;W6
z{wVXk?sKk_JUKgQcgV~4ujccaxt`~G?sMPg*K>ZK^T5t}6XORLw+AIbcZ);S!nD^2
z!jB{PYry@9kGHz!+Du->@+I|lgdyks2+G^_|J^{YkUY)vl4Tpa+N~Zjo7vSK_(v{|
zVX-v>9W~g>;JWL**n6KF%lehAaXdN*xe)SCQ_H3Gw@@!_U%@oooP_%Z+}G@PUhjpy
zaVv}VMBmUykuQFxr#|c-zx2Je62AS=*ZSG-EPOL?zX<n*Ol#wU4xjGtsij-$+c;A)
zE^3DJb#r9m{%75H#mq76b>RyvZ}0W;9cA#cjL7AO-gW4WexlX$JpK!i@uguOGXCe_
z#yJk$IgkH+vUdvK7TqU^uQ7ax=)TijRCpNwO@_E$?J+?0HzS*`?!@qmAa+yVW8Hs<
zy!*{tIrtq_qTb2p{3e4j*?DBfeK$RQAHfad&-XF3FI}yTm6xjUJI2QLnV#UJ^eiXT
zz?V!?b{92LKJJH()UlTN4pLW}(=kpj^Tw>5bX#}<?gEP!wS_l5TV3+)GUW4+&kQKP
znmGf06dChNIA_<f?QzGX<5O&%*<1aUY&4f#JAVrK<fW~R5#$%7z3!XrmcGe8>6=6r
zUwCX7>+CV^V){8nw>%ID>8;37tk>mUe8j)&ffpUU(tS=+K)P%0W9I61vlQJ3?Gl|5
zXIa?Z|6t3^mFY4;pIs~iL3^ZhxEm4XtQ@2quE5>&Lugy-IN-aY);g-eDj6l&Bj10*
z>bkp8t%>h-*H6YDHap!=4oKYhI5s6tsLw{><q5-1@Z;#0|8mRBHR$%F`kL6JwDls=
zsN5@UHPv9e>!N%y2Oaa!(HL!QjAG0Q#`BK#-cpwDl?q@&9pb4r%6~@na<7pbW=8sY
zR~qgw$XK2}LQ-5uVd6CG6<*WY@aVdOaigL|B51da8>wL=HE!+r=;`&xJjus*AM@Od
z@dVGcGD)}x3(Y+;XCFF*bb4)TBk=|u2J6h$J#uF2q@36K;maR*#nI8J9a2y^&PLg>
zTj<->t0)J>Aa}e+!x;r1)i?Sym^;+XJ(|)>CEu=YenL}A8p;Z^Htl{+F&|d{e^UK_
zoBFR0%fV|QhGXi#K3`_r%Lmk*`w<1&mVDJj1obgB?)%iu9`%3QUbjMhvdy+(Ex7F!
z8r5kv2qvOP>czRAM*W&^J!PMJ0dh&m9fup_4^?h#*5{TsXc@BWkX>}hKG`}xFXYzY
zCjKj}_P!1ApXX;#Z-a|#J$jx{`tD}Ut9*P`zwWBN9fJHJ$d7Az(>J_m4U9aWg=`M8
zoLkbmWjzUsCNUwM{C3M)ZHnylL&a}PaG(5iYa{B$4ZqK%#$i<3yn9a450O>KXO}MW
z8_rhO-S%O~v><aFG67ser&=?Ib8@8Bqvq3nKa2Jfo_DpK)i~*Hv*bobk2=NBguHF<
zf9#Yxib72$;$HWKXQ3<g8TtqMB@I&GmcT(o{e(LVF7M#PZ+UQw;F==ktcP)itqQrW
z_|@L970AYa9cifJiSN0TeCpH05qZyXP^>y>&M`fu($kYcdj3YMdmda82j>E*)z`Em
z={W{j?{Bs?suz{DowH>1LKby&x1&HonF06naG(FJ)<#j6M@6+4OD)OUEghV_G6Q<O
z%$H8ex;*y{s;4Xc%uXl$2D8@g18N<fnp_oO)mC1G{^sXe8;!1bkn(O)RS0UFT%rZ9
zvZ)0aJoUZLoj-^C`uWzzK|L>{&wf>VsrJbsu5Y{lh4&3lExhR7D<@<Zm7AXyee4w0
z4oV59CL(%o+4}tf=}qDEC(*D=bg9i)h?gM#var4Qe_CceX{T?Z*0;#CL+9OqxXMe*
za1(yr+4lP^d8r0&%)v>zodFm6BeZG6A<Gq2R&>6djS<}ljs!EqTW>KtRaE&k`U%vt
za36EH$1-lUJp~7Ts5Xph|3j_?IV6MFF=a#7*=Qnn5OT4TPhK8MSe77{{Nb}3VO+~k
zxDvQUaMOy><?9N#Ec9Iv&RK5C{3R1Of=BC+E5hx`uKX*x;>Nb1YBBFe%`4gFtupeA
z&fm~Gfsd+2_O2sCDo(;bk8$EZesY_Vt_jGkLvGRGw<jy7#myqz#Q*Qs+*ILaWs7bG
z4<ldv$)(!~!EYhB8Abl;D$}LB=&V;)pMkkUMIA;F)E(D9!mTHCc4Jk?MW?Q@&LERG
z$V2u7WMew5I%5p#zzmEr$O@Kr<)P1TTNV8ho<S%u`(E}*`pQc$MZi0xKcv1WjuQ$n
z6!$(|45&P^X=6}-Pu%^Bn15QEkt`uoY!h-fVeVvZ3ZLGSj+Q<KTjh`VCy_t?yk+*1
zbl!!|IJF-ChTO=HoHb)2Moyj0fN}3#JJk4)9spPQAM$IjKieJy6K(~Z_eZ<AI=Crt
zl4kN7#os!(1UU99+qT;4zhx*`8AUone&iRhuHw&H8zEhucE$kJnxH+>Rhz<Is}#!V
z&Uq~24u5gDU0Ft1ifi*u?vXuRC^)d_RFxTGBLlgSFSItwU1j#s%dMSCZdDC*YF#x)
zy$rX7zi4e#wksQszS@-Z)tnPldt|b1LMH2`A9&%>VfRlzb_$;tLk`#_Q-0E+Q~f!9
zURzJ?iJ+R_ll&O`MXVS3(k5emGP|hD80id}>O|E?vv5;@n}a$Jcjm*UWZ{uI15zCd
zp}wc&oR5M%KmL~BzJ&A&<JwW4w)baBnpPmQ3Yi5h(;5HVWZl~wWLl74_%g=stoX*>
zFv;3elB@USb{rX+lHQN|J?Ju_x2}7+dUfw+eJ1^y>{i0M+axLiu$Rc9{rk75^KJiO
zt+kxeW;(!OJYRrp6S4uP-=^jL6<?{Ag_`hI)7*E!ad+2S)uT1&Sp90d-K6`GQ__XJ
zRt+#6x%@qF*eN)q?>Y1-luwAmt*q_w!rhd(8$Y`-jBEKxcw^wkz`+~se6QN@Dm~<D
z5qeFl*gXW<9Aw9xWt?p7Q}Z(Fdvo1wO}LrC-$}TuBaCa$R5tYa;8Sue_+B|Ad_oQh
zpO6E>)q-MY#=2R3QFLSg=c>u!;qGPZ6&FgEpF4jE>GgN5jg&4wb^lbgeXo<Y?;dIC
z?v@W7Ov>SG__n5Am4X>ZwoNuU%gqdG;=72l_QHL)^mNT=C%$y47G$))fu_%FlX4*s
zznnzeaP6#>uVs;zX%DFtWbL(yvv9ixx4wVCoPf?p>}RWyQn9XvOVwxCViJzTMMn<w
z?qz>iR;|Dd#?fGB>Rz<J-q3DOsPeJ1KT~}w@CNycB|a*N0Ypg$UC~$vR_U+9L*F?5
za?pAFjnIi}Q*Nq;R;R7jnR~=LbdzbcK|GAV8r+Y*>8u%J(D{G2EC6l~qsTgYIlA8c
z#Ko_W%EQAbOd8Q|nS9xad)T{wz>V&bj(f2ef$Y#fqKtb9Zm^#R>kzMbXy0}BMi%zo
zx99%dN2YR<yN^yhu<KZO@lD%)eA`9K5Jksf=!k5?d+;o!BfV`(KKM5&U-!F7Hu=bx
z|KxLj^6@|Sk6olf&8t_TW6FDWqxnLmBR@F#VECaoU4QQz7v3;+-}wDMI&tLnxgXhm
zH1xphj{WfBYqzy7_6gdCaO%4c@pt35HsqUi2v7O)-48AeJoKvryYKz<z{0N#>^}0)
zK<>eT$)k${4;&kqJodoA;?V*3!TW!C;J*C8wkrl6dH8O#&{C&$`Eu<Lk0GR8YscEH
z);|02Bk$7^?^W$4Y>||fr~B52A9;u7)gp);?hP5!RmR{w`AM0x0zW4v&)Va<vQR<Q
z=GQ1h8yT`K$R3C6k}h*}KSS0r>cd3je5NUN&boZ_7z1V#I26$g;7A8Yed$=_Wudc3
z%i4x(u!gov$Uc<a2)4h=j$I)rJm4Q`D;&Nb;~7(DpLBdA2)PrG^Y1>prM7efZbm+P
z>29WBXZQ%pao9;a<4A&}mU!<wI=ENX^Ti)|SUSk)Q0q!x9i+5Jr5o0#s3WnUD~!K6
z=*#SZKHcx_w0p7s6`N}?PWx9+GBT^%Vnyh<aQv(}=b|$<gnDJ)!#JWsJTcih`;#*k
zs!luuw;{v<+aZ?yYhhoG4DQs4QvUjLsGmNE_sOoCRNHSx54Y?3#nCE5-3Pb(;Wkw4
zt^-vWhVnz2zpV3RtD>p?U4FP*fV(W*ac`h$pGr-y^0CO2AT$5@c03pvNr|@18e}Sv
zNkSf3*2t)ngrrHmF8oo9cmEF3#H(aFZQIT~$1O5@aaU)aW7f=Ov@iY;ABmJ!u$c*Q
zx92$`*1X1?+~3ui_n4J?%zwBsS;ZsGFvufyzs#e`frRQazI$trUMEpKt-e!>x2)Hs
zh8m2N(I+i%v6#GU(q3#K+>3vD){K{T%67HizWaa&Nz1?k$ajB+_}2MA$(#PGEJ0%e
zcFkqX!(ANi#+T1-%;_?{(|=QkNIB05nv$q^ANmn*IkoLi25OID3zBJ0v?D~~Kz*3|
zDCYDrBD?1lzNEb8)E@bVxS2k6i(E;aS%ck0ylacnC_{au)^SeCy3D97=9Fcek=)fs
z#wHhEbu8#!P<?<~q;fVktJ{p6tosy)$AXKmlGUKw?s3bY)3z56$P;0=Jy$V%&HWwn
zeA3+AAa~bv-OZRg?6!P-?GEwCF7b$bOMdNfiSOJo<nL<x9q5X0+1j>Qe0z~LRk)k_
z+p`<NohsbAT$i=!>U^l~_{Nsdo1~1t?wEW2arbZH+gx(z{t&jH%EjF{(0tEDjQaY9
zJo;=`5_PR~Q#)FuV%Vkgqsf&xIaw+TSy>?C>CUIu9CPn}{04l|Ttslty}{jbf18|@
z4#ar6;tjUt;1~@^C1bc5QK-wI(~HQ5r_Xks@niCCueb~&`i39GdlEmpA>Xr?Jfzp`
z%5vSwqtAKZ*^|e-i{EptEa5$}GxuEgw~;E{9g#Sk#i8RgY^QXY-x<%_v>n%8AAX(0
z``%-2Yz;#LK)0|TZx74;Bmyf7Gir~jHqSC_6h4By{xaoHuE9Mvws`fVtd&&@arc^q
zwc9S=c9BQnOv;3zhtT%<*Y0=Rl-FqQ$;ggrY^(Zu9P+IO+L(?qLCH&jpesXFp3g$g
z^$p}nfTJ8<7?6YMQC*4c3}l8N6V|%woxK55vNu50Ovbp#mqh-*(dW|gsxHIP@b_<%
zF(_3awYvi9-0TMAFF=08kq+JaHf}`L51(?s+cBuW+4{}hr_`88=$FyIY@Idhg}Uuy
z@0eTdRx>`nrd_Qbgx}}kHjc2KVZTj%yK+iqPa`soDoa1#Av33YWKwk7!vlC%)E7?M
z6)dJ?&3vl}o6lUzysJARJt?(vRHkCF7#&>|QKn{C_1Nh;>{rg7?V5Y=<WcYb>bb5l
z<Y90biwlA~2+oIa$WN-xsXW&IIXG#{#lX$O#vxoI&2{}^tuK{yOhaxJa>t!=?K4l+
z2_fx-6kA2ekHXfJ$m1v6avt#sE{tpW30KRbJ!x@gz?Ce{^(%Nk!A--B{KV}}aQ>xk
zE&y&nxcy2>%Z-C8fOGmK3U1B81tC8RE{`yx7;49bDSsU8An8xZ>!8|dIk*`*w>38_
zaFg1i8`q~1{w=tXG#i7P==rl<>qym-uiesUk%2Ii?-7rXpM|{Z0>`g*>vkB{ytVfj
zi_Q#Wh9R?x>vn!==L0!0r=wHiv;_HO$WIR_`A$8jHUs1A!@J?6)09>Hqcd<*f8wGx
zW4k?QK71tp@%<|D*|*PbEaMvf>9mzqA=B+2$ukkiFGGGv{DYrx`@xkrI&&1`;F91j
zfa6*XJyxK`dZcNWlwpENX$ak{iuWl5!faX4Wpoklrv}cM@$innR3GBQ7sXQ@@^kKU
zW-g}F&QmkBYMnGroVva}dLVJTa|!;2n=G!o(gJNmskYemm~rOU2;2;ByL315&K!iB
z6x=KfDm(nn&!p@z-Xq(K_oyw$vch*#HVnIe<KiyA8Y@|bp5m{dOwxIw6UNQ!SbQfz
zzKN>q9!aOcUz7aTdAI%GeBf5W$$XKVA0ekls528dhb->KA=83PNM!I6jDj0~#yK;8
zr^kBLcXVVctSq@S`B<H?d28*_NjYm%<<G-#TZg_`QP%0Ns7-9rUy;5XiU%cIg6s<H
zB(!WN%xY|=eR!mjJq=lp=bY&Wb@Gfg-y-?m`x)e8_`&LX$#NytuWEO&L>7Nx$S<P&
z^oT$3lW~X{aAI%PksfCKg8G^>Gf)t+X~@pP{oG}^>4X{Qss5>$R2fts_k&BEmLxV$
zz)il;9q$!z%i#E4nfk_@>FPYjwbQwwzQJEdSbnopj{9N52W|@79Inm#@BDU`_<bBQ
zS;%m2b*JyRPs+g~gX;8IM;Rn;l5jKh*>h%1nCX))45$qbD!8(OldUKH&M(1@AMwey
zQ78S>+6=cWn>U$CwWU@eAAIIHGj6BlrER1R8M#<~uz>m#ep=9B?c}9R<_@H9G6wky
z<TFnxe~s~(D-78=xU0cm;cd8SuX~aqWwjnXVupmVc?oBk973?V+tc!X6`^Bw=$x73
zRpox?m>cy;mWb*yz_oM4TjKr<+~%Hj&Wx$5cT??9SKo`l8K-I=K|3l{8`u9E7&p4&
zoH-{<#f{3#?}P!Sk{`MwkXwS>JgyNoBiBApO!CnjWLl7k>hN=YhRkB9t$WwV?BtZ1
zKvW+~{uBzS_V<#NsVAA5e7h_um~1;%`Ctw93db)!U59=X^3OiE;di{Zsy&Z#U)Ab5
zys95yGN`1<6x`KdC+%>j;z*T6s)xlkoH`M!-JX;3CJnd4pSv_aO8r@c{K#|8ZRE5q
zmA6&4mi#?&L?4}El29fK9q*smYr_4(=fXX%yUH60l>};HM|;1wgw6k3s1M=4y0)kC
zn`&aHQy!#ajef%|rw)oG=lAW!)_%Ax{q`odqy*9t$l64|=Z7Jmg5P4c-#RmjW;jo!
z?@7ovq5o3f+cS`l6}R@@N}P`zN4|hNHEy^^p9!I+-=&yS-x0u$0cZHpvNMq}1^2UX
z-}wBwjTs$>j`>fi7&klHL$(O&@7kFUzDe8pIP?^e_J^K{n_X9w-Mgg6Ga+4}3AJ-h
zIzw~P*@;Wf$&FD8be!%%tHJmNr!C6kN%i=>(l@%(be=vaLlUw(ctYqY5ldjqTOQvm
zJ*jDskTBxdJFUECdR9^|O@9{U%L_YwBMEyP+|=)!GiTp-+IupTH6d+2+5Xg?6WVdD
zv;f@?KJxJG61ms{03DJB1?U<2edG-{ZrWw1`mDVwKuy`Hw*5K_K8XAA*MR$x65AG=
zobz)UX*2XW<fj*)4flP@M%i&@xh!kFR`xyJriT>e!?cr+$!^C9*_1S==7#y&Szou6
zT}=DnY65%s<p0~%{|~DFyB+*K*>a`6n7be2murtl)HCf;%LyY}>N~ow6@TC(iPN(7
zc9+_-^-d9DQr;{{`2pOEA4NnK<>I?gkFQ}sRe9Wy*QrETn%(=XXEXB5{SFmmF)=6i
z;;&shlrgmG<XS#0<FteQ-&h@Dk?J#6a`379K|Imk6h|uDZ<G8*U*72m#`{Fmta&oo
zF@LwE-Tf&uk&2X3Dpj1QMYLiR$tva2`fnqj2HCb{n@jCM>dYugR|tin?u(8T@!mnc
zYYh&*ozkA7R=t8wK^uU(7~HJB8f_3<JIdMi5)+xJ5dHG}5M&#WU2&ALYPfQrl&^A1
zuqn{7ckJfNk%w-SgYDmgB-}2xmf=2iHO4NqdsFwSH73%{VRKWp&zq2)8AIRRVQcaz
z!Xih9Ntv$Jl**za=L$)L2X;n3kNLINo-^lArw4Y)2b9$zGZV72S)HYi=9RO&QM;W#
z^4O_KDbkQr_o%aG)bQs%WOHGa?hJH~ht74@zwDB4gio{&KTyY6xNq#zeZ8Dr0G(6q
zgAs7JEXuG6$C(CFhn<G*?1^^&NY$C`u`-NR{TM>qPCe8xyjFAD{@+2n<@e5+bxEDF
zTOINvi;_&*s83I;uYs!f6h7JE#=$pOj4mA<vp+iw|I9<D_x0yC3c4&~J4n`dsI?st
zX%Wdv54FL?{c+gnZU=gyqXZrE<7lhkT7FX2u7FE}<GPW&URN(AqiSEOg}dq;b$wW#
zw9UE|Lx<?z`MW5$QPvLQT7IHC0B-t?=Qd90x~GY>AAabC`U3_sK&if65Rnr+)#07H
zHtDLWamXa}oZQ>?W2gPn>5uP{uN&<;;{J#X{dT@?G}V0zKh5B;41Ejx&_2;|+39bp
z%y^AtOX<6HD!|>6<!*C~zvFa6Nh^$-n>3Q}`c9yogmgcRYrMa@4<Tc#oA;^3$MUV7
zThy=x`_^M{8i$@?#AQqC>CFF3stQnw5KP?6%H*=~qv|W<;BN6+w7Z@4-5#mxB2ww8
z^&4jSh#G6PQZfj8YtWH{?TohF>DS<#Z`BjmZLn)tLb&{p^Zp+4(RCb4?DR+5YptZb
z8iPy)dgrAK*}Od@scFKqYlovfB=6%q+!tVj>x?@6#tEtOopUsZr0C_3?%r{OY;02H
zL=kS6u1CHfgd(nmS5x+?6Que->bS~|@psBp0tyB-af1)_#-)4o7Nq&a4#zp7;;*6K
zNBQ>Va~p?s|D+RNsvR%gQuD66rM+uz)H@S_+tEK@TNk>*_}dSz@YZu1LqoV}pKm2A
zx79&f`(&|q`_RG%+)&w_h*DSOp<@nuk(BLvM2*9!lL1tJx!qn5L!=7%b;u`m`L5mv
z^(v^nrK*@#tM0BpHh9D1a_*khR+9Q;=O3WW^oQ-fe^)#>J3k^DhV1-XzqJw9>Cq*-
z?b!n+YpF714zh(f`bpd2P!2s&XQi~KXw<1G5jp&1Qs!>l(sAmJ5ID=??*#PJ-+gYQ
z=~H@mKA#McsYCkI0NRAw7(emA^N+s3{ocn;VL-^S`Q}MZ=i7DwpCi6aM&D2%+$!k)
z_^HR<rY^YW2K`LA-S$a*!g!Y$kh~Kqq5k?P#$+7vu4=~45pe1twjZ~mT*{h5a2raa
z47*%~Cq1}F*6i$+H9LD{&CaB(*_o6zI}>Wr4vr}?i)*^_;0pBAkoHlik)M?1b#SA9
z-<ca20k;m$g|_e^0MbFHnKd^d<;U<JqWpp!+dX=$L7F7ja1n?Erd@I3-9gx+aB~QG
z=b$ssclI{8!*T?iIw|fJG&9v<zYN1Brwz+V!_#aC?ueQT*$;uYSKcFed(;;WRc$+I
zBt9ftA#kLPs(#fW#pX48^W$sn+F3PW#o>)|z#LBJm#_W6OZaH7Q6z0`X{GLvlMsN$
zrZ|{*eC;;1KSLk&e*-#1#yt+hv!$msB@1oo?{;{8oaW^tLzayjO?$R|c%E34^TecX
zKKXx8zAv+$<{lojE2UYf_VBFnc}wTXPWq{rSbuZy$o5HD;e-|}RwAKMsrI}BZ~W@&
zqr2n@KAtoNeStqhJK&4R3woTgKCt`27d-U*Ntq0ukm=uu%mceW-_<^o@+%H^XVy@r
zYCm+!hfUU5NPf*ie)?<Y+GnkbjwNt$a7A1rzjnr=)#y@p87T6rkPo9wTG#TOx*Kgh
zHBE45JKMUJAv1Uq?TEiZf8g0lzg|B*B@3b>a&D5WioQmUN>Zo2xffBz<4_Dorxhp1
ziJaLNYgSP|IP%aBY<t6iEQ@!mQ<c=x>T`0xTV&Pk+vN6IbGujWBIeG`1@@G^smtXp
za<@yorPgLk+^rxS{`JmSwB(UGxYfVw&Le1Rs5~NNf$NX;^QS5c0+3tzFZ3~Vd!&;F
zZt0)shQ#gdE8TC}4>#ov*uKb(v_7;ODdhE)c9Vsh;{)fn<YpOeLjS!rzqR0I=zq87
zX7v9eK3iLJ6Nj4%?yZGq0dCUgwq~aSHzx+SX6FLj<hNhC8+o^ae}Z{s&v|pcm&pg}
zbPzQ`q7qbQYjj^b4*8SkF<!0T|F*npMvIurG+JKDnJna29!I-Zx4~4Ir8}om@!<T4
z+-2@xK%VKe?{wd^0(ax6=R9m%IQl1g0mZc_noMmulY8Eg@11<$xkq=p?^T8FP4W=}
z>Abk#t9xvCzDu5~{`p85{qxi9eB5cTs`*}7M{gA0d}Q!#I3Hv1ZPGvAgZ}wo7-5=)
z`^vvye#KD+n)z>;Ph$UE79a9b&99o*Laik%K*!3zqF&YSl4{qfriE(P?UsIy``uQ&
zNSRQFyPe<YlnGPd*1>teHFa5Dc0U++=w%Z}zCZVp$)o-UUOaj4OBa4{&wV5J|G=>;
z7hmN53bbC-3{!23@jpe}kDYJNeTls&xM_=<1sArs6u2>qI}9#had~jV7Iy-i*WxPR
z1}$z4T<hv?|24s#vADrMLp)iW58SH7je@IKTo~L*i<<#gw73MgC5t-<E@yFBaEC2!
z30xZ7AmUek63-=Y^A@)PE@5$XaQiK89bDAnJb#Y*-QtG9g)A-zZq(wY!1*mM25zUt
z&4Ke+TpHYk*K~(%0bJAK3gAv#+(~dXi>rcLvAEOV$`;oGcLJP8#i)+cp=I<>EIB{8
zMN4iBT-K6{fIDQ#?FW~#<dWd#EV)DA;+9+v+>9l699+bbD}x)i<W|82Ex87`5lij@
zIG-iw{Q~MmOKt?5%aRL$TYq(T{7r*vfE#qgX&l^|B{vVQYRP55En9Mn;7XQU5!`W0
zZW&zOlB<DRu;k8w%UE)*FJhd>lG_O`X~_k^&02Ef;9{0s6x_5WHw!Lo$)&)JS#pQL
z1uVHdxM54~1URoHR{=L@$*qBF1-sLu3GNIyXTBf&3zUDBoDbZpB{vGLV#$TUowVd;
zz!fdI1h^$j?jX3FC6@(v*pgcUm$u|e;N~s46>telt`2U$CASVPYRP#jDE}<EVQ?W!
zE(mValA8kOx40O%otE1<a2`u84er9Ly3=R@Toatf@g5bxownpof~#3_Rd6eo+-Y!S
zORfd(ge5ohmni=%IX}2XOKuEY){={WJ7mf22bZ$slHlenxkKRMmRt_pj3sv*T*Q(q
zgB!QxR>1`=xdylqOYQ<VpC#x0E0lkh+z2?AB^Ls>epPq6O@nKI^ElEi4sOkon+I35
z<TBuvExAQ-B}=Xd?zknl3@&fU)xa%Sa%aG0EIHR-qx`evc7jV<ashC&mfSeFm?akl
zH*Lwyf(u)6DR5(!++lD5OD+#?*pfQ|&TGk4zzte*Yv5Y1>`sp+xHI6Kb=2Sr%0Ela
z2X57p8wFRf<ig-iT5>bsik4gg+>#}C5M0iZ%Yr*>$t{6PTXH3E^OoESxP&EF2e;pn
zTL%}l<UD_a^3ReR1{bpAg5X9ixhZgdOD+a(rzJNB&SS}?!Ce^bPLBm}O>oZlr~vM?
zC3g~B&62BvTe0L$gDYEdEpR6+xuGwi{Ilfz;1(^pF>qN+E&}e5CAS}3%92Zho3rE&
zfs0#mIdC(U+;MObORfxV+>%=b7qsLW;6^OD3*dZ~ocGHp|17x?a4t(O1aAEm-RU+B
zt^v-OZgFsHmfSqJswI~Jw`|ERf-6~aMR3P0xn*#9ORffP!IC=zE@R2Lswn>~xt-vW
zmRtbbtR*)NE@sI^!A)Cov*5y(TngNnC3hHHz>>>@8@A+5fb&{%6>x)=+#0yn%e&K~
z3GNKIuJZ41QT|zSK5(m++$gw;B^L&F(vq72SG433;Fc`8gWz(OTo&A6OKu5V+L9}Q
zo44dvz$GlXI=KCo+&Z`@xSg!0M}VHMpxnTC;C|t(IT3s!R*lPuTo7`D7y~@CiJY8j
zAcHnRJc~hY7IKRYIWy+7*`9|{$Q_28>JOdY7<1#sdDfNMYpRzZn#F@6e-iRFr1|(j
zM_%niQ1bW4aFP*MbEjt@-@tnu*79cF2Wy1oTknz8uVV5*pKZY}Ki@wf-+sOWQv=x6
zte)T-nU0$&nKam;&a{er73Dp`>$3gc86KXLrCqlj8H~uZzHEMwk^An=p4X{u!+Y_6
zVuu+<!+V0@6`=pb*>f8ur{86NgnYAFwh3_L%&|USjosDZZVYwKPTSq)^Y~aBKL_t=
z&rQLue--5++7&fixATSA?W{@MCEvNnE@-+!=8@+TbLxp6TS!39BJ_kr4}Ow<2f>xW
zF}>SkqiS?qhD7CnGc~BH<&Q&N`d`yJj@$C;)FzStU`IXz{cDg9VH~->9XD7rr@n79
zB~umZ)J`=gu~()!?v^87w!LlOu~V`b&oNQDV~;$^!+GFgydN(3->Y;v*B(yF+QX=0
zcvUSPoRBq!H{@`@rHrXY<RXT#R#|Hys|??3E<PlS7VqIan>^W88gSfU^Jq*Y+|fsC
z6YApQW=^c@>`aN*75K4*J}{a$65fl}`N%md?deL#Iv;WCc?9*N_xy&;VZyDojszcD
zQ&Z>aIHInFQ89>5!EN-}C}+1h+{$(bH8vZQ<v*Bnci)EKpOS?U=B-q#Q;u#&$WEz4
zpO0=wXiw?oLRc21&i2Vew~Vv2u2j0KSo0}^wK7CIB}25kWyDsE-MT-FByi5=?^%4&
zu`Az!wSIyJuq;Y&+sg*jhsSrTug`2NTqY-ZfDb_Z(4+YGqu=UU!`<2cD5n*v;zZ5C
zhafxq-18fa%ay<Ko?Q<f8hGgA0~1F+lKaW2dw*(R;bQ~4?@JHd|Ivw~2Os!}>lg1i
z_Tg=N#Wt2jeQNFT>%07VMc$*GC>Nqa93A`c;yqd`zL|GW?yv}Tw-e{Y_t320u@(5K
z^rG(it`6?FgOfS2b#S>G&Tq&&h_qH`AL3}AE96$5@2sJ`>G52${}`T^@O)4l;OEC*
z1l;)RztyD^8`_mlkr8)ukSRLc36}=9WN{1N;^20QL;OUp0B+VHC(llTi-9xkEs>Qv
zYL)zx)n#Lly8yW?+>c6m!aY6{mqpxenOEH&krHL!6|TSg+V;q#o^-`C75-CbN8Nb7
z{k;Rx6#=&dj^BOh%=2RHj9V>})6*HU0Fp(u3RfEL4!xxl2GPF&E@g2AaB~)S5?tKk
zs^DfU?licFgA2k&3*0!k46cy}I&(Uz?u;B6lsWQtVWG?4(Z>*9a8uN7I`hhEABuC`
z5_CgmKjf=3?eeG-Cq3&P+4ZLD9zWbKihI~&J~ib%N-ni@RITSMLuUM~=gr#k&K$p*
zG*bt4OkiWL%q?}5TPpqGHV^%WB|KA(HEwE>eD@J7x9o}o5mV{^IP&e6JNaL@2)KER
z+Yc_`;G~R6f;$cWE{d|wT)yNGRnwVuv7&Pkvay@aZ{#Gi<0o7Z+}eB3>wQV&mcfPI
z*PVxI;6}lP#36n`{G9<81y|5zd?)=>c(HjxW&BQ}i#`7u%8xId-^k-yeiDW;aK$;q
z`DM6qt__49_fI1v%;4fa4%xL2p^lfj0YBm9!MX14yg$Nazzu_&#<l!}TLc#a7Z(D*
zIR1*@mcV6)aMS*Vt1Oe9l5@Qxa;TA<a+Hz;cbq)xK7DNaJ&(J8>)7@fzEyf`yZcV{
z%~Sa|`S|p)?UOjzSegl9cjw<B-+k<S*B<8pxK(fwJeQxyjf3<2R7WldE(&f4Tprhs
z^i{1TDNrOMs)WV@3dzNy=Mdba;Kn0v@DnZvZVsGDKjDsp%Yu_KPJY6b!7W*CSHa~h
zt^w{aIQ1^UT@-&8z$O3Y{KacL_s9y=Nm<W%6JAJcQG{PrW3~OM=Ogaiz=QazvwT&q
z{X8sszlQP$cGjfiH*5Z;WTl^41hv<!{!!nw{30U5npzbd3((Qb!mrO!I=GHkmVK%t
zyRJ2R9n?0lKf73m>}9Ay$J(cnPllBat}&LgAJun7_sIHUX=k<%{Ma!mN7bpL8?l=O
zO%<uBe?lMRfqhxBCV2+6x17+S*GI{7wNOe`>Az*1wB7DE3_jjOb?Q_W5pO?hGZ$an
zVq9H(F>4;RUEO*SbMd2#UA1MVjC1!F_0_}<N>A;0i+OgyT+EpZd_I;TbALi#P3(Ac
zoBE`=dYidOnv1r*w$3&)r8G{o6XQDLMy+#`$h%!hAXz03m+N?c{`maH8Qmx7)G=y(
z)tyLT)7q5OHrLK`1!Q}z;h_sUcm4y)z4Cc;{%=`-&qwxO?3TS6lj@9j`KZs7+HvyB
zcn8{N$LaUvNxtW^Pr7&#j9bjbwo$c4N`JveG{Ot&-Cl%0JpXi|-OiHty$J5YKVE2;
z6;d8AgUkL^yH4rEfm*j4H^EbNauc%4;(h=Qon^PG!%+ux)%#MXcj^N_oCN<7?mM<r
zos92|-KI-3-A<T+O!%)+o@pCx87NalANzM|KZ?ZnA;|ky&Ts4=RDROyF(##TuhwH+
zBaQvZ+)IvpziPq1MJ4|=j#n2u!9+wH$RZBu5y;97=_t5mw~>l&_dDcWRy_rIh%XSJ
z?JP=F^IygH&_AKvL47UxN`6vS`oWD>QH}`FSr5K2Ag5O8Cf&{Y0(CG%qL80M{ML2Y
zReMD37nJ2YIF=xH*>y(;-*xIIBx3FTf`{SOd-_6G-J!naCi_ygEi}{R0{+6^Nyz)*
zw-sE&Z>kN4eR;BYM#Z!EzYdud$Z)N>wVp_JesuD_<S*}Ogcp7o5uNz?@izjl{I}h4
zfc--4HcK5c5pnkwl-XAx;O(<=)G;}-M)Jn{pLgH)PUN0@WaqBM?>Xk(by?(!ZC`d{
zm_w(|_Q*Aop8Dmf4u}hLu8ydXgLY)OrMS8SFN>tz_Q=hmb5e9picYlLuQ(v@lu?Nd
zXGZiUqfIo4md2G%Np!lezS79<61BU!yo&Hi+>HJ+>dQ|)(SG-Y3xk`rxEXLUa6@=5
zKaop-o3Xfq;G&k>EVwC)TLKrd+?K$NS=<V^pvBd}jau9~xPZlZ{srl5al_#J78e9J
zY;jZIeBhkzml(Jqi<<-IvbZ$3^~2q67r-?vt^jTgoHI^Of~#3v72K-j_B6PP#kIhl
zw78*vMfqxResD_`HwG>T&b%X%z7cT8!8!f6A6&uWlGHZ{H}Vs=hp3Oue8uI!EyAsn
zI}R>yab@ar%B_MEyH2hFPW<OgqYInp^ENIH?+7>vuTx(LocPbFZyH?I;^N>AS=>Ch
zl%+2N?w}>N2rg;K6~WD0+%olfRE+94t$~}f<j#N-eNH*o*YW;Z+)i*Y%WVMMeoJl~
zT-1__f}64AX2C@)xfHl*OYShZuqBrVH)YA402i|4D&WQ~xixS>ORfoS%#s`Y2Fe3V
z&IfMPk{bo*x8%a$Ml87*a6U^e0dCmh4sN0^OMT9~wgk@hUkRM}&ndS8&JJ%KoE_eE
z>T~7;&%a&lzhQ88c!S{V@J@k~@H*f97`UAlHwVsZ`8iEFXE+w9&*{GcxFNW8awoyL
zEUpS}{pY*oPJ?TJbJ}QuJ7dWWok4rSlJkQ*ZOM&+t66dpaBG&_esEQbOM+XrxI^Gd
z7MBBe+~SUd%UfI-+yb~E$Gg7@E(<Q;;2PkTEVmcH<-j@P#ry9l*DSdaaH7u{_aShH
zEN&WH3Y^m~ad7jN+&s91#bv<lx41=cQE*QG6~WC|a?9W%7FPo|ZgFS81uf3?P2^{b
z+X>ERaRG2c7B>#g1<qNQMZv9qqTA22;9B6E@s|R3#^MfxtAlgu%Y$15H|9vo6V&I7
z=L$Hn>*UtJHNiRaK@;2{{Opt){0|)tC+7oq!O}MhPQu}o3xl)m&VUoUPPqg)39pko
z2(DpqS#YPp$*_g|q<yfoiN4Y%`c^j4SEoLw-F0vh&rZ(M#QO`*nMT9ls^FaMoFF*y
zpHprMT+QNQ;8wsn^X?q=Io+ngEn99Ez?Cew1#l-V?j*P}IA=JjlyllR4X$X}Xn|V-
z=M3A>e`>n{74tgo{oo`VP8(z3Di#+3C*g4F+Ye6S#pyN)PV%#pI|NSR*%?>4P2`SK
z&Kb5cI6MAU!Abl%-<bwDNnfYk3*c=3dB277<&n<#f){Zy0xn{4A#mdsHw`XmadB`X
z7B>&hXK@*DLl(CP&Sh~$aO)3ukBKaUYgk+j+?vIm0avv+*MA}Yz&Yc7C%B4(n}#<6
z;8wsbO5QNzCUWM`?uE<l-Hs2L-5~o1%`yS|tBRBI5TmHFhCt`56!Z-vY|gUoFgUNp
z<-rYF+zD_kD;yQk_jBE4=bGrVxTff{xWRSk%XGW-fjeVyqu}Zm7Y4U#aWmj57MB2b
z(&7$+D_UF@+>*sDfy-H33EW|eTLG80xH`Cbi(3bmusF|uqyDwHVQ^843xb=nxG8WU
zi;IC9wYWKOev3<k+i7tN;5-&r0C(YMyVK|-xTeKb!JW3a)8J|r*8;a<aYO%u^3>w|
z;7(ZF7`TGPMZhgu+<tIbi%Wt#WO0YUr7SK7ZqDM4gNs{S8QhG;t%8eKTm#&=#a#dw
zv^ekoqP()W5pX_>3xON5xM^@Mi;II>|C#P|n+MmhxD2>8i(3R&wYVa<Ws6$|SF*So
zxZ@Ug23+3aTrISpEp8{cjKu}O9kjS{a7l}cf}6FtS#U9nOM#oVxWnMW7MBM%W^pIL
z1uU)tZrI}1z<DjM32xBh2G64W`|0j9@_{>Jaiies78eG$YH>5*Di)Ujchcexf-72F
z7Tl7>ErH8fTnXG^i(3JgwzxXDd5c>Im#{d`Ih21EHw-RnaY1lX7B>YhWN|TYqZT&@
z&TnyPa62t-0i4I;3g9jr>Q1AR;F=a!1$WxwPJ^piTnpTa#SNWD`Dbx{a3?Ho3|ztD
zBH$J+Za=uJ#U;TVvbaOwQWlp3H)nCj!No1E3~t8aR>9T(rqi~NHfaOg804b3M*Bt0
z5vem8)ntrJ?(R@)XS^4X51v9!+Jqs<NjOGDAAZ73gUf>pDn@g0a3?Kp9-O3yQ!WE;
z-QpI(d65sCaz${Guf`oVmchj=xf(dh_fEHGz-2AY^#saEi`xlK-d|_f0^m-Ao1)z@
z;5fMS%7w0TusesMsqc2lQrC;-dFJ6Rfb_|TuFe{eg#q=Y9+ejDGi}5VOJZjW@~e=q
zZ9#tU+o%V>bm{&XgM4NS^0SbyZ$W+m@}VzZx__1-pN0Gh9iN?bEfdl}N822;lbpp=
zb9(EL_f;=l|HuaFxh=@gK)$jC`9qNR|Lvvw=LF<aTaZ5u`RW$rce(~#fv;S;f2JUx
z-h%u*<ZD}yUxIw_tC#MdRmf+yAU`-TfbZyCy8bc9hgL6LeiriCEyyoGzOe=QWypuo
zAH3A^WF7LkEy$0!2VBidlpn@BI0Jdt$DY_I$osfouP?=NC+YgCdSV{WGkESSn={~+
zEN&588Qi!y#7}e=!JPqD7vjC$y5)Hl&yWAq=Fh!&-o*2{k9Uua3~odEfQyJu{6x+N
zZW-LXVl+1jE`T~}j-1#FgOhr2S-9J}{o@A}$8)K#&dBqqevX6luW;R{uf^6O$VmIs
zX+J0K&`x!7$HB$Hg+v#A;<gO#kb{%@VijBgTtb98YZkZ$Z4zf3ae)9HOWR-&2WRGx
z-wtVcy?(?x56h2dqmYw+MnmK}XUNJT5w+exWTKEch(1s+8S(QxWWwm*DtovWE(7ia
zxF)XUC)^^qEXFGEI;)@5xkb^BaV&Ml<J~$A<FZJ1(h>J>)z{Yw4>zK#0e5qlEAdg6
za2LSIe7^IW4c^Nj_Y2+J2)M*AKB3PXr@j!lnQVuPfu9CfLpj3p!aDVkT3fS6*3)6_
zQv0)s7)6o;6{U_c%jxhTOtnCm+g2jt1Z^AWE<pDx(&)RPdvN=J8W;O+=#E483dXO#
z8@f+IcjeLVj&9#G@c!4nJG$qgyL{@qqq_>-Cm;KNuUp=iQ7q_+<K0kuiEuCFP#E0O
z;}<sO<h{CR9r=_T^11sc)(K*HPggrw+#ZD6+S+&Kwgk6BU;ED7uETBk@4qv*!DkM*
z=Ia<A$9vg3yy{S}t^iL%d=75ISR3Zkaiz-#=NR()vA3+}81j@n#OioGhP)s8PC}oo
z4;<2d>6AA(=Pfs&8o#oG%EbHRj(0fjcBzk%m}k3o$exGJomwk6d^yT{tOcWg&ALJ^
z-^0RbI8g<^ET>c#YEhi(OHRRm`{6$O&lk+veC1y40o;3^`<92*N@&&DiNdv9=#69d
zxn=9vo`<oq4LU^667=N%rGGtVpr`n+{p%Uqf%mu3zn+88Q~i4XdX}N5{*C_i451=y
z{#*ZgW~4&>_x|-PLXY>G{p&dmJ^ugbU(e{X&<|<$uV)^5!vER7o|DiM{Z{{a2C-%{
z{$Ks;nTDR^djEPBpeOy`{p(qSp6vhhuV>_YQ2zXH|9a-2r`YOW&k5)$pY31I1?Z`s
z>tD|lK0I1K-@l&2(9^uozn)e35bC%4*E9TVls_B&>zRcfzw3#<>%rsD6CCJY&pPyk
z-Tmtse-6r@ZT;&x1U>P={`IUtPx7+<_3V5u%Af81>)8)I*=O{xX9;@pp8oZmfu7<s
z(P!1|&#v|u&f2}C2AQ<S#?S#s?C4+5LFn;6tA9Pq&{Mmje?3FbLwb4p*E0h>k>~WU
zXAyc_JNwsj8hT34>tE04_u~EfzW(*hLr>uO{p&diJ@ps#uV?W4F#a{%zn*F6iC)>i
zo(1Uf`1{wh20i7M^si?G9l+EN^si?QdV)XLzn&A&(|BqBdM-duKG46Ospk*4VlVGs
z&td5Cj`pu-6?!VK>|f9D3s4Wfs((GR&=Y!f|9Xx?PxCcTm~X;#*I)0x^!jTZdZMrG
zU(fgpQJ=o9e?5nw$NT#J^{hZoa=d>%JBQIPcw_&1_Crr_SO0pJpeH-ozn(MD)7<^U
z#`-oiVz>svj7PaYcWL=Y=6uFpgmPow6Z))z2|d?<341laCC_K@yxQZr%wf#qx$7Ft
zb?9+By(d#0?=IgJQD3FUzSXYbI5ls59PUcfoPXlHj{0t!n%Pl9X<hq6*C5}5{0wX&
zyypCjg@GINfSX_VD>2V>9p{-kb43dST!A3tz9W!{LPoCTCv!|8aMR#|x-Hom%TyoZ
z?EcQDxJ!uq^_}%QBj65#3xk`*wMh?i-p-pb&?$q0VLV!bTpDuAI==LI0F&+SdZ|MJ
zCgfvKQ*t7Jd;`1tPyz9813FHop17p%aEMLci!t94ePW}iZSwp8IW<6?AFxlp)hee6
zOvu3in|z}z2p#*Oqjt{|8wYWX@Hxh3)u68o(&D>3X3$m7Q)S_1<inkK5~ol9o{oX1
zW8mo+aK=FFN-3D|`=%7Yn1>@qh*4sU7$+u(6{7b)wEF@v_I+A!>4h4L>f<$7ul6E+
z?=^On)y}{4*t6A5_BWr^A#s&o()a$)X{4`R3CcHqt6RQAd7mX8rF@0*P1>nZ-b;B8
zt@|inw)D3s@1gu<ln+t9WXXqqjsCObTURr@mVA=(&ChCg-$VUX%4aP3Jmnjd-%j}=
z<x`ft>oZz!o$|*2S;{9Z`7q_Hlpmu0B;^y9e2VgA%A3@QQa)nI*C=14{N>aiq<q+t
z5C6K>n5X<RDet9x$db=dK5NN0UZdkbXvsGypSJv8rhLGX4;Qq5l9V^`lcl`hk}py|
zPI;5QG0OWadDm}f{ZY#AV0c56_geA^%9n^0VuMKME*JB^k@N80OY{>1#HVr>w%i$c
zqd&^$k*AO|{)jz=oY80e*~?z9=f+O2=TD{oJ9QstxDv!9F-5e)@l<x&{_o+w{hW$T
zdR!`>w)Fb`K<CFC(Nog*8Qw>Uabk-2j04&O`HGhJ+^X*jyniMa$`yHk`3Lm#67P5X
zn7%Lbe(2r$zQX%w-Kp=Zyw81=cK%+Ymlz<1h!J9p7$+u)X=098AeM+#VuRQsdh6P*
zpBN&BiBV#bn6d5)ye|`L)_sfjzJJhmg2X5>K}->|!~(HQtP@@TsP!aIY4q^kM~r`w
zcK$<Sh!`eDh*4tcpR}B`4&+a|%<@b9o944bsn0j?GtcwnOGM#~4sjp;XYIbs=Yu_-
zSNUA(x6Rzw_+0AC&7L>-{24u-H~C!J3*vv#p?+ty|2#ygpX8Zow|L11iBjLmGxI!5
z-v4#2N6P!n{1>I1sc#x40wFKI7@vz4ac`c-$tQ_2=-~8UntYBZ^^?<mo_vugeRFv(
z=^(!n`5IAbS*QLw`6lr>d@eHbGwJL4cOCxcf|F<Va}S^I#4`!HvF{}xAU+SzobekZ
zpJ4ocFLj&f3-fuL_<ekC+fVShugCKwpFh9H^Aw-I0MF%T(nsH6zXqSbkc9m_%jYs)
zBtQFkj?Z7DA7Au5&*xY6cwXT1m-KjE;`8sv^Uczy!sjpMbCbWT<eNml^}Izs@rX|U
zAHZ`-8<Rf1Z)!eB9HD!Y{$cV-;t%$Cp62tH;<@ve8dk$_t}LIw3=f^*t9(P-&+~Zz
z&*l9$;VY6a6Mv}3^D3XeoX<`EGWzR${)!&Yn|v-~Q_k|oxOcG}ex>!?OWsGks>kyH
zpT7#vo#8j`%Z~CLA{XVa0?TRh?wR;0H+1|}_*~M}$cP^Eyw2y6uA4n?JjL@W?MV6W
zbYCamBue?e*>e}m2fO^Qd_nu)!{<`|JLAWcUtT^p<-bW^^W4YhQvPq|-dX-b<l^{c
z`$o!taW7$zUx0eUL@6Jf`Xl6H#9r=A`6!`vx=+$wifHNwk&&N?pA4Vd^-Gp~i754l
z_}#qU74mhW)F0004e~C&hf;qypL@s$h`s8MAfHS9A@1c*eqr)aqNyLu^BDOQQR){7
zyYYXTe2ysfhf{x^e359^AJvmOe;Ksv55t$}Ug{5L`k3cQmY=5nFzI8Sm+4;W2d8^e
zepLBf>IY}|>f}9a|48}n44;>L?khSRems|-i61|o$B8e|kK6xE`D=*SCv-nO@@3u9
zi4tSKr+dP2VuEPgRenLcD}6%y!(imA)I;<U{low<NDL9f2Cvfk0w2>DCK|gn`nO2C
z28~@W_1Jc!tJ+`2Zh~@YqGyQqeo|wEXzVs=w?MlFw`$i8Z}Al4i}vD{UC+<!c+S(V
z!G7(A9@BP{w3o8%`e`>uy9WEU8+}CEP19c1vKyk^EbSWX*KUn=^R!pA>_%xfL%Rn1
zwHtp_hqp|7Rm*OIcGI+LuwT0k+O5-G)3TeR-4yK_?ALCxro-#~h<=ZJMDrdMX*Wr`
z2K%+!qFq1j#eZJgH+Ivso1k5T{n`ybti$V~U5^#s3hl;e*I>VPE3_M+y^v+MMY}QD
zHF&9ZBP=iN@+vaG@{#tU2LFfgzzFvq*5y`|_6_!H-?vlSkI`<Nm}5C^(mO!=5!yHC
zp<J(eBEaXSp0LATX1ST5-6YZ2Ezxe6b`ADxH}bfS-yH1~h+Zq7S7|>)`v&{9U+rPP
zOgkq04cZTqH`uTJ*xKgdk29Yd`@T==d>5d7gOR65ce{OHr+fI#I^X#}sxd?~c7wF*
zr(J{n+AUtL?S*MCX4#F?u8(#N_G>r%Mr}7mduhvVigvxUYp`FtO`d?4p}nkSH%q%7
z+BMj(-SCVKZ)3Y|_ZBR>1=@Adu0hXJ<g36_lqa=+)A_ncdu8i=F4J!7=d}L}K2><1
z%5Lu4+HQq*>sEMcwA-XzgZ<hqKZo&b?4|X+d5@a3+n`;8{n`x-Ydap=^ICR2?9bF`
z*I>VPvp=Zq252v6+4a+Ijdl(8Yq$RW+HQpQqL$qd?N({mV83=N->dB=XfJ8mjnZy~
zb`ADxxA9VKH$!__%Wi^p%d~5-U%RR2Yr6&7D_VBbv|FNGgZ<hK`nBB(?Nu$iIod7K
zuEBoohDNmA2JJO1yG7b9(5}IL?N(o)?Rq#K;I+mD>a?4uU4#AFt-V*<jnQ7xvfHBF
z9PJwH*KYVV+HQvS@|IoiFY0zqmUaz#tokU%`%4{v$-G3{Ezw@tvKye?4DA}U?fSN8
zH}x;9k7%!H)q^qGP1CMH+wNAwn|_fFZ;N*8NA$g^kHWN@qFsZw-K~b#|Ia$Sb=vhG
z?zWqx-6ZWAwC!#+yrqBCc3nTE?RkkNycya}(5}IL?bfc;_WZOLvh3z*H%_|-`?VWP
zXuDC`i(2tqqTLwn8tm6@IH2vuXg6+!w@SNF+BMj>-LSTspuMDJw?VrR+BMj(-Sqpl
z-3;wzExWF)F0aD0Yp`Ft^;@;w0__zoyFS_t(XPRM?H2xl<rVE!ExSS54brZ`e(eVN
z{?=%(ZrP2{Zh&?T_G{Pg)A8J(y{2V1PP=~EH5jq#qpg;c$>(XiE!y*ZT;H4WDn+|K
z+BMj3c*ECdJ3-nDS#}Gw>!n?TecO#_yK&k}Sa!3t>!IB?_8HHixV9Umy_jXUM!PQB
zHE4%-tLYp3cl{pae}VD+D;iDumT9+@(Y(Qa?S}VgeJO_1`(U@-Chaz9*I>VP<ImD|
z(zNS;sN1gRQ@WgN(5^w-?w0HQE3};q?Pjg?_0w*hb`ADxx3FE?Ezn-kvYVjY8toeF
z*KXrxZMQ;uX{+83(QcJ?4cd0MnxDf_ZMQ_bRpx7xpQE%}p<RRh+I4xf-Li?_U)1-;
zZjN@#v}-W3)pCR5t?l{R>$ROK?beKa8cx%0oxH)m?T$aW-6HLl7+!<@#&hjky1Z&I
zJY_3id4Ea2zeU<L*stBZTZh-bpfQ-&Xwo-8y9L@c*sonb+c~~N+Fq1s?1pJKPrC;D
zwOjco9nW#vOImhgw40+{gZ<i#UZ%sDqrHM<H&44++BMj(U2k27w?=yn%Wjf(Gqh{4
zU%NTlEzw@ZvYVmZH0>Jf*KT-9$8(tFlt0^@pG&lxqFsZw-L2Mx;W2He#c;Mh*=@H<
zyGhzLXxrUtz2N$LoxYx**7kfv^By&5H$l4w`?XvBS8dnzDQ!3LOWomh-K)#1IPDtj
z*KTW@wi9AFBUX5Qv>T&cgSOqRrf>G0+HQ>YS`4>|=OFDyY1g1_cdO}}J*VS2Van%U
z?vCdO?M7(Vplx@n;mt5#B^ch670*rD4b!ec+wNAw8=lbN3*M`-dbB&d(FL8aLbPkJ
zm)$tqApv5q`S<Y4wVlMzXiQu0Z-RD%v}>?$yEkcjS=!ALO}_HeZh&?T_Og4a<FScn
zYrB5h3tDzVwCkr`gMHimJDs0Hv=_GQ=4jVPy9RsNz0~y0+^)l0q`jJDw@ABQ+BMj(
z-SF$R-3INoEV~uj_0Vn`d$gY~HN4@Vw(I>_rZdsxs{-F&7wsDC72ZqDSAnnV^sTVG
zXj<)955wD{e+>3(H~kH5*TeXYTJLY1;ce2c!G7(gzNYPF7~ZT^PNrzLLAwU~wd?ij
zbS=?d*|J-v-8$_W?ALCS?{A&<8kXG}?bc}5V83=-|Dof#Nqc@PebdZWRoXS!%kCw=
zM^9+GY1a3xV>;f=d(@)c3hf%~*KXsywws{d6w%nN({7o(!CrPR_5H1LJyd{tgO=S0
z*HM(n8;tZQuZ-QNTn9C+<2BCp8`WHQJjb~HtHkwb2Kx<fIHc_qnV+(pA58qOj{m@q
zb^9Ype-s&hgZ=s=vaaogn9pL?d|`%m3$$ynU%TO$4qut^>c3Clr_O5s#D2Ux{CWB#
zPk$Kf*B^=h)b<)|=O*v(w(DZP%h9gEe(lDdsqHiweh>3sjrZn#t8m=M%l@6g$W!F|
zK(BVE8SnaGhLd_dL}Ry3yIF?YVBdB}pWJSXb~ChVu;2L3d{d`$k?EXaeyfJ{{=GV}
zL2MF>f35x7;yun)Qc>g~hW|)E_wqjQd42EaeeN-RAK-nE82yswW7OaLXMNuyhA0;%
z#wi!!eTj1EN2tfh5fj8DF-0`{yfVDc67$3m!&9UF0{JrUi@YxpBSme$%=_kF>iY`s
ztHc_yPHYfcMAro4mFOk<h<;*#7$kbXsqKY$A13A*U!lL@^Ur8B`8(m#_9B#z5@W<T
zF-c4lGsGM*Pb?6N#1gSgH2e4}ysr{##5%D-j9;n!=QH_<*yQsT(KV^%yhJ}S%6(xb
zykYVYV&aUBk0|d`Ut#>bRO^e8j}tv#*U!_$1o<>EODq`q7ivAOfX3F#H2McM=9um!
zBY(O(eT=^^70c99CDw_(+}A3b+w=dp?&rs5^hr1Mw`;WZ`2NA{Antw=e1Vqt1~mHq
zYje47R~O%vFMMb2F4lBuOiMNe<7dKOVz?_eZyx^Ax4Zq<)Xv-P%XFXU;okVFVY#c&
zU9N|_x+Pzwe5i-Kv2&?dv-H=f-?K&iRS)w&4L5k7zDMUT<DVA!ti>02A6d~SOnJVf
zvGCU#i$tR*_>yjWhHp|&`3w4_r1)1fX8%Z|k?V!U-_~-~&ufhR+NHU(_4$7HJ9B62
zxzu};pH2943~#u)xj%Bh*Ug*!Y}^<Bl+RbX<!t|${A}D6{zS|BzqGkKlb?-z>Cd%X
z{Vz9{x9vUEy~)o;fBuiP-tu2;O@I6cI{8cX_r^coosW$_q6al!f0o{N;PYw>xrpD=
zcEh}n5TnExF-}Ynlf)D;P0SFp#2hhCED(#t60uCI5Ua!*u}*9do5U8;HK4=eA$o~E
zqMsNb28khJm>3~Oi7{fFm>?#JDPo$KA!dm=VxCwa7KtTdnOGrKi8W%K*dR8EEuzcK
z@Dsg6AJI<?5QD@JF-(jQqr@07PD~J!#1t`2%n-B095GKU5R1eTu}rKGtHc_yPHYgH
z#1_%DjrsYxj0fI(i9VvA7$63TA!3*qAx4QYVw{*DCW$FxnwTMGi8*4PSRfXOC1ROa
zAy$bsVx8C^Hi<2wYmnh5dWk-wpBNwpi6LT`7$HW9F=CvUASQ_^Vw#vCW{Ejso>(9j
zi6vs0SRq!4HDaCEAU26DqU$n-pXep}h<;*#7$k;>VPb?BCB}$xVuF|?rif``hL|Ph
zh<RdxSR|H+WnzU`CDw>_VuRQuwumn7FY^$+L?6*l3=o6F5HU=Q5TnExF-}Ynlf)D;
zP0SFp#2hhCED(#t60uCI5Ua!*u}*Y7L#MN;=K??2sSkzgRUd{}UzA^?-G_M}Ax4QY
zVw{*DCW$FxnwTMGi8*4PSRfXOC1ROaAy$bsVx8C^Hi<2wi{-zE=q37yeqw+aB!-A#
zVuTna#)xrZf|w+xh-qSmm?h?jd18TBB$kL}Vue^G)`)dtgV-dth%T1@9-^1%Bl?K}
zVvrajhKUhklo%t%i3wtom?EZ$8Df^0Bj$+(Vv$%PmWdT&l~^Ozi49_t*dn@E?pK(f
zJ-qi4eMCPoKnxN?#4s^Jj1ptSI59y?5>v!9F+<D}bHqHcKr9kV#4@o$tP*R)I<Y})
z5?e$U%YP5iOY{-_!~ii!3=zY`2r){G5#z)JF-c4j)5HuhOUx1T!~(HMED_7Z3b9J8
z5$nVTu}N$ZT`d1SL@&`t^b-TbATdM?6C=bZF-D9N6T~DjMNAVj#4IsK%o7X5BC$j)
z6D!0ju|}*D8^k8DMRc)V@DRO3AJI<?5QD@JF-(jQqr@07PD~J!#1t`2%n-B095GKU
z5R1eTu}rKGtHc_yPBitM!A!8b-mAa5`@Y5d1kV>T?!2$jaw&@slFwRvtcQG(e8G~>
z_TY;>_*xIX)r0q4t^IG?4fWt-J@`})KG%aU_26qg_$K)}&r4~?|Csi_%?HWb=@RL|
zCwlOi9(<9!nMXDLsrHa>kq>je&&c~<tNm~D(H?xd2VWp>r(?AT-|E5pet7fz5bnXp
zd+=%UcKqkb+wVoC2jA?$dtayhY3m90;G;eGR1ZGigRk`9n>~1MsE0p$@X;Q8st2DV
zU$)APB6&Oht3CKu4?X@L(f+sfhkNje9(<+;U+BSCdhm@Nyyx|s`!m>skM`h`<n4Tw
z?IB+zZ^v_`hkT=lyyr)?|7|^i9(;tnoi529e71+4LJz*&Lr<N&9Y3CN?SHe6#FTGA
z@^-jl<ZV4E@@9R2(Ua?;r__V5_TZa6c<&oFkN;o~KH7s%_TaPR?er@3kgxUNTRnK+
z8#mAYVe%Kne-HU|5BYo#zSM)S_26A^+B}|pJ@`-$KH7s%_2Bb8_%it{*V&o;R`0=k
zxL(4R5A@(8J@`ZqK11G4uR;%bTh92u-*qKMPcO9JTO;=!ucP6*9;2rh+V78%v%|a9
z_4!6mFSOI!$k}$y`us~>4{7xDLc3jS<en;?&HBJz=K~r&Pla}S(#T(`{a*V6j2;_h
z4o-eHZqv)0+Wbe~&@K1)o4W5;!}^}iT<NOTXjVt;U(#1{uCV-KSLyjZb53wd(=Kx^
zeU;D6IrDn9+U5H1Z*P21L~}eC*{muk%7^RllXJD@SLSmwJ9*14&709zIsaIGa*nd|
zXU+@uJ)r$ZHLm(Aw3M9NEI&D)TYhrRvi$N(I=qIj@w*|$-<4PD=jOXX#=bcR-^iWc
z(BXr$qQ1@h#@*TumKCV*n{Z=(S>0d3?~t73{h|q|cJ^KWpJ#eMjXIs5j)$k?L0-D2
z^TE^k;OTtu^n37hIq-Bj@N_xwbUE;JIq-Bj@N_xw|9?5qIHLRWp#vJLQ8O|ise$j_
zUC;Hz`}7Dv`g%Q*&}i!XTDns6`CGO7;+r)VZq}ImN!=q)&uBflcW7Q~ce!e3^mG5T
z<`aLRM-~D<q(=-g@6&vFK#v3z?$Gz%{TfSmYHU42>o0y$kLy-qnm2YLU(|ZDw`o34
zJMnkx`*585EvEE+B%(3+YVE)L7wE6IXuk3ujYfZr<2a?ack{tFYk&EEPxFzu#wgtv
z89&W;lBd7@j3>{S_E$C8tvAecDKg#ij34iHTCVaT%72#bKdA4$jL-C}zAyid#>kC)
z{ub?D&kY*AZ_(ke@xFA8mJ2c+61(Z1{>i;p->*_{DWUJHAJAB#T>7p0-m|RZwQ-Za
zZ*X0N?-gdmNXKw!n@<1eUM-iTyYNS}{{mLNO&-+wpq)OnpSVT4FVcPCTG~CK<^2=-
zzWOeWWu{k)`$2Ndr`4!_?qNLEsW-Mq^RDYPHi;SL*HA!*E6;r7Gx_jknos|`4v&ZX
zqk?>o{EXMcSG7NzS8Mq!^Owub_+k8(zog{~yXYTAMDQ;9i}}22(x3UO#qjv}o}}pi
z6!T~9*R=mqb6QV@?@73#(=o$*QnvQnw3yFbjQ7j{^Cjae$8w<dt7c?Wd)Pav?NnJF
z#2D`hhBME2%TO-N@*u+eo-*NNzR59tJs;M3gN&ar-`g0|J<NPw=6m5{_){<M&X@6^
zj*phv7svO(_ew1nWd4f&uC|xr{*B}*mN#F}=@jOB;${34Kds-tCgVAAgLYrLT=N;e
z=aGGyH~Bot_o&8lt-ySdyj{zMxc|<`8}!kxxsNaD5!vjFc2}XD(3|yrgy~#+M292s
ze$B_2KV0;;hwpjZq&wf!0PBl9%a<1A{O{2D*hjm5x~siS>#s8&D$KWW@(qSB!g4P(
zs^h=J_cq0PD@=VY=9@grnH1$4tOwG^b-3ybSK`e&olX3BirPO{gODrnwOEwtfN}hV
z@b^0Wy$XNwO}`QReLwzQf<O6P{hHSvcwO+;AG!K<ubchh+i!hc@W6r4>t229tFI2e
z`@n&#U;Wxw-#Qx%zUHdg+i$)5JtF_<H@*GsuB+}!+%<pa{DE6tSKaY}`P=VIx~}@b
z2j_3U>OCL0`>I>-zGH6om3PdN+BLE7mGcMQ<5JHO2kuI^uA05)19#o?evR{Y>L)*T
z`<-{)@xc#t-MkCW?!0~OfH>e)a&BHs-huz~x2N#`-MGQC56&K#Kj6CR_Qbp1edmGq
z-~O(|EZmwq?c!Yr?!5EBJ=%r27FS{d3Y2#ay#J2d;DrxDu~vBNU3V!jy-S6E?v4+<
zPvYSJ#ZQL+rRAbaE2I-I44QctV@tPk%$>_6->;N(HtuJ5VNlZ9`O~?m!^rn-o$ga~
zZ_wWnRadtAF|hxGxeQ}J#|wkTzR9inZR#j}BQ7NljC(U5WU%>4Ei0`&Y1tX~W?p6w
zdE?&9FBvrRNm@&1{><E8j|-WrG49R$jKNh-G#URJIfL(jdzt$&_h$abV3UT#|DwbA
zpS0_}xR5wC?#+CZK{Fp^>>Kwc{PT1_L4{_1%b=ML6Zi71QrrDUz)7AG|H&`S`5}X5
z9!)>(d`H{d--8RMd%NEpm%_&Jlkd68&)^|kJKej!$sA7H|NGq&WXAtW3I2V;a&P7@
z4H`Q}-p;>Sx;OEkWV_km16R{ORAB4NS?-5wy8bk{@ET)Tqiz2)mizqW-=hQ#F1@(h
zz8(G|q{Sk$X?wmlc9r&NN@?r-GwuzZ#3Qk2+?)B_D%~47qru!8tl)w8(73N%rR$*@
z-FxpaE;Sl=hJ6?plJ|^z)BkH6(f$uIVNCus?oB#;4Q`$G&3v%$0WHz6CXS7Jga2f?
zcd;II6}9^ao;!cWo#DQY3*n6aBXl33`=AuAj-T!Rn|Rip!dlq4m-5y5v-6KL>`u9Z
NwEu*Y#I<ef{{y5zE(ZVr

literal 0
HcmV?d00001


From 278d6893fe2a4a2da84feb6b7aaf50190be36146 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 20 Jul 2022 19:36:22 -0700
Subject: [PATCH 284/435] less beeps for steering override faults (#25196)

* less beeps for steering override faults

* less repeat
---
 selfdrive/assets/sounds/prompt.wav | Bin 64634 -> 144642 bytes
 selfdrive/controls/lib/events.py   |   2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav
index 420e9fabee62e2c877717a01ddfd43bebd3c15e4..1ae77051eb5722b278994f7dc9789970ddceaabe 100644
GIT binary patch
literal 144642
zcmY&<1$@-Z6X?0SyVbowixqcww-0xx=!d(zI}|TcoKjlaLfxsmyZ0=~NnX<Xc>niq
zf3rI~J3BKwGrPIVCDX=^8U+R5Ftdlw8o6>qu!e)dV6aFz7=a)=u^1eNgIT^Lcu5|@
z10x?i#s=dsb{LBcqaPUQ*^nL#+hGF6`rkN8hY_kB>DyscB8s6Dlph6@1C@nR9CU|7
zw2$h?V9=SUep|N;!hbCWp*ZF{q@q1kGRlnt4w?H`J}L#(gh%WmB2-5Y`(Gcm*J0J)
z7L|jp%^?ewgK8xr6o*y^9kmbTLdP64Q9IF@4l7U#Fc`-u>JNurhsXY|)UkHdHgv6j
ztw24Ca--55BaRl;gN|VkPE@l4bIh}K+h#$mgu1!@`V^J%7ckwvLw${|1pPR02ghGO
zI>t~t(NR<%DjS3Nj)2HU<)ePYV=Ucz92_V&IuErIjU#HI1JJ%BPf#lQacFbI6U7~R
z35Yxr0%&|3v2#S<5oL#G9GUYs%749v@;QoQ9K~_n@%|s?h#wk#RFcD|=qNgafPf>S
zwr&eZ-7EbYQwJ|vJ1{#U1GN%ey+andE=M%bmH)+1espz?taU`v;StoMs4uO^C=CCN
z0P0^X0;ne~-M+IUxE+y*@>{wkp}b(X=TS*EWDKp*nP`j7L&s6+j!~4u*3E&A{14E$
z+YlayMi^;PJ^%k4RJTI|I)X+Mjky(RVc61b5o#5>S~L$)43&sx0ctObAtJj!C=CTi
z{2iH#j-u4R*?}Mk<!>ML8M>ao9z=bG<_Ahe+y8+hGaa*0WeyC@O(Nn6A~Fw+04m3k
zkB$}n#WDZaZpWIS?v*$^fsXz4!CxPuTqvMkM!~^jL;QzQ(Um)D5a~nz^&K<_p@0a*
ziqNqbGcptE#_g~f=^K$gh|IMiqYi$D1S`VhD3)$+$GC&XhRB1vX9L}`(HNo<Pzz9d
zP>m=jN<l6Be=*1CUp_P&P(Wkr$QU$h(C9d#iuV4upB-^@<fJ2q|56+=cElZ(gktEP
zL1PAX?<{n;p?e11hiEj>xHwKU#~wm60L>3{7olTlPC2e6=m?q*j(zxdkD)yjM|sel
z?VvkabVobRUbOExw;ioxAOF>YN^nq6TTot9&tFc|V#hd&k-BA~rv-X)pmbCNN+ovB
zK~Eh=L8YSWL(di>!cF)OP#phXAt7VrZmB5m{|ccSM{5$oO+@D6kQ(J7AwcLZ_-+ar
z8AoX-5dUi(eUyvT&580*y1_w1xk-pLl#h%6rMo3`<7l7UJx=bPk8+X_$^QeCj&h(a
z6_Lv5mVox?h)lFc?H;Egv*<{VfwVM42U@8A6%vMtNT4GW8dB&8m4N^q!O@n1v`l1-
zjo>T<qa(mTfQ8g3uo2)QR2~9cgu+I?m#~qRkM#N7Jq|+QBIDfuT0YVW5e^a3@)0T@
z851C_5NZF1@evvi851EgMBSrk|1TdO8A0cv91hGOhl_Bq5Mck;qIRJ6pt@N|&FpSb
zE77&Ex(f}FLPCIyP|;O0yI1e<0~w*9zCwLQ?glF2K?=f;`uuMs(0C9K_*)#&bmRn@
zD`>u<`GiASGzU=}%}_Mk(3$_sB1bkkq)`!mG;U<X9!KQph*mTvjwm@I;)n$kv7e5t
znfc$^Q9qzXf`An9tPH`V7&%faF$$!oL2wmDjo><@)?u^=I3eJQ)NV-YiE+kwAU$^k
zL%|EFeY(L5<BedR7+-|uhk*Zo;MYy@N5;JWqj@9P-{OJL-H@I`o(F=vVO+YkIU}01
zh&>v_4mDzx8nIJ_5hFH=kXq0ke<8AJ9<pjycQjC+pt}j(x#*R{asHZ+^Va~IU_IOk
zcfjp%3sRck2DllnfotJ9xD0_3xDqZ!>JqpRE`kf-TsRN@1LwmTa1NY~VCmf@1*wza
z6gUA+h2sz`9!^9`0)odQ1#J`H7&r-z?WX=lYLqJunGugrQxHf;AQOQ<h=eReb_SyB
z4+8m!-eLsGk-8eOq#mw7?5l>`5Ifrto7<2Tbix2qJFZ5KD>b=$CzFxbqPvWVc!h_=
z5sjz{iJunnm@^VJm+p9>k@7~s7xA|Pe7j@if>2Q&4KhdG?N<ikQ}kRlA|7i(Y$$`X
z5u1O*QSevzHT(j;58r?<z$f8D@W1d5cr&~KUIVX$m%%IGMer)5T?cQ1x4?VhgYa4S
z3j7#;1xFxW$VFtCU<P8BA7&_K7G?!zKjsuB1oH;-8<UQy!n9y47y_1!<zwYoB~qNQ
zVyps7$5OCXOgp9w;rWhvj=6~0iCKafj;w)+F(LknfS<xg5pC1q!LSD`gh{Z$-efPc
z=h?IE8TMRzzP;GqV%OU#umtvlN5f0u{qQ|xRt0i(bHa?oti+thgkmx=tr!;81v?5m
z54#C_2zvp08~X$)&#@ucJJ^fZgV>GOS=hmdWj0I!<}KzpV!tc$-QXvD9-ag1;AVS-
z{iuDm-Q8}t71$ze4{Yachi&_9M{SpFFKj8c4x6WavHgj?(;kF)t{U!zIf2Q*D6n%8
zJsDU$t{-j{?lJBUj*p*!KaWqqV+p>5$%K`Jjf4$^6@;mTL4;le4S`0;!{5SB!iVBv
zToLv@xZ8G&_>HKuCRvU_zbyiy!WwQWF#BQME!FL<#xs~6#4TMtx@L75Y;}~rh89yW
zbPDK0JYc(TO|o&Z?+B5MN!Fzu!wJo_{$vxr){Y@AB=RZWNHx?ol5}>wd64BYQzh>d
z+F@DkN$LUtQF54mr{32VqIk)`+v-6|=UzCL9}f>D>07q9I>DB<a`PczOtV%0+`y;}
z>l!AAFgKMhtx)O@Duz<;m*dL%w4PJzgasX!tJz&n!kcm{$En?~Z8-6U(nKRtx5yT=
z_hFAwaindM)iMHgU1uibE6?)s;-1pGwZ*E}sE6tv;_6CX>cc!gYUDO?Q+DZ8>l5Xq
zMzT@Rp|C<tjH=InT&NcMo~)&%QEg)^-<9;7G4a@(g~X8lzND7K$rXpp2b@OrO(m}X
z<==s04D?9w4{NP$45S!&5~n%#YtkjUp=@o-DL72{PoFf==C6+xF9v+<?<cJIvaE5_
z_^pGo8Iu7;=EbfV!%3p8&FXA+^3{$?URFy(^_lYJ6-z6x)LRRO6Fgg86NZ-UYm3qt
z7^@SXChbf~@^BsI%WM8Vq2{0d19T&Z%PgN-9w}$|Y4~4=rDQX6F@wOp&JW<PV|t0A
zNg~c`bzdIQCqgiwCYg(yymFequp+m<=%v&9K>?<@9WP5p73-v7#hdcylpQEoTh;~i
zs_S3*B=6pjkJ&ehCgmQ-oy%1hW!Dpm=ey<0SJn*7W7?7fq#oat6DwCyA<<@m%=taQ
zAw)?^nX$S$$xYHCQE#O;c+2Id+ij<#q9b6mG{Ga@htXpbrO6hh`8xEF|4_r0y2s@h
z>K}`u^j%qE=D~&=Io}FirR{r{pPe5&rF2HlzR0PSUgc{ONxv`R&x+<^oy?2NFRNy%
zw!3rzr@%+vJ9~~5$FQAoKAr(;Z*HaMCM`%BOL#?z5^wP}^nggO6n`j7<(Z>|t^}92
zVu<HD`kEAQVmeK0s%^UzppM^Aomd*5waDuBJ^Y0zH9l(Q&j*QDKU@jVOsNSeiOz`I
zQgDLmTYf+1Fea?<_7I-uY$}llJ709#>KEDLs{JrM*(r{R>ytzosLcudW~&w~_5I*|
zUE_>h@72W17{0IHMbUTFRIiskYJ8!f-Oi)QMe;E+T#xq+^=St?@)|Re(~5Z)54`A~
zQuX-Ytv)ZazK#mV+<tp!Y2jJJ;Gg&xk$)PSPY!CLHDyp-J}6cUc<eRK6W8wtC(C7~
zvs>Ru6Q*FCM8~D9fX|Z(!MX0%{*Aq^V%{o}gF>BB`_A(Eq)nYPV8#x=!K|77$$gaG
zeWc2g$s{fFZ0u^&kGG%hoQnkS#NPfEI_0+gQ0|38uiT%XdfD<K{asTE;mz(OZ;mbZ
zDBj(yhv!WePh99Xi+-`srt$H^vi)DNDu(PD`9=kd#HxOHbquR!JeBtJ{xocyYpSj&
zaJb_0$n}Hre9sL0>3MT(#;EjxdTlYtkx<EVuqowf;q{4~pJqPQg^oNm`Ka;yms{Rv
zryc_y+b+s(u6?lnsZ0IZ*lmd?n!<{)?mfIA*<BZDkLGdLhMC7U2lVn0jJzB$WbEsK
zW5u5RUwgB(UhefSB_8Qsfqq-X?*<JS^~;MlB+BPo&%F6TBjfx!UE@4=_9<~KqJhPU
zHS0^?Mh^dd_95o_nOo%-&Y#<V)az9GG5Ex*%h-blUY`Fl^XazS<52~zzqMy^e)J{*
zIpFzN=ZRB$r>IYjZ5};;<m;i!gh2mY{l|%}2P$07s@<IZv{|BcZoMX4^?exd%y)xs
z>@3l!#K1X&2fIf1{W5Z{-%EloWTHImsIFV_V@^nq@AAjEn-i|>K04*(!wX60*Prq@
z>;Lq{t?SR&&kn`zCvaP}jm7X;HtgOp@cf`)6(w-!i0t7hvnoBt_Pjs&v`b~L&%Sq9
z-@JSHdh(|U+x?FEaa>%zW;mS~JAUF;PhM}m`_KWaXT}AEE1iY^s?FRx%%wI)Vs>0=
zWZ>I1VL>-voNqZZ`P|^sM~|*O|KQ5DN5)(9^EF8)3+88hZopKL8HWQds)lj*>VOf!
zBZrLM>NnQy&E)?5rv_CFTBn%n&(YSfj2>-1wF-BUr|T)rY~L}XPY2riZty+nUNh>(
zs2fA_e98n>E-QP#Q~YV3S~s#|SzcAroY1IypI_4Mt-Dlmc+WZ2?cS$bPiig<3DbW&
z@%-11p!nd{54`8tSa`1}!}Y2gZ@~Kz)4hv)z<@(T_e@ylf7J7*U!=#nfGL`6)@>ix
zfS$tfyj}t02d(Y#)7#0_d5CUeY2O>pZPMf+FGns?z9l(Px6w-Ud)ht}&HkbI#(txH
zboyb};{{i)9G-J&<K3$318@9%e&~bin|@z6=3i}{ZDhiiO&rF%0U^EfMJ9#ku(mOG
zf)034y(SIWKj2rd+d7%f7`V}8E6Yo}EvSbFUOvQqu$Lw1_V5w?>^=v5ruMV+BKGj^
zvBr5Uz7u~<-WxZul%BRHwcwXi_|}&xH+tMne!AyQ)G6H6U7^PwMO^Rod_e5ytcJ{u
znf8*!#Ch6DLMy>fN9;Gpw>WTqUsE5f?{dF?gKh?H>|N@%O|i@6h<}Oa7k-FyuK-Wo
zO3kYt=Z5eDdH(afH}%wyc|O=nyOXutqa<J$YmHv4uWvhAx$jSCq{lnpb=S*d*P5>`
zcouSh_66=`_m_{~U3xk$a#M8QL{7D^DI9hp#`5lSGX*CHUKn)4vqXI|aKKovK6O5$
zJ?45m?j7zkM)p+m!XI+82nH!7ffIUv^>B0L`TXpcFl^KitgF`hL4TpoJlzs$ZwVXN
zpkE41F5jIU7yjV$t+)QqOfQaKeSRtJUdm(ZP3JqZk3HYpLZ8RPWVkhS8YVZj=-W6)
zyl;DABo{q;_N(bXxA*8C{6QDJussI%daW7SbArbw`9^iUdx_Ttwcg{7=NTVek8(fk
zuzo!b^jhEhw0GRV^}WAqa)>W@!<1*i^2VzLbJB)q9{Ta{o&M#>=Vi|**DROJ&w9R&
zeTcih^WE*}7eB6*T+EnM_R0PeUdf>`Uu*Acc4;d6g#;|=U7%g)^K#f?ua~}io%>2J
zc$axSQjipWzL#7dDjHmvKA#5E^!)7fk9VE_=^=-POjY7lrS5iT5oZbBod{Q+Yxq>M
zFSa__C+t~RTIkV`j(1ldKD&SN`IZ-wH_4&Y<T<~dM%Pq-sf@PHqAtah<9Z0a1K0Zt
zHPy~(UhxAL_2}!lx_5~xz~{K<Y@x){*Xy2YxA>^5%rn8=KQKwN&39@qig(B0VJ`E0
z)&7@tzdVPiKT8%HAo~}>^78rBkAIK;))~+JSpVMbWzmD(ucMz#zZ>*?>BrWuLtd;+
z*qSxE&|;I-RCmp1?B;FJ91*VcNYd`{>>JqP<`jh0=6GQH_E9eK8sqdyOxG@SKco32
z3-Pa1ySoPUGC1cCOzbh-si)socYWagKxf4(j)JpUve>@JRNS^V@qF2X_?(aKvH!ll
z7*_v0=RwKa4bN!r20lCg{z#1EQ%>c%Y(_EPHo;iHJji7VZV7nmegS*jNBL}bt=B#e
z3i5Ds|KndIgmf6Usj|l!s{1wdF=@Q_MBP5W=0QIdnLU|)bKL1eYINSNr_@R{NtRBg
zGq=~Ib*^j-`Ms==_4#R7#P^{uPKVun>i&rNV)64aUmm<+$KaFdzkjQ|S5?|7V2p=I
z)G7Q^szmn!oyf;UhU>YaN4fTUKb;(K{^^$|N!4cSI@AQ|FxR`9JL<9hon#eWL;9`L
z1rA~PgzAjG?_9sRja6=w4kt!g*An~G&T1|#a{fZiqJ6p^HYdFBw&8Vg$k^xo-uOTF
z`qks@+TYXu98XybOsqfMIhlNylBMh=3DdYLaGsQ2YBf3Fjq6&qI8daX;gsa<CmSYR
z<^<|ImF`{?)mhclzVp@2Jtqwusch}D((Af&cHk@BZ}|@DI`L`JbW;z@j&xDYkL>i%
zrc~t%!`p}Nr`|pErsYM$`|205p`65P5liy;g}iK&>7lU^vxD=D86%r5&v2RI>fvMb
z3m4DoHNcau{obop<fa<tk*U5fi_`XYeJ;j&3pFiHD~CqNPWk-^WIN3p(%^AKEq97^
zs+Cp~w{z<C_gXwVT9YeEh9rM|ON^cI=FQtrAL8!2zHA8n`ekmI;d55z!JiQ&U#p%}
zt{@Jvt|vcXmWfxpt<cVK_gA?3hxcHr(t5e*npH%fNZBA|tJ_g0iQpe?f!k=+>|O)a
zuXGazs&o+n5xs|NXZG#yk*})Io>EtHyZ{bmM{EDO+jS2j>N8o<pWa%2BtHJ|YE9@r
zAy-~~2@U)?JnU*@OU|6M<Q7qrp}`%0kQ~GNDwrdW)j_&4k2RX9J&yPel>YX;tRZR&
zeGHOV(FLaj_X%Q?(|Y&YQd?lCM(HXYx>;G(qn9sLySnd17f&(394y~VGjtup$x0>V
zQ5A~sd$JOuPP~&v$R2(FFy(8X*XQ2ueQ!*vi#ndRyJA^(l|IMt$gqjggLzi;iStYq
z=Q`W9)nl0`!zaXRs`9GOd+7pMp=+tKS-8dNmlvIL%W0?kHr3|=%akpeMSXv&T?4Lo
z1<AI0x@gLHdnhHsE_gw01W=h%QLHGfdoNB}_pQ&Tf~ZxGqdt85eBslFFXo8Z*^7T2
z&pTG9sa%4YY4f(YQmzQZDxG+Rrc6E4`H*|A?1j%t_YYErOSAZm?35cp^Oc2BzVvAo
z1iFuNyC^mHXKDI5Kj`yPxye7qIatbfiBKw82f;F?-L$s4wW}?$B}<d-|M6zRh%XmD
zq<_2el>hZZ<bg>0w{OvJ^F>*QYu2<C)sMoDCS?=*v1_C*TE2LKmZ9-+Q+bjlu5MJ_
zP31e6xniBrP3`I2z*VX5_#|^@cq%=LRi>ah>eWuK{oORXe4U-Pi=3sNlD?Gw#zyk6
zws}R%>J_m`>8mr>h3$^o8rJsdVr2a5rC)~s*zkM&ubNbPnP<Md4Qtw{7g0Ae>X<_~
zW0g;|!HRh2T&1h?BbQY9V7F5mv#d;sl~jwpv|g?%R*)jZ7b|__yV32a0@KgOd4lUr
zpGT_k9ucZH{A=ubUM#*>%K~ddr7-{BYI)SlxJ_}Z-oN@8@NxXd*l(>LbdepuFQqI<
zSdz1*=0bIeX};wSbcmtigZy`beVW(03rc?{Z-u|hJ=d@De~`1uTRB`)EwA7=N(t_h
zgk!aV-iJg)zkJVLTA#qZx`QrukK?L*%?D{Qr-c+uy955H-DG@Pd@Q4P{@(D$U$WmX
z!f@X@!v=n7h`JmR9QiJ8?jJ(V@{0bAn;UQ0?%+G{Q7o0{vD7a4sHs+^svo)bQx$2(
zs#%IU%_YS<*$2rmg}<~|>FK_OAEPn)tXE$3yXv-2^Sme4^_TNj=OTHf?4*!EUuxZj
z8)WdRh-(;<nVSq{=Z8OzkbfT$RvK~eE9Z01h_-0&gs_a{{M7~8hO1pe4FL8wDU41O
zu9h+6edT(mNNpeOQJq14OiR)N3SU`><fLMa!bMXf3X>jkFIU`g?eH`zKKMTM9_TXO
z$IYoxciHKw^a^JHGo3sXh&8XPH|Dddwxy;0vc|pqRP&wlz4yDKPnIup!bipUBrHhe
zWM`HGHA_1dn_gNnDMf4yKVC#q{8CTUO?4Wq8l!b~DNwIe_K}I@?MkjHQubYxr@o+i
zsM+dXAmg|V^82N8_hGy5a?bEJIxSZolx-8<r_Z7Ev@dR%-}$k6P4=yVp>ZQ)NJ-6K
zeZLC7d3==rERBizG3vJ_<3jGK^1|BC`gGG(j2CVj^$Tl-Fhmxk_#|DWsB%hBKT_XP
z<VpeMZ$*}Tk1$30RT(Vn>EtYZEx+cuLcPHKqeq3}zULp05bXn}_i`8UG;tnl2^?ul
zfrd3cZFp8NAmx2wOXA?DsWFc}XGFb>x&Gy8WJuhlgn%r0{+0swx=kH>42!KJuzbpM
z_H1E`=%GZTNK>5BPE$XZ$y8+ZRMmb-j?h`=ESsXS$QyY(wEK1Ly3Ou<d8mub_q%qJ
z%X;kv^?c_LSq;-pKS+OTI|z(!?<~DhMK07OuS$O!+as#}cU$=D2t{<?@8OAtbWGBn
z?1QD0`jn2Z`rGCo*lb2MdpNs*OOhYf9#z~CGnJ8=I!&4KmT;D2n4G2fC~M*FQWR@a
zrJHrJs{R^(&v2&>=K$Afny1d`&eIj^WkdKUXe${3gb`iEEz_DWmPHhvOV`B;)0hdi
zh(kY^U+@14P6~*e6hAs^PVU|cN_Bl*f)Rr6;A8Lt8eLE#HcQ@1>J=yDB;_~VIa#eN
zMlO+x6j*Vfc&DV7q)Owe@)K>=5ZyPrw7bNqzv#-mqMfg)4AL`_i;5KPN{q?IvR~>l
zHk>Ux@n=BJugqhynK1*RPe%sFE{Y&TPfXnL>-e8h$c@)M)wt$4#=+KInC}EKEm*W%
z(o1CIua$eaJd<-JW%4odBborkWL|<0BcH8`k|y!|m4}@VtM6!PwMDvB9s}IxYnE$A
zYd@*iD*3!Hb_%84ZnQP%L+kQN=ak5EcBiH%9Qe@{YyGwI$InRc``Dzg%(Dq^vYr-S
zt6A56u>F|+4}6C)iam{fhO<{XU7aW&D`BhrWY<;2n$f}vX{5|3@sx4JzA|@NsC=yk
zuN|rUuAzF3ae3>s-3g;P<JPX#i*Iw{nO@uxM2xXdTV~6sdUo;Qte=S=5-XBDqT0UK
zM0!Qj;=6uMk2hzG&N7sLt?X6P)X4#fI0j)H?FNg-AE$_xeUrZy1uKrYP-P#aAEoJH
zyJ~^FRuCtgrO;^Z%Rfn~lz-fIx-8Z-I3?)9+@E^(RI25_<u{~7{7{k~ZalQZFuDz_
zJXTbhS(@pR929dirtkNvsJQ6+QMY0hvD31C<Xy@!mIHOO^(!s8mS(t)GFWt4JV<a$
zXq8EvMXCw1_sZ>(MD-EX6XdUgyE2x7C|f3-q!_5W<W#Kjak}fY(dmef$vId1!Rd@@
zgm$~Mg*}>7h|9p)47(c@<r&3qiq@vTP4JA4{OJ-m`p2U0Ns*W0UZrkMsLt3@P*`5m
zI;Uk$htS$ctY_rXo^jUj-%4Mp>ZJ_jQqdp9EvFRGVCfynXz>{3B6*(Zfatn<oR+SN
zQs|YtJU_ZFP%qTYP}RCDbiE+F$=0)-xy#6tK)RmWe79*yWp?hN%#K7jZCKp!sMOef
zQBUJn#BWHDq?^<D6^&KJl@YBs^#Y8AaFjTTbeVNb5i4yLO%#+#KDdll;3QjQ1mQGw
zu`-os5lvC9R9%zF<%i{~byM9Qs<67J>ZRHYuQ<ga=~~$Xp|@xP!;ar(b~l$9W9r_O
zPtAt2ak-vJ+yv&&9kD}_oMUhNCdVga)fIMS6U#hmpS3@?js%WFDgu@BN3fAw&#&VR
zR%NN3C2Hjk!6C(dZ2^CjxLRBw5h;$zi^X{9A?JJQduk7DZ)LjY7UxpApSn&uNo`lG
zV2Ox_@Mnolpl7?V_DOMQ#f!W>X^Q0jzZNF{`+G<9@n4z0e`Tbl+A^=@-!86f`_W2j
zuK^Na8e;(?i_uO`6&_O0lf04z35AlO&KIRk;)@c9&s6l3M+!4V;mW<LYPn54Q(oz`
z*>k?KNaLc4QGIb6C4I;J$eO|`pbIgh%%aA?7D2=9g2>##$zxOBrmg=)`jsB7O0Xnm
zC-hFcnSQr)NR@BJ{bp+CDBBI<1Kc8FH2tk8RN^ApFY4ev(U8^AlEI2AymNBo-kb2K
z=%o09qD1bb*ePA1Nb`86o~GWa%T)$>uGF0tua-;{xr$kwLqs|hW1av+Hw~ycSok*c
zQJyumBmQyRrI>%>C&i78ca7hj*1tfO%P75GdAl(W8U?gLM=@`xZo(b>&Af2dT6sTh
zsW?FKTkuZeqYD;a5)Y72Bv<5m=|1T^X+Ld&nynn+#8d8bF?%dmyi+yEn`Bp12l-Ky
z0NlTXZT2$#p{Dras)|V^y)q<e@GpBjFNyqXP0YF93)4@hMrVA_eOtJ)d2dTlORkY`
z?W7!I_|TIX;k-<FwA5EIT5^~_MEg{smHNq-^J8UI3Y_$<c%k&2`jm38x=_AO{nl%f
z#$UZ#<E)Hy1yt_5R;HZYn<>VRgz8)7Hm5X=D*aI~J!4POoit4Rq*&drN58A%Fo^+a
zGgF5a&?^_0k8Qlwvdff)--eq&BvLZC64^~DB<ke!Q%%%9l2$1;3dTr%G=nAW;>VI@
ziVy`}zDofrZo2sEeyA=uHK@d{B)3%Aed%klpKvQLhIYtaWt?K>v~RBqE+u7!W-rND
zobdGb_MbU1VZVR={x|kml25K8JGwBad|qvX$=`g&JP`St-IKS1U&DROIV%o8u9A(&
zudT_#f!Z$FWNDY|ndrQ{SaD2&mqE%5ol;HFsg)<R@m_z_LzVaB6Qx@<1(GGybC@y2
zL%3<?t!*)7M=Lf|p2#_tDNkIHkd?A2PVwtVJe<~?IxQnOZ)D!ix<#%0CY}DeiHNJF
z$I?E~1awGbl<!yYBu3U()gR3hX^#90uTHW>vs~6FYL%STa8w#4R&i7D(qpWyTJEjF
z$rR3FT?aRi8N!6=uB2tKw&PF3&epVQcG<aHpOoOtoYXtW4d_F^za)N1P0UcIgyk%*
zPAd1Wo78x$BMdhmHwNQ{wbMUIj)=nrdstXWwC0txR?#M0AP85ll-?AJWG&J$@-+EE
zrCjz~bHWL)dZ%%gKT&ht4$B9KTlf>XS%Q=7v2dDR2M#cro0nDJ$qCP+6_7G_r3A*M
zC-h4xLi7(!-IZUK^P=EmIi*UW=L5k;H;V^mJw28)j(e5;54%~qUA|T6E2VM=D1((Z
zrM=~w1<xhDRQ(hiB==+;T8_F}HBy<RjCA{<waRu&gTxWaU$WEmB-{YPSL`jw3Hk5F
zR(7WHMd6p6CFwho0#b%14NGiDa8Gec>z_r=Ka_K%Vq44krYW5h4YRGeR0(|=6-ODv
z6Uwt?TO~s70_g_zd0CjENZ2Lpr|KblBe^W2D(5IO6fw#oMWoXa=f0}1N^g0AYOHpt
z*uehCSVL1$JqZe9Xj56smwHX*y29P*-_l=XtW9l9Fvjgmic0ZGzni)^8(VRptao)~
z!{OGww%yn*FcCL^Qp@ufH3;Lm9(<wVjC_~UMOwyxs7R1kNKebhOR{CZm46fq<Zo0?
zPNOxos!7UH)hFi<>NDb%{MEcTfhYGUelzd{C@~If5365PG(K-jzW<+oX_1NkiT4s0
zCnY8|C3|Ft=QQT;E*nw4vL({E)vyGdV#ATXv1f9tS;v_JM9K0!3ao4lKS|nKrIK$@
z+!arhd{u6iXUMiImZ;yWcd6=?(^OjL4^9J=50E=?(Xxp$A$Ke3H4ehew@oo$ZlqL_
zD$7fr=ci`gN`9C$C%G$$pYS>9XWFa`cFvca*Cjt1RE-N-V>@q|CBy;L9+V>#5sNNX
z%d(_X1h9~!oU0h1yefSwx}$iaScH5Rtd_G>IQ1Q6k@B+kr<1!@uf!`JE2n8r%AI+$
z8G0I()`J)dMz$q4*ES?pPbk^@hn{gDeRJxc#4+)L#K(!>Q@*9~GJh1VD{ZPcSvR5S
zqw$W-Vqb<GMvP`w35JMR0we#TG)nOR*{dGnr?NiEXnCgsmOYlARLxL^D?`+uv=ZGM
zO@PWpy~`;^`&@QRaFQ3n|IQsw3AN}=wZ=1DZ=08t?aM!tza;ly7CxnC;-*AJ^6r$z
zBumDC+;w@oi)|&@b({59^p}m7ffsNr<1}Xn^8>AzQzu=mxGLuf(u8l6xr%qn1nE-o
z7G;TYu|lR?rs}D2*90k_DN?kBPAv5m$sXY_iL<;|@Q}P8vlaQb`-f#mTW!^c%2O4~
zOZj;x({`moslC%)C-+E}X0&B|%ifwBR*+nKtg&zN(YCbCW$;e2f#gcuOJ?yz(g#u(
z0f)zyg(z97-Euckmn=qgLorCXLXoH>Xs#+xC<kaFbxU<mm5I`x@?=%DVyu9{cuFm$
z4x@O&6`hM)`ZmvMOsxvf@0oou>t0q?hHG+5@{&|ZIxbU|DJxi2R#Wa&bGSaZ!^0v&
z{x`k_OUQ{F5&tvyINQXFmXa06<x!&7A`kfl`8-7na))Z6qFNEISfk8Vp3=Nl|0|DF
zRH}T`s}voAY20$|Q*I6Y2__7@WqxMd(ax;vS3bTdy+Dzll3AR#AnkL?zBGA;bJnHY
z#QfCa-4(lP$F@z@|1tIkn{CO&K6Dr6NQRnumA_N6S~67VDL5^*N`quMk~$$na#z+{
zI!Tr$YnFdOPVf(Mvl6R1uG}E;5z@tr#B2DjjIYGIxHp)ewg;wOt>fwoYAUPGmMII$
zbKCy7<^VZh)~K9Yc|Quq6o-@s*RE=ox2ihuhJP$McoXp=;Rf<0SjOKd_{3Ym!SfD_
z21ruGe8DDuoA9U5Dqbq#izbLKh`Yo?Wg}!4<nv_{g_lL=C2itQ!ZFMr<na^_>PvzY
zB6Rt+|85U#aj9`B+g13zP*Hp=FFto}{;=G}{H~&;QmA@v?Sgt-%dU<P@SeT5y$_s(
z`%2xyuHhVIM$pf3!i6!S_53vUQ0_)SrSOrkjho9$63!6xMzoKY?2%do5yEsyx};T7
z#-lScScPmIBboTj)&YD2-kL%?bdA%iPL_)*b4qU)ek(}KvE&sObrh^A8C}s?ky0aU
zc-p$(INa<3$gEs!5#=yLM>A4<nEUyc1jqPyI4+zqf<Z!w@ErdUPbzrKpM!W-ASx9Z
zgi=wVBt)`B`dz$%C*zm#A#Nsn1?2`d0<#*k+~RFG-eRf$)!<t@rhG!lr~;n?Y0;|u
zw*2$OSw$|TWt9(Ve478XEo#>p>VTeb2ti2PMI1u~m`R*Hyk6X+>{&d85G#Bo*v@0~
zjtM3p9;XY}39pJaiK4`ym?)htwF;FYk{BmS70lv*v^&(5lpuVU?W|ef`Kv?L%ByEr
zZ!gO#?o~3b@M3;-!Pfl81t&``l?GRis0*r3Y+Bwi(b&^+)D~>Jjy*$u!w6;#Vi4$l
zoHxR=f@i!7oE6+`VYaZ7KcAl^FbQu7<_mL0LnX&0G9gR2N6eA5h?9A<nU7ef*n1cO
z<nb^LS_M4=i@NqV7uRmBURoPbSy}w0$g6N(QE<tWqNyb}DoZMdS3j-q({e<=+k`bH
zn(OSNNiNifWGX41*1%2Uk$H*iFRah}M&Ve&O#V3DYJR;SMEFHW79J3l2vY@nMCU~t
zC3tZp=NzYttKc=Wzafw5sjzc#4{be7gWLU^kG2S!Mploh2rd<r@XAt(>x<Tx-77s@
z7GIT7v!;pJ{<dvJ=K@o)<q>u@o`w9rvr_l46r5aEJ$)_vx*$Msk1ylC;w%xw3nmI|
z{GWo=!uf*xLY%0t7#1()PvxcY)A-qZi1n4yNVbu6#7~$KFh$>2FYkJb++vQcHk1>p
zmREo!A*BmS9+Zr$I9ZWYWv_qIpl{mSezi*q5^b#(iQNZ3h%%G@lm49goxX`1$Xm%9
z#a+z~;@#t4<u4NG_zEPKo(V<^rwBbnUj-HXg~Ag8KyZie#=61CV4SCCQXt$;>tkpd
z)M7l*dA|8r-I@Bf+EbO6D;AXPD-oAZEr-fls*Y99uNl>t)%>bsvJq#*09n@67&cKt
z&LCbU2Q$K1acn<MIrA2~f%lCU#82iDxGH3IeuATdH-esm=X|md5}X%K7xK92>@%Dj
zYy&fgiXjwYA7cC1bx^Uvt=+wCTMMqCuy#q+kn);}dliLcw=1eEqAH%&80*F~T3TD$
zXq}zLB*1JNi(Q9#hU-J#MZ3p1$PA^IFqGWg+%WE3t{bP7o5$nuOZc1k68=CwMQ}zi
zSr{x#;5Bg{@IG+oaEG%W(OSrR$^Q`VU`e*U=IO?f21$px<zB<X8e2_l_1wxemBAGw
z%HLQ1s$Ns$+#qg>Z;EfjbuBY(f<8lDwqe*cgl2LM)k5LXtjvY%CiXSXAhr`n#GA<L
z;>GeN@P6{9^W*q~1^Wf3_`Ufz`9(Z0zKU1H;xTcIle7f#bV4>f!I}p}nVE+6_9e~Q
zrWXy?+Sr<qDokZc<%_C}s)(BTb%X0hG|p*(+cxNL8*UpXf*IB=STaG4rxA#hSM&_#
zD3**dkU53>n#bcSc&oWOK2>l{&?=ZOXyo(xaXfE+0^gH=kKM{R$GFXCp+BY!!+%Ad
zjncxgmKo+AT}L_|b}U7{C(LL_sa;x^Sa+)SUTsV5np#D@bK~(QQroHa#`b4jJB%*S
zTiZOF%C5uu6OEMZv^L5iY9>>{naI7)?P5>nPT?~JX@X)TkIRwOzUCM6_w%oDm#~kp
zf>;+>PZ&zdL_#ut1fc<2Y#Rz}H{LPzH{!aS+9o$SH9c*b-8iU0TmPvRtV?d#+2Gvl
z(yDBE-B#F9q2B>K1w6rrmTG%Ao<kxN0YWUri=knSXSXn(FezM!>(Af9JITGzyUAO_
zuj4oIM(`}0o*X|;FlRKop596+A!{jdq?dSSSZdK(o<JAO{S6WAX|2oKyj!O=4{y9%
zA6XyUaG{}B<AtV|jaQoYwnetT(I*>D8}^vJpqX|N@|;>KR*xS?cB9qOf6+eC@|Z5{
zyBs&}Q?{AY!M)1c!e7A)<UQtQab(=-+|QiHtV;|Y9ZQd<LF7z=A2u0z60p#k0g_Bm
z*N?7$I%l`jT5mSpXpCs=(e$u!Nh92_q_Lry+bV3Y=qTyfrcXh#JHVP?{b&n?U*d?Q
z7v!7dX!1td9fq3Kn+-6@>_MF0oK?IA?hT}*auT@{dB?aC&KlNr=6Ixd(_<;eNfLsR
zFaQVGMb_cK2J<)5aKrh|DQ&pcpDo8*4mH~w(;Fu@4sHr*Ue#i29o)9OJ-u_VAsG41
z-33T2Cfhx1AG`%0MwmbvOcl{LG5%phGMrgNwwg=kdT==0>zokoP@an0&JlB_vx`{2
zS<%dc^qbVd<VECa(ri40xnTQf>9WiKSD8-gcXod3xY&NAExaYRIlO5~Q+{(p^R$*f
zEeBe_Hg)H(u3iQgW0NT#SY-w5#jpWWip?N|k=fKI)YsH4^g&DwdpG+I%L$2V3`dJ-
zox}~{EN0iS)tsyB!_1%b`Lt|m4z-%pK{$$=fjr5WV@rZ6fjHw@!$<wsu3H^mZQ9la
zEyG*Cv|MlA*<xy@wpO-1Z6DsbpsSyLtKqEq1T@3)&HB^E$Hd^-L=Nc=se`<O=ET^-
zJi;8$I?htFv$%Zj6^@2`g?$N$yn#()moht${gg#_rMXe|k_7nK__H{(9l2&e65tq+
zWSVMd?~Lr&-Y##qwe@f9*}AsHw`Ek@@;29Ymk#8l>0EE{GDVoq02863mR9>&OfEJY
z-;Z#H^o}x_7EC`&-^cjO<Z|SkZEPZ!!+FX1#8q(oImg*kSSifM%nHUu8jspQ8cULq
z4&j`!JQ!p3uqvSs<_OaX!?CVAowqy7+QZuX+G<;Nw{32VY9+QuwDCI{I)l58=_eW=
znhu!1Lx-$1TR6NQvj`VJbRvBqn<+%v9y)_r%<RK5v$wF1u^(`6abh_kobRk{>~-u_
ztcMH<T|s+5IZqiu+D({^--$e#dENfr@(p@szH9tyTy5;F@9cQm(X-vyzO*B(ZD;%A
zwv%nfj@6x~yVUxIE}6m0{2fdHms{$Q*C<Y6%{V)rK@32y9?4X1#&$+uMipZ=vyiio
zqhzn<jAHq+gE>jay{LM|BziXTL<xzeAwMPxa75e;{C>EneUxP-;0uw#Sd+kbUf<Q(
z*||@@tTPRH2zYkevd*y1d!4(wj&<_&Sq6m(W1a>q1l>U=+XCdt+zxC2b|yZb^nh}O
zDxvPCh0zHt7CVbsz~0Hyu^KqOY<G4k^6dqpA7$VeYHBIjPMl15NnDBRK%S}oW;tz*
zvCIPfz+0x1hWm!c#^-w9t~FhO9qpalx(Yk)be-vZ-1$ULHjFcpOunY$re`3<y47N~
zO|i@1nRqH;A+d|}iR?r@NW0E>#E4;jWf~Y;IY-zLtQYJW#!aRt>o#KoeLV8Z`6(%g
zoJX9EpNd}zN7)y{8f%%Q7+h<n14qmu#wbI*;ceIXE{#FhMbe+`deY&g57j5=R~ozx
z?naX-2{;Jcg-F&A%fIkuj62qV|ASvdJW4)D-Ab#ZsTtYy9W0pjnt6}?fVqqr#GcHg
zG3AVLv?<iB)F{epBsK*6aO`U2Br)6e*>upq&_j?0{4}31Ju(Cul8t!7DSelIb?1Kl
zB!j&x$nZ*EsGnjyXKFT;o4vqD0JK!v*4j2;ZemVh{}9d-rQ`*aIaD+C3O#~Z%Lrk$
zG9NJBuxGLgm|E6O`ab%6`eNE%$}lpE^d5hPun;H2EWjjKH(Re-M?x~_A<$`hU;<6v
zCb99RalHPXo?slVzijX~X!T~pUSpZj)pXBPXnF_qvCM@|SW|7gZ3D3;Y;XJxVg@mQ
zoK0z<^`*~YjA7Q$zp(zW9xz?mR~Zu-LChR_AblCNiad=pp0tek2=^7&22Zz7glAb>
zEn6%CumRW#6q-fm4pXpkkD<5enIYcbY*grJ#xUamW3KTq0$&il>w&4@Aj=VGtIZvG
zPI?k<7w#FpgeWA3Qxd5}`ght+2Ah?`_{zG+T*Da6N?~kd+@n9C_M&d2oF^|O9wRv8
zi!fKQD)^bL*~YL`K_8*9U<)uDSY#ey(wdK&ei%2K<{GHR0F%VXGhH(3jN?oqa}V<Z
zvlaLXXrW_Pn`MFh74l^F58MrWFQSQLBzICwR3?MY7{|<IPGd}D)iUwSC(M&{<oiAC
z6?HD<0O=m_4}K}W85@C|p7FL6>jUd6=pm$nMBqF?3}^wCxu1E6>6?*lt}`w%xtgjB
zBTSo2=S*!TcSJV}*a6u<jiuE(&bky1#{^-s@b1W+cP}zTaif7WcgAU23}YiJg7FV)
z2BV60o-vz#k_J%vldlj(#Qww?I313UIcwVo<7^u1ChG<8HrNIJ1ce|EBmzTBhk!?B
zPqP<5GtM)`nwjPT^Hmeuly7PVlwdhPvD^SpT6Wr>*^)8Cuq&`$1RvtR<T;dq)Cts)
zG%2%`euO!c`Ifeod5UqFeuLgfF_L}BBgvDA3-K>;?Jymi1kbZgw9mI>Kw%aYv>jRi
z`G8l<>A-TZ)+_-lOovS0fpKOh;FNi(X_xt}IRJpncHkeN8VItAEXmgA_DUNOtHQ0u
zZzZ-7pOAwnBWOM80Ns-rON(SYXZkR%GEKB2R1!^1l~JA%A%X@k!AWqt;pcFXO>ZID
z<d%MxnU-_lWbhgYfwjO1um%vCLB#X@fq3AAX^i=znFJgLcAICIW6VM*4g3hYSSMKy
z*$%@C;JLVA_?d)*#2C^sDw{T*o=n?9|BmF>Yi2Uz9c=^ypas%qQ|FSah*JsSgbz47
z^1eWZ?YLcHOR|i#j)G=GgP|qhB@hNv!58LO<XPUIz&CKBS#CZK2!P{&(e%}H&nyL^
zfnk6V+yrKUE!KI~F#9y*J%luzm@t5}i9CzaOtn!ZjQflb<_gv~I*}=4dNF=79#QS&
z&*XLFW}-X(JMKQF1>OdCSdZ91%WsHg`3zoyE<<a;8vq$3Ldn1j@IBDa+yzVqegY2x
zvU#CdXC4bo1Kyion}3+opm$I+G~V{c`VZU#d3t{?;XZLK^4(}2)l6T*NJQ>v<T8G+
z_A}S87BE)P{OGr+cPW2JGl(1TH?h9BEclcCxow-Jx77wkKxSwwm<DbIH-c+G0z`)H
znv;RSpadjAtIQ+JTwpEm8b~%Zn4HaiKqD{#xC)JjwpzIMTw6S54z3cHN9axRq~dA2
z>Dw7rdS4cU)y2ZG$1`jU9%DP*i{3?+ld=d#LVx^8Oeg#rIfr7bX^4bz5DEE3n+^z|
zKnMm80S$l`G#wlOeFKi0(KAL5l$$F}jiys3H=xm6Z<ZlBps|dx?6+RAhuiOBarkY7
zMACN3UK&7sLN8(NXMJI(BX_h{u@aa~ObvYzwS=;VJd5-de+3tZ!NYu*YFlevZJ|O7
zq5Gg3Dh5}9rQkxa63hfQKzpDtzy%b8JHYE;f_c5UkC_25fa4~%*~h#YImui>oF&Av
z-!=diU;^-;3FDD(qgF}@{W^od@@IWzE@kuB7ujoB1V$n~kd{FWrff&9RA;aTtQb>m
z!`pb4i<Sf^1N49ngI>^RuqU_$B3VXTDuG$x3ur&I*pdX4niGL!APDSft}%t1UYia8
z(dM5(0zd_4T2EW^?4cMg7E4eOmy?H3sdO$gnm(OLL;ep8MeZ0TFcKJ-7|R)(D1Au7
ziO&h!@GCKU;1JtW>k{iTs2Wm2Z^7N56}ShTfG$E~q2D0eg16``Vv9HU30d_c$O!&6
z`<YjnjsRzY2ouN5Fb@Mo&@$+xb%srX@xzY7y&?vYcTrQQ`)Hq-pIN`y#jHf;3)XYi
zJJwhRM5RzikwH=wL5o|9xoqEKpKtqNc?Q*hOlU6n4Qv8g5XI5}QlZ0^Y1SRqN@xxg
z4jC=UmQi3L;0b&Irh`_~cT=n>$Fu~P3t*8wxXR*VJ7^z`eSteoXdrDM_oM|e7BgE|
z64pf46ZS05CH8FQNBVZ!BielG4dNZV0s9Ae59p~a8o5qoLrLIO@B+9Q909!nmxB_^
zFN@AfwGu1`E$!Aq>qbj_w?}FrE8uL_oBEqBn-xHfDZo4&SOr?38`dZr4)X%%fnQI2
zMG?_PGddZ&83n9soXMO`>}IB#8OAJPbWjhH9}sDTc>H!OY#U~qXw89`mK5+c5DuOL
z+W<0D3hl7CT9;d#ErXD^W7M{H)_lkaby))}FmgA3jQP4b8ptxm7?VtN^J3s7cn`d5
z;n^GPKG-OH5Yde?n$}4j&RD`;%_ea!AbL-*&FpaIS$Y8VH~A|0EwKqZ2t$Q)ty<eA
z%Qt`l9Rz0sAHfu`6&z(5XZZoGvBues*d+F`)>oEg_CdA?#F95a3$Pnn09cGSOiN5B
zOap-q({uAK=n<4`wb}WYefTd#5@|EVPETQsXGO6ym>=2ixGUKOEE}Vi=1ni5rX#O$
z4#kNu9q?WIXs8(41Wg7sP!li+$*(I=I!Ll;Y)frAd$7%F8H>EHblfJkTOfwTXq^KM
z0bBusInX2qvQ0{3oq4`F3P`X>EqMD&%qFZa;T>rqC4+XE>A_geJiyIIzWsh-doakX
zU(9zj56WlaKZFVRT5PE8qcz6r4}OAPf&#N2GzlCHEJS|2JhMEt#@Oarx7dqdoE?Wb
zZS%4Yfg7#wEFF+HP-ET$_6I@@M@^SZR^tkAnK=V!vF^93VPC8sw}Nz+VxVYfcUTix
zsVq0{DyAQMJ135Dn$eS%PX0k!M2y6}h6QkuMQio6&NsgUr+^F08=wi`d@$Y;XAQNS
zu{Of5?Q=2r;WJhOHWx0i&9pCsTA*pxBCyi5!Mwq2GE4z1ra{L3&?R6dq_*#|$*?2v
zD+nh^@2M7AEWMunfH9oO;;~p1b_%nYa+%hXHj}&q{|7q}BZYUvcR^?9tc78o0!hF*
z<^&4>v7s-P5B53sMtcWln@x#bh>N!Wz>@7r)^qR@>q5&)Xb14#G#+Gt4SK*l&V1eE
zW0isZEl=RN$P3KZ@Sdcnl$Z3=v_k4l&Rmv^HGtzrqcK~UL#RATCUF!2i|fLM*xy?A
z*){_{P)`fXG#=Uq`T(((Pz%nw!L|_t*&f?P_&T@&w;kJMEyHRtXYEC{7SIhj;ew#&
zMuIsAIArJpt~2*Gt+56}{jKZaC71{JsmN=cL&(SJGa3Ep0!}JDoqnB7r#H}DXqCkC
zL{H*Xe2jgEy@$0H8flwpUJq=6)aJ9$D{v0jX)U*T+jO?C*k;T=>?b@Ic@QBK&&61=
zr|su$bM4!$bx<hy8(e1k0VIGsjm4k~_y@?djk7MWuf*2l<`W(f|Dimf1Ton3bPB*c
zK=-GY(BnyE<Oni_xD)pUQx21CBzp;@1z%WV%v+JG^E2SIWiFCm$E`j#iv3@k7EZH`
zu{ps+yPtiVZKHL(?Y2#AFSb@#kJ|6rt?+70I-H4>;7vF-A)8Q4_)hFinne6a{6Z2E
z=|nN{6YeNs4PhX5AMOzL4(2Xy8Fnq~hFOZOfj?r35TCXp?+#wEEyO&w8LS)aV=a}?
zY0C(x$XpE=%}iq(u+<c4*oE9d3N!bCP6Ov5y!D066CQ%IVZCwlC^XUyaxncN`8s_m
zBZ_*Hev`h5UO)|}-JleZuhC`^!ia$+3-aFFEZhy)fSrb^M&1|PhS_fOunmUKLD|+k
z%LQPt^(<Ho_yb+WtLA^rH_V~NOryzoq-(JLM^|BIo&l@p8VJT}qs6=lut7I1!S+<l
zP8>iOO<_}=nLn9pIsK7)BSC^M{72$L;v(@%UM%~AV1PK7FQZm5r^1!=p^W9WGyJgD
zR6`tbkil-9+?n37q4lVKt@(1B8R%U(&rHK~HXMih)_m^rv@5C(VotS=YP@T_UD6JF
zSw=R5G!JP1w`qoz$+%paV;ltAEf|lf&~d^NVLH1<z)SHxMToN9+2H?GGI!WTc>>#I
z$c>Jhqh=`<RUDh{nduLAc^xWAkj^fMDrzK4nugZ1%4W4aFYxQkGw#gq-;!9hM1Kr7
zy)>!riJsTl*67i;u!&LX4-C(L-m=qpE(-&kEL&KeMh>nW-Wg#ZPr3l#<IvqxnE$xn
zazE;HbwrM*zGw4LuFpTCh`kGX3|If_@wjigILI>;JZBecKX!CrJsU=sw!`k(tLr{@
z%}rlecDYenT3=mTGo!Yt$-9<YxwdV2^Y(gn^XHO2wd(4W>P<xtGYUGYTiXh?1y@rB
znqJu^HWhabseeMhDY~RA_P9#D6nK8Zj$U(zPYv)Nr=GZdc<98;K7EGQ4L125b(*j1
z@{$Sq(;n+DH9saE?_5#8CN1DspSmXfhwAvm1JQwH;nhuztD4M-pA2i8mX_A$Z7APP
zDzBZJloC^s*u(atqUGn+pO;f5#)alTf7A)JwaY9?o?BgC=OtVA&)hZm`<SUgWBP4b
zb9EAH#=q;!=UAo%Ps|S7H_R}-q8~UI*9m9l2EHD|v3ftv`)(<?!Ft`ndbsO*K{~JW
z3E@GeFjUZ-n)ndz&~N?z!BU$RRr4t4>#sKQ%i@V&BA@SyKioQ9ul^=^krIEa{sa9s
z{3l~+<|6kiev}cMv2UdFCZ#O*UN&pPxqq&#+_ZN4lHW70%&VH+d(piS=P?U)qX$e=
z?4$QfaEsP=mVr}?y<R1J>>EA5vAOl|w^x6LW+=;@+Owj1w?Qq^oVRrgqX#xUFu*B3
zg@vz@zszd#jy6Z``WW<bQpvHl*Nw~5XI4&xKkEJrDxeSYPMVTFe%=Pxe-^FC-<7vV
zzM*1WOz^d>>frKTH17|ir~4B7RMBRZFK^qUpWR$vxZ`(f=-OCjL%+=7F^l6?MXxqA
z)*p_mDHxlS)m~li9bHj#w6wicothjru4F^*g*e&!b9Y8WtLwAM9!9MDZ7MIa@l~F5
z68W;rjh<7cYv$<39$$K9+rtgv+a_<ySW&s%u(oRSr75^!k%OX#e862HP{n#Y-j<k1
z{QSOTe^*;(#hadyb7I{Z$2MJ!?pYwt|5QGt4vNodIMB2@WpD2P;pi&BqTHVTTN|)+
zcL{<D(g=!z*kU(!cXwR774zEH?(XhHvFT=)?PR;(_~!pTJYKmz=-D}E<~MQ9%+Kqm
zu4WQn`*p;p<&V&(&3}%4I{N0shvJVD>d)IdJ9da4(B~r_=e+1~uKoLb<D{)Kb5;<u
zlV-NrP`_F^Ry##L-#k$~^jpNpkc6!JF;%|56#Xj|8i96kE%sySx1Vo%{p`qJ{wwd7
zqSEb;SrXd(v0C0Z{pW5;ZS$GWXKQEHMg6wDNqc^+>}&az_oME*-Wu^2Hy#i@E|E2y
zz-I;{Z6-#g$DQi-&mc}w-zgE(Lzg~Te0pl`(kCls&)79%<q&yie)pEFv59ohV*3lb
zr{ktssoC~p^z%vORq9n0{a%gvaO?Xe@deSTU(f&Utm)CxSR4QCJAbPr?AyS1oj<1i
ziL2dNvg;9X=j?|*b%lR&ziIw(>YgfP?B{+jTo(JzOk3Qq=Mcd#kC9`iR4iV*{LI30
z)B7yHvnYPZ!om3Pra||!Kl@!^ckuoin#C5^1$`UelB@e(D=yW1>G0`##f7HIvSok6
zYW}TWRlT=%K}(+ox1WbALo3t2_Wd)eO852e%dyXUl-w*I`{&cgeNURo6KIWNi{y_=
z>gSiFOrta6(h>(Oo4j!H=?Sx^_^$Y8cHqeQ6RIZ9FIwGyS?03X=P`rgdj{<$m+JSZ
zqGbIP`{d>-w>Mk<hDgsgY%4$a<5}fY(QHK=f92m-d_q;-aQxes>QV)-EbY^*50cUj
zO%KX)Uf+9?^+zqc*L=AqSgbS7K;ZT$#xMFw+tuB6^;QjEJt2Pdgt3;%UFI&EcxYJ4
zq_xBH^8!*oraVkP7y65L(4f%ga>m-%)J^}y=Fd>N*49@Z{!vjeU3i#}G_=$Ph<#*p
zt3Ndu6kkMd$_D;@QycU9P5F|_mXES82R=Xlj@O*8-B*9@$G(;WM3dVrRur=>HZ<#K
zw@bafx)qGrFzMW++oPk3#Pj|g?NM0VXHrjAzaeQMk>Nf=c;5ro;rAt;;v{jL(7RD5
zSW_MIMceqLDXoPN{rr2mX>8LL#UEvlib3$&U{Uk2pQ7>((yc!ql}vxT=+l#iDV4Xr
zK7VJgP0{yny`@@iILKuJeupnl9+)~a=jPxagOf+yoG@X6_t<+QuaBQOSTN{T|0k(L
z#@&dj$oS|;l!ttjyc3ri{WQZHQr@3zDiw@r3>V-1(W#+Pn%_*dRMl=2FH%aXmee3Z
zjmWLy{m;(j2fi`oGs`mGE%_SqeR_2q|C69pwnuo=dDyKqtW)?CU$0K}UH=_WI_lw|
z`f-9WtSKi(=8Y+z+*%;)6_8Qd?q!!{5$C)+;69c>meaCRaIltaSSt8k{k-LE<&$4t
zs#&!IL=R+=iYm$A`XmusF{swuc)zx|e$bCu6#>nkKJP8feAoBuh5CK9ZEC3BpQXzz
zqtL<J@kC_Uv9?<~#uWU`|Jpxy%$-pqM`n(@F)4Xun;{1aD>|L(lb4emIyyes^%dMb
zuyx%Gj;0}Er%)k!+IZrVP&lMk(Nxzu;m=V)Pf6PbwN%?QUXUk@tvy}wPu=Qf<?k)O
z=lvM)@nG4^vaO{RzpwtiCK#(cX~;A8agcshf!d_29ls|g_y5%A@1Wu_lSV%nxnbz3
z(Y*&u9^zHFBJp<a^w<%Bn-kh|4`N3wOO%dQM)62=p!`$qy2eKpW98echE()#-ByK2
zY1!?nFEYG&dE<g6eSJwyYI&!s?Vpd9AFO=%G3?jrPeaPPH7;+GiVlj-IXlr6-n$}?
zg^Wx8oVlR;#G&nm78h+BqnTJbRx|p*B#-`S{Q~-YjuT|Ri<{y;C9v3f)|uhFC_f}z
zP?Ik1R4wH%Yj|IprYNuSZTg@wR%A(1#Pe%e;s)W7`Y%;`Yj6LGuGCcreM$ZuU+Veg
zMR|1jmg?j6e$6LT2W*>MrV#_YIq{$4{JQ_w#XY}%Wcpyo@WP>^#z&0L=))eip|icm
zw}Px-dxub;FxPMXQ>=H4=hZ>Vfx^k68tLpZV{>-X!pdUZ5qMugs&7|+k>6Ilua0U7
zZPC;$se05js_ehAX_fze$gJL8_37u>sztvlTSmxtYai$b+D7~C;T??~k~F^Eg&xbh
zEa|&w*sfvIir)3k89i!P-=5(^(^9@<7NrmKDUGZ4bTSLMuhdhtDjiQ#+E`puAm3Fv
zSk4uA{rRlDS$|6KRO3;1P<B$<QvIbdM*g(6uxwq!%+f{G>Y6TJaw~TKiL4ym;HWoC
zv(#Cplh!yc6Q1QeudOusMDpu_KMD%^H4WS{Xx}(qkCVe+4hYEE+52AX?$pMPA9!bi
zyFtd%3xBS;BmF5>snhCqH>WF-tM<!i{?|%}E~Q1<JX4{p-6i|3USIRKrcS)J>U6oI
zskk(~Jia>iOG)+Z>RAmd_~+|OHCIg?@p^i%Te~)k0^>6GW~n;eA2PGYfPwu6G>ssN
z{_9d$c&^8_PE+#y!c*dU#<;l*^G<LsH4S!VDZPc)L_*Ewx|{Vm@}w#sO-IR)s%z>E
z{MW)9)tROQ(QA2e&8Dhs#h%L3e*zkAe>PWcsM%Ahu5wiG5ndNnNX8f&s1&!;M5lnU
z?cc@x?y@pFsIz1cQD_`2?#&)pHms=2v_4}yPf6O8H9SZhsR-JK1#%0F)w=G+<I3I5
zm-v2~u{F}>M~c|`Y_(c6sYaplmmU<}mF{bJ#~-V9)CT_TD@rf_RxWPX_~~R>ZQa4Y
z3+vj{qq1gYxOScWAQ~R<&|^{5rH(J!KJWQAFQ$M$Jg(oC!G_+#LDPmV%jn)MF}-Jp
zqe<7iZu#jwbI>p(s`ZcZi1x0^tMPI}m@2wqLra5fPt9GGLH?|9o9w$VUbt2<P@t-v
zC|O(UT3#sL{d?taV_j>><I28uc@-@U4_eN&`fJOqpAgcmDzedUP+NV*_Ous;G2M0D
zYlfG?s;9aK^(iR)o|)WvPQtY)e(XFiw&!2`w(URrt=7Zx#nM%>gN@;Qe`Q6jS@2nb
zHP<PANG3M2<lkgA!7x$(rr|XQr88@NekL`o_`SURMP2!qKjmYadNvvOk)m21-&(|O
z;H>vF#14s$$(YyKJ*#Tq*nT(qJBJGUM-IBwb8(+V1;>)eRIIH!d}8o?);QKGCf6FE
ze<;lq*GtAL{?=F54U?X1njtwZ?b9$q+FNm3_+4~DxS>fWruivliyAjnIsQDaUtQ|_
zp|5%K=XrHHy!!E$Jl1(QYMd`zbzU>V?aAi0zMZ1F@6A6xY*XKuzCJ_84Z1tPKlgOE
z$6fX(%}X2=+|zfy?*-0X<drE~dr5mu6Dwv5#!2{1w}np>i4D7ir&R5PhzyZ^Y#t+#
z%f2>j<fk>=DDNR^R~_*ES;Lh-$Er+?JAPlSE0(e~b5uVKvCJj*?9h$@ox_=wgGrO~
z2j>6mOb(pWZ%N;meY+I+_V|&rJSQr-U&N%COF>6GZ*osLO6*b#&#*_K6-^NC5?878
zjei^W$se^0k>@MAH-8c>Q^$&q@T-Nw+9>#JbARSFF0YQQ=-SNvwYO}HU}m$lWvTSD
za;!0xXy@AAB{yVaIIn$V=a(IObzRcqb@wfU1{U-v*x37J_jz4ECbcH{wZ9wLD<sEt
z9l;}}Ff8*U)qS}`zCv?OoYg!~bWT_#d!p>muMn72EZJM}3u#GniRhVZP0f&o!lok?
zZTQ_Phkws&7*#u|QO~ca>n!eQ@ORF)OYxJuTEF=A17qDftjf8W-M%-{YjU2c5811r
z=cl~*th|i2sax6?L=Zkr-kUt)h_|->trc3Wp++-H7%Qk0t&@IJ^$@D~Ve)RW0kSID
zSkX<<JSDqD*ECg_T{~AWu&MIru<D%ZVbzAlH&u752a7MM%UkV+?&iy=#eYhWCQuN&
zrNgxB1wEeR49gGeo6>tlA3@iMt{w9pWj#pT6Ei((bT|>fa~Vr+vKws4mR{-#={C`G
z@od#_*~*sE7LK%DK3+LWj0w6bwDSMNI-#*)h0r11TwPSPy$-2q-_WP>=MQ<kL6jz`
z6Q2=_bd%6)+<x2#KEc7$V>@NsO6}FjoPW6c`CeOk_bMnVxSyZaB`Y(e!`imX+RhI<
z<>kx%10&hiIN7@1Vx25O`&4yNU~c>--m8$Ro{Ob?PuVWzJ}FDA748w|NvAZ{)HOH#
zs!MPDQ=|H|v7%djZ3ETxvw1Fmq57>Yfl9<)V<leiVkB+z6W(`p>r|gVv~NrPpS;z5
zWW6Tl@6I}tJ~}fqaYW=Nzgga=yw~ssI9F<S>b4tGbgj~%!km^+$s&bLhKi;M&&X0`
z_43)$V=ZeW5;0HIzWGz#HvX38sw&;zpH*)4Z5zJVZY(>}l&v|UJF8uz`$KQ{S_Pc~
zBO`mo56$S%bx`iXZku~W_Hp*e=+Th3tm~DWAt{3rRz@xe>l||2-3wpfh_q$eo)||c
z>zkj6N|X<k(}YJFJBxMlD%Bln6aSQ?RMA%|;_q*sCE6?Sshd^RzM839RClxT@}K<`
zk%E6k{Y1B=1|@1QCN{XSz2kgi+hisG&Rm=m*yU)!xIU%**YwtP|Iu@3_kVKMcVybV
zZC4c4)o%l*J-(ea2h|val2`J-t;^N3CFbVtf@knfzMDK&xInZ=eo!(_nkAOC+-|}6
zJDO+L4y(nQme)BeCj7x_oK3s<t^7%KXC<DtdU_n4PPKQFg^!Ax5&tw{e9G$F{|b8M
z6?W~~b5PH&UH{FVo)MC<qGNGPub|^zD|{Y%enzvcUEq%WwV_#8ENgCDC>o{gs>zZJ
zYwjhPFE3HQlD%y1B3>?6iT^efG+?5G{My>m^3_#)n-BBHHQcBW)!Edm_49S340CLr
zE_Zw*LJPxG;floFnem-@T{h>Q%p>x{dyLB6(rI;eX<ASRJYrU8TzIpun0wwa)%u<C
zre|t@@wZEgHP>5D$oDlb7H(IpQEgIs2v<qwD@REJ#JR#6(J8^Qri+aes*X4K^PB5V
z))ZCTZw`{F<!LGx>2$+M+}~rY$8p!1;G^-{<Q*CJQ+%`T<+=3O)@?{<G;d?qGntYO
zUE|g5^f7}1Z@Cs@|8bVF?6&?IccoU-xpjv&RC1tsGuTw0)_mDt!EtGe^tGysEWhQF
zsK4mA=xuFu{bHe^{&d~;^2!Qni%e7`?Av&)rQGxnwUXIJZDL*UUlZZkPSrN6T}<|o
zF6?gdt^wWj-45q!bF$J0rCvyy&~{`5wBmVJdoARwq;|u5l})Bbi(K`psi$~`BCGYS
z>Ky;Ks8P03`Jb}Cu!r=lbiep`%lF3nqTJ?74Vt<cf5$d%5coIjuSaXUO61xZ##hEp
z#uMmFkD`zzp|1j`$6rb5-f3#r$=Qva3-S~47j~JPeX5gRx+C#<WMG(U<gS1{?ydAA
zYce&DJZAbP4U+s&*i^T*T|{35^|CeccCDe(^TJKiB@(ebSSV{5F51%^C0JG!Q}?mu
zSM55`?`t(Lq<xff#dv8>>vyV$OOfYB*9*QQqT97=pSdJ;Oq#Om>^y$Apl%hpCpurr
zex3X?{!KgAHdDez_;e<^aOCWKCe1WM@loZjU2XUxZ_}IyW8}7J-l`-5t%NVRDBmiN
z6TXq8w~#G!n}h4zgf5L4^{;Ar|NYQ(Ry4FFS<p@JOa0Nl2K`REp>AGS$eXtI__Elp
zX@9d5bEo7xa<Av+<@M_FCB0jQPs-ASC2cUjdhcm|4_qhU$INSVYfO{Ot-5)lFj19c
zm$F!US-3^$A^j|M)7Zs*MW@7PMGwUj8^7~k3DO$&G%P4L)_f6cXt>?5qc*L1t@@{d
zGNc>gs3NY_??AX;uqkF-Qg*s`*W50LI-Bw$y1(wK&2{D+OBba*Y5O7kQj{$a^SR6^
zba;_6a-}U=6CjC@RVtENC6Z%&w&c2awW>g|w`H7^D_$=-BHAhN6|HMr-*lw*WmQRY
zME&r(Gu6_Ha=}*l8^s@)R@vXeV$JZH&D-xWCG1Sx$TXP$)6v|C=(f0<y_+<5RL-N$
z!gM_0cZX5&za!`%cMi_k&r2pgICp7IskUqPn1<`{mJ6ay;#sP}dbu!O%#+9^Csi3D
zMC2xX+v4A{rgjuRL6G0LwBcLX^7=K>-{RZCYt5drA66FjmMJ0UyJ&syMlVYk5MABw
zcG}ylIl19o`eaY-9MoleTA%dT)Wh*p6M6;h@k|J~=rP>&0yS8_*R&t*L|v3t;RK07
zamYATHdPQW{VwLVI^>*|iP9iZPw{AeJYOvO*67)6uU=d&5{?w~;(u*OYaFUz8#$I?
zM#5HuNIbp66#++r7sM8Kn3h%CDKV{W*7e*DIT4*2vYw^PN&AwpI^=XzZD@txcMo`@
zLB?TY=<eo)iua1^$}9TUt@DNbq$foamCDv)kx7b+pNhuFp9;STXY<*DwawWziOrk&
z3z|MQHdo(mk}E1T+f{)IFa399sCy1i?sC!paJZ!1sFZ;nLQ-9_bF*1FZ@Ucal$05l
zu`Z#!eNe*6aA)`~_igM;yq&}X<e<g1b%<u1ahiFO{E~Q~c%S^WeupecG+MG(#8DT?
z;#<y&hY07kxHSH0GJ|DDG=^65Yf3~=pAi+eY?iju-*VcS3?`gC!R_DRi*bS&8amE<
zrs=Zta?fS;&UAL(l`$?gKXqS1&vu<6CEi~Hs=OcYHnDn}4aT*O<M!)X6y9A9k{{CH
znxi6}w1+5I5vUp>Vx(h5?OIxdZCjqSgg4hV3F{Bld~CAtAMu6F@}`@jY;A_+sVU!l
zg*@k464)!yGcYA;U;M_@8(CiI^%+|`@6KM6iR27V-=F+EksV1!&5bnqfA@_f^63)n
z9IdlG(#=zODc)&|^gLOlG)|1k`nOu8tHj;Jf|gsd3*z2_e_Of>Dw_`1u^KP)-I{kc
z619gKHb{fjQL5RB4!RAFQucVB)-}{;SkUh_VM!kn%^km`%d>uFkI9vHs!2bTwJAx}
zZf5&|(Z!MH{YzW|-M(_y;yKiOczgNYm~Eb~o**riR7n=KhN)^rPb9a6!Lrq|0AYl<
zxaCgs(<Y?ZjX$etdE?018MPOi<-*?Lj-p`63>D8h17=B{#WGzCeynI-8}C?KyZgzh
zS#3IB%=Yi}D@T_#IL$lbYtpcG5pmogLBMeTt{yjBx<L2QT6?o?iSdCtNU=?tt&Y|V
zmXeY+BBOYzVv*#jXpzv#pVrbxFrZo3RM$w>p|y+ZW1F@$$212uZEE?cSfNif6`G$q
zJy=oRbin(dp%Iy}Gm?TcGBO`$MrIGp5p}A{3CQB5PD+u-osN!=`7h*IKu@<v=qbz{
z%b+cmewqb}OWKb{v+{$aQS?eQMblXs0zN9VWu~~7xUJxymSKWpjr=;lMtSpX{-fsT
zx_$MdMUzwmH1CvCHD^snu}U7o`{g#+2YSldrFVGNeqPe%wE0=iY&t7CEj05^a&W@7
z4liQsqIh9l+ydOLxc71SjF*`)-DcBS+W<qNvQc_TL};$H?v-4U^cBt&9hVOj>xC~`
zdN;@M1<j33`}x&;NBxMpUrj=hNERb)BQBNqGTmbKAfuTLL|2cB(1%g~MkTfxnh=sQ
zIpa@eWcr{Cdq!gN#nc%cGZSvcTSN5zlEB;EQ64jh496YE7t(GYWF*uRWK+~B`h`kY
z*#hwo;X36i`CU=4c)eg^i=`!-KT80I)VRLBdn3Vb5H1yF@;!y8<!1d@OPo31HienY
zEA$%|kQUS?{8?PjBt^=sl#-OpjD6{|Gj?aFI+i6>#cQHIML!Sw8`#NbJNqy`nvft?
zCt(U`b=8&`mTM0vEz%hAN5v<lpLCX_Na!O>lAI9M3Tg$-5SQ?px;MS$-{QAx%xaq3
z!pP=mPO2wrUK{_ALF@&tFL}$o&Iehd(FFhY>tWDqT3SiQpR9@LZBrvt`g9Pt>l)t}
zy)b;9-%SsN`xw^|taw^uo^9G@b(rj}iOM~)U&?Szu40Vzo5)qvM_M51BH{~o@Gmqq
zHCHtU^3OKsH9V=`-_)_?xTL@Iqr|T8&~30~F#QlacG`6&^hf7KU5+-#bxoX`IwWIQ
z`j)gE>HAXE$y1X@bokbGNz~Mk4MA`HUA)$F`yszb36<d7Wj?HXq$*LJX{}VxRD6(p
z7fqFpm2Hun5v>>8<QKN|5`^-ro1Zt5^;a5-n~DWrTRa6fTFy#$Yet!}%*QMkUB!;{
zT;#Vb;C9IG=zkMLNvsr8%DFUt+U@j58AMurl5hLExM?xg$imPKeskP!ah9_t;dS(D
z8()7?Yu3wkQ`H^hwUWIuvpfTOp)!R(Th<G=wTJ{JereO?20?>&)5zwl%|uh@rn!QV
zlEKOp^*YTNL%6*jdCfh=`{^O_w}(xNtxVX|eo#`Mlxyi{GtXvhN>iom?3mY~UAxw}
zeUS@-WBu-X9(3op)S_AB1lv06L-R>J-fB>eSAJKnQ$CYlmz)vr7B3P%1?^VypEO@-
zKGA%unQUrpL>hICmHfrRO0m22qP&A<n(>5V3)KyI$^PY@>R%pmH#{`@XI$U*=A@y?
z`;u2B(@CjGpAr+>7sVAtjS8C=B=f)LJ(ZWpeuQQ-kEjcd^A=M7UhAUI)@xcZ^%+H5
zWna}xrH6tm-6A<G*(2U7{wzX-K7u&G>y{lNlUONYi<isTngfPuCXu<t(SkH{NRI{H
z7kuSGlJKi-HpZLc!xH2P3)=tNp{3odw!GMLQ6*tih-;9+XP~>7vy})SE}>_f36`nG
z8hH7L83t?rRew`&Yn|09P!Cl`C^T}5T%hQrh?5=>zYrsm_R=9zL^4MFSJEtBtWMJk
zwMz_hEgmF`xXC8CyWHRV@Pl$A+D4W}b%~wbc58x1J8AsIwz;wIqU}+gBOe8e{k*-e
zxvk|b<}Sn@(o3Dm_JOuNmUBjhZlpF^i|RUPE7TKIE~*@rQe{-?WJ6@%rMD&J()QB#
z;_c#bVv9s2Z&nUcT~Slo8q*%fA1aawA=oaj+*N+IfU=+)VXq=Q+61%}#eI&Ajhz-d
zI`(aww~;?Wmjrk9m-{aCX?EMnO(T{fa%3gb-_dMV8)^-|jXXpD)*GrGs#KLqC08cO
z17#beQPRt@CRs1ZX7N1nItd1^`nM{&DNm~J>8_g6Y=r$^r;te_NZvCKr3dYk5YQ(y
zEsBY38?_;NZp@1|#y0C>#F6*H^F#jz-w)RK)p(wC>&5NDEn_<nGx^3Yx1O_hw7fTb
z)|P4r%`1&sJx1A6J`J+k?eb#zbO|D%#khnoQ^+RDhRXlS=fk~pM?-hx7t=V~BXTen
z!Nxf(UX14lpGQF%A@@S_BWfb9MIUIhzRj=bH<6sk!U#+Fkr0FbTi<A}P<ZdWo%0Gh
z2jZxn<Z$P7>j{%Ye@$1b<LH)Z9LmAU*$S0nhEgKCAsrxHD%l|mk>^SeNEb;_`6tyD
z^?uDEEou;$&)N@BCzv*PM^2FIRIksz-~6#)mypfjJ)+M>mqvGtJ{8q2x*|#)F*fvD
z(E0!YjO}{uA#hp7*^i^xIb<fe*^XI{o4y*8;T?Oh_K>Dp^;@-C{aCqG?kPVb{V7XQ
zjFWbej+FM7ZdB}4tWsQ2RjJQwM;qA|t}VuCrgO0goM*h-?i;)_{Zay>!mfv}jGP&@
z6>d-3#H@^-6j>QIGW1yR+#o;yY_E6jBG&=jS?qDxJGzW)u-mN~%SzJ=gG6U&{ik(z
zYooeenXPP=8{}=2zh!HsCaIs)E)&U*%Ua}f6u~M@E3Lh)uP`-Q^PC}!3%-DL-zC+3
z8+4uh2#gKs7xpYHA+j*KFghmspGZ978w_1O74j9jd*6CXJ#M;LxmrSlMI%e8Rn8Z-
zEf$sOk^$4t)@fQVYnH1|DxHdQr9`2WU6IX~4wlh!mW%}Xm&(tpcBs=drP@FG>!!iB
ztxh+31M0()ab#|^SDDXu|E__1gKvg^jhG$jh&UB~C1OluLd1~J$e<?w-hOv{UwOUc
zo#$FuR$PePV;s)=_Ik@P^8)i}<8^(ywm?&$iEYi)3|FQoddU^?b*dSPtFlh=b+Y@)
z-|7lgyymp#yLOZ5CA^j!>qw*~A`QfG7nH~K*zQ&3tq5oct`E5yx-di<ni=5{!3*yj
zq6;hyJRdmPpX*J!SMip)^yDsKjYIRG;y%f7%D&0E#$05q*9GbVbQ#*qniADYWr$L#
z>Z`gT7szkO+9+14FDgY!o$8zVgO1d<hYnhiRq5cudm1(F$(iE1m6z|?!S|J4&%i!`
zF+t-)v9N`3!hK<$OIh&zpr`)(eD-*WJg&Nzx=Pp$L=zT<w5Q$3>-On3(rhz24JCRH
zJ+39yG3rWnca5tmUYVufDgLN_D=#SQN`F<8=8yIt?P-0n(ZdpJFLlhPt|ATi1J+jV
zY`4iCAH660-ty%KkU=v-UWUknmIiMN(F8vZa`-EJr}_5v`R=*Y?Y@hH)4(dm{m@YQ
z0vYODZ`*6}F^8FM7?$gTw5wY0w7$~tRn5voB}eU|7ATe~hbkLXt6R@$=C&s2%Jq5X
zLzZY;gX1W*7I}r8U<GoQ^E!A)JRW;*@rw_@f>yvAmr23DgB`)_pfZ2H|1JL(-=5w)
zk2trvyx}hW*vYsZ=CmKA^o~ONOY2BWmMO_#)!o*G>4?_vYCm<MIze+(bxS#0c}h7}
zlcHIu7HVF$7VD=Ne;Mn|ZEX2YA@ziT5d^H!T%`-@#`j3}Zt<Pv_tfuRfM*a9ydY>_
zz~g|CfqMd){9JrmJQqP%VLq>vt77#c8nF<BO*c3R$5Y!z%SO{U<6}cd{a~$U>rl<Y
z)*G5lDnHdT<vjHy%_mj5TB&~58mbS~#~Zqt4p{oxO%64=iP?$Ci2vB#T;A~ZdGz-x
z^D_IC`5g|}7&s+hLO_SWX@RByw*M0!md_jS3eR=!^Ib=AO`K`0tJr>|6CDLFU_03!
z!E1E^?01Q7s&=1thjyf9wpyUFsupXq)T>pU)IZcz>tXF(EvY+XSZEHkuCdK?{2>1_
zchUEF4|cdqIj_!brN;!XS3U;6(|%QcdjGQl!vbdn9Q0H9vi*{MeZ22^JcW11S*`;)
zi&+&|KQtYwC%-uUvs<8JV7+Ohp|8G!UaVc(x?eL=Jwy|w*{u?Q?@H3lZq04o(rVOZ
z8g>|unz~q0Y!jTTsUNf}x)Z<4)<JipnK!}1;Z^Is)aQ`z2*0iYqXN94Z&?f7tW~}W
zZ-J-QW4*^nw`|vboB^y*)&lG~W1@b*OM08Fhh>MUk7=@z(Jj&@w(_)3wGMT(+OB%3
z=4#EFj+*q=tJ-XXz%avj$MnZiW$);$BG1qoq#pNWg>c%s9Oh}=xgLCvVlUd~kYAqf
zCZ8zZ!G2D^*}liUzIZlz)qCE9riM*iD>s+pPyCCK@J5kK?{@sKacq2eCDvf*qW?#C
zMgL11-uhQ_L)}grr47)OYnn8}be#<E^-+dX#$T4_wq5o;j%4y7vjQEAWf61OM_t~y
zDqPpPwR$Y_Zts2BYod35AEobd-!0xYuVdabyoJ!Ma*fxPN4utQ4Qx*$1-plBVSK4i
z&Q`nDw%95(oi$7|))<O)m0FF4&@KW!cWU&StF6oQrMkAdI=$Ms)jYs*%X-1K%1O|3
z={bl$cAg01yyj%NoN@i(Hs8a=^OWZ$Pl5MupLO1=y`!L~^`!R_uNV&&ba1fU;$1zs
z#jG*x!GsJEFc+v2(w#hN>ukxkoG_0!E;78=-PacA7imwlVp^d_ukEF4qdlxUs{dse
zYuayKYhGowI(9k<YAF3L6Ndjs^knU1FXDRhQrwE&UW0vkd#8EL^IGh+#Vf)m*n5Cy
zt4BM}MbP^-lNamqmD`T1C)D@`RL1xNwajhDKG3pTmPYdn<5>MtL%lv(7pt4nTBI%0
zC2PlMrCL-UZQN({H=Z^Lt@mwD?8}@VoRQ2tbQU@UuOQk(cghl%34o(@?)e_yJcdH2
zUx}Bi_kW(RJY!%Y8ppH5{UYz3YXL9RWjp5|mM4A+KZTy4XH!d^tKrQp4gGGfOhu+%
z2BAJdcT&4Z-=NI|UAwQ{ua7Y(_0@*Yrg#fs)!VAzwO$cDkd8s7qYto)tfTA!oGj>1
zaqv#V+tXWaCp`vw={%-_w7)&Pz3M!=yKiz6ySch`aaC|Pun)4IvDRRd&_t$%IztH@
z>ut-dhb@?Si0QK767=(R(AQ~;ATpexd!~2jiuB_QO~wfGN_cU*!<yr4aLUN@z*A6!
zB@lkZEY>x471!=^#r3`GGhVVs8T8xj_xRv`*t5H*i-*;HoO=fJsuc5<yWHiLa{IxA
zijKGui9vB@8Oe37x9_q2XT4_5Fy<H|j0^P}^oXuryHmeecU+gNSLml3(@YhnZDymj
z$c{R=qz}0O`gR%Q6!shXfrfMXb1S$7E}lFkZ?)ShcX);2UgJ>>{R5QyLw7xN7Cz;L
z@%XNjT_U&-*<*=`L?FHb>CS{vRnAt2(e}`?%<OAEVeD!&>BsA;^*sG>olQ4Rr_$#c
z`x(y}ea$?p!1~61(Z1U;l)g*XF}`RwbQM9eq^v>gXPj>?^IT(jIj-@%a`y*r7Pm^b
zZf+4CyP@Z725%2<HE)>fF_#<c5%3IEhV!w<$a8u&Gn`uCIAbGh-qyjEdedutuyH4J
z`9&K>>1uT6jGqi=45N$<rj3>gtJeC|ddgW%hEm~7G98OL@sao>qKsI~4&s(^Z*$ji
zgLzYVYk54k9ngie);-cK&}|s+G4C}`=SsNz;HaS|={IW-aS)w><)H<1F<Iy6<5*?)
zwIxC~X_7hHxX0Mj@J5$sJYwi*a5K6YUzn`siC}q~Y_}Zm;f4DV@+8#*)gw++gk|6@
ztgq|_c0JpZJKg2J%TL#hE@`e=Zo$0Mysf-w9u5|@7vz2KG6cG0k~xovW5i16k^X_4
zr`u9Wa;B5Ad0Khar)CfHW>c<Vka37{s3F7H+t3#}lpmUAnm1S?ZKrI#9llPrBcFBy
z?u&Hv0V2g-5pv=n>o}{Hjc^UzW87KX#jfG5Gh73BT<Cw>1rwCUyL!3~ay{$P#2v}m
z#;#%WiFbG)76IHH59uvr8N@~dY(uOv%RZCR*b}<z9vCYOvkd~{edBl&X}Scjo4eb3
z0N(X>7Ewi17w9u-izqM)whI^HPl-ir2|I!l#F@xd!}`9i2`&#^8eQ!!gIyQ8_H)g3
zmAIt3ByiKXeK@1psjR=)dw9RAV)oDj$Qb8M=x$nX{bUZY)S5P#%*OqO_r|lvb;eXv
zxaqO^s3qK5Y4x(lIwv}X<WuTBwG8Qq7Na+@-&h9Gne~<>VJV>N?K$Tyw=<XG{OeNa
za@xh$b$|=Yb&Ts97bTbD65!I7JAt!^Wgti*0RN4CW@giw^fmIW!)(j2g;~=qE|&Ht
zgE8DR-`K<S&6r~vYCdj$W$9;~XuD*ua!8!_oKLA0z?g!gwMZ-a10O>a6N8BPtaWS+
zJBag+O>qWuhjVG}6mFu+PnS#=H;{LtOEq^J_Z8<P`w9Cz>nst2XQGYBM`i$hm3#^B
zyZ_h<ZJRBj<}v2erURxfrh~>KrkAE7czaxA@v>QMSL{6;hn!QXkCcP{hY5mL-v_Y(
zd<NctR}twf8;i$IVK=hVIR;KO=MQHMcMZ3S8{mSwuv}1=NAUjnF=sYsJNrH>niz*a
z!tzlPJoQVm-nqfi(f-;>TRbc)&B-wTXsRj8G~A>!4Kt6h7%fMw70{KXbQqj^Qcg{v
z;k`Su11-e5VM%xf@thD6M?mg0_9OOB_ICCR&VL*+Cx@%#T<0>}``kcoB6k7z0%s%#
zV^hQcmOCNC!qJ|Lk^V^?g#GSopJTgcZMO2wjiv+UTGK9bceBbg#PZkj-m0>~+jDsJ
zzlKaAk5kRSI)<U=fJJ6F{u6%&-HHwPcOswlgO$p<&FaLS$({uJ?!~cku5;?)GYB~X
zPCR!9$G}Qvv)PHP7@`F2hZ+$jGnhW_taNO0*zD_UYc0PlaTcxF4{+tHImI%|($>1u
z8e*@qPj?J*+MMS>;(ox{^OTu`4g@WY!CzxNah&);JS1F*%ft{?73(wWJZl*HHam&q
z!$CN=IG;GHIQQ9A>{QN7_AS;B;wU~4Pr-cA5XP16Lz$ry<(hrI?K#+WJL^P?(X2De
z%$MMEjJ0Oj?%KQ@Ct&3|@+vip{zac-RLD_OfR;diLmGY!WIlp7;%kY6gpvqgd9ucW
z{2ca5wkyZL7PCD#F`Oj$ZabS{^<{k^x)8gd&+rTKhq*zc^m&K~4fcHS9>1-vmi6#;
z-ZCFLt|nVgS*JlK<r907)8br2&ZWB0eV8T44PedLg9c)cupYP%uErJtFO3nOKzI^e
zi55adjA6ZF-DGuS?_@7ve`jNyD)wdQM}Nlpz?#bPCJ4MAHUhl@6^ujFPV%wyg+pa;
zvi-0wwiZ~wTdWp`<+o)a^e~^W9kS1dUXe!U6LK~sp?5GZm}5vQ@)*5~&BQXWuNaQ^
z$G_wA@O+qh(UvF#G+z&^A7ZU!xq_s_+5fOtv!mHr?C$KTtn2U-UGXoN2>OG3zyoxk
z7L$FQzo3uws7+#h4qZ2umQ3q*=s%iii?*+aZnUXRHkl6{48!SsV2#>>d_upV*U<v3
zCv*Uhzzx_5K=Da<U)+E{#9!k3i19=TF%|axHOs+j_<!j&tX-_-tmDAr<3sGg&Y|y-
zgG>$mit0rsJ7)uqhTAvVR$FgbFIk6JDQk+Y7fiIk9lIUtocl=$`GdMg$3hQ&3-TV>
zh2BB~u%Fm&YykEY`vz<G#1rr;>>j=aufWd`1;kdulNHXo&Qi0Uv7WN@tnsX#un!%G
zJwPjV2F*feB31NLu<B~3-7($K&VCBIH*Z)&p_}2Ob(gKlR$wo3Bse!ZbIHY&lv2~L
zfhnmJi9|a>e`Gk8f^EUZV`H%ztQ6~oNiZRH4LgU=!k6O(L?Cew?6;6LpLLCOfVG+B
zWJR);5qpS!I2(V5;ixZ?zy#4FseNP*XJ<#X-PLZlmD?Jv<82ph3v7$*jdnliglls4
zA?H&c>F4w^=6}pzr_k@{IJ63V4c)Wl*a++<8j6j=FiebH!2+;UoP~G6^MDv_4Dp_L
zK)AC`v$9zg&<og!a3c;Ab(kKVjv9fHE1x+*rIL4?zQB~!-yyR}Y;EmpZMpUx_8#`(
zj%tUGGZuPw76b8OF7QMxMY7QC$YgXCx(_{sb-_NM&1ePs7+s6409@=3pM!<1#~oNB
zCc^LH9>fizj`&Wvv5pcGh=HtNq7yz5FF|jhQ_&sF5n4mBp=(*}6gwRD7)OMCGxSy}
zZJ+G4J<hS(=|TpRPe?Di1FfMaBIV3mBoBRrc)$v$Q3dp{z5t1FK!<mz3;cIAR)Bp%
z1MuCj_ja5IyPig@CAJaatRuuj{3y{K|Aximg{Ty|;!Egg`YWX%H$cbRB8T06+|kp%
z0lH|5?E4+f4wJ(QeOV5eYSE3M=!I~~oj~GJ)Pyvk-(cR31bv7uM>hgL)hFZ@>WhgG
z0{aV^pMn3tDzJt4J6wx*Ck_!d{36s}N8%G9m+pcUV%w2PfT0`c-INzKlgxE4a9(gA
zj*E`f(BmnG=|MTp;m!)^Xs(9-_1^R+W;>IFOhC6lkK1|F2bH6*(EaEFv^z?m!_lYc
zek2#zxXvSq&~5b$m1F<FY}xaGuP*@UIuJKtZ882CE5;+SH=rr5$U`_i4dp>e$wHFl
z?BSdYUAe=Y9UNC2ZJmrGf!qy!NSml>^f{W%{0j_c+o4bDCh`Y$z>5E&Q_#L>Pjoga
zK*UHtG!5yCUPSN0<c$sJIas?4vqRtG6?_+N#k&wmxD6kU&%m<r$7nlLi>zV-nS0RR
z^&I-<q;S@|oUa`79fO_Y99d4SvljaAXmTf&LXQHzu#JoeS%O5P)u;x!iC#bx(Y3$?
z7LI;I%)l#l1{sK^AQTb=yP|?~FF`k8+p$XM;jVxg4=3?IxDhMI-C>s0IxGw3eoaC8
z!peU1Bx)A9k@O;?o!6ap4y8lk9PN}ir;-=R<&+<NkiJDf2j0+LND-{lANDyAc6>P+
zji$nxKSHJ=RY*_ht$KxMm>&oa{f%6JotL9~u@X#)>9Kiu8on1lhCj#J;G3{=v<$Sg
z3-XR>qTAC)sIJrmaspZB9OMiqr#iPfv&mP^7vwmYV#lTT(;Q|ra}pT>YivhvA<NK4
z)E(V|c82KYGh#>10(ad#<Ub}3aYMf_6@YU?k!ti8T8XA&2eA2AGxiBzhb7`2@%Lyh
z-VO^v*FYQWEnuE|NB@OfD~I~+Y$R8Z8=a5I1t9Tg=%gM&ou{nS4f+xA`xP^R=qBVb
z%ndI=7Qjg!2J3E%)*}OvJ-|hJk*PyA!!(2oNE-7O355t^C)x|$j<&(n*hs*-zIX(z
z9f_|*_hU=Yvj~bdGIJRxJ%^r8?F0F8NP_B3K5>qsHjsbG%~TgEjDAL^F>Qcpa1gNR
zJ%N})g_NTokoo9p^c$S;DP$TVWTqiTh{h)(>A)d(6?x7)gb5h?kxl3u=#AE(|A3wE
z$GYQk^aM5=8-#jeEOaU|2iXSfcAJ4o?l83kR_aA&QDx*|at8H@+(s4B!|1m(#vEd<
zGM9lbZzb{%>O=z3D<Eq(`0gTd1Wvd;@(g$-=P(@@52Pos5(XginRUn~;J-^i2gB+j
zbTj6Owa4yYFVHy{7YjsppcjE@u^Jfm%ISV|S9%&X2YBr)<YCGH_|Zh&raIAk=}UAJ
z@Y;<A-oT%5roWIID2@g}4qu13q8E_0fJZ*a7iIu(3C>{>VB(R5KFM@|KbZ%7ezkyk
zH&6rUdV5Ta=3~X!ZkWk&1oSc<Ekb?)Utcfg03A*j(f6pQ)B%bnMbvAmk?KQ})LVKq
z@C&|W+JPP|LB^m3U{fc6fYuGz`ko<QkYONkE%T7s0}|f>c0fISA3AT}z>KSdOn>AJ
zaPYaIlhB)BWqq;hXgSKmCZZ3}bo4gprZ=)1I0ciK%P=3X4}FjlQ)cP{)ty#TNpvNx
zqNl^Z`U5x_A0eseCD`K*px65#w-dweZvh;X1B>GsW(yO^e4xiO?u-Xa{E*YTfTNd#
z^hegfPcg`H;211Mo6vRWbMz}<zyP!oCix9O{xbhC?U^u;yO7>U^XNfzEUlzg({}*5
zvY777Cngcug{(%JVCJj^`Xe&{J-dQM{Q*qt4W9EW^B>a<KD#?pN%NRjz=D{=WHLu#
z4;q>7$Z^Do=#lm?4Pz<#5}gY;Fc(b%L^zHV0zczx&~P?mh4}I~;KmAiCw-p&4V|>E
zFwN&OFi{Q%-TH|5p_yoZG#j$_c3@8^dJR|+bHJh=GDDec`1@Su3%!RXfrSx)6IX(d
z5&b{o;yUC5QjIJGD~kt<up@<l1lN(T$YkK{tOvOkGa<|*W;b+;hB4>qz6^^ggQ%|*
zv?U5yDks72Zbg5=B#-gvcjPR{{tP4;1?-_;ndiVe8NpyoA+SE)fX^Mo^aReuK`_ni
z0&^cuO3GXZj5z~Vu0-6?-DnfwoEX^*e2#4qGeq%1rXT3#9>$C54_uZn={d}4h&CPY
zvZ4U6!hpD--snhFj%)!oNFAK_Z8(8q*sm5itCg_R&*`6Fop0%hbUdto6;8^H5z<qE
z-!lpLV+)a&uo4UYrU3CkKZDkvgnitBWI*-%J1~VFV^%RIn1R5gc?mc+weV>;NFH(k
zaX{?H2R)sFZbkD!$6`<pSo1MJgDAj}(~wznAz!*o&j%gpMNa}A%60U5`a5l)dw_Sn
z3Fj4z^Z~DO7k26w#Ozf_34Fg2S&obY4ow8H!L+0A|IgB?28Pjk;Hi!TYrP9!4}p&}
z3muBCM@PeH4FY~l$d7=tb0F}Aeul2=p|D#|>63I%x-&fuxG&SeN=CyJ3Ja|5&P-t*
z1IK12{Om};ytBw#<Q@F}7Wo&M2rCyMoq=zbgETR|z&fg9{>NF`84&6mav5}(LfWF!
zfQvH+yzvZR<s6F2kk`n4kb?`^$~w?wC;0FwAage0LO5-qGT;*w(HrQ;z_HmII5z)<
z>^l<lWf8I!*1rVOY(q}NXI~6>GZOeu`++942OiN3V5I#I?BNnpj+DV9i4o{T$OD%F
z1L!97EFhvQ#J)d~!^k{f`+NzWJCylDm(ay@27EPAaw?UUgO5w1yU`Z`69lw3vlbAz
zib(*CN{5-V13=y*u=XirFR~HY1pK8_VDEP$!vTA~!oMqnu4V-?2%_Af5UU<UR{|35
zf@owpL<LsZhn3(B+aWiY`C!d<Sa&h#mWoP%IV05+MU_Hk(udBYcS9wOPX_=e>k7~a
z4@Alo0>0#eejY^r0nc&@&i@ed1n}Z1Xx{~dMl47JG6`(A2f7##elJ8i<$zt6LGF&Q
zHjdr_ZApRisf7+`Z$<+8oI>}eS@a{yLLH$V1Ec8!iUV?I13J6_bm4*pENAWlDhZg*
z$THB8V$jipu&<xN_r3<d`2wT~1e==-Sd$IAI~Am@h8XugNc;yqihh82gMxTZ0Df>Y
zaJxQXb}&9*g?H%fu&x*Vges;`$X+f{&*2wI4T4(j2>J>jlMh(TOz`tA@M#M`uM1%1
zTgZ8^Hw3%^g`@zc_CSw=Z#WO0eKAU*M({PCAgccixw9SgY#%xdEeBlK1u}O;jxi&c
zbVflhr5Dj{>66g${+L<>b(KQ!J!-0)GEywMBfX3kfxXw#2Ozq+0zK*<09RMTxn4vn
zz+z=cI}`)!xe1o@5F+YXs3)d@Nr7RQ1(l*6SSI!iy^H>aoj8D|pa+pkh`pTPFUCV0
zDFJJCp>yeAm=sY*O{emy3Tgqhk-AA;rbJW}oI@cn+m_KS5I>J)?!lgyG2`KsH^V-+
z0xr|Y8t@}a&=#<vR`97`;O4>;DrmzXZ*<4hXbN@*q!*z65M#?AF8ddl(f_yGEan^7
z&rZ6UBIpLH7iidgnBH-j>P@YsZcuM2K84Xe=)Sa#u7~w6!P+HEPnce_8cz8((g^!J
z8hpY>(56@DaEQqBuz?tZZp4NGzwKyj4CV{@SRS?mBt8f+Xe{~!n4UXB<TsDWfjDwK
zJpugeHcCJ}q!OsJ&~qP69im1-v~dt(j2|#vatP?49(2t{m&2!RWd;M&@d;oKwjpe=
zoh^V<;gF-?*d~y57j_IA3i;_0h~gGt>#=Ca`J=H3;AdB(Cqeh8fsIH2qv8Rf&(m$_
zI691;3e3H$C=~QNiHf2YQk|$t)CsDLDxu=(QSjNgj0SvQ30OEAEPE0}O)h8}WDMU>
zK4|a^kZ(Hn7vy}4-Nlw-53uvt8rbpa7zv);4eJXG!cpjCu)ZkBQ+9!GFQX5GJ*%iD
zu;WB(Gc}yjlM^T#=>iqgt}st?BlQTr+S9W@at@=WQ-LM=Et3iseHPIn!(bQpp=`_x
z)_n(2;!VtmUBXmY6ZQnYu41dO-cTViqfh>qJ3@5O0DGN}d;@-FsASM*K!-YlO+AP6
zjie?}9bg(y0Yp}AR0@?2yS^E8u9C{9=h3UdkHx`MrY6W9CPRLJgB@*wDu^2NX)Nq@
zGxi*7#k}!asKgi{H~at<q4iiQ)MoC&=R1bhK#Z~#CMmQ6DrW#w@>S4ZH}Dp7VFJrq
zxSQ%r@u)9k8>*I6k_ps!svq?a)e2{@ls-UD2Ok^`o~9S@JzoH8P62#&pnWh0+5%DH
zzt{@=I~InI!{1}ExCh>V-Nqhb{V*vy1)C4K+#<9PxdI;G67zt8=$`%$r1qjeLT12&
z3B><UkIBJQ1$mtGrgWs745UVb-tD3S=nK>y`Uu$m35bKLU}D7t@C~CN|Gx^_y9(=!
z<=|$hK%9Y^S6_S$9srpU2mgg_{{OW<p#E4KSbj8`gp5I2nPGqqzRX9^pF#9H>Kau~
zxljYBjxd2JfvO~*lQx*T!-o@J0DpRg@}l2UrvX*O^j(P6aPU}_fQVaBB}$@4uwU3^
zY&0H<XW+N-Tzob@2M>eFn-wbCGk`x@2S4`)Y`+G14mN28EG}et%xkc!Fu>_^kTL9_
zWN`E0N}Yq3+>gmeuyPftCxfYpR1ZM&Fz}<lz`9%^-mx)rAx4WqS3n)02yFKcMq(&_
z9CmspRQZPDtMSEnDoCw>yUi3V3o8RZy#(T+J>Xr%5M7UebN&i@*bRJS3pIu64|`ij
zB9suamCxio_<BtWNd@UgEu*HvPbAWbw2W@YEM+`FM=wF#e*y3*6*~oaNG3iCFTx+-
z#rSEc>~6r<;?wasybkp2UqCek=7dB-<hmQ|(Gw{KZxsf4%3jcJHQ>l!K(RQgJ@t@m
zB7c#a$O~}VXUWTCJ!yq`C5K?@mWi53@1s+gQGlaE!8`gxMBE59mt&YK?gdhA#dqQg
z{5k#>|AMcBT2~+V(`VQjYzWk0-k^O@Gej%V;OjpFils8&=~WN~wWrHLw>MA$Q2DWu
zN6A~{DRMr!1HL;?-UTh!L*90ZdPZeKymF5o4%!(B%;q+zgOq{h9t0asgFSu;(w5*1
zUXA~T)pz1!;oNoDHn2Hw>=x9f7^uLmgb3~r_}u`e8Zxj6bO`MCVK~o`6o(Rk#HYz)
zP!m{4t|qsUC&;U$hzx+!xCgbpArPm=K~#*xzhOj{fG5txj$j%r5BSHQ<2Ar(X2U6*
z4^p4Q|A8u-2{3ID=7xQQb7mlNSpXdIzW^0F!b#tyN78|`0&=sJR4z!}OnxJ8kju!W
z<Q#G){MrVe<15JnoLLVmM}m)WWd<`EW+5U0nZKcakmpC>$@l@N<G#X^h+x8syAwb0
zdvNAsaSEoX9Rl>`L!5#Df{p-hWdh#y5m2`}Mfax*XfF8Z8{jQSG8J_DDtU#>B`3qW
z)5y8xO{jmoAbU^)!GHGz{~@8LF~68K5Pbzh<~162TZT;nPW2W%oDksM2w%bidtQcL
zz?b1k_&u=dUf5Ic)G3goT!Sn_4H;A_BZl4kkIttV>OM7w+6mr*54GBrAn9hZCpiRG
z9!rh@UHb%8pLu{ajnriN9X%GZ2{(wsvZ1OMjqQbsW<FTcSKN&VgInLO!1?Y+=s@cA
zcnU58?H+^Kz+2_OG@rAe-4e()M*tc&(_85-G(y(^nv4aswva!-nl{2tj|aK)$zJ4O
zaus=>tN}!uL)B2jAa?VEzZ(cxn2er8X%ze;HVQuh^(0Rso9GWU^DLMKOu{GGg%1F$
zzKjjW6zCa<iAac~x<Ewt9P*(^<~QUP0|6z}fX+hz!<=AM=b+v-k?ccuCsW95av(Va
zX0qKTDRL@x3#MBwftg+VAuihi5$9&q3uHE9U7?00$3uy6#0X%vA3>xNp-{!Uj86ar
ze+IFFFYNa?(6K`hr~4ppz^;5i<{R_^@Y3bf9kAK{P+R;+ULyYii3?$_Z2}ojrjxxv
z&!3QLGM73Eh_VQ7)5k$JGXyFwn^6Lr3+UMgKMHysL*x>3Vf85>c_^IrQ+z2Ngjc|4
z3&%<!;z!WG$PCCvUO-IQnIR#%ErRGkOTDCyQ<<=`io63SI}@Z$CH=@KG6ME|GMqfT
z>?W6ie&^Az=ma?F2@q*dMr%RG{(zsj1G*hX^dM#uTZri(buPhziPszO0$c(o-41&P
zb<ZfM4=sVJWCLJ-FUYMP0h)9MoBj;mcn0N5X~|Nss@Y@#%-ISjL&z|YeHb|lY|RI}
z=0_?PaIXVY#!^7La{x<*LWMdWYIaK4?S;fLVhL1=#}j>t2%;8tq6con_Fz3Q31CS9
z`UP2!^nxnS3CQYj<}*YlV?etlfKwBwZgAK91FWiu98JcO9weI#f;wXwpvqxVO!kL3
z#S`*gJzdPWLN1jKu|XEZ07-zCt#}I2o!A67GHZ!-!~i0WP~sQiw!{k2Q2|70I{>+j
zkOk#|c5i~pXgni=ibF3tfEH3;!DA&uH1-BCa}AjXw|qV%LE4?3aMlB%l6xBv<s?**
z7t_@+ht&l#oHh^<1z;DjIQ&2SHSP!6HH)}J>?an%S*H-Ka6dK={N+1f>S=~*%LJ&@
zTmtM?GhZQhNeApc0rAE_+Lb;_?ExH%qA=<t?Dr5j<2aIWx`W*DAoT?DJJkFZK^_nY
zG58dy9WF(rP`L|&sEdP71H5LzZf^pKFT<~Cu-^#r0q#hW@tfFUtPOS%vP%`@g7Xm<
zqy!K&5HgJ)5bGqvewV;rZiM=EE%~0D2RfDuGW(G>Cm14V*?96Gi35sWh06I!x&Zt}
zXUH?Qpj?P@op2lV7j9hBiJio8VmEP-m`&t?RsY6UK=o3FO~K-@mrx~&M4v)D(-C>V
zY=(-SE1dLZIB6qggXp6VM1XvVNv^>D=97UiDb@%#egu4mDS&OCAX3{-`9n=eLEmJ0
zAm1S-;=|-$F}4o0+YR=3G;tm7LN>r%cVED8KKScSxBz@O2jYVrC>v@mlMoL?3z^zz
zs9BT%j!lPq^$*}TW>XR1rJs|<<T^4D_M0HhP&Mb0zF^y@0KbF5_I^++p{lSE-Vt0v
zx<W*~2qN8lxQ7tngW#@bHE|zaN30<h5J`jx-T+Mk1l<d0QUZ1r4^`)*NFv0b523;n
z0qFe(YN%O&p%<WjJc2Tl268{3#|XHKK}nOd)hTlFK+DF$EIl<j407E9$n|DHc6I<s
z1MSX+ns|HsAnrpX!bzVd4#3@4F;N5vu7mr5LeR0(*dVyI`QJT;5?O}~hC0nTsP3dQ
z2Jn5W;I795Cc>_Un9rZ80nfMy=HhlBF;eYRI(2ZXoJbBL*OM649WbXC)D;Fn<!U)p
ztWKf{*hQ=h!~#;hFCf?%xbxaaoFnEDoe7M14R_w&_zQ^oHIPv!qOIUHy1{<Ggq8E5
zn)eFgoN=@_-ArAC_@FaoB%guQgTSu5KxP^2H%fZL{~v%)ln?n=C}3_Z)TPG4JM+zu
zz3#(2@QrZ0908iOi8v3d?*kky033S{zA_l5x6Z>*!0wT78}a~ZJS?ON>QCL_)twN0
z<y44@Y9NQ)1~IlfROokskII1krk#2x-$^>7$c_*ny#}doKzx3Hj)s#?hs<FGs)dTQ
z7AwTfaNpG%Znl>ZH;HTT?q~$zMSR3pfsTELJf|zR7gkO{Pe2SBgxrIQ-y|jxEbAIn
zq;lyr`UZ6xvMLjaQfC3JN0F{zRT@}V08<OQ0isqx7O)Ux?g!d^8sf3Ha0B!m;(Z(}
z`Xt08v9QZez@ASM|G>R@2vG)+VJxn~=D<yz7`(>+G4>vCdR0~T|CA&^AoMDsBOq1j
zC`FN`pr9hX_zI#T76g<ch$w;-5kUnM5h<dGqJYw*_ui$3mQWIEC`ri7Jpb>y%k}R2
z%*6NipZUx@_qq3+v-e(m?S1w+_dYW#vcB59XPurYNZ!A*Lg(?Ji?Mo>p?UE1w;B0E
zgZB>HMLn|Rz<T78cV|wV*}>auQ5T*#u*BfDczR#<5)NQL{-~a%*$df;Pnmy`2%5-W
z?%kEV{d;5|F=`j;lV_>WHtN5(@ASS^`tD>`qo?;?=E@H;Z(PjUZapIFR&wZ`L*rOk
zUQczhDHXzB2YyZNUXw^3ocRL$o)hHvq#Au-U}xry^@ko~&+Mtr57;}nuy-wL`X&2+
z+y83+(xbl1obgjUy&vp;|EMRKOFqTg=VUncIQIrOWgqreu=_1`ZI9_}$vpi871<Yr
zA)_A43VxBnJFsuxfpvHSv44QanP(2oTy9_^c=y!62eEl!*u5!xyI-U}IJ$Q%b@dX|
z+%NVoG-^xk9Uny=JA~?F`BAS@k8Mq5a(drK``+q3g<Y$+*kAe-^}!9DUs1cy56Aw&
zUq##)tFK|7Xb)CdFHj-uJMf8tWy#z8F+Qwb81xUs)2oqV7hzXvq0T=$oAlh%^R3<v
z_t*ydzSMtN|H8~t`@^y$$tb&xT6xr)<hGsrd;2f#+qrKVdsQE%;=h<Ywk+A?w9Z#L
zYp^SK71?_$?!diBU9>Nrex8hVG*#Fd{AJatM0987yaOK}IF!0!31;%w29Fr(W&OVj
zd+1xU*7y?l_CCw{W-8U^j?7hu@%In68@0x$DXjALX0>qzI|y@d=X)>qBCqH<sAqZZ
zEBvMNjm}3pqnNXP3EnGFkzE4I)@HW6fhWxNBzG;ujPV{3y&zHcO(K0Z?ruLjxX;k!
zp~Ki$K9f9lEq6Sw?pu#1MqcS(Vbte{<?q4qT}G`qY9=^*z5jhYCvgb73pcS}H;(&(
zNA#@UGlM<d!`K~Ps`K#B*+Yl0t{lUv_IvD%jp0tz8Pwbx4J<b>=fJ?s9wdL5IqX7K
zeS5HzunlwN-qifxXOHzyz3=b)BOKeGb;g23)4o(hJB|80lHX&cb5Q?6{SWb^!6JQ6
zuvfPbJ5)cy(+hG};&?p05_=c=`<Lsn4|+S5-ZuwFQ;}UxHrWM!&jHKEQK4)=ZE^xx
zeOKzmPxCavI-N(k<2JqLr`*Xth`DnA{y$Osu1d!KI$qv_>frVMi~GMr#eX+>ZZ)d0
zli6v1n){+#u;cs;p8hI(&TnyN@7F`S3@twN9{WOHW?$}AYJpP+J_E)pl2PWPI$DKU
z`kaAhsfsS=uIo8Nt25{9(DPW&|FDKXgq6&8@aeJs_frXef*iIfGxQARu!C6JJ;7ee
zI(^Uf9>=P33cHtIW`BHg=Mr{wH{ssGW84qfxAF8ftg<!*?^~(9z5=gSA(rPESh!j9
z{F?jQYcr=U%w5+-xL5N5_Ncbw*@a!HLDyi$dYETqK7!<JuzUqpSvRw`Tf2WUE5FUz
z7yK=8)lYq}KiT9RB>$Klgatb<Fb^C^9ojo|CoAU956;I*{!i52pQGYe6}lvB+X1v6
z9axc_y7vaZ$Nt=L<gwrMti!#fkFYDUFj@Lq){`rbTAONc!%@p1`Re{7*~561`E1L+
z8SFmq#C^CM;MfMN?(XgUgzUX^=N&wE6nkHbvKx8c;I32%Zwy>XrM)Ywjg_bpmL<YI
z%X;Ikfu)&EUm5%odkFh=W_EtUPVU*g%aS2`c@pCyX3M#eydK|+l1Xmp|1q`iyD;$c
zePh^#-M4pf_J@xpkImK8zu#c5=soUQDTgjU^b9*A`x9A%1J|;G{xZH^YhVR1-xw`U
z8n}l2l&`a=vm-kv+jpMre3LwOXzy(75>4#ey#FVxuzFZytbxS~Qh(me9rP{whj@19
zfBF{eyPSRY72()#*fU;&`yhX1_ha+M)8`L;gBj~R?s5Kzy1sw#33e<FAJ~Z+c#VN|
zsmyj|m3b!-{q@1S1~+6Sstme49QzXY>-XrpncC#g{wtU-M^S|>KB}Kga$WzAcuHyv
zx#TN-OR>s1vUfeIvGaQNWkvgL=W0B?4R^_2X0QE-p$&#+8+wQenE&T9IElzQiPh|9
zkh(4_ti8x<*AL81&2-z~8t`HzR>Nzu>%28P=^OQ3*f%G$<@r3J&@*Z*&w-6*MSUY{
z%FiMBdUiyYqwYSjcSG)8UBa%z2Ha7(lUi_Z?y*i~b^Ie{>P7JM`K(&kr8>Eu`RRax
zFOsu2ZPt}14ctK8y(9Z3%TxU>&^f&`zUP9T_fzXE$G!4*`##)%A_z}J_B%YG@i++l
zq+d@T-NbIB;_B4iPjTn$7S^I$^o-?6o8Pg%Tbmqu4;AemLmwD=js2qU4X#P`{Q#@y
zA5(pAPY&Oe|1EKRQ<rQ%cp3k}`X@s(hmK+Y_eAp8iFo=OMApjv-(=N(KYIvoGIu@B
zlVCsS-?o3w{`>lV$j<kx>>KXYyC50#<epD6Z#>Pe%Xi74nk~=cF6D>VzxWq>2-{KF
zPa#vE#A;_RRvEhw?9cJ#17ij^8$6495C;yu!?Vt>@?Scpv0w8%F@1U8g7Et!c8VVB
zf1c-RZzZc8$qc;+716PMoAeDaU+u|G<daP{S&GX0O6Hx<lD(%;ogB@5yV-^w<(|e~
z>~~LvQNLq{>>D7yH#5d>kvwx?%fVlAuVY_!`*-R*LM8Zc&u6HL*5m1`w|O4r2dvs3
z#O}LT+n$BwPf~y0+xK(!yl3*n*0-7(^sha8vx6`bPyd|z1uGF*H&gfTOiVw=KGfF+
z*Jm&G(Sd(p>G!CG4&?VKtbN{Q6@SLy%Y(accV~0hy$SW$M(mm_&Ac#yCs4jdP4*YO
zeG5-|p3iRNr>MD~WiRJ*ePg-r@FVW3yvhBm?{Nog9(JkDVz%6nyBqg5b?90{Q@MZj
zLsmPBf%jEd{S#)3L&+;=!muIs=8omQ-WIG8*5ba-2YSxuNu85<xb$o6vM<K|-w#+_
zUJkqd&dhlzJ4cK0NwqVn4i;vWb0oXYeZ9AHuWvh^9+<>DeF$~YJe@~}E?_@-9aea^
z4*rz+@crxy-pL;9sRPHrv||P?VE5o%Z2lp4KepgWo$>4dEXXK*<cNu^<IjQL>$0Xf
zrvDr;|2@q9cK_!1`6>4K_u$^fgVcfB_AX34b{e}TEA_nGxvuj=R`QGUyusgz=}mcp
z;1TYc?aR|LV+Wsw&wrrW{@K9kWb%9P^V(#Z2dM*p!~M&ncs^l2YX03>>8uKm?(cga
zada?yald8;`7zjUiR1}zV6VQF*lRzVdoN3nP0r^Y>DpxPTd2ssKwb0}^Yk&q^b$kQ
z5B`On{w-KhzcFw>`_AWr`31Z_0=G9}Pw*k`ah$?a0{fCdcjXSXo(7qpn*N5q>3ysB
z??y%VW3tFM`~Qc!cR^N^7w}Zj>V0q1>gznU@Cy6ghjDLX4(@{KKH%Ey3*I;MTjuH2
zi0P}CleQmRk+u8;c26#)9=V8>>~r{eQ|8h8xqo})(Azwn@i3n-znUHIlX&uE8)lAY
z`{rks_-g-tNZ*fW-h?NvCNy_d*5NMJmE2p{h`siIaA#wip2fJAbOABFNoO%U{d=mD
z)v5dMrbgI@dr0$gSLfb=e-TgDqroKh`sL@_2j7R}r-ydn>BN<p1LowZrboClcVyp<
zeWUwVW*=^k{x9&oEzdoTg<*eg?mWE5-L<2syGJ$I<O|&2p2QQHKOm;xho}F@J+!U4
zw=w}wAH<qsIV%6>kbNU7x_bs*9he8sA3AswfA{`?p{MwdmlyGr_;Kuy?MY-U$jtD!
zz8Cry>R%t(yYjPX|0-n9C;Kk$JCLWj$5IC#%`*V=_CCrT&M)+=LiWCayX-rXy<a1y
zkL3y3@l?Q9aF<~h^2wa+R!taq5Pwgk4qJ>`=?I?1Ux-|CGrR3)bmrs^+EYBmaW;{)
z4fV(U)ZZ&2dsB9Y*6#lR75CHZI3L2@oVmEC_X~Cemt?N|BeluK%+vR=%K9RA4F`vA
zrvl!cwdK34bxsEF4-bxKu6~I+=xJ>442-8X{o&xvgLCqHz_mjwkpJGI9=o|`HSU(Y
z2*3HO=Ij8E?O(Bf)&6y{cv0r($3fz7?p@B;_hj!m<nC2@X5&iku6~N$_6d0UK-SZ9
z@eJ=d+?m^8s2@+C#eIxV53YdK?+i>~&)}_r(X4*9WxwS5!Lh8mFX!I;cUfV5l0D>k
zdiUcw%SEUGPVc*;Z))E>{Y!H{V_En$ogLwe*>V0HweNGi7s2jzd*4IXpY&|cQzkF4
z3;TVZ57B!1B6blr9a>=MDRSshR7UF$E>0ah$X$&-_6b*IrTZiHlEx5y7jx%uKX$y=
zW+!(>&$g`Zrt|dj5q+2TJ=!;|Z(RQZe2=CMdkD0D#D2+geUo9s_u$x^y${o8U+&Sq
z!!v3>Ww&TaYVXU2emwLUB)^WQf5!dcEs!>zoH9G}=91{~Mdp(mnI}I-7VC!{S9O-)
z>8}Yqb9X}T<IL21;_GYro@PbQKOgCPk2t%RyR^sgOzldn>~8EmhF#~ydM7ZmA4G-F
zOZGm43Sl*#d%K#7YzM0T>3CE8-hn6JRv?EjhV84dSF#_gfjbAsq1|~yGlsS%_s+>4
z+nv;c-(WVHtM6mX#%EF;J<VN?*SN>>5Kl4xf%#;IzBSm1yqP<dJF$Q82J^-tJSR7Q
z&tsiGcD_t4*h__=oxxSvFM5LAiJx#seoNwdW#Vfk_C`NV9d`QQ-PpW6?WXW~fZy<0
zgwOK?!f5V?U)VbZmhHx>;!>Vff3o?$pLN%n_+VF78ohn@_MS!!`azy{yT0cbJiSEE
zi|pYZL@hW6RsT6W<FXn1MK4hI{DM0PJ5vp;N0qWZue-4qeiru@=Hbb|)7iK92<wy=
zxFi2d?&xerb@Bku4Q|C#qG#}|`pw*#zPs-x_9)K)hn@P?L-OO)-Ct*}?C@OBuh|t`
zk>_wOXV2zS+)sLb=ubR%wiUb2FO#dzgim|H=grC2{67zlkKk#9e}nd?vH2<POdrKw
z`|2?DQJ#A^fZf&idOyI-bR@g6m-YRNdv%wS!A|G--QD`uC!(L?nTUg#D;MC|#PfKP
zX?^C6J31#)AuLZ7dIj0!Q&ePAnUns=eEIdkFARQ$O89eBf8Szu{tHhcEWo<p=iIGa
zxpOe<g=KoaL7dFbGht`*RLA`6PwWe)e&5^=zL?ij`VQ^e9m(@DU;UHF-=TLr^TtI@
zg)ol)NN@)0jn$a3Ze$02cjk@J>{VS3-bXNF?oNE|$`0kh>_J|^^B3<M+LqbsQFf@l
zPF&2*Ucg_7tdFv8yS{fOPg{JJUEbsSe#M;qyT0FWm-;|#{xH?StJKIRQID<CJDt1e
z$C6DJqv}78`x~0EZf`iYKKmChkTcF5Jf0^JzDYj&Dw*Y2o;tjdeS`7r)c%a8jNV5?
zT*lq_ZP|U91m0ic8PBJ9rsN~|^*b>76uwX9^+4Wl)VDY@<*mKH;STNE)FyZFG}3N7
zll2l+=%M7XId}@;OzzWcI<(Nx8-w?P?JucC4`FURn9Oo2_qXn3O}7jc+s}BaZn4hp
zJY71OdhCbX6CcNXZ~|7nMP2q$*!-=&@58O5@bXt0$>X_Ce?QL@9Yi*nhvxv!Wlg&V
z+2kr}ldZ^Ok8$VlJIq+i49y&Tl-;27xp#RiIrHejQ;6^@dH$r2%)T2L{yz3<cBGDb
zj_0br#q&h(^{mZ(+Vgw=&C?z$b0=XpDuQp5%fHT@@a_9H<o|`u=zW6v;QMH}2s;RW
zWwzOnXWecmkL|)N{nF6is7<yfrbi7;WG(YI7=9W|JB>*G8#UTQvi2Ip{At)cFLl&O
zoyS;he36~!XL^=^WheGt$LujT@%u^a{vUP$_ad`x!#ueJ`+-mLtiW+iHksPY8=Lja
zOKoyG&-T2Z=THB|8e$jLcXJKB$^Gen5l81B{cK*Z<etLo#MFj7U3})ygM41^Q|x)%
z4ac_ONvhj;YH(ws=Dgnf$l;6fgvI9Ax=ZuD73+-UxEKCB_oRQ$6LV{_#=3(YvYprq
zeWF?EtO>`iXLs&@xNEu4&^xSIZ(`s5LY}PoGnwUPo<VtMa0#w`i>F~8VxN7B&X1@e
zJDrW#kG!PkZJx*5gDUu+z0dXb_Khcde7tX4X2@;PVO`K3!~MeR;n-KvaQ5B@*?HcT
zXDTOBVI06L-QVGpO5DHOVrVIH=yO<o18b?vkbg6bdwH;*b@nG%37yBCoH<~|p~Tf2
zo%LYLpIFr{%&x@2#PuCy(%D$Oeh5x)!LGq3jpVV!)m<>*klw9%#$_TN+Ml}{Z<EIk
z>ukne=wnoZhr+QHc%o{`;1l@vI%4St<UYy0|8d+A{tQ*qAMx{CJYjb*8c!yh?7=f=
zcN5iXHP41!L}m5{JK&PN9!PK4w<>6lWxjfV{C*5iQ7zAI`z2%(%~&^*3qQ>|egd=f
z;mm^{BzsRIV?9hH-G+xB8GMx|_ZDY0urn*6zwj*8*v>}abUyXL!aU*l19s0R^Blq_
znYVt;lT=SqkxKT;eQUzE)nM3s+!ub7=Xy@;{Q~vxyF4-fBc3Oompt|h?xBrmmi{|W
z-tNL(;)US%OM?^0)DQCed3-!OcTqQk*(cKGIc)wI&)c5I6RKmWpm|b;XCQkRb4Nb&
za1N0@0jAAMHL?n8j8*uLbn~(Y`XsaIFUck!A)DL}FL&nY@W(p8?d-wo?p1apj;F@k
z7>|yoCYv<)9G1U0_$HsMS(vJLJD7bc`F#@4>}^c`{59*sLFSD;m^rQ`mn}wB{WW6e
zuXuYhbI3UI=CWA4Xy4q}{2cYc8LWstP8F&(?H8G`o@1{33VU<Yc;fXm^4KTI81t~s
zdTVepIKMeKG&mO)e;70lA*OERuJHWS>HBp~<<7=you!Ga!(iEcJfHY}Dvtx0i~ojK
zCzHwN?wh}FA?`-cK^A+S=fi)`vtys?eP8eM)NtS6ZqhsK*c{3o;vSwXI+HxMEl++d
z#5!vRviT_a;2b=^w<<H}7xD7>JPq?2&m(U_wm+F?xL)bZ$5V=5<Id;xJpDN@R`0^9
z^&F!2G46K^P_4|xvn{ie#a`&Wll{`8xV|hE!r$2;`*6<?PuLvQ`8XVVockL`Q59`C
zv@BNl4Gm%M7^<^n*dP5Ye)uWOevqeem&DIsrdt08&tT8qvlcVJ51F+d?CEgNl>d{>
zJ+ce2a01WZcetB42FdU8DTKS5JoZ0LHo1Y?WHa_cZ)0z6TXOf)@aIS5=8q9s3vthM
z6uTI6u>x3?GrJJWzu@lmqtszbA^EG!?3b~B(8GG=(`4c^8>{EyS;5Z}*{31p0iO1G
z7tBYI!)CIJ^&l0*Db&duHXJ*Ns%T+$Y|h~Mhow6&QiJ{!25(6YT@+i#@x3rUUK8K{
z4{NG3sPiA^a}Z0h^8PCOOBb=Wdxt9YqwwW8W`c)_>m|7}_Z1L7ulE`v>19|xfaNpD
zFpqQQH}GJ~-nn@a_1E-Sf*qT)SZ%C84SF3l$2Z9)A7Kx8S)L^u&+BTu+kq<WXt2JX
zDr|ITWhC#5<O}(n!)rXzv<CWr7pwop-P%58;VsBk$HB83iKSQgyvNMmcVOI;WYFJJ
zd2hpN`bAdL-)NpTxe&&DuroAt6YI+Tng2JWE?OF?OHc`~O-9|FwcIa;{>=X4t3>na
z?AU&dXFV>UnwrQx@#TBA>e+{R;7`ofQ+pQWS&}`Fa3;CqJ}QP+df&w3FJtqKWY8nw
z*fMbJVs!m58T1PFE<V!K2j_w6?#TKOvX{kP`FQK0eW(x5U}f{r(6pg>xbO67GRbjd
zv77jeM~9W=20WF2IQLzz=LzRgd_rI=W{2aDa}C~o2HBI5{BKr57xKLG-c&_1$N)#e
zu^uw$51D`FgJXYXmfm-08}iAA$R2CK>aD<Ff9k_?$u!Twuf>V|?U8%}yWQ7!p6I;W
znV+@kHhhNSSSs*4dR}LrZY@4trO5s>RsO$`{UVv<QJy>c3%uV8OjQ3K4>RZOxr0xI
ze42I6b3<3cvHkJu=B)76<>#YRx_cAlr-1eC>@$yoUz>10;sEY^{egY8hw=1i>Z%X-
z?7~yPzrfdzl1Z1N^7%6NzJJG#!QIGwju?9qwExarx-U=j&%w^~ujsKT8T9mK&s#g8
zr!!;iiq)IItWB_Z2QWAstS=pUfGjeWrzAe!*%j}cNanth>UT<K2G7s0Ohx%6b~i8J
z`Tkd_6+TFndmvHtXZ8&4$Hz~RTW)0r{{_!`Y|dWM1lI9;qw&OM*JM?8=5FVn&XMG+
z?eX=d%o3j_k`Ewzoedfff%Q1<U~fhwe3yFY9QbiJpQ4#gK3S34YA38drRNH)?r{Hd
zb83)d`K;9y<nafQ`!HGTD(+t&P6l0uPf+}Y=f^(8-HpHFx%JtDy^q-W5f#FY)cv2}
z`}5q@`Yv<W1yoDV^Lc{tJae@zRqx?s&p(jGZii#9gZH96YvSvD$Yy`wnY1ZXr2N-r
z>^l`!T}xf?Z=~Oe7H3fj?o5V%o7(X(_9Lf*+hJs;IXX|`&y$JiFETf6*I4}Jq3==a
zUc`Lz5_?ihq2K42FTT&*dM>?g;`1|;$YkTFZ#M4Pk<ot6{?lVvy*y6>%h$ib*Vpms
zwY%Z=mDDXqQ!lR0102_qK|jW4TyA8y{gbS)p2N0N@$^^l?=D!rC%gWNs7t7JCzC~1
zK);>1CvXI_<hh`I0~z#L_&tixORT}?7rsQa{1IQj-m?H1ddL4*eGRkro%s1Ga@#Si
zHrC;e&RxvX+p!b+AbYSoV$tj5sk6cR8!&ozWbez~@=vMzu3)Zsi+XpB&Zh9|AS%GK
z8iw7}c@R&(#!NjwR(}Lv9|*%`^#E3H#r$zBmCD6L_N{R3pP>B{vg?N2(Ydc-_u{N`
z&cu5wQiI+J-p6D0K0{yP=iBT}p2Qq>4bQUkzv#(yTk)jX!7%#_R^OL%U-<zl@0YN8
z3_BpJQRRFIU;my}{maya>ovaq8J|kMjGE+XqUv1MBm0os$HDHis2`VQoudr;VLlb~
zIPvpK_`N?h?tW<S1K$0Wd3n-M2Y#(fEbq-u+E20hVi<N?!?6jSsaQQH4Bvni{de&7
zl|4^VE6D17Sx27DGlW<0In_%zI+6Ug6|0SBc^3Zb+(CPjJ7@<}<;>f8hC9T+Ba<CQ
zG#$wA6R1?KAlhCbi!4v=w*wj;#pi#{qoTNir;+a9Iq#=g$xnyj<MH(;d0PEg7=8~=
zeJh85flrD2oND23$i29c{4Lfwi#Ijs!T4u@`rwCfY%xA{brU-Xry}z(>Yt<V^4VnU
zdxzfOGhr)|V|U=mr=uIJ|IS^YTZ!lgS;tSr*FAhHb0t0#yc_#4XRtFmv1c~w!cVd9
zc?|anFCceb$ZYj9GR(GAChvmFkC|cTpguUB|DZU&GaXO=oya<lXgUhpe@@1}miq{A
z56#Vv;TBC6If4C(KT#Q6M^xR;Q^ya&?-!Y?NAq0&8hl=AKdQpNF<-ySe7z}F|A2gb
z4zmADK0TR?zCAm0+8;Z%VfVv~_60uWH%PA1ecGQfBmbD0;xw|z&D0|ABKbq0vJX|;
ziFo-hMDsPsy%ot1H&(yNXT9c!GaFHl9!`CEBe69Xcl@`f5<ial<2+=af#h!!(W~)^
zw>!C`vj;ioDYD^LnkO%wq{2K8iO2DMGP~)Q5ou48ITzvTr>MXVL&x9q+}0JWaBlD1
z!}mjcPb8yEXU<%T{qt?9!cSrk>M3@QmZCP>ll<{h5I>`ld@%c<Yj79qex8QkgKBCr
zQF0jfHs;6Ex3QM^EmBX#_OrqMHZtcZ=CXA<+j0NnM|k=7+`YdXAK${yy?j5$UGa&m
zcY2ulmglojyMp&0`TXW<d`@Qro{#%BS@UG%o({LaO@>*Iy8CgW@2f=ObVfRyxpE0A
z?+38+56C_f$$x;^4^fNs!hsD~6MUO`@iesj7x_zA-%CyO2>(U=Vdm<Wc#d}rmEHQ>
z0oCkrHJ{}e%e<vLdN4A7$tOvUfnmFmOU5?4zuzY3PKPbW!Q54tv7Q>bfgR32fb<{O
zZ@h*4^(vpzSe{vGHzc3HPTZw<`9>t)#i!iv!|wZF*<<kRW#W2X?D#m9!qKqo5uOeh
zkFWQD;YWe_ar{0IwAbe|e=jm?e2<p>Jkj(s^3w;IH(uf?{eP0nE?}m(0)9O~l|45)
zZN_Ix4yMvR7s*!<$#>%4d&y$=@bdu2kK^lUJb|%n&$<oE&W67)vnTw)-tG8A)FD)1
z$AJ2`**(~pT=GhDhhZyrBOfJ$>Y0y)*lmA^nd4G&*Cj~46@I<LU7HV(Irn0&IE4!A
zlFrRo`~Y$v<oEr^z6;AAV}1D=pU9h!IrCHOqMXdw&vC!{1E4Fb4`<DH7<cV<A=Vb<
z{@FF$<NQ2x%`?R4cd2L>=ZVxOVAYk#{X3QL-SF!@Z2llM=a-oue~Fj*YZ1tLknevZ
z`EI^%=lDM6OwC;5VC+Z9Wydi8Kfqng1zAIGOCJ3ec7GR}cjhy@<C&vxhYP##DVZs7
z><D&WmSG2BB6k9>LH1Qx`~Z??u$o$nnEEO#{0({Ya^&6#ryl)}<okGk2a@k$&*)7U
zKAzaxiKi}qO;o=`RIg61-i?g?9hmlI{Jb%B$sm${MNOnVs%y!MyRiE^j>vi#X5GNg
z%^Xc08e+Cs6Xt(~dkJTdMXpB9BUs4)wZ*@WG;(il{QV?3d<OOZho~+0WA5Ppr}F8U
zC1Ba-khve<`!IuTPL(*F+<q2q)+2Y{K)meDtT0dK?V$<mh}_Ee9elEI3YFhNR3qE-
zeA$m#Z(j(u_u$osnVbJjJ@f$f-^!WW8^1pZ%f?dOZOG>hkD;c&m+ELiD&eg``3uP1
z8$WN%J(XVWBwfr(bi<xeu={t6y)iL82CM&#hwmnDPGq*|VdrWC@c0(<%J0GYwuVoS
zk*%M>;(PG%?VP!ZO#U#Myvj2ei@>toh?-wf|4-_fohKbOU}dvA_4cm#d_!{E7<L5D
zV|Mujwbb+6&pD{`dFG^XR3}d(`w6}$!R&dcSGJ<|Q%!JgQ~BKwm!3oJQ+$hM_u#9W
zu>E#o>lx<j1)DnIE8zWCvgmZ`|24t*GuZoCX33AR5}8TmatW2&XL}Z6ZKqGZ?MQx}
zi)X#3AoEe!HJQ8o3-cNNj}p!M6H}_Q?|@wskUR<b&vGn&-9~P?1<AJ~`AwpFY4X#a
z%!GfUE_(y3-;bqRGHZU8Ouilr>*Mo}|0Lghn&*yRCt6OT=3l3?EcY1RLGnZ-Poo-{
zpS|eK*lGPfc~1Pg4~+Q-6XeTRvGH+Ob{CRwZK{;J(Bws;dI9*o3l+*~@cZ$GWh*0j
zGh}Z{4qF<upJVsncy{?$;BNf&NZy|+ZzZgrMji6X(Cc8`$6wD_31;sO+P@-?Tnm$w
zuU<#;Bz_*_`#yYp1O0DAhX-N(bn=PTTVG?=x`f*36?U#xr0U!p*&oH`WwChz95{hH
zNo(+|$^9_*VEnlX{2oP>@CM)0xl^<xd1Nzk>!H-Be*>8Zz<3gK(-dr;i0$`-@m-DV
z8$jf4uD;32V_B-5y_vPnr}}@L8hqK_53vIHILuxhhK*uB@J0~XlNn}A&qIuRD0fOX
zfKg+q65c`bDC~b9`|qD*raBr-E`mw-G4=~&%Ga2kCSmaeq}_?HFQHnviPtAVVg{e7
z_L}E+_)}SQZtfke!~ME-(O_X_t5;Y7o=Tm(4!islVD1S>_&7TQbF!94QEZ=^y^Pg~
z=6%59cdTk|!pl#wGc*;sFY)?3vY!I$tHJt8ynQ>epQl1un7ya%$Q37&q3`6g?{o2N
z$p^7_HP+BevX-3)7N;?veu8Rj5}rDa?7b=T!{Q)5J4_pk%^!f-n-R^2!|f|U`w=8g
z0nxXRJ(<1NCy~eBqG2Ank$LPIJpByU#`1sUH|DdwKOk=JVWrp4(|HRcc@;9){H!x3
zvPb<#_ANe6HSr>-ozA@QIp(Zos0H|wQ^<dR6H_~Y#m|^8F2<w(CZgUz>NGHY2QI&a
zth@2{KX^9tIv99g!@wbGqm5W?9l^b=OR;bgcrQf7yBrqJ1H&dWi=N5VZD98x{eDmE
z>`LBP5k@aS)?5^Rtwp5m0_(qzH!jAm3848FatHYRCOS;O@Aot|OY-&j;~tndNMwD8
z`SPoLTA#lZ!(2U`Rpz36FOKAy`2IG~IGkL!EOGS+emowJezb||rI5P>l2>P*`W$zS
zkB8g;0@KIg^qW{afX#37I+1=4fcSL{+E>!zUQl_5b;r`|2k*lU`~~>>F(h|b>n(!Z
zvAr|E;0`o8iqD6y$DYYE;Ppd1x-I#8H4tAMxvQYXR$#3ip|fHC{mf7=BXN4CkH0xE
zfTv%^YSjtXlLfDC)|mIvW-@Ec_p{>pB0E99gva-=AKk&*bF-rB$L1Gd*tul6J*i<9
zq%yghY;gdY@}tz(%k%vKc)oG7NAX>v>O3^N1t!0YMQn-SpLfyV1+vy7V0;TwRiXV8
zc0WLye(J&X;O=**0WM&N^4~n4&_g88$<I67N4}k1on!IF20X*{2FyK|&yDO#1+p&w
z{QxW1RmtR^rTRMvhW(1`cYyZm*gOQ*vyp!WdG`d7b$7$<D`B_RJrBUUX?!+o6+FE+
znM`|ikAm<ZvU{=kb?*Dz$^An9Yce}j3-wH;$8W*=tH|1%IeAsS*C)!hqbm3&XrB+-
z4`TC+SSq<ae3JfkB)@<*j}XcKM6-XuZq1rv!@SJYTY%>QQ~`fS(o0}G4S!E-B;O7a
z%AcFTZvFu?>^+X%pWPeDYY|@`=IOm{m`M($*1iCHZpN!GBe$Pt@cVdXcL>Q-kbMiY
z#`VqYeJOe6CUAI@wbnA^W!2v&kiV~i;V<ItX`uch2wcY;dIG-KiY(U44(!#<)9rhK
z_ZH-jjo6|180haqm3AsQ?4QK*lVCjn%Kfw-Lp3u*lucm9(j0jMv)Q%CzX!=vKxTew
zgsrJWe+<j6fKwBgJtiaf8LIJ{ko+@j{v@l=(LDQbHM<}`0Np)_r7d9BW?;Ps74hNC
zF4$FY_yxw4tz&pTWHg8?rk_QhdyxAtbh{ecZ*AtR_qe0B3O4ObeR49j=xyx(O<?Yt
z#P3JgrxDuw6IUN%zx#Q(c`myG-+@y*B6Vxze;%&y$KU)orSoS-zK6B?%P_m274z&=
zQA15enS_nE!M>}Jeg)oEMLrRY=IU7z?rzU6_=((Yxr{pDUjACZQ$+WjtbZ<G&e)%Q
zQ~kY=$=GxuG7hC0+y$ARCAN3P<^!l#egTq~ksF^TcMTHFb0Bvfeg=uL=fGPv|8?ZD
zfAVt!#}k-Odf@H4tS|Q^XZ)(!Il2Q6KZJZq{uA*g$!igRZ_)o!Jo-bj<ri7aZ%_8x
zg&pmK*z43T*i}?{l02Q~9LDmT+ZcW;lf44o%HG%Tt^F!x?|WhQbasPR#*@3jq*KWp
zSM%iiovbtOBZFPZ`=23scXmz}B7;6i&vUWxJILD^se7=d-;Wtg`y+n^%?FVD3O0|%
z-Z}Vmi~KzUem_Ir($2}hXe0Tz!8yhBd`*q8Gm&)+lFlQpZ^qkqP?229O7>JV+Kn1w
zJd&S-ALo&w4~A9y;NjhoyEm)r<6z!j8TYPc4xCBVF&p;IN!8j*uh+qL0#@DvPp)db
zeGBM33p!)S-s=)sUu9l83A`_ZSvT=>B}eDOutQjnY(zx&z_B}6WBm%Nzsag~FQk77
ztiMOia2E5)b=a)gU<Q63i`DZWdlZ>WGqq~L+p+crey+vl`{DZ=cx62MPoHExe+U)d
zZ&=;_1<bGHse_BiFUM1r>`5+J7W`hoTmNAFbOLeoE#`^+&_Mfs$CBMHX2ge(Jf(@|
zxxsoaZ0<w$8=QL@tz`ATK<)Zw#(Dz3beJty!m3?i*)hb{Z&_RXjh({3V*lwd{=1;P
zIn}{jWWz_u1Q)QMdlU@+7E%x5^#}0%Y|y?Ly`I6s8PpuJBXt}s8%2b@i%%zEwbqq4
zBKxLhmVO*0-X^A(W9HZq+YUkYnRr`L|A5cW;J(iRthP4>m3heB6Y$f8tf!BG;fKMr
zgPThG6tuYrv>!q8RAN}%o|l!ktR8^FZ{yXcu=*x&zL9pSM^%@<O@3dBOtvYueS_Nm
zR4hFU51-Et(yyqM#O<x&|00d#JHYk#u<U5&t;4YWC=mD+XkP(}k1$_oUt$z;=O!9v
zYch%=OSShS;C&+;zY%ZW1;?J_{HPw`y*cZN16WBNO&&d+ta3K5KVx@TXn&Hs;S2P1
z(DM#Bat^Xiz`y!F9xwl{*~fQQoYu^M;`O}rm<zmn`1=Ku>3Kgq(9Cfgw%>^!&vLd0
zB=y%jJ_q6lv93N5lz&0pc`95#ik!YDRp2`CaDY1cKJdPnYVZ_f{{+iVAh-OQ45k_I
zalG+1HuoTLKB@^xo{fm^fW;)(tUUzbeLIpL;Qgy`LY`i|$=~~u!GDZ*e*xEi$<dMU
zZcl7ple>1K$)Hc5^(Ew!)5+jJWu`cZqqB)})zptLW4w-EXM<sqI}eu64!@@{D{6K5
za3fhZ-va_q;e(mP^!t#!G5Pz;RN&u7;tA9Q$8rDtVEnub_2=5`n9R=p!K3)-GNSq{
zGUm_u{snslzoRO+jL}q0Po)Z)9fr+^rxyV6*~y~saP}pxJqX@6A^jG{kmO0URb8|a
zYmQIArmy1JBa!`MkUkpE?}y|q$u-Nsm$#X3?}VLyfn{frGf%_f-;zcC#<`ne(R0|0
zW3hD{R?o-x>>xE03Bvm!>hU{~EN(wc>xs?$vLKmkO(bl`?)%rtm`7mw5j@p*ASmnv
z+H2#Fx!IR{sfmt%V)eO1*ID@ZJobbxZF1*BjQ={Tmr-P$`G~6duz5~w9wM{7f}9D+
zyBEp#@FOiWS8C^dJgc3J;P=kdW#5EphhqCdAn;{;uq6yzhLMJdn#a&sYld^N^=#^|
z^BaC$&uEWh^BYL+Yckk84cc>pyz0=m;PUg$F2eovzYqPN;QcGKo}GAI1*^B94%mY|
z!f%1HklvSPU$-ZFu1)5ipSV&rc^_=LgnL;RVC@Ce1b-)*HTOT+Ska*-8Hc=uv3SA8
zW>w#B5kt?yl1GtwFBad|NPY>)z3eEDXCB^|tg#!J^ef2xIzM~i`E43*ufSM?F!w2X
zYc2jaq+dXUUDT}QZegs)K;(5Ir3bm=uy_G%pBv=+!Rl>1F`1rEAX&SE+WUTvGt<y>
z9;%a-_%!y%uzE*!j`rbuZ|vWRy5Zw6Y`G>YO=a|lK=xYfycD^Yp}|#nSrz;QY@Ukb
zet0z>(ig?z1&Qd{;Ky`w!6fk29^J!?pxsdI#7;%>oK%=AQHg$>Y_=ovzJRrRV*QR-
z{Bi1`RY7|!`F{$wJp|s@H{O=VH3Mm1_Zh~X3V!{_nhT5N>ABHjHoWvMG5s>Ko<{Z~
z4YL&qFK~8{yW|Tp7k&VieH5#=gK4|)y#u>LTY|%yXtfZMXQ2B8`rb}t{tIibAe(A^
ztQ~yq7s%!gV=0R%o;6#J2JdO${W6j9G~Rjy>5rrT^I-HgI?aZT<B_}$alHi`-wta(
z1G_#!ZrhN#Y9%xqho@g-{73NAt$6!7zP0<JUA})~^UK&U9Y4<j&dMc<XdMrNsVd+X
zkTwA(K90YiLenXH&qULCz<W9HUYmJqGgduY<KeB5ya|$5C9^M#<PI!-kzUG#x08)-
z!d~q{$ZyYMlWfqeJQsE-i)rqdgWS?f1u2e9!p<l8ehLjHHQsr<@y;S-=as0g*F*NE
z*t$i7^hV&YGEub<qjg~8WO_fs_g#D|n(l^O4>Oi3lBw7*1lmGyZhlk~%|Y(&BZrD3
zsuG^z`)R%>Hks#L+K-{#crwQ7V7o!%?~h^c#_SHQg%_43;^#s88O$*+qVc~$T>Hn$
zM-SjR?K-{&BGbqueb_uFt;aQz$AUqJieYMl*UPk<i0l^{v|l5?4S>>|M8e`&w+gb>
zNBV~Rd;|=XJC{T9T;#&(jPN4J>b{I*K8yz1(H3@+{2qSe5BC2@viz*Nzo*HeZ#ABM
z0m&~Q|0U3S1<5nXCUe5Z_hH=%SiJ@quglLm9IuR*7l#E}wY*1Ltq{dh<s>mxe$%d>
zEO@U$Pb;gr8=F=Cjsb;1SU;8T$+Ua1L3$E$C0RWb4f6GJ$X=Zo{t(|EY}oaF<SyFS
zJP4kuGPI+sT0lG5Pc{g?+RXJ@V`$D$9uv>z<hSCg7eBq*NPZ2;FEGN3$bG%>4<Ctc
zSg{zg71=BEy*jTSz~UwNo}a6;gW7wve+{kWt*7{T66}=;Uv1_K?UM90XiK(!W<!sD
z@Scgz{M(vF?^luiI$VF7ciPVx({OTrkR4B*E6Z2pb$M8~1U4%#^z;2LBfJ9Q^7h0=
zs%GCQjPVv$%_N?+rc)fxg=BGic5Lcz>QJqA-a<!xYtQa=db~xCA@YeT)`dWJNxqjs
zy09OQ+=Z}NycvK&+T)XtUc_fFG`Z;&Y?c?4Cr2~RTu7grvBYult*@yN2Dmy6tKX%y
zMtHOF{Cf>6N7GJmxFG(1AK!~NKZ_!Ffd;$TiH{Dfn2xq@ptmrd!WeJxUOQkjn+mXx
zQM8tn9kO^d-}2>qT%Sg(X-#YG7Ea|@I1S+=Aud)ffb<2BzaUao*{Hr4+pHS+z&-8X
z=KGERd{0IDcN)3xAz3m;F^XlY9@M)IV-Gf(z1vu>$X6fDWAc#Jpvry9L1UZjCtK%h
zP*Y~o-ixxrdyTGIujyN3y@SkYjm7era(6#JqnlTuEp~Go04c(JChey&it@;GddY{<
zcnm#er;lP|E{;^anxUhS+uQhB-kH&8JcC!g)85Pw+Vim+tQ<`b&D3I>M(p8?FqI6U
z#vje*Td(?7&(8n$Rc!R~qfun5qmm&&MlsT%hpbne>3vVb0qs$YX=L$1O}>>y^rNWg
zFgwU@Nzu-c{L4ppkZZ|WlWA<VkZ-itA|!M)lQXKcbiR-ClGckZef%h9h3P1M`Z+V|
zKR?<Z>)?R_euj{3`5LRg8Bfw>h2*Q2n#McLBQtm(+oYYaR&S3l9E6E+_1<3(Hg@2P
z^cnS^BWoo2%9LuMT&^~1As+|<)p;}Uzxb{=pWggv2UVUKL?gA;sAAk4j3Q3x_w0=Z
z9#Ke`6QdYcXsGTPB+?!2>LE7C7iuYgiEZMl=5pN`(ESkIn~)}!EWew5n)y|K%*LzY
zQ3%UV!cE$%-sS&^@S`e89y04S>!~hPepR+p{0jvk`rd!!D{2&XiUP4gzEvyDTjS_G
z7m+?YF{tQOHKKf>zYsPJZLPKH`Pabm-A1<9rmU)U?l|(|Jm@X`75CChF`_t?)yfyj
z>@ztQCnb3_y|pJWFa74Dx8_9k)tBN`GsEjmcAiX6<w^ZDzG?LBp_O!2Zc;{8o|1g!
zDKS&AsvI|!Ua!*kHICoHZq;}Co6(vH=I46>GWz`dDBmjf70W_vDv~Gjt(p84vb$uz
z#hB7td13)1FWhA4Maj>~mvb|sm^pwHVKs%`+JjKvR~gS0#3-a_CuCuIX+GB&i!{iK
z-CDuDP0uOK{I9BdVl$3-qpPw`nOU{QlFUYn^SuD0X&#r}Z=>aurqWQ|r2Cw@=O_Ou
zVw73c_kHwTiq|EPtd*2}Ej9_G=h68Ysx4J$n$gr->nL$cGlHZp$M2=lU2~FVe=$sW
zsdms^T|J@j4DVh92R$#KjJyDCmq6;W+znZV-%B<#={WS(Urp97m@0>-snI4hRsFLK
zYKly)K;}bd_14_KJhGQWwq^+N`<=#Sts5RiwpKyUfVpO2Rn)VAjwCOM*6-(gIeITn
zZ_UZlTa0`Ot5xAXLH}nso(vA}5F5SdEnY0f_fps`%ogRnc1x9M)LWi@6`ZCtSiJ@g
z!b@3N@h_Gsrd;ds@3paawuWPpt$9FqQ6%dvj+LF1qa4|)P&Gp-67+?s&6l#F)_`Le
zO}kneQ@faoCbgcyNUGdbQ@p{Cc&i+z{HK{kyMU_l#ouwwkK$e#Pm;u;x3FJUskV5N
zBSo-wOtk{mKCv07$Z>_B3?QwB!2Io|uOjDVzQz1EIj6Z#8Qqy}eh|_6Kx;c?3s(po
zbX0#ut!g7>DaqB$B@U^T^09K2=4kmqvz}%o&0<<}D?2JbI8zEoc}Z7Q?`6J}rK(9(
z5h>eime5Zh?{!AfJb$T|W<hyEKN`(dgJ*te=6O-Gu4hBNN+*q@FX=Drl}R=KYYtbe
zYTgiPp4-OK-aozQ=DJ0*hqTwcFP;bs%_X+Tm5XG`_d-WArSOmjVvOW==%t>*La(j}
zgoiA4U&&K6C}%tCOR}w%MAtf!taF;9hrm*^q4I*p&<a4iK$-_N<Lb*bhje#O_0?G;
zBOkbSk-e%XH1i61#ho!$-ci1G?c%;P`A<7}tE!J)qzX}cOjU;%s}U57vRb1`f_$uR
zRcB*3=PFHg&S=`|Rg&y+N1y8;^GB`4BUjU!A%&wyrW3OCqyCy_RCy@3sty|6^b&d+
z&r)3}Nv7*8AuGSCr@1AIbk!A@HJ1(TFWc@`IxpE8N$2w;Ng7MKsfEVZ8I5S^K4UAT
zb7a`ts>;;P^`W%a$k9vhB(vn{o!TmYYbB>R60X)uTBfzm%cs#$@2tOZH6j_=I#{lI
zxWBw&tj(a<sF79Y>bI^KM@bMD)Yn(Iz>)2c^wLkqrJJ>O@1Q81^ku{>LG6rm*(nW#
ziKW=0$nhA`M_=lrD>|!pKA#+Bt&P6riciY0_NV)rLmo-3jH`RaK8+Nl%!clk*4Unx
zHR>mQgolqTOFFBkaf;@$(>Cb5-bH7R6Q8J+y%Pk@RavheS?BBJp|*65oVJ!341<&;
z=*zl?Yi5jaaywl&#*PAOX`gvjq85qi%n`Dxn{&3)8nwMG4RlT8>b3n_QlytPkiC{J
z>!qjWc5A72z8d|ct))qO$GAN!3ARNHRZmG(f4vW@eO?&)oX4|O>LHtDxvl4rFY98o
zjhne5o${qN=8E+fVwNuZG^%WqEjm^N&uBbtd~8t|WE6x%*jV@!x6Be*ElYGSMn7#I
z*os2mNA96M(!(};{IoR3tf^zzm_)zwkj65SYF$07xoxwaVU7Liwqb`b)HsO^^{^*&
zE?;JH{4d+o$2N#ddY`jC5<|?fF%2^6TbfCN^^ja2NtQ8jyu3#?fA4?!X#JGuHJ){}
zH?6&TM<>~vcjAn4mUwMmq@@wkbz5qCx^c9YK}Q@CuiW0)8Y80_run+w=|`4JV~uZ|
zY_TMJ22Sss_Z4Fyo180TlRT(7Q8rjBU6q#cZQ|O!)y_ybVtrQat(|^nMoT7;MbWIH
zK<8|EwDrj0h|h)*9>eX+KWdZSKGM6yr6W()xJRLAeI(Ba#NxDw4}?K?jCyRziZ868
zW!NXiG1faK<1zIVa<erIQvMQx>EWDWy<~?tmONvf)ZfUN1<4YLe0fh__Oi5(4E5`S
zH>zkn2db6%V?3mZ@{S`ya`mH;Jz{yxToDFp)6P?BZFFQ)j;)91MvY}$Wq}bli=wmo
zxo7mtNNSN>r_tOad7@?pAGvllg2q7>Xjjkvb`*Gal2(x^ojk+DGl`gB8P>=5_Nnuc
z#_?GGEgK>!{7^qhw4`F0&gq(wE#@WD*na)CS2VU{TQBw2m+>fm_<ES^-m=IZvP5OW
z97TWoM(>P<=jz~Z#x(+)UmhWhQ?KFvkRD=`B%6CiT-}4cUghofxMi)5(pIAxPh${m
zV@WYnnpiK5Y@b?YjwQ8yrVvn1w{ks_{H4)-Y;7~Hqc*YM49YK!U=G-F@!Lp9ve7kK
z8qL^QLh!0~;;u*3sMgJ|j#g<PPnqM=z#8g|k!+)D<_b%5$=Oqg+H#HMYwoKnI?_4Y
z>Xm0K)p+rQbyNFxB#JlTj{RXvZNGUfDgKf6=4t%xHHBm=TgeOVV=MF9*R8#AGJ?TN
z`s$2jOXrMl%k@qgCBmeS$M$Hl->9289xvMaO5{eCUL`e>Jhu91WdB%V#tEx}MPAz;
z)Vb2h5^SY4R=r@)CkBG3CEHt;E>F3YMsR-e_?BqT+r!p4@|<nL6=UcK5mL&ze%IDq
z3<_5?jv49^gKir`UD20D56@z|&YKU8FpcY<=&AQcUY@l-eI_2XES-}z+D9n;f~ZE5
z24=tKuSBfm1xJr5?UFqeGiGZna2xf}8A(+oD&5@D6{Zm?o@QkC)2NDc$@On*psHS&
z$5uo%a`fsiwKh+MigUXy(Fkf|rp5z7M;6sr{Fzv&QDsN^Is+Svsu!$#vZ!#<HC0B^
z+c_?L6z61t+36fu?_{Zdl3f!;(#n-`5Gp^~AI7JRoV_DCLf#&fm0?Ut(LSCe=t{hs
ztHvXk*=L2Cc_J;tHtS*ES+0)lfs7f>YaB^!k76x^NU<rHMTQY_FH0(J%08X**lm=R
zKeXzV_r#O-%2ZaGCuV7RTv9xWMvUf?;rEU#zn4^vZ_HCI8IeS@{U#|!ry1sdWf%?F
zX@8Vg>@~Hno^=!sxMr62<#+WgPeh(y<r!-v%Tj5zTMJ8R<?GffI_Ne1Wu^KBe;*lD
zYhx5OR{W?wmD8iMIjC5+9m+L|9_JisqLv<62v`dpnWaW5$eABHSM6kJ)*H4USxKYo
zYT{BBX=Gz#J$%Nzux`$>?qgj4@84ontP)No!CXmi>84{}x6RTezBSfnrF7PL_s}_`
z5maJ{y%e;{3iS-DCA0e5-r_(z7nf#^x}ZI)SL1JMy0u887<Wrfe7U9d2?vayGlcPx
zbbH*AjZ#HZ;i~KMv3k3YqC+jMpRSKYTpq3nF0Z6t&<%HFgXM%v(lb^hBTH5{>#cFH
zRD0u)zV>FFYX)t8#iON>Z1g+FODrr81lw-CENfOWbR}|vo?~7ks5Z(>pOGC+&b3($
znm>hD`O%WycO?JHziMZ1`KVhfd#73yGaSd=^+egDQQC2-D}|wXHQY1W;nXMMG}DV8
z_NH+!CfN(oGQ80KMElN6w*-6M@-%KTmUB?}o9op#)rUPHd#auY&x2ZCElcm(N3un}
z5)<nD@K%x>k68=1b`Sk-Usvz?(lw(}IM>zoQTd`fS~YgYkQV+C!qzFi*I1V3QRDTr
zkF552=SHz5vw^IU4CxS!b;ieawh*xWg`o9{)I>)jz@vwQ${dcaHkQWIbLq(I@qU|)
znIX;2;arsEmfOw`IhM4NIBRXHzjJ{1rjuX0^GMs`jBV`oPDg3sIo14&ezU^b`gsg%
z(k)TvwEw6mh)%}e*&x169xLD3pCfH{TqxHiHauS2C*}8OCOyJb`OWXUnUN9dRo+UQ
zI%?}!l13is%t&^oonMWa8JrATan#n{ybO}zk^2jQ;kZl7oYzsTa&$VkBzmQb+pAT@
zujE_L!q{4R#Q0Pz&bpHkX|W?dEN#NQ(n@lZ!Aq;M-@KG=zANC^ixxG@hsW`^^mkPd
zgsP9Uw_WDGq^W;mAoF+lAFRWp_#iSha@ksW#M!{Mq-|tnY`+Fu`_l8FcG|Pk?DHkZ
zqZsGZ$mKuV7B94Il$PdZ#d&nMo`q6(mdn*PUotmVR2d<UA(Uiwe4Uj;+E@=`E#wRJ
zu+mmba<}E?rq8OE-`BX7E7|_>2+_RFhhS9R(;0KJExnF4mcHV*b_DCZH7yTB2jv6v
z+%>KCZ*%9+8P64lQL7wT;~C57=U9~o6a$IzXl?|f&8#d>OY0n*;w@_$RBXL130o3f
zL0#hnm5QV=!|`Q3+Q+deuNmE=<+rhxB!B6>b*dv@vE5~b?J|blDEM3|$LQ%cBhhe8
zVw@#AR%iVGzps%O)*3NKu+GW5VNBU#pF3+Ag^?O$<g&!$luz16C0DEr>XF!ul%p%y
z8#ikjekfwP^|ow}>rvG|NA{2Gk=C|3<Hxd`O`K``(mJzYm~ZKpFe@vpPkAY$S8hr#
zSNxt=qHi>}-Xrr(Mk^a?4(QIJ88HaB)(o2eZ!8LfAa31UZDgm$v7sx;W%fk(3@X;8
zruN>D#}vxaGgj4+?8`Ovwim>>c&2*<<+bvgj--*!`A1`ff7Z}C7q4`r*|3eGFlhVD
zJ%emUunb3w^wU@7ciCOMvM!z%XRU?3867l^5!S1Z%P&DiNVui1xvjL2WX~G8;&aBw
zm>8)V)d<9HXQ0R)Ia*1{oZ|T;RhzvMzm`WmZuvME*6ggd!d^@pjz`eYtL2#=t~C6_
z%kY(e@y_}`BdUKmEL-wr_Ov}EeRB2xel6zN21|(dobil=#<4AJHpm09yUoWi(TMnp
zaZ3*HY9;K8jbTw6H6I86T$y#taK_%Z{?<4BMzX7oP<$j#SSR<(7`7oO#iDRJ2o-M8
zXShGivWj_+RLnN#g1mGHJ3W%GxP7EbR=Z~MERb5L&7DMiH}5=h7!j{lzcv!W*E%}-
zyr<^O=~&41XsTEHFqlN|YSGqSw)m^Y^SoFi1?Om^{<)Kqy}ueqqm^~i&tA>hj25Pt
zL(bIJIr*tH5YN@3-Pd+`)LiwLw%_)arskR>$zzqp*52<cyTlXeW85N3dV8k+4}kx%
z+H;0R$w<ZK@X_-8P7KhPW}bA<naabq(#(msB)u)cV+Q45KJtCE4L>5cEkl+IzaWw<
zQhj|CdpvvChdSphX+PTkZlT@ctSciwK5KhT=c2jCigl9PUHwN|5DfR)XhqMA61&>-
zh{l!8MlKqdMY@*xPrgc9+fa6v%+w7vnn%}oWw~wcw!Gf`H%k&9)l&B9Y_8;eDl9Q2
zdBip*@7j{KJ+?J=SIk>)BUf@{RmpBgyFBG<lAfrk_THnm9%-p}u3?l{q`kiEiyTFR
z_F5x#bL=f7+89+&v&%NdFR`M=ZA%n-&U?c-W8V3?HTCZ{a=|?LJ6YT8kcA$_di$!+
z>Wt#h(e60RyUYW&rj2227&&UZD2<Fw`X!giXBttjj%eeM<LGLw>{pKzCP-@7=uh4F
zU3vDu<p<-@mh9tXUXA9N*4mVP!QV55ITH)5SFup`cwAek<I<>(+IC2uagGM@VIk=w
zk1pB6zdVA^X0*&9MpY8>6`b2%$ThuY1oiPO*WUjZZ)BBPRm)i)C9_p~`@yX(Gup(i
zZcMv%w8U^Aqngj!v(3G;M5*+*C)FoBwA@Iq`;5{c+Gy<hN?e4KW~HykH_<IQJPati
zd{pg>V8)X7t7=v6;#zS}*0_oiZ{k~XF7JIMoU$c_csylKblWKV)IK&@x3=|#qtA*9
zLD-SwzP3^px9yd*S{3Q(mfGD7-epsm79Gom_{n|L!)=93P}CXc1+&+BRlTRt!X(?>
z=5<CKj*|2*ZfK0)=_?u|Hkb9uG9|$_sjs#0{h#t_FtvpxQ%AlQZ`;rLZH=OJu{mcX
zHwf2J?9i)uYir`soU_(OQpY|r1~rDUEALefamyMl*4WDEQ@Y0P;U4xJUQ9}4>CT+)
z+xSygxu@oe$#_XC9a$4e%u%>t|4B!Ct+IQx&770kqZ_N};@qiw@_uelSY`y{Y6LCU
zSFKI)N4k0Rs*8f2_4b(Nm95dJg=Cv0xe~O~%G@#P8ZYhSN9}cF^wQp0p!Uh4i+cJv
zXch}Ra(OaRhp$sdw#%9HNc@Gzsfg=(MX&H{+f@36+qzm3Jf`~#J6A`ZIbxZ5c5}SD
zzijqQ5nS>b>Go<Qw_k;uGko&ctof+CQOLz!Bam4)vsKPY3whb|htCGHZa>AIsz~y*
zx;_hD@!Ty*V};H7R6r{2*cV=@oxb8fd#LS2$4=^DqwRRqy40~!BiJTkZd7VcsZ7!c
zL}L8ej@{@N?8S3?!G5!T#v~TbYL}vIk0jSmqS$Bj&R-Q#ZV``G)VhV=r%mFqEzi}>
zaG8?Q=3Zqr&v??umJV-eOuBp951CaR{pMJ3t^KI7c;u0zBS<<9jfZ|~taj!W(s>5N
zd@Bx=mX#HQfvy=(`#R^_ufy?<E^W->{m7PX(J#zRMk*`Jq3mwxUAUC-5`V_0Ea^Uq
zU8!r#{a|V&6LV&XaFt(OSrp^KB->$2rPFX9>%B%){;8jEPTDKmcz;N}^<^enYOzvz
zBI`<DbL+H^48^OYItN+f@{(H>vy8P+%2%Xkl;~DW%9xckyQ^#GSdZELJ2Qc0MN)aw
z-V%<LgLN)GG0TNx`nX56*2pz(H2r_Qnmy%-c2;leS{N6i>RUd}Ea6`5-)4u-)KRV*
z+r(vjVLS9r_KT0|nXBpR*F<NSRc(!B*cWz0f1wpFTQ9%U^^trOj+XDX8rzbLy2nxr
zS!9-phaRbolCC=5qG?IAEy@a>wLM<+iFXq<(MaRuD{b1>eBDfnbidl$nPIJu;yP!H
zku8kY$qUgcUKK88qvLPZ`9XRb!P3|nCbpL5;dZdMZE0sI8Y`0R5pyPNbZg7haiL)S
z(?433r^*A?H0-E+7)_$Fak4k1YgnYQ!@4>b`*pSE7mcnq)+70(ur#}Zh}%hz`Wnsv
zUnvcWZQ*K=7>SMBS{LUYNfhF0n^m!}HnKi5vYxl}vc2s|qv%mJivKc<pIq*~W>2^A
zkxu0&VN++E`GRG<Va?5s_DIE-k`n$I{p1&;B)L^d=9=v4=A|qMuH{Wz8$5!hXSveQ
zoN=zmaakLWcl*0ENGx{Gox&kKBtMw7=S3rDiS|Ioik)RqFcfMU&6dsTDA$I2#2mIv
zVI>WNPq$p3Piz<ow{GiG$7z|&H5~8E2tIF1jH>x+UCem@Zd=>d)cXZmq5E&FB+Ht0
z897$fSn;)e9N)DWBqYNr@i1Ny7U~_;-A?c0UAJua(D87IrJHfnc=~E1;5HfA(NMKf
zv}-d(a%wJ1?Uu2nYpSt$I}(c>-THS+DOu4Y{q2>!Yd>L~bKSaSZ5aHdPqg#yk9elY
zRsUk(@FQO<Z<%xPYkKQdUuqpcwU44>jb8Q`8C`Kkv9IlwNUL)?AB}4aADIK~T%G>y
zESTQbWmfo?&BKpMwyn$i#`yo(Z(AKH$&4N+)=Ors+H$u|SH)G?+HINMsYm!`UpfLx
z59<(q+e7M^v2<O&k<K}C3~J;^$n{|9YaXX&p=9gK@UCSYhrzYYt@KYeF8;)y*0OMt
zhKUAy-x`M3ks{62SM6ojtn{``K_-Zpr>T0}J0rM_Ge_E6Q?<~SEYGY_n);l3bk{z%
zuVO=ExL@?@w$|_TTVHNjNA_D=ew}ePZI2dRjf1QT2V{pw7sf{4z6xe)sq;cVoGvff
z3+?x^-D9ftNOWaGzLJmB&b7HeHB#&-sg7WCAb)4Z(Pd;crjd-s*1L39Yme7`RN7~x
z;?T%SFkZLi)~7gW>w}7`zIHuTsK)C#)0SQ5f<)<PZ<!DNUAv9#R%&M+4j(zK3JsqT
zg0adG7jBG{me1n2PxLMJM~1CTrRY1-sV?p7RM=scqo$kL9?j8M9JGbbe~C4DA|8rV
zONfqUzCCPCMOX91EYc|Eu05c!G(xp)uO*$e+x!zQ`fAJR9^V<%qldA>?X=D{N}|M!
zDs4)ul2P-8a7tAok7hh!RdaN5tfRMS_P@W}->oxJ8&AuZ9LtxKVqKkW^C-uaFOn-p
zYS3n~#vT3>TZMMpYu!579O)Xv%ucte<8Iycd5!u+r!g;-^FC)Xa;z(4;v>t?@7zB!
zM$*K#7+v9Rj%r+M7>~(Lwe_Bg;w9K;EcY!8>L^+}zQg41F|2RJTyPa{ofSQc6mA+n
zKa$|%jG7p+9mcdf{)|a7w3({hmh37FjBAc;M{x1TvN{~iaWoZng{b<ug>z3EOIsi2
z4#z%mDLpbuY?o}0YWp=(%@WeUW4CSaakUDIN47Ms-8Li=gMGc)zh;Uvs<bt-lIaXu
zvtemxOlQ^B{t@%a&hSWh*;@ZCxcY>kWtl^c_(*7DDKtHDYTZW3=GXA{elLyV?HWD4
zXj>}H+|qn<o01k3D|*cI?i`s`W{%$3N5!N%*Jh876=$=0PROh_ZpFt`9_5{yA>00s
z26@eB@rf<e9Oy5x!(OsBYUkLDXC1MAX9iUMEsX1^jbx%-vPz@&v5=6T{aQ!H(U^6&
z&y}`*!_V2Kob{{iQjTe7blGny?cedIBhOddGGkg(qndMOvhDP-krn2Zm(^Oj=bS!+
zVqcclW`~~7(lffb7ZRjOp86#!?Undh+Sb+Rl-WbqY<C@L)ZiZp?Q`vx(xmNAzl*iz
zW4&u@82;&gxBiQp{{Fb6m^E#78;!QjrCoU~o{~?EsF3!LvPQ**@h~PjR>o@2CbFmO
zC>-l(IJ48<{&cL$)}U>>%Qp89n-UwrQRlPjsok~Y583Xx%u(59iN#N0rmxD8y4L+8
z-SySh)d&;@y02{Rsil!N->O$u4SC8zcXZOGT}fE`FfvSwPuj5{uXwa}W>#hw7RI{m
zyZCZ=W)4SWk21YjA<cq>G#}|LS*ow-8~hUqK__gRRqd_bLMVuJ*EQwkifgqG7U7YR
zb+!^dnJZ*Tw^ZpHM5E__XPI@g9rn1rne);*GIGVttFfhP8<}<_6zk({$tvrNxiJdg
zwSEk0g>WI!)~%cOvfVw~zss|}Zaapbja88tJ*(QN8bOS!&#q}y*<>~)Lxi2qT;0+t
z7NtwE(5*C@P&bEDm$X?P8HKKnQXiSu&S}Gsg`Lqi^1(8`9r-%kS02F;)aG6=$cTF1
z&MUGrdK(+ZWZTxVUsBuo*t4RotZ{r)UTq)Q&hnla5kF<tx3)Ul)+yt}r|#SBL$}fI
zc+gdkY*aq*9)bV*Vl2sc?boW6bfif2mk@9}b0j?QdL^y&+AZH&`ns(R>V=kl(cRC!
zvIaq=UK1VGFS<D<9sTBsSDNO6Bff2`P?o;(t$URn!*z-UZSAeG$7uhyc1EIRkG2-J
zF6`FWW~W)=IjYXtZok*qrE6OQ^Vf)J#Q%PzUiM!`3gdFtEYQ1}xytfjXe&zl99gSG
zM|+g8TH`08JfDi6M#w(ZSo+FXk!e1;cYR7MxiI#mpX8NI9$z?B_V>BGk4Ng&ZKG>A
zt5NGow!*=3?IBksW?*@(^l4i({5V)hUUcc!RPXAVjx8hX&<MqdTs7m{T86jA+3(aZ
zKRRPcMqbCWIwN0ox04i~>3$vF(*5eU<+xSp5q<pH&7WCeYU|ay+os{~!Y|_%48?o<
zPmJ=B>yF^tMx$+!87PZ&ws>eX>UT-%eo`Yft1F3Q>f(dt+MlXM-A-Crv(mb3H+$P-
z32iak=M*L7)zo%Is_jA9;~ZW-%DKpJ9P4bi?cLgVHp)4-EyR3OtT8vDiIB79#b)bj
zOv4$sN(OTls`xE?jYHPJg`?%kieMU!m=Ts^U5kO4HSHnGlU_cG4YA1ewrg#n;g-U~
zOer3PIl1Cj&FtQ}s>(u=rL+3B_0k#3h~}AXVuQ{nvg9Fa>$7dmlRxt+X<>$XwUKWw
zbzOJuB;Djc{~wre)3Q98J=8v9Pj$}}w!wdCu|C~kslMj16DL{4yAHMt>0DMuV_BRp
zUss!OPFE@l#WJHVuK4MxXrsPHIHSc6HGa^mmT8kSr9m5)v<mC2m8HdhdNmu|vwiF{
zHDcSNv+{V_=UR>2J~E!km%>GuI1>GT-0IWa!Nd`vcd|5@DVTPjvmZug99tR;j7{{4
zw^AXrQ7KQij|wMyJ+?<jpS5@Goy3kUwH|H8SR?5zEn=J6>C0o}d=S?8XwrR@v(AT^
zMKX%o)|ag9#v@qSs{b1uUA2FlVKdt(&a>ufU+K=y(!#QZh2le_S^MUItFbn(mS#*8
zx$Yy|{H}YJbY4zhOUXOEIwotEqH=s`o!Aaa!NupJv-R!%U0T^Lzwh>O+w*DFJtJjI
z^|qh8`E5J$I}zfnADx4#-go;bw&zN+ivDtZcPvW25RAosZ)R&PkVtl28<ZnYy<&em
zC)%GuLH@J_o^>l1xBc!+?cZMCdzZ<~HD}yDTKH8+T2kyVYH1tWJWpAdv{YZ~A1~M!
zx?V?aopB;B(O<PqcdvFt+6Mb8{LH>tdt8leYczUWOY504buCBnu-=Oc?jO$Os>hFn
zyc1sPXQt|GA!zOV-rR5v<EJdzzVEhITD0?m^@?9zWoy*-&#dG2|BCkbSej=fBc*5(
z+fqG9Yg-sw+(*0=I@ZM4#rMSkUpHRS+1||WTywtC2$tjX*2(-Zif+-ZQ=|(AXHK!T
zo%`Z{M`cwyjzh@`)1r^-u5hAVtChb?Q|o3P)JWMGRX(V*b!55H&2wEM!x=#~wtqaj
znNzzB_JLXBxh))aUrBCXt$gIs&5~|OLD$?cBEq)jmqd&AwB<YDWfW)4jPwuEMj;4Q
z#`5|4ZMM0Wk992?R&MG>r<<|HSEzcfh#j%dezcD~x@SJKNM}m2k7A=^+H;uWSl5N7
z-nms<N_#g)xQ5f+b67l<abvGn1S4&eUA8Gcu+G*)$M&JmMo-%-WTUTJ`n`0kUOvkE
zpeUbLrqn30Lm8~HSX-O&e`yysC1aIN!AFw9=e90&oa@mdm180|>(-zrUBiR;w|&mO
ziKP|u@n&@NC?oThuiG<jqyNz0y)dt1JyNkQ-YJGTPf4~A>b@Q?IYU`~q^Z4`V2p#!
za1@J;{%<adkQ}*UDtzn6k~Ok_BrEZl{A#q#U+Z5_MX7aZXZ_>(;WpX}CChTm7tc~2
zD_%C|oJWV>D~yjUKe!hLg^s-)R<vWkEcH?BE_A|+M43IH>&8t|GQ-=iwxC+H{hjgK
zx`dfwZ!ywZM2>S)-OKe={Vok8+wGm7D`rdIjFZ|pcZ4(3irubDVrywIT%+jF&Cgl4
zFJ?;@GbX=_C-GzOb_+A6J06^ktNrjX68+BGL3dW|!`aNGMksTb{a1QKXW1T0i$_MJ
z&8A{xcvza1&TXvCCr7U>PgIDz=Erb}IxlV9!g?j!dG%7cN-V6%%ezQ*rccdMY$)WS
zzhniwv`ecxZ%+EWbxd}U&iazJ-O^pHIx=FD+lK4iGg5n$s-+z16?4`*nwIX8ApI=Q
z*TolU=JUcUxLe<f^73^gMN|92{nE=Lwb6+lesWl>lZ{y!L<i~NUXIhqx2N0eEHvvg
zM4mm}r`;o?3QgN9{W4neTFKHCeF+!6%J!TqM&_t6tvxYEW6gwW8^q%o^|NLgz1!~O
zfbQ3dtnQ<X6pSm!*`LV`k}S)GQ~JcN*jgS8E|u@YO4sV@*+y9-kNhz^)Gj<3o+*T|
zF&^2wxE2Isc}A1XiRG}jIIRBGvX~yf8i(-K-V`pgwz5#Lz8=N)Tl=6I>GtkOmV^hg
zBwlFuvCgqPEn<Is7##c;IGo4I&)p1YM^t5{Hv8hqZV$L3Nlg`m;>qCDo_z}&>nShE
z0)6Gxm`PGam&cTzu}j*?Llr~KApiR-qj_YZm7nBTWyrQ&>Jh0Ly*%hB6H^?e(xJ^*
z3oVK2YwdN;ILu1(s^0C*AlPO=+w(!oqxxNG6b4w&@`CL)meREFH6|HHJ#0gJ{JI+a
z;ul*j{pyPG3wq&I$u9ZEH+a{1W9uFoS-NEXmHZw2b=7TzvExhnl!v=f2!0+hm9})K
zsL65SximC7(oFWYxnR6}#^?lrTuJNXfFPXfZm$~DtBdlwkWs7PZ0U)-)F;A0W7rez
z*wUHU?J>I9)t00&9AjpQIcqN#zNKZiU!`e%*&@ByQ9H7XsJvtk#1`u%eI0MI&HgP5
z<T-2AW`*qQmSFF-XDD$f46&7ZSJn%=AY&OdrpLD4>1!R+vUYqj_oa`tEfmap|Bju}
z!}5)(J>J$XINHxf*T}ZV^wp7V!+^+i-RRFgWCfHqZP{UrXHd5+oWeSzEp5y{A@$#X
z+`3}d=twi~2j^av^wHd%irvT<*C3c^6GO~Pvqr7d-$*1Q#Q)8OVR<k)#{JzQ46rR8
zPgl&9?yACZ7VPY~j1pYTW-~Epx7&=g$|x0&-8vX_+Z8FYTza%)#oRR--Rwwa5=)Cu
zZOf%q*%j*(o53xy?CX-}E1CB^hR3m{g{Q2t$81@&^?Cc<+Ud9Pv***Zc<|qk)VAzO
z{3Zu<>t`f#t{87@{XPtfO|r-FB^_jmV_#z>Yo~2{1fBEw$TK(0s7C2V@4~@+Y{!_q
zt?NQZ@smCCLMh|4S)y}#UyKaOx?-(LR?Vu(%H0~OkH^z>wRVMN%oFt)&)V9iNNO`8
zh-A#_Cym<@X3eHT%SX~k@vm_#+ZiYGtvzQ}s7>aA*eV@^c#a)osec>un_p$UrN;Jn
z+RU)krM)fId&`cVvBVzn*w#80q-romZRFz*Gb<W8tG4&h>WrjDGfC8!bn@CYwyM3e
zX;3Mg(j)U)Mw=C@tF5xBWn0(sM;nJ4%UT)}GtBKY;(z-}c5$=}N3z%<DH=l>2jg5#
z)RzoLy3r_oiev6+nbE*mF-RNXFfRE!SBnwJrMgmm5*gOa{uqu^IHeIBwH`xOWc>7x
z&pn1)<k&jZXwli$TPxYv{oJ$Xn5@(iMe<j)4K5lvpUBi_ZQ8m;cFk1M-H6*`vAWLX
zOnfvl>pK>uVf$`$P_kauBOWzNb<Xz*qmPg(JHnv!a`v$e(XSi(ny+=fG;bgKihfu1
z>~rode}q3eZ%@Uu-S6V(@`q#2esQ+f-kIOa*5q?p>MwaZb-KqB0>yP7$zIP($r?r~
z-tenYE?s?OIo3kQBabw8jjJ|cgS?nIS(=o6kssf=hj}V{J&N1AXZvg+RyvPliap={
zU6CqJIF}l)kx$}C18Zr?u_@z4p4+9RB$W2)X}M-#yyJecTdy@@x2!~nu8Unp$w%^e
zqFwwj7o%g_6XAdRT(^GFT$))I>nf?@Sl%VejO4eiXzP&t?dQ2ALHsdFI*J!0Q(uuA
zUDDcIbkx;f$~5!5ma={$b+U};Zz*n7TG&6fOWKXJP<pDW^HV~Fd3(-mM|bo{&ee$d
zk`>O^IkG0@b>kQ>`kiCJR<^IipBg<QxUDeENRl6(MCbO^I+hhi-}WRc3l%e=JJw}G
z8(obQe7kYf2)-&^Ez#Z?xps*U66wRo4A#E;9lyj1vo5(f$Yrj~*c#J%SYKCIm9YxH
z!m}8fX!iQW*c<;K80({zZMPRPw^|p=7stAhG&(uw{*Ic8e!q{d#wC{9zA!pcG>Zfi
z#iO(i&Uu<(CT9wpSmF_)b77(0p09GpOp@K-^I|(|86`_?`^5ISU-YqE9=+}5jILLG
zsc&*e<~(bwE2VMH#p2{@x5}LBF=L<nBK^}hN0l{vrQSPFrM{0XLa}trD8s$3v5a^5
zGTEn{f$VqBVQu;CTF+xEb5+jF_?92v>oq^t(ot=EYW%!c8)qR~t!PMA%Q)SymK)o;
zuUU4x26SCeapx?f_^2P(^=)*A%V_IeBPe!Uy(RC+5{)C=bxlXoDY2T2Xzv9BwGoQO
zBAzve6tlzUy5MDgnj?Ptx0oY|j(3f!uP`+@XRR68_LkXipBV+Uw+(uY_1%`pTH{wO
zyRA{*=nz&09W&5qxsBHjddk!N;$?HP&dIJ^lV-)8;((*wdJSimdpkaiM_OcDW1!x3
z6n!f@=FIT?;Cy4Ig=N9p{>Zo)-RzM(=R3==hT^jLmYlB<gO~O8DE6587^(E`mX)40
zMjgc$!q;E6P?l6a53A!xGhWEGx!<-kv5|9rbqty5lIFAKlQU2E-!D-cNia6ygwBQY
z;i6jl%Tc8sj-DKKU-vcRXFf&a?ijU=Lc(qHzMK8J)^6d^&7~kD`8wmXYGH{!((ke>
zc|fg$PTOa*ngN1sycSvQS7RAnt+ge~uC@ibrq;=xm0fidp1D^n@>z{%MrUMs%lBB~
zi)6mUcVX+^-M{S-V_~KjzlECR>nKbQtA*aIuyX%+JUnzHwrkZ$F8zF@^SNdjMoU*q
zLyapete<(H_iB}E#g1+(q@lhnCz=-TeckLxTeo(<{0@J_C~MNrHqosuCx}&@;5kCE
zFWqM)O?IlE_JNYK(q8A~506{*NZYcqy`5=nzic;8Y*XUfxwc*DYLv9Kchti+cAr<f
z?);y2g@kxh_u1mf?sjTz{hS$noNR5$!9Cu|dygo4{TD}b53Qn0T4oKI9GEf92#;li
zg>uaUTA8%Rb^QG|tA&oPIoj<loh#2pe(aa_IZkg$FPux37*kf4w&qfCc;u0|noQpw
zr9EB{i8kS4`gL<BsK*}njvp<<*y>ymQ7jnUSY>t_1tSs5_0C_iIczni)jn;cwYj6V
z6{WUN8M$(qBTu7R-((t{iFDiJcRH3Fzq(EIHxB-tzSgP6vTlj~Su?JDXs$@N$fzTG
zU(Bw(foNup<$Fh**Fa&ib;|FuA>*_;msUo{wrgA;<*Lubx9)F0Cq`^(WEpk!HuCLp
zjGWI``!<4U9i77QZe~|bF0JF0j4Q3|3$dizD?(a)m#u2=%q82bwZ^I=>uWEWT{_eK
z6W?pL&#~~a2lIdRTouI68q2NiO>2{JBhQ{4$<4%9`72myOdlsQbw*#7lXX)uuzI?-
ziw~uJY7y(@=qT1YFSJ((_Cxu!j;urUa69`UHH7`ty$caMq`mqY`SN!Atd1*R#y*eG
zjYS)uZf*r5*KLX${dKJ2qec%~W1V7Icw~tg&l%BPlScBdWz-eVURg6|Jm-w~G&wSM
zn<r+wM{4t^^bDVpJvDm1%17~du_|rqHMyYHCAy|D!W-$T<2J8?e;fIXnRa<iPxWy>
zj~+eM&h}e!un1QY(T+D={crJ8J<McBo2?lxL(=U(=Z{o7$<kGkI6kT#YNKi!!rvfZ
zi`zCyRy%8V%d|b#$k7*V+wsx1y5xFf&-dLDJx1ACTFwgbjBXp8lZylDQPoI}9qAc2
zBS>QEy6gm&7V)1glQgrdeN<=KNcwD8WnW7Zuju5<JX4h{Tbk)8*4UPI-n35Dx^!%F
zB%JbV*r;(cw|m#1`dCNDQS?p3Mhk1DKE7ghSBCQS;O`YgX_7u}?{~&uEzM~o?I_A~
zHZ_9t>Z~kqMk~)5L$RuIhIrTJp7b<&xi9X!Z01g82Km}-@#w+Qng*F<(pY8x8(ryN
zG2(M0y+7Q_aLy9M8}rK;M0zx{$E>NZ#k29NEDf(TW;FG<?vwe*dppKT?JT+bC>%*G
zXm3{^p_QKULdkXwmmIEkLZ{mjoz03W6;UiH?&qkorsTxu-dB=+!@tA{?VIQC$oRUE
zHn$z=k*F)lh~54#WNfc~$3E9D8rvMqtSha<7kMRL?&~W-#Bvj>L81_=KGrLGr*0^1
zeZ~3~honhxw&m??+V+}pZT}WyoiC(?{OhYeC#$;q$L8o1ucfc}BI#KVJ6;_-8mX{q
z%gZRf8t$vL85MN>8jZ~KT1TX}b+I1dayxE3enzp3#8P=xmL&c(ds_GO^=s*s(Q-zk
zj{Hg<v(DkTIW`;*VW@nXykk^z#`<(?W0}$<UXld0v0rso7+F$|hG(|4ofUHJYl#ev
z?y<x|vr?8@ZmNqmf<ZO@iY6H+@6F{{;Ee9MSGt8A_L98S#ylwGe92ThW8j*>ap`j&
zp<VyUV%wtMvcj1`<5o24TrySAR=+wQsY1pUrGMUOWNSMTJ0mOGgK@FKmRYOzS!wQS
z-+Je%F|CghmAay@;oM8l_Nc~L5@dn<m^<y*5AJRkuMfAiTG{4ymT44fWSDKnq&RJE
z7gy|eqv%XnyOiN;a&EkA8EvcWd7Y0xd?x57qJ|@El-0|31RU9kwAfYJixqxnyW)Y;
z-<SqDb3u4T_sStU*M3(yDjw1G@W7F2dA2RT%LYra)|MCM&1xj;-1e<|I#QEAhL0Ic
z60c=>_Z+5nZQuIXQ6da$Z7n`azgf2~zUX?Jw|ZCavoii~F>X8Cz6);tn{DlVhv*`0
z^*4p<e*sutyxHwB>tl~aj%5@^Vuya50plrM&sV#@eQqn&#_|fuVzXtNZPl)@NXtl!
zG<(UvM_N-JQG01-%@g$=rOnaUmGQ%G$8;NwZr()?%ZaaM6>Y{!IbNARm6GcNjqe{b
zr7&yz&APR-ht8C(mSAg>d4jyhcZ|1Xh$rp&zI^07QR9dEnYY?FNb>*nV}FJf?ViCw
z=j<tK8YC58(lHf8q@-=yN!$3s2$-#29s2J}g<rAB*aTtAwWl+B-VMiGy6W7>dCGN%
ztx+rcq{fpy<>@+a{r$dhvb7qgt+R8H5YJi5(R*tgsUA<~{pIKun$;tgB+}aBj+79T
zEz3DUSw$m<bJfd7ZJd)ws%<eYqgm^CG#16yjAo14o(ZyTEZtgHhU*e+!`%Ns)YuZ)
zx)%99wr|S6=_Q?WZ(doZGLAi-e)f!Idz8}JypVV8i)d{bde=rsXQO+(QrhGw_+*y(
zZ+N7A`?VOJS~T+F?PN2vsoQUbMm<$%{lkIE#<tBfw~-PSVzXBxX=!U*8)y{SZJojj
zw+I8n?W_j6eQvGe3%wTh-90TwGQ^C+r5!WD#;?XAF%i$z-l|5lH0|cZuWem?tZV9(
z{f2PFd@k;k^o%RajE=@o`;r-kRj)*ced9SHl||u{Y;DgdhGRoFc9ttHwK-hc8pnDs
z&5XG1lQ!LFinsQF=W{Wp{S%%<<H*tYl4fpMd(Xo@pNwIt(WK2HYZSa}U)~LWjX$ML
zWLksnmcmX*dq&l}=wW1{wa@BYW)E{FInADp&BoH!I-<k_&!LVfjhE}1A00>P-=1mJ
z%3k$TqG6!M*Lh>Bk&If-S*su!t!;~Pf_BQg+ZfIC82Q@fmNhqOZHC(>jij%5&f4j>
zwR23xd%-_@8}1eD)GJk>aMPDHschmi<%hIL+*`6Ruzq^4<7i-?)$ibw__DqkC9mmS
zoNUW=pEd{6&pz;PYb43V(2|zkHA`D&TXIINE6xSU3bNRiMMfKy>Q$&an{?NsYG;qc
z7sb}HA-ecAdIX=gM>CobZda9MS$nMDkQ|dLR3qBHh8E2)dsbZVQ5)x+5yJkmj*fUE
zVDzJhx!Ju#m%hrv*2sC?7&(`CCp~@(vocRdeqN<Z^p3w|ne6tglmEY1S0lSJuk)N*
z)VMw>yFF?fvs{Y?!As-IF13v>f{I4fPus)xs6ApS@jzsHthOBWcND6ht^~u(5Rox*
zrZi^K!{ZLuNh~%C(pNod{Nz535W6yu+TS{F-K!QVTXc2gS9x)ywYsK})YHe36WJs2
zj9!r<EaVH-Vl(&;eEz(l`WYoLA>I!f!(TO4&iSZxNj|j?#p9}Y<V(v50>17wjJcQ{
z(6+v5J!>@LA-A#&%Q51Kw2YWnbItg)IhZ`*NT@Mlu~E0@)mBHv<YJ=ER^+?A&uGld
zdOD8fIrci&ccIgxoryiNYaZ!ujWc4+NYN{dOolSwCABh)QBe<l85{esI9}Ey8ls)w
zn+4J%jC5vp4hYh1Z%Xr7<zuxSsYg5GNS0S6_JB1ny^WFimCWifyMH@!Ez5nRpY1WT
z+IqBWwc?5W77yD_jTIeqJ%4F0BMbZB5)^9$_stmA*ze*E+wW+bRZNx5HM;Gov2AB*
zl57|M+Y4zQp4l3=DGtWkM4@!9Jm&czzk|^K*V(x(IkMzN@JXis|6e_5eO!J5NpjZK
zM6+g9<pl@?0-050_l!1RWIyJZSeyTO7M>m55mmQ-x2{Yx+QjG89OvGJz=pdG+})=m
zZ1De;_V-oZffKuH1iThQ)rX(rjGGXK1gyVax1aM=4HK{uBlt8&TG6BD`<_~4W;u4t
zCD-jJcN`4p32*(>LXN{AV=`2|h@*Kju{LJgrX8}kb;#&yTl@Vc6F>bde*K97bgJ8W
z!|I*k{U@K5?r)aM*f*EXohL@hfMZi?wfV-%Rg8U(ACH`k=b{MrvL5fv?D|uGwtxFx
zO%CnLl-l^U7JZI0PL$S4Mtm>RU0Vyr6$>wmm!&jWl-AccN<$!OjIpL-YBNq!^RV>%
zu?m)b5vjppkdf-0D}1&>w1>5Ngr}UBRgYp28@#<M_+6P=i{1#!EBdZ(uy)Tk0}P)(
zm#5t?4<+%~&P?#Guk+>OlLc8a4skHs3Lzh|lLGEBzVl8lK67Y`_d+N%Jh3WXVz&N$
z{<O{+&HORGipGwSF5b?ZbJvPEeb+v0#0zsp03wwj+Bl67nJ$ju&{B-Wq2pW)@OIhs
zIt1y&na#MZ_H6HbaSjQw#Je$YE&G>G$AxL=!v3;AmbFTb-Q&C~_HSUeqRe}|S7GT&
zj@!w_IR0D(F3(mD9?+v2)K;<LAw_g{y{r1F)m<uWPX${eu)Z9CPzK{{z8FPotQ9>h
zUBzz%Jo<wk)wfYKch#_Git@+tqL2;Wjhyr829;P<+H$VwT$A`q1HP-~lhEnrjj8Bt
z)u#7hV+JN}Y$01drX0q}h}_0jUTOXP<IH?9stRiEn~@?SR=A7tKFKN~j*S)5Vkuu$
zw;o{OuH)HOS6EB$^t{%{;rEMCH@o9tm4}_!B9>2;$xKMcVR0HI`)H`9dc6;;{;@bD
zoV!w1r(t{VD)6^mMW+0$-MF=5_O=&N2j+AY{rb<Fabt_|yjP*O#r0wenR=}7*y>*4
zJL2ZL;yFuSsUls;o)&L@W!yEd{cYbm5QltLr9~F!#$%Mm*`A2U^4a=3P3%m@eZSdV
zhWM7S&zD+x8E=+icgh>bjMz_D<L2^^6|-f}(06a;vFD^JLL|R<*Q(ip52GeeG1l3|
z`RlxulHA1WTSrq*XL8y*R^``~&h|9!y=%Iw&ucj$O5>p-%xJZix|;WmKz7Ei+*YMo
z7MWxF%|h6#UnWtQIbdY{`o7N(@pw5lf_G)AYOMlUh40o#Sdgb%v7c)j7^%l86ua3p
zYijYuU`~iaHk|WfpWRRqE!KR=Pi?j5%~fKRTcsGEX!K{z?K@@p{`9GRt%G3vm1V8D
z_H<5Moa0aIo@eKxRZm8Jy@|vYqLtxVIWouRpsVQlxLk<cSzzfU3-ML9wu9U#onwny
z+=}a2R=<zSyfevvH7Z9%gI=jResAx;|L^|~hEK8YXk~QGoZU$fM|)mg-uW*FFZv>^
z(#`6!Y2B%)UwK{5?-_YXjm?Vh_%CDWhxuf_ijvn)d~j<#vdk5$uUV}A@#QGzJ0{QT
z#mDPG+*G%tKpCP`UPSYe4y%|ur#7oZeybB=wjXU@KlQZE$kLscPr3GP#`XJ?1$~wi
zbNLHZy2Xnu$6k!R*K)-jgxKW_%Xb~u5`CX9=fhPj5T(Axb!U4Xi>Iy2KA(o!NU4F#
zMA|AA(F{X;GD{TAukNg_YOR_uQ|_Jp-jjPpp2nI!FVD>8TE&1lg)9ppRnc5&F<d)l
zO>EA4--{BT?|orC)0iz{GefG8S_`MxVQkooPbS60dy%@wWBtB9S7-Wu$7%iH5mYdb
zMR<E-Dk4UDZboF77Biemz_S)w>scn}d-JdEe)}1xp2em}QZIdKItA)&KEt<oWQh^?
zWd`mp@Eyrj_dCCwcHe?F<Ip_+vNmtlNh7_t?nz-xYO%H3T|FC9OG-{tH_CfXzpH$o
zvv38!G3q*F+Y}JDMs%aBr|cS!S7gdPr<E=&Q>^+hBJ*b5sA@7CIxTlkW-ijEcfpRl
zsO#U_nI=Rq@7;mQWbt1miTyWn?HFr_i9oH&I`fww&sa6QU+Z(bG^97)i^_GPYi61a
zt#UOLv}P0sM`HQ3{<mmkpV9azhdzm`+xa6Bu{d^n6Udegx%}>R_KSTyjWe*ys2U!3
z-Rm|&))-C8G+X@bO-8bD-_;dwMjpoOtMWxZeD_Sw@vUYzJ3KD}E9%v^bB)G(xN9{n
z&1(_Xk{-yxVp(=nRgr9j8SH&?@xDr&e{-^L8i_)y=G|;wwcPs}?+4U7dz62t(;eT~
z^3G`p#_jTb`MYbYR;+gZ0*|{gSKaK(|Ggq(yrxQPvC5Q3IShfS8^hLLH9AXKHbae<
zad&P13WaFxm3#46nf!)GHQHa9-}QYn^j0LQ3M^K$<8C%%p<@-pOy^B2n`bOA(YWSc
zJ^m-Gxemo;tI{&$S?_T?O_f_lY%c=y&3Sr~!^>P+l%K2RxMD>7;a?WEn~Y;H@G_5b
zqy03)*jltx{AK@p4``0_uJx_mD#-hj6eBLN;8n%xUp#&0xfQ$Kjzsery>mbFob}=X
zi&nfBb>+3!X9Rx7$Fq&aA1{?<PA+nLvAYo|wv3boaNoWuRA#hw-^=Wc8AaSDyUXWR
z%jqVx+K8oFpM6T<XBWo7xbiFRa1ra}qlmEhS}i`~H%q(ch!t!#!g$3ln!I+@J6E1D
zV>=Hs(=GjtiKBYoai6s$8fuq(Q@7d-sn(3nb;A1$E4-B>pYb1__oz+A#_2tik56?t
z8V<~rGswd#?Q-9!aEA~J_f>|h6B*vFvv}|~4R()3oOm@pv0Zkmoz@6z?D{ua{m_mj
z6-`yLYi=)-gHTj`AoIoCone_iJ%FlSJb0e>;z1QLAr?od7Cq@jevRFH`aZ_=ECbGu
zjo7-a>i@?2Mxq*>A$rgdg-03oU#97IC$Jz+$51oGH(PsV_nTqt-@BtlqXpO)L&njV
z&CNp`J3>BX1q6M<(BH<SWjMgXjrCpQTz!nDoMzplITGLO;8BK`y?p6!cNy6;;$adw
zqr)qw@H4)b^=bo;XmEA-jp4PC54kXB{Pt{jt9;6m&F!7ExTE^H4%|-#W+ENv?<z!l
zdX#}Ylyy<f;?A_4g}i>|Cq8B3GUEJc>gMh0CFQX4em+UX>EFC!XPK27{jfT4_CCQE
z9Z@&e-(beGI(+l=*+!h{wP?kyMv6KV=|#^|3)gXK>*7cu%vFV-qx0O+k+IeMPuB3T
zEL2mn)bG~1PvZ6Vmzh~~1aohnbHwaUW~C7azU956EB<TKxxBlcY|j|-#^jB-)d97#
z6#<6v<&N6DyR7%lyfh96e}8H+gJQpVDJCt3gmG!1OoP|aW?ZFh6mi`Qh0KW7qwQGW
z*xD<)iwKLw?+Q{LT<`qW(%k}dX|c0-%3Be%TkA{q!$q8W@rXvqV>@<zYOJ`Z)i>uL
z{AJmkbwA<$cKM!CM6w(kT`}>b;BQL(*FV`ZC)HcWa^y8v?(fwd*S%yYACB#Az*U!#
zw%@U4yE|2`T06>1oa@b2RlT0F`{re9)3}lStGMNFiqXz`z?6@o4v9J?I!5%n`c>ro
zmD5nI=k=4NRj_NXRi1Z7`I60L@b_6<S*gwC=zQWce)Zbb-J5<PcP0FM;@NE0NqgbO
zv#B6u%8iVI@H+;Pww9!`6lD}yyI0o|9Nd2iKtJ9`fMC{kCMJ=mdu+N=%wr03CJ`=*
zKc@eATRU@9J6dQa@jJ#`{cXHHs`dGk-C1*`;JVdKPRP+JQ~ZlFwO_s1mX2@FKf(Rs
zaGV!a{fjGx#L$}WoxgjlO3$Zj<f<x*9kE;v(<yV_>THa&vTfzU#e24UB<5YF#a0{E
z%2MphzkceC7hB^3ExpRJh1T!t!alfFZR?VF^eF=KY5e+!iF?))s8LseF9X`*9ki_v
zc?IDZWel?~YxT!;V?^iN`t%&raAchC>PMRl<k?ZQhBHQ0xK+Qsp59jaty{~6nl-k3
z!J|L<0pI+^Pa3+sX|KN`+B43@O|02_d5E#~f<ER{JXo034uR#^sZUOtx2trUGP)OR
zWeV5TlX1s)M?DS6xD{D<%=-SUOqFhAG2^NbV=)ldv`<IQ88h^>j>w08iKkfm)YN~+
zh<<wREA|(CR>7~WJDx0L;S<sDJ7emp{;wtLsK5KuW^v$m=bka5vt@)9kv9IWDtB+6
zUR-Ip3z#;<9&ha$t_fY;_@)pUap!TZztR3e)&25i<M;VnvyQoKvko5eJ6v(}d9?0Z
zGx#<wUY*~Smb|j+JD-O0C$bQ{u?!<>o~B#nvG#iAN_ES87OYf9vr3sQvk3Dj<gx>f
zD)VN0_T(miF=4dyjSFn~+MLwU%4znQ<4oTBjI?hpu~EN%Z>(w*=JoY?W_0zc$2&4a
zvU6FDt<Qbo=8W^LTE;mJw3dfhr^2#Lo3qS=d<<<!TVdMe+Jj)?b2M{|8g8<0R(Yo1
zZ_&Lg*nTG)zGaFCJTo(CsQ&N~gIF9_em5SboHaFqO*VP@y#JEk#^~X`%XvEo{`M;F
zU#!$;9?H#_O}S}6t1s@wt<JDXHO9C++<PK>E+5Ps^F)e*!eO<m>UMRkimp+u1h5bj
z-w~Pf)CP867rX0)EoJ(X{rrn!na<)nJC11e2Ya;ow72I8(WrnTH1ha#k0_gYE)I@8
z1H=N^Z8a*BdcaD|<3)6z`N3oNJ0h(ni#}_yw4=WHG=@ET`}A<<HCs1=?o(XtjQnr9
zAr@@B%(@a)>HqVu5$Y2@8hNqQmhy+{^3)yI#qJv2>OVHqviMShneRLF`21vkDr?@0
zwdX+gr74Me@zrRts|PD9X7d2bvcxlh>{wgQQz_u!RUJ7}-u=y&?U7k=4j6W}dD_b&
zcf*d0TQ~t_*<Y=Q!5Q_gcAGD@V!Pil8VCKp@S>9Et+hTBD$!BZ60^rJY{gi1i73mB
zwyO1+%FIS1TG^Jddnd1LJsW+BF6)ipy2w(apO5zWc^<5mRCw3$;wNum_Sonu3M_s8
zAd+<8T*gmVV+)M*TxH5?6<?JsvmzjF@p)#9@vE{!Wd6$H_$)rTm#z5Ex_*m7c2!EB
zlTUrv%gfHbv6K&^w#vf*lV*+<ymR!mt5C(xJF?!gR-EOr+@Md!s%bohtj|5f#;DX*
z3pOt+TDiI4yGs<;_ec5?+j|~9ZM)8<3H`#!Mup~$-q!Z4ttdt7F}+!vyr*36R`#vL
zcxgYIp3KLM!uxfi^{*^<ANT6sPi$K4)W7_~o$c1Qt@zeY@&8tsTsX7Jwi;3o$8uI|
zT(=h5w>-lPEVjFXBMhAFTn_!61m?S1i#&dvA$I1zQKY+f9S9lmf4{^Y>P8fq9{e_a
zx%iHDnXp<?OA&HS23_f1FU-K7{q%|SzFPy_162o&x)GIQj-On>sJMF~?5~de?En<-
zv-ooN=1S`_l7}kOnvVrD90wkqL66wFf7zTOFHgk)JI)3_7FubzvZeQQ^SS?gVrd`g
zo~zY&t48Xtr<htpWGR)ZalAB6jAloa#TNruS|swS3S1%97Zbx2ig~lXuxJeBGv7O|
z;zTERR`u4xMj2B~6GM@k4SR}-_-(nPiVd{?pL6DrvE3zRW&141?#qgnpI91e-??a~
zXojENf9^ZP=UU|5NA=wLVgA3l6xln9tMqg2YLo1LS}Qx%cKhq^oLtpl%LuhwwBRyh
zwHFubZU{uG`oN?Lm;s}WOCu>KCTr)Imp<9Wmh)Yk#JpAI&Mjy97d8FgY~NPu;Qp&6
zjBiGDW}CR_?X1WgFZRaH#-2OgaYefs+O}N|z1uf-GvOHC8wUzwS0&;gH_dZ&W6YCU
z|NI6j)?VxBY`!~-$vf}OiS?kK+y#EcWL{gFTvPG!X@7pME`Mh}zO=1w_k^c)S0UpI
z_j<@b_*13GYr!iBjZGVlrE1}~dDNv(MSYrWWLU6<(s(n_49ds0{`3;YDjdr<lUt9n
z8&A&U>b?KIETtD2vv&Uk`R9#RwHhN_tp>o<h_yCCJhSH6#_fzAubQLh?(tg9@O3o}
z`ps+Zr^ordYpWjDVqUcPS)chZ|Jaicv6xeoA{S+ham-X3F*h6Z@1>9HIj^tPtat1_
z>l0J=GpT8s^7$!U7Q^Z+j_ZLLwcJyPyUwx#^X**K!6E@EOyoiP-gBn7`pQE4TDq9E
zPsYsp%avnjyKGOx?blQ9`m!JD;$o~3v!ZA@rikA7tS#nrzqzyW7^>^xwZ6}Mrn5J{
zd35#2V%Rw{vy~!Gu?)W3w@fdhyZRWFv#~w4%RKnUl%F4_JjaCQlPCNb@7*Ory5qNk
z*0*&?>*>uoREWF4jruYaHd(zrFk?35NWP~={EcbngUgpa{S6;VaDLpn+H=*9Is!K@
z{fJJ5s0Xc>MOQ#9<n>m*ILMbHR6=}QMPuJsz)<Z}rQ!2<Go=SPGrn+KtlgCxQM~l8
zk;_}EVm=kBrnq{0%JE|H$x-g?#e#O!hS%vrd+G=LTB232^z7XJwQSvMTv<bDoIAJ5
z4@q`X591sU1{sVetoRb;5Sn`<VgAtUtU2_1uB~f@c5u3y#j&mPVWzBP5UB^eGBQ@>
zTu)kM_3KV^oHAY(j9VLG<2**<@mEAu5u;(NZ!2t<Tb1|XGs0mB?XMU>R7{?|*Woh5
z#OYsF?B79mcKKC<UWq^^^kWvV6=GW2KioB5^jw7-uB=M4GS;o;YI;gD@@6fDsz_fd
zN6c7Oneu)4on7Y<d6=o<zN_PY<1#?BV&$8>?|UckdDr2}rdIOoalW~3ymuhtfEhe(
zO$0*~7_0ARyVb?M$G=)|zDmUoF~Ev>{kC4zdQIW!P_9HTQf+Fl7PD=}rV<no13N1V
zMFBQ3n0NZ~(NnekawSgLMxVTf?`0Wn$&I7JDaPSzpJU(1=M?;Xc4v;!IDhZny!!m?
zkXg-)8&P!kyEW}ki2sW5;^2z;ReEPeW{<JUX9~H;@5&s*V!BEc#ee!97mhchoO^a7
zp>?s1S=-f*%)H9N#`ivE%z5dmajDkh@4E!CP0PcUHPk7OAb=z1)LK8+dfpi4!R~6B
z>c>X5n4hg7$A+lf5f@_>t_I9me#Z38wg}~YQOUKL-*cz^#X=66adQ>6&wfWc(!YY>
z+2mrmS&Vy_=tnkUgyZK+#G3(Uu6b33x{lNEdz91eUjJTI<18+`BV8WG%<G|c{clB9
z6~E&A)wca@k?IFN^06bWG1E@VIJl70#s5}9>sL?8H>a0dt>{t2?;i7;OKZ;<K=2)F
z{4R%b&-<;LlzwaMH}hbe=0M3R?{`zJw`hggdmqnWG}@T1rK*i-*Qj{rs=dX%QtPzI
zc~+UvdG?makbAEIC;P#sC{qVH>yD~bX$t>lXMNS-aF|UIJ9CWSujd~yuX5!%v_*{?
zu~cQc=Gj`*#j+!#y!!WNU~c3zI6L6h0{+2tM-7vBvc#<Q*=ml;lvcP>7e<18uWuHA
zpTF$3PMMWhjoa_u^jcmR$t!)8qx!|GR=6WcKSp_VrG`>zIY1*@E7bga#<6V6h3D2^
z*y5`!crET2f1l5=yjbNyR>mqbdnVbv6BvJwx5vMF^xrUI{<v1b_qS#9b#tp%X6?*c
z`5b*CLrdhse4v5qPz=Tj*M6cY(~N1=sO4&0RhHdix|u`|<!fG3>*Bg+-d&&#vtXXC
zZtrL#D-T;W^;RB>PY!Nt+!2@OQw@ybs}~$hJM_RP@mA&Z>&rQ^HVd>e>)xH0%TyzZ
zH2qrB(j74s+zf-#oommMMWe+=e{vzuS|$IoQfsR$PpX@lma0^I)9Wm27+w3#%$q%9
z37e>5+1#Q8aWGT;spE3yvEG}Z5WxFoO%C!+U+aeUL%_WIYTRbzp`N^0YvRmLoL7gU
zpjEY-Go!^Wo<FNPKSMwZHMsA+!cc~=qp!_wewo6P3Y>=1bqe=RfQr8BeLE$1&0|Ni
zW&7_Oy&1lD1jP*ovQHma)nmRIwId^p_Kt;tw4;@*IjY{UmbcGHiqG+kQsuH(p7T$C
zmO^Nb_ghM4L`-DSdz>&@@7il*Sy}{+BEH6#pYF|C$2V8p?Zb?VgBY1YoaKy=aV$1s
zx+{fj!^SW+FNCw+O5q4|olY;KdTGzC=UWM~6=(Qc-Az3=gW`1Dt;BxY3tzJePO|w%
zRIL;-oKZKfjm$77{nn#b+a1L~G-@uT(LSDSb!G4S%JFhFX3nq`(_@~NGT;8LUv%<&
zFV*(Tf-A*~PQ3f9ficCz(day;H0HF5q=s-$d&S{uXP)5q)BYbP|7tZ)&eBRPjR1M9
zl#jAnR5D%`V2y9D_<R<`s?casA`yO9vUbJFh*o`9(^PXAY0XQ&u4`u7efX{wuF-cr
zil^=}<4<N^eyd=8b$@1jAXV|8?hc@~>jf)~jN_}D7z)8^I3|ZGT`rHyB-!+*dInia
z&~wq2&wIp6{hphVJH|*pN4XNbvxktg>9w&tYTs2MC15MPSOY5Wt@>93MhmvZ&DpDG
zHMRKM1KxWnSAjIR8jM%hiSAbEzrSIK&x_go&ToADsy?EQgU_>KF{5h3{HhP%Q{EH_
zvm4RVOgoBp%qWO9x?GbBURW_Uc%OauI7Yu~?y_#g&hYad_YkaoddXM1RYyfdeKn)K
zCBB#`M}4y+T5x~=gjF8o@l)@!Y%avRe7c^Q|MoRkYT1%^&-YF&-Hl;u%=M%|i$D4z
zC+Z*OZ~njITCC(KCgA3xxpkE0<j$4KwxVX{{HE^Z;bv!*g^%tVhN_6ll`B>&SL-MK
z(u+^L`WF$=_&luk%G)v%TH_WeRjU29-WZs}&&}#(P_F6EN{ni+8Y{v$t39vISAVT2
zm+7mWDyO>|y~o*mKOx8QgcVf-TJy<lJ%+dlzGG7%%faeIo?0Wd=V-G?&P6z-7OgAC
zRB3fzhNe?6auwrg@@jXwx~=I!E}UnZRb&Kan|UJcuNmVgCgEn*=kappE}|~XyFM0~
zqnS-SS69a9x^ek%oS%GwyE#OHkC2$v)J^Z*7sX-RDuQT@IQ9P_`X8p}2}_}qt=B@l
zIe+hAF?#b?)r^O57P+H)XWY$x*=lD+LsS|sS<?>)-?$plXs$sRpRY%($*g1K|BiLU
z`+iretx0;+nrc#otBZ1YF&KHew01$8UH3h%nbqq?&ABri5kF~0#;Vapj4i!ubvbAS
z8D3($Ph3{W-&e-##ks9w<zLLHGli<SV!u3v5gf3q!Z^1E=FyBYqSX%s+Tti*_Ss`J
z-~5_6JjcY&E;iQyHCCp|!f)l__u3M(2*hN|vj2(YDy(|f;^ypM!llQxK|8J}aOQe=
z>kDMPih``IipbK9f85`-V69ql2LAQxJrw?}?J$W|F2eDmxAh(0ih+H4j4LI}Oz)rb
zy#}Ru5pT@6zok@F#fWO|@-n<y!lOKZDDBr)*3Gyo6hHRe@40s_zp0R;o~(n*pgdfQ
z%=V`h!T4tFX3ExDsxx==?kz+bD)WV38QV&QEqsaQ6O)nVX`EoGD|+8+TdFFKeyaZd
zURIdoN%e4UJgy!1n6-A^I1<<U>?5wvIetbV!{w|``R|&!Y>)X=Avd#JM$PixWkc;T
z27SN$#1}{7RQ33j74z0zLpIdN`=s*ShLx8?uh}u13tD$b|2kRSH}7)jisT+|6lTio
zW;0f@qc)1pb%~f5?;I<VO4UP3mG^e<m%puOse5~p{BKohf1+JpJ^NmhX@QMa7GiP5
zgIlVjXsndjVVqps-e~7GO18K%GRKzZm~r$~U)GydwT0&UdOcPVHm6zbyo#D_=c;rv
jB4_4%sHRdam*2NNWLFbZKy`OjcrlA+E0k+b*I@czI}Bcz

literal 64634
zcmZU41$-1e^YFR5yY%W_Xep(|wYa-GJUGSW!QI^*iWV<zX=$muQFnJg+dbQFkG_53
z{eL^Z%}iz{$z&$U=5Djo1ILWnW<nt544*xE^~N9t1A#ywVL0?1CUzkaC<Ftsa#_%_
z$*>LtS!LGre=jTN|8oCt-dY0rpZjkLg0H`8v+DF(@JG8h->22f@74RGYqhyA*IR#I
zu2=FW{a?zO`vZS0`@{R+dV5>%v#2lkyXoKc^h$b5_j3PO)0h9lvFcf`|JCo+>y`A<
z|9{%&wO;(U7yBfC%JfP9#=Z34x>mZ6YsG!}zo|Zr|BL_D?bH9e{XcXs^?&`==Yc=o
z==D*ro;5}N<)go2W2I5ByqDLfW##qWeKq`VnZKodWqVuf%USh%IlWY$)M|ep=Wm{s
z|0n;qUweIJ^-3?dm->@hAS*z>(?8fsS+8DcU;2OZ=KqwmVk`9F|4a9kx61$M{Gs|v
z|1YPv{oiK%*AlA*|9kc2Ex+gSpOIkoN3UitWljH#o4#Bx{*(53t`A#F{H<%P(VG9m
z?c?-mStY&gTGL+Zdi&R#`$PA6<$tmHzaHxKhBe>I>!bdEY=SjR{{gG?58X%o(J(?r
zSZ+=Gur>Eb@9*6IuhGlt)9x+T+g_hly|O-DU%P!$YoB^)Yp)@g{@>nPd4GIn_2B=1
z{q5gAX>Uw=bG?!1)%rvCQN6RoI=gzWUJ8Qx=35`%ivRHb%(-5EpX7h}eI@>u_R?0p
zUa;!)K_A_R`}luj6ug%7t}DINpS7b;(#P+W{K=sZ=-*()eKh7jyk5!QX|Du>u;RYd
zD!0;o@V`0ifB07X=kBF?WmuSR1*^Ol_ffdt`QFqj!TlHdXe;i!|44f&JS^+I@i6WK
z0!$HL=uHU-;_n<0##X8qTT{}1fczVi5mszXtw8w=)c>SZL?6%)y+DUC{Xf8faqrE5
zu@#sI7JT<&7EJd7`!}D3VE-5Xrmb8Kd|P>(-_#$yUdmd_AF8ib=6_nVVk`97&}W_1
zUaPg#-<J3Gqqld~w70j`ep|g^^+~UX{`k-8VXKd=&=-@w==H_2cU=5Eih61580;N8
ze`I~*>JPTo))(17F|=CncZ~WXV(me1->m+%La$di2rhyL10MzfLI{Hh1~EbcgA^hA
zeajFEgz`7oAXG5eBJ6&HJ;LEPI3XMnP6+4!fD6I};rd^2Ls-H6uiKjYJKv{kE!SIz
z6I`3MPDg}240dpPws5O9uoVh~{I^X~*gC77g5P#?f5+DvLu<UKa8#@#*6Mewx2!9O
z<@XA0fB;Aj=^zaZ-B1_Q0kuP|Ff>C=Py<vC)j>5-HB<#vLgg@&LM2c!R0I`3`A{AV
zxlj%a*-#dg31z^L4y8e<PznsmFeLrHlc2=^LITtaiLlJdP5P~q{98X2E}I6|V67(;
zt}z>~{TJLuKHORn+-eEjdKpv!+fohH!ge*l7Pi2aw!=1e!M1B4E!-3E_mju^<VL|g
z#ld~Hj!0{qnXpH=uy3r<l)xU7!_l*Wy=aY?HCDY5>Whmt8m=(U>T`S8(@MC67%t6*
z{Yivtw!nVthFh<Ny^;^xn*jZQLZJ}o1@sWQ30;IvL5HDz&`xLzv=Ledt%g=Y%VAgn
zQ|qBk&~|7qbObsBU56e)Z=ndd|AlaG0Eh&SEf2(S#4N-b#6HA%#6!df#7{&Hq6*QD
zFd(o<8j^z)A*Dz;3=$+CNk`(4CPXKq5|M%Uj(CB%gxHN(iWm)#83sZF`z#820-c20
zn*|MloFE>Ag|wDtONFJ-l55Ga{DN^goYz@!kPz~K#=;gJgziI;u$K|AZ$=~5BF-Y-
zAu{0>C`d=-NaO<KX5?YyMdV%N6XXjRp2E~6n6nW%2N{5r!L}43-Xo47=D<GHLO-GN
z&|Js{YO{n}PFQAJ94!`evH83CvH86Di1}ahQS%k^D|3ojZFaCMvplzSS_VTG;PK{z
zI1cw&1h;kznT^Dtd{OIB4^Rat26{6396AMlWVmCdU{+%`!LR}|9WxZ;g|Wd9Fh%H_
z=qc#8Xfvt|c@NxcK8_8?Dokm{qlQEy3oA2)=?e8;NPA;lXNUF_!Uwyt$Gc}{kIr02
z@YA&Fb{I|rzSx82ho)pR3;7-sNtt3=-ZcW#PV&VY&{Y-;b^(?{2*cG9*9$V~iTc6D
zt5lh|n`?nY^{0pnIat9F@|{L6^Fzs73d-C7lDhXovFv1M2u|0wy<G*FIx6*tfbp$>
z`mKgg|G8%vCsN;BzM@L1J|r1VykCi~@NGXYx8W9cU9F|}sJOSpMuuIdTgPbZbtynX
z6Ss>N(+?t#6H&PBg0&(vaYJ{O!Bd>+;?6vwcJ7Fgua^(Ad5o$rd!r6<{;Cj|MJ?Io
zGfhvW6Prm|W|z!lXd%~p&9x^Q$$N5EmVfV<U<{X%^2R4ZzZPSk4RXPCCQqt5qW@Pl
zdSC{2L!3t!hT`v(?D?U+zS)PMWeHSsEH{NqY(~=MZD*kn?o!_j-j;7qB(DNK4C==%
z4_)27aYE3LY|3;%n0=*Z=143rs8#ZdnR>OWhLzpcTzjT+W!1{+ON~(RaEwd4UDC*k
zy&bWNF3La2PgC}!B{?~caAmbeOsHEjXt2!)>`LR;wg=L=9ujsqwiFLi7f}ezE9`;n
zwNzJL435WmEB9le-6A;wbtz2Dl$F!HxK;TLC9hQ<hWO~_b-gSbTdEL#F5Or-ui{|Q
z`U*ABuff0iX~BcYPrq)JOv*orI+rgm$!o-v&T}XcFRvR>Ks2X&3!K8Gld4w}jl9hq
ziERkL#(Wo4Q-9br3$Ejq@w}z(;0?Q2hg+)SyrW>WFvTg}jq0_T&}{yx_&of$=U`1x
z!{bVbkZ<Idf2l~wKHPLOFRbWg#^Lw5zsh1Kme0xC8#S}qsd9ZXKK>&5JZ~=2R==e3
zs%)lgr(HL227K(gtKT?&EM0~2aPB8}V^%qDQG&QY%xgjvf4h5+mkIYul0#S}&KSeD
zN85$)4J^m8mxX2(K{dOjrsJx&EOBFPa(QCTVv}P;=u2UG{Eyku50kHcx)z?5*6_4A
zCMRKQ(FvkQ<^8;)i1)?!hS8iC5K%0o-9^<lk0`Hemc!(9RU8%Ln@k8$7W#ZKH*prZ
zhq_)<*djN%G_Zb++~;?h7cQIb671FJ4*2h}9fvOxj~5}mJ~lOG9O^1)&PvTFWnMb`
za$s8BlY_ShzRLbKF5Gha!`&st7c@hnF)yQXn_5o|X(csh5$!%oRtG$Gnc$4@i)Lin
z&9$`~IC<hUgpzkkNc9e#Tm;T{Gz@C%e;M&XlIs6Tl|68}%Qt1}<baubJO<I`dnWoS
zTz!PHvPn2w>gm|^y6+)h?w*eV@5bH<do%Tp<#7JR!>=8KPrqt=nf1OY4fk$WiaW!U
ze+=!U?}ipm;Z9oOF^hc3ck_gV5&51kX*I)kjt-Flqmi;mm#z^tlwhH!>(>$E?Ne<k
ze1=NGMz0@I=zex^wDYaNtTCB`dz9rMO+d!aMy6M$hc_j6f0_B*_RWaX(~qeygx+>L
zH}yF9#C%C`YvaRp&m9`q$8JqN)AFtq?da)h5Z$vAdbN(fK0+VZ>fO(cH~NzIh``r_
z$Mc;By>+E2T^t+iDxK0?d_A`CKMol>Cf<cH?5Eq;enkrgjZX0Bv5$A&<y&rFL^75p
z)omz$A2mGw!XxPV+1phY&!7MIn9J#m<Iu@BR}hB|y}A%O<N1#K<3Ebq<CN!69^@7d
z!TWij{iG=aGUTTMTgNUO{bu+|E-+~Kpz*w$J|epdatB*CWgc&>gU`fk?hn0#-T$$f
zIGZyj#b@r&!S-<jzl@&m@e1Q+&=VeY)i$h*od47#Liz-GYr^$?$EKWmbTRe9`qR$m
zyq-V5edh(`#gW*97)HBIb18I|j&y1td}YXH8O3MlsJxNsvn!p(_q#vkoLy!AZ|=8g
z;jUip&g|*jPLHD=EIV75S*nwP<0ox*W)9Fe4hvW}E8ag`YRBCx2bg!LE6k+i{Dib9
zpOEz*2Hgt2&~bLs`Qc}d9$SCm;nnSrwYSL^>QYV?EzAmSGFOu*|9W4MjbQGzF^<|g
zdgRzm9+MniPYD<_)xT=UKa%;LG-U%#?bPYkAaUS1+n-j<b{{|Xw2x)rKkjE7YsTCj
zb7NS6TP3H;ZtZ{&Np9=3hA~~s3hGj3zlpj3`4#2<+RK$kcAr<=@jlaWN`7(p2X)xV
z;JC;^i96fhv)&-1p#!{Z`zsEdfDfalyOz7@ypIjvHF2ZoQRf(sNT&_nQxy5Mn{H0t
zp4<s6AMd~+8@!@iRrdD7l#|K_-mvWyrVM*KdcO1{PC?v7DpDWl_)s!8QW{2mr+R$q
zk@m^FtJjarzP#mL&5eMYF~R?Sa(d_UZF}Lx_61rpbVbLcgakYtP{h+pTt>8yyXSw<
ziRdzA*nxof{<m$!Hfo=(cAIJL$}RrhPDt@^$005z|2rc``x)Jix=ryj_eXoVd9Ae_
zkM2fa6Z@hjmQynJq!-88gl~J5e$(?_+Veekf1E~N+xh0y<FFe8f(OQi=hSC!$+na&
z#x7D$;F>WWHaNf8?iD_>2O53NZfiYu`QP=~Frd<5t7Na;Vb2QZuk2^GUfymtD-`d%
z&JJVyus!FwZtd4K?)6Xy<v!Xnr%Lakw13n*byLUD>VvtjqnzLC->P37yWW0n{)=Z1
zW?y7qv48dK{l(`Kqc+71OlH(_Tf!j~HkS2}naMdb`23Jt&gJqGK7#{Yd>h=xI?Z)@
zIw0I_oanhC*wg4><P4UId;$l2cT(AN-6H)`M~oVVwwJp;8pLs1XtPA<E1&}#)GL9B
zmHU6ihClgwGsNqK_T|ZIFD_@@PkCawWph{jx!*_go8X^6vmBbbG}BsI)Lo3juJ@cF
z{$(dGzq&yS28{CJ4>{|C^YZWiUNN-aB&W~f&GH7v3YYV8jnf_Hb8a?X6&|P&zFtTA
zuOD#MHE!_60TGHk>?_tV=>@R7`Fhd3jN#cwBOkt3zZxA}@q%#Oco}%%`8Mtm`bN<E
z2QkkgZ<Srlnp6>LiG<cOaMbt8dy2h^O1~H03kOsv=eUK8Smg5BeZQ@*@RDnV%OeS1
z;_iOc{(+>~j_UR~prPMq)l%06&ojdg51S@M$toR9wgSddv;!7VbH3?w*}t(>sh%I6
zeaLuo;%VFa+m9YUI2XM6rQluK8+_`5xF<0UwO^`ZO*4tB5Tz(@uCvcZPp+cIHq#|x
z@Di_q&Z`Gh%Dmi8InU+_o!wj>$ae8h*bAML9X)(f6x-dW_s6?-4;^kd-(Bu`)h5<?
zxcrM?sm5UWhFMX$u=a8M*sz{N`sbF9wy(+`?tB~jZ2G-`;N_p&z72o5E-5Hybg{`S
zs;lW)NZG^MtT@44;gqJ_<Lu|t;$ZJ@Runs#d;_HOT>@31e1dYB<4Hw==&5Iw+{xa*
zzuLBVaDvwum8ZvcN43vEAC=@SL&VrBSZZ0UE9p3pe7@pgV!>y-*aL4berOENe^?r_
z@df$4|BK5X5B(H<$*sQli&V-p2Wm^G2bpxvO%7M?>%G@;tXq(Mlk$asfRnxBFV7M#
zXoGZ^0*^AB<1P77VUp`4oBbYbL!u>F{TLpz9I3-<ZCvcn$|Z8VC>>9uZmrAdUeWwK
zepxZ&>(dXB5hGrn{P5_x?PJEvCBb7uAHSpg#HZ9nL{#6csc7d=CK@orY3$RoB*zjP
zj+?y**>AO1r83-4B?fGxJqiTr%3n5Ja;$Ke{R72a`Pe~rq6(Mcej9B14`aB!veCQ0
zvyX5XE8QU+f&F1xkM*se-C9v%6H3Y<eYx>rZg|O^p0{OB1B3nEc?CPid4_C=pPG9r
zZ5=SF@l5w*{Cz^Mw4dO;!a;&^CiGXxG2S2S*U9-lJo!vjimQicgm8t*VB;utcEQWe
z$)*pSFSqSCW$-9zyYCv8YqkYGFKm*<+lZU^r*YGD{f*l*g>~V-a=&(`t6p}5Jo`B1
z-jR2$FIzrVzl?jsNWS)cc>%ka^-HUJqHRFzVLYS8ispzj?WWl~y6HW>@#pjpa3(1u
z`?vBOWh0!j<c~ygN?-e6KGKz|XjQEl{#|t1BhrVinm4S)>9Aa)ic-}JYq2{R4eAGN
zPF<a;6=lOyzlES<=e&Cp68b6bfy1lDH{qdkKIpz?Wgm|IUiPi#S@mk{5Ys07Q)&f&
zox@7yTt`ody=R0MS(epbWz#0ZxqTN6leRjXQ1LlSltm6>Wb^y`$wO?$4Ysif^Nt!Y
zTseE7zf-=fR(VX`#Bc<dgk9~v4G$Xbes9et#e{_bk*QBUy#D9SqNg`re|qB=J?z7c
zsFu718A)xzmhL8J^uPF6Rw!qlIL5|oQ{uEyG1=?5yT35e{gMKwC~@l%#Pcqw5*;V=
zwW@y{?+Zbn_X?rCbod5ogO{f}Nx5#|c{_K$mO5O#iKOc}ijtJ`D}Pi;BKGAZ{5bQT
z|6TGp{L{2=zHiTk9Qde7Y5H+2V_((MU-jx-%@fULiWl`P?<?blEZ%;eeT&m-UWVIq
zmnqWgZXbk;L`C+M(kAY9Rjdn{aaXn7akuP4z*=duV#&a0xt;fQmqDU!&i0Bj);>Zx
zw+mWa9}d*!m6s~Yt3OIo)`SiEQt)HVlbBCmzh3$BF;x3~!LJ2zXA2HDsHztu=9pcL
zc7$sjuFQ_VTv08bZhO=*PxR7ljpIil#jchAPITG<qxeQcNME_Nb9@}fJ6sa#2hkLM
zwhw(@NjH1`wA~?O+C@sGv_oJ871FJ#?doYuZqHHt^7wo^X=Lc-PibK{o-@9EjXDs8
z2>%-Mv5=E<v~GPzLE{AU2wV}?o8Ba}QF8ecloW-VgUlH(uy-KZ+>*Yxo5#1|I>?=E
zo0$^%1GhxxTxXF}xlHRnPrgR=*3(h3%iUJBi>DO23490v+9v$Sj(H_38^y7ynQO8)
zeAx42+lTfqm!lHit_U3wxhZ}^TunNy!oE<^Vb*R@^N5=$EmVKTB<T}nkR;hQSL$f{
z*e+E(!r_Dh6jewOf;zsl(#2ju8z_0<4hbH+Z*e#xLHfDcPO`u0_EZ+=6e)YlzCmwf
z{Y3k;%`>%DvkUjvihjIK*qpHX<C|#j&*MKQgf)F~h-!<!o;EjWW!{>)OSR>?xyFZv
z0~942V87=aP`tA_FYTvtk$BqOw+|C9k`qNv($R`)aV@(+h;y9G9jhGZdXR_rD0J?p
zbobeB^RFG`bX-=X_$Vx6wBmM<?toGCo3t-Vk7fB5?hkK@lf*y&fDP;XFeJ3;$K~%k
zqTVOW&Bf&{s~X(Asrk0~KDq-PLzD2Hz<;BCRMgAT<d5wA;o8Q_>5@9dRmnTi7r`(|
ze_@f-)o}~^r$XoUkMx?yb%*_mm;E5SMBB}_W#TH)DK3q?#IzSRSmRQa*fcadKh^jv
zKm7T3e#E#BCEt&HqkZ-M-X7zY^gb)Ka9xq2>3Yv_jUIUq_l`{9t`^b61H>9tlyZRb
zgiVk5gc7F&ByOVTf)kQ|B({oL-Y4O|j@6Po_MOgp$p`mfSAV-nZnmm+n+vK}!i$Wd
z)O7p^AWpxoQC~=@3ChTbGbg<KQWwF981TO2iz#$=__&`gNsE#hzp^R~bxXUJ>0TOh
z2*q?HJAsFn#L6ezOi>M&jaAy(70XvieMNk6r<5uCAqwXe$S=wsDYiQnikJ?AJ>qPf
z+^CLwZ8KeUs^!unqOIIV<T-?XmSt`8y1&-0{dK2kSi<O^xRkbUZr`|J&Ywlm<v(L1
zN5$J@UCcjOSz7<PF;jOP;f&f&{6<^JeI|;Ld=;*i)T$EYkL9-|1wx%PNs=Kx$W0c8
zOSg;qt5m`e@fGJa@`a9{oN6R@o%5WYC?BdmiB<d={6g9iDB7H27}@;1=|xdM+Q;Iy
z<e@*N{e1E@<Hwty*FuA%o+MmK8jvF_+*ah+u(@lmW~pful0|q;pULguJrLMP(j;e<
z)8xS-kqj@NCOas|<JyXBMN<_<aWiX&@{o<4O^_p99Ad|Jk5X>5+o-%KUts%0)Ic?n
zkC5M*4+CR6yUK6ZV2bThS7knr?f0W0zBByIcS+2^i11`>CX{^l*P(JkV_H|Z`i4FR
znN6vukE9nc3F5=b<C434iu8w~PEjqr!JQ`<DrQJNiQ1TZB*ltM;U=2|*#L!)^B0xc
zw!i&!#dF(i+o_VxqQUIbq}3E}%&4BywrQ<bD#D8|W-4O&8RR6(_d}7iZx7;vQu;?t
zNgSIqJO5A>rnaRaQ42!%&_B^^5|vZJ2LvAl4U#irj5NaLtf)~GEfxv65(M9uzeC_7
zs8-m^Ja}8+eZoe&F1vVns7;m258E3uweYOqiX?@(2B9_6Eth*VP3J34<POe@%RUyH
z`*Tpt*{Gn{#osY8lasf{oyi?pge=%oi)x*#9ctQ*h`<m?+jwgP9z2k}TI^=`RLmBX
zi^qyjC_E)ISn*t>c&;o`n8xyu9<e<tzpZFe7T9cX8tAx4u~Io&`Axo7%4U6{ClNH3
zE_0juWkXT<oH9w?uJoLw{gIkjW8CV<m?$73Fy%w`*`yCSk4taYt?fMAd0d?f-J^`A
zPbZ&c>=(|ICy4_EbeV_frmR>oo?9l26?F;RMKr#r$U*d0yiS2uj+TB`5L^Q7-l=w|
zkcu-7T}n0o79)k~z#NCQXnZ?z+D13hOONLKNdBB$nd<VRHKH-fF@~Dh6+JUimo+v=
zSNWydx2~?64_c5c%vjP*8izer5-0j9e$U$~IbnwveHMNert^{V`Qipn0(YiFrMM^l
zDyWfWJM6VvtY}sx*}Qjr;p`<<h~vdKg(d9QI8W3B!wyYghraqmNlkWfwsWfQ&$~Yd
zMAZI>k9qjxR;(;`N=|gag*<&F&@e~6%2;4*ff@-zd8he9Ik&iG5#N?C8!!4I-6}|z
zACf)iAcc2C3<+AaN;pw6RCY;Ks&G@?S8Y@sb<^AaQhrgLm5osD61LC-afPTHltFW#
zSy1__^i|2m%y&snG11YggmIBeA`+vnCA>`EnpBgut*EH7zI{&H+%B%E1=~O=AU$WS
zV}}Ue$m)f3=@MR^<d!O(H$-?(Fq%I>x<Fja+t0ft4^)z6KO}1DZs#xd3*?JzX31*p
zme^n5-lA*hD&`9O6p*N9x87}8UY(nNIJ+wu${3k2;zvg8z8}GfD-$;*@iT!8R#i()
zX?1w}T{RN{VGdyfahGT(ByqxK-V{!m;EUZD2}-a{gyPPWmq;^MAa90rx$L$`C_XA)
zZ8Ov1z6@>iT)s@1;}R=5CR`(W!gc0NqL|S^dIx=lHnt(8a{4dJFI2uu3L}XYy(4y5
zihb<0cw%BwPF=C?7ox(g{#oZs(<tDiL4u($vN&6qjqEzs2wA4wULce1;vACvt1M)X
z;n(pC1w6?KaS0zIJY;)c{y^@i^p$2fZ?&xuyUCk`ljIi3Y8nT76nzHU4mxxS>K~Ve
zR6Q>^kReL-k6V<wH-2}_vACT0xU95vWX|Qn`=yl~QSI2ydLRj+Q07s7Q98&O+(YsO
zf?&}wE<-Td_JXjPe^sDo(<J@H-?_QGZ_<OZYB40AF0NB;a$Y1Yf@k<oS*XJp;d|z1
z+B8}rnTHsq7c_gfahq-zMdc4o9iRR-V{;rT?pKTuele1r<d<<h^I>^FO~0ypt;Fsz
z=9}1us3q7R<PW@80!P7Ko`(5IL6%3sPseMlv*JkERPIsUS^hamh1f>23trjNonFYN
z%eUF&OZ}Z!+nnLA6-?wg@+pj?SfU|LKOTr{8CZ9;_-*#n0%Ll2;-iGCKNlrVO&FKx
zkhnWzP?0#FRDP@aR&%joB+z9zf(Rixa)a30Szl?J!~>L-{Qi;zPKdzWW;_21KR|#N
zTod;Q4+`fC2P%u@H0fv+Q+m)&=d@b#R@N$R5?z%YWrq{|P`fZYEv4#XEpeswRTInl
zX9+VbaZn;F1sk{V=jr&RnWxf!W<}(`D_+~Wr)_9kj+STYB%GkQky9yQtX%OAp@(Fw
z;0Sw|^0`DI^c1gR$B1erDB(N)65%`f8R<}Yv3R}wy~}2WhkTzxDUG(*%N$u9R1w{m
z%0rJfG_}obO>Y@p9$7RqYj4W!40PgzSlhVA@zn|FWUq|5=|hXi)ypf#G~aF8txH4i
zL<M5;giNMDbW3RDbut2Efyx)cGD#3;q|i$dAn4*h6)clHm!QPEBqqsqJ1?6k**R6a
zjAc)BNE1DPt#acAv0_MvEw$RodRAvpLr^(B=hd$jSxb_h$M1;F{}~b=8^0^|bc%Dn
z>{oQLf8~PuMxCeroZjDp#5uCouxpu580Yxj@)x2usi$BXH$d4fnkMWPJ?C8#7fVjS
z>j@yuwGqk5HWKM+Wr9nte1!C#c#?3NqFAt$cmXjMdl)rSzo{d!;@_%m)kpJAW{Z<o
zCgrAWN|44KNkn8er_ajTS}?X?XTzd)UW;6PONT+#kmE@oNIWvY(}@pCSOP8Wn=DuH
zOqehJ!fFz1QLGX*^I8QL6m*#qexZ0v^4e*vO@r7;h7n0@c{bflZ|XBDM7GDRfD~Q7
zns&8k)Y2=?=ewru%+5`}2mb+mDE?b=XnInXBJD%olG?ON_lBv>N4q|u=Ai-+E=UXc
zi{L0foU@097DOrD32P-?-1(dc`6}UUK3~)#3>0UG7fNNKXvH}dB>kkY5kHf&9FB<n
z`R(k9%v{b%`UEIdZ3_lywXJJvZ{$T45Q=cwd(*rU@{;<cRVNoFj!xfMSef^-=yN5$
zMy6&0JGJ&kC&WhbPsVuWb^0QDhj6=io76*yXAYHamEINh7jNf07xb6;OV$e>i8_=_
zd5vt0G)Wrc5TP`Q_6q&@Kcq3DbL3=H045B1%b?Ow>rEABt6vp=&0ChaJH;z)RLaog
zmL$hCRfb;<q3}@N@v5zD7h9%uPu9#a<rDej8AK!@ki`+_iM9%O%mu=Y@=Kz368IMr
zcaY3W^iFU^M3l~vW=nobOC(XMBes6BP^r7PKsH{voUf*TrK};ziB1@q_Ek$&+m}W~
z^~T~|nc<l)v(}}zBxw`&rTk2D&U}!*<QJ;yV8wvinx;eT|C)Cqw?i0I0HJ~9&THky
zF<sd#$$9ZEslBkA{aBJHt`eSwpWFGOc(~og;<qvz)p$jXY^t<W_RTg#eu=+~y@3_W
zab+GwZv~zL<=TMGkBy5;CKPNd^vE5Q5tZzb{2+NrN=iygs?)Eqyw<{<72_(Gx5a3;
zXqJOh%}87XeFn3Rc9QDH%M|aB;6$U?=|XRrT)aVYpFc_PRT?Bt744BMm4A@$mDNk9
z%T%@>R72rt_z9v#lSDk`7F-AlL@Y2*)n92QRO745%U%|yXWveJlrlH9JB6F{CFMuP
z+$>67MBb~iA5GHc1?}<OxAX#R0MUzZgdm_1`3h0Ca5~4t<w$2rhD$FAKk;r!UPu<g
zd%+qpO@@}=mX=8`DSxW$l^Q8Z@>DuqaZ+r@noZG?@TC6Om*CHiq}Il!q}qvP2Xcv7
zhch>)=OzaxvXY-Aho^;Qu(BhI*O#|dootxc@=1H&3|dwrhhXEVRh$t#Do4Y<B8-$g
zmfjUR^IwR3q_N^I2_$+dJ|UYe4U;~Ve^Cl-<|@2pcJf`SIOTKENzMsYBs+pRlJLf;
z*41mz^n7StTyd!Ibm8*+e{(QtUddaMC8@j9np4bK1M{~O?0{c{=QeCnUsYe#UIt!5
zag<YxJ=FK4az?#yt>n6x!O7yjl@>_eNt1=k`CFys(!~-n{G9ey*eeE0pGne`B`T`?
znqUuiq(CJu<vhmkN9=&#*hU$5chuB;tv*q;s+?PJJY!$FK7C-u+f>g~QC53a*styR
z?~Bsvk2U+X9_`5NUIFdIYjO72eRu|oEqo$WahNQc=$Vuz+atE;^@w6+Hzh-)D<#QN
zjN-cVgmkbX(q_5M3u&UzTbv@RlZ@j~DNl&i#GwQ?sH}Tsn|JGi=A@daLib<Sa_;2(
z%CbvsOI@DM%fw_0vxP<fR8&?v)*Wcv-DPi-nlG7eLqdEKgU|lLJVDp9qJ;#>ad9;7
zEze0jQ9Mu54*x^7P*N}XCRs1dm7Z0+lphv<lQhVj<m)6|oaxL;<}+qJ`6=QPcvJsU
z8`Mc_@T(kOl3gT%M_Eb6qKvO;`!gh2HaXYw6ARNz_g3w!pU^Q`ovR%HwwhD1zGOS<
zD2kGLg}q0xS}=m^%sIn12?Inqf)*}8@KEF<oGi)^wTeUG75uYUCq>FmN;e4HxD@^(
z{(80@<s0@s>MbJ1{6Od39@to1S6zFyLRM6n-=6E3r^^F##^v2Ch$<Ra`lNhk{mNEZ
zyQB-FS!&Ed8?a|F_plII%-+QL%v#MrvySlm1?hYiXDhpv8_Naxs{~BmB>n}ynm=4L
zQglhYKs1qijdvD)mVM!lrAFZc39iH!7>NPd<JB40IiSt9&aPrlad@$`^jJYs{+z<m
z`3;5IlEiXT?cDlBjmWk=T~EOKmI0Q5P%<ivxP@NFI7W?xcm9#wAG}TMboy}SCQc3a
zA-9{E%Sz+U;0%CUA1~M^G;qFivjiD}4naAKLd~R=(3O-_>`QYy@Ev%od()+Ao>6nM
zQc#^;{-8LtC?(HOP*&1Ww4rQNmAWdmj@$I2eZO|J-T{!9=*UvSVTvtDO>n0kU|-=J
zXWwPmF~)HQb4A><?58XN=Lvfrm&oVwN_jf2fLAPdCfF?e&fmlmu&dZ0GmE~Ka1|Mi
zScO<^bk>||0~-^YT<XVHPAD5w<W?jqSyk9wc((LciEVjB^`ko1*4&OIok~q3-~~Oy
zaIkx@<A{1{Dq}CJAM-eUHcQ0Ca9?tEu$ZhPoXOm1E|I&Ldx^J|7sUtpIN=PTkt^ll
z`3PPXX9mMWx<y<|@I!0NXZ7mtxGrHkr;%E_vm&RoU)jXs3x#z>+X|l)ohrLr9#lQ5
zA)qm_Wp&pCt&j1rd8he0@*MsxWe06A1xt2kgmBMtf>{?BtC)G*Ty770K0Ak_<KE%S
z=N9mW3Qi07Tn2X!pCM@Hr?BQwpU_Ux_fh)eCqQV!YC|ws-1Bd1aeYwjvik4UHKkul
zT#M(I>?oUDGNbHzb$Ruu+NX_!+Wu7^&{;I8`g+SaoGtM&o`6dtH8Im!1XdCq{&R)h
z#2wF>$({i3S(-RcxS?DE_aLvFo5tD8yTIElK=NZ4rx`k?kkwBAhDX5XK<1+!n)~U7
zb-K5nY-6^JtsPqxRL&`5SEQ7-l&q_GP=2H$u_mi-eG9qsL&u8lMY>YsW8_*i4MoOS
zh`VSCMh>loyq120Gk|lKEn&W7EaN0|CcsD8B01~1^Ei*VNZvsBXx3u(3|2Zjot@7H
zXkmnAycutU{emb1)6@gilAgD1ubY0>YAew-tEzyqXXOjZ9+i!+I$4!gV`zNU)X{Rd
z^J0$_M47vcJc~PeFkv=1n*4$oMgE8B$6CP}$6QSx!n(u0$zI4&vBm64_H#}kcQX8Y
zCX`dnUdTPg(R1#x9cb4nxs<cyUjz`f)AY<R#n7oe-hHX{Si{-I_WE<x7pj(4>@5>k
zPOUUnwA7rcomV%uIj8ki*EB6civ)5_s}W2r51);_f)ApE(Guw%j0);qdOa(GHHe+Y
zL^Boa6n1~kVa|I_Kh6s_o@?Zs<Id(X;8A^+af7a<{vx6<h45J%Z;PFwSmW5~&=J&z
zY$~Z=S~IM&q3TXmS;ft&`l=sQ&+7CIqnj=5%^lS4PHifnGml5EM+Bn=;P;U3Q4UjI
zlglX*=3eFp=3J&Dqn(-0VzEouTi6120Gq@)1CRBc+;~<8^DgTva~5+9{UNCxzYo6@
zdk0A{@6pfJj?{>{G;NQX9@If~KWpbzudUu$HKOu!b!_drI@>0GOJYk>2cl=S?jJ+A
z!O1)VxgOJuFC+p44#`MeL~o^EV+^6I7<|@5Ru3zV708NbO=hRE2f;l*#U8-E!!BgG
zv8Ak98k35qoFpaVr(^P=ai%gun4YO=?_AcZYI)uS)koJouR&C&R==)EulZ3ow_!xX
z@a6?==8jG3+nPJt$zX;l2#LWc(L@ZE@S2=O9YYgQ22-ap-@?5Wv)04jCUdTF+Bpk2
zEo>$`ndQt*W;?U*(K{&TDR(Gs<R^sT=y3RKlnRP5&eD7J9O-)8wY(#xb#_y7{i=q9
zhV%8e>bvV#*Gn61n~%5PJ5F~tcfRP^skJqHFwZqBEJ~yY79eaT^$-pcbE$mBB<4+K
z7kxT&5}VFRho?slyBdBm`j%bJ-p9VlTuMJm8%#S-3#Nz&Q!uIM5tvqFk$DubO?zMG
zr$zVJbWCkgw!Cba**vUC(fFkvY)EU`(d5voY*)6u>L~51RPO+S0Y~tOvBnaPrsIfM
zJtmgmN|Dnhz&(0QB{2<5cXkl#IP($fCTktLf!)Fy#WFJbGu#+E7-Q*;<aR<CUP(y6
zy+YeULZglGnc<?|UlZP$)xNyLy?tuysOI~P-y7qb&NuaMzT6Vre64kVM`UM+Iz@9%
zvrF%8m|@`~RmgN?4|*crj?@7E^7u$9p(^PQ8FtJUbUmYsd5yJ|y^=M6^@N$j5HqJS
zLm7{0S12qpk{nGk;<GTGNb9M<Qd0(q*BN>udzN(1=_Iz_X}R7U)$GyoxOr(avUy2!
zODnyd*ICt7*0oKYp-ln?m=a81&99(0C=4zbe-|H#-%h$gQPKL-4OAR`C?k%sj#baR
z!@SN+XQVR6vraL2jCHh|)bZ4bR9A8g;WUnmQD6q4KnvG28d$IYt{bko*gdra*&fq&
zyzNM<xjCzOa`VuZXRWK+5FP#<YdSN#2WxifCji}m*r+x?L=Hfk(C;yma6{nz|0c>(
zN+iXOhM~)u1bB8anb#RlnIl+IW*39Um`N|DCD5X&hsigI!|;pnb-3ARBjSSji?PQz
z9bB(Fq2AN|wd-o<za2l?ezZomOlm1<t#6&xmeqEoP1j-59n&*FqtdqO3W3!ogQXbK
zAxe=sm=HXZ_>}mDxSbpT`+E=l4$Y3?$%thrSaRlM_*dt0dM!NPF42!sqsjA0`NUje
zEv^T17&Qkzds%2sG}HnK+O?Wc_2-`ZT}~Y~?F-sQwts88-nzR@+e&J$?s(QYx_f?)
zpE^i$Mt|Bc-575AVdf&D(F`mdcMsQz-$hbUwos2z18JveQu;3@1Mahed4+xzj=Y9W
zp_fp5;Q5qAb|Tpl4&vD8Iq35!t>vlN!ypC@0~xx>n(pqXuI-)DPE*IA_Wteb+T7d5
zb}a93>Qr_~yL!5}XdHD>x--Be!*OGq<s6~_8HOH&IfHvom`VyFpCuope4(-!V#YQ)
zj!9>{VSHrD8Sade^eMD->Jw@u<qC;TY{iYk32{eJN+b_58C^|c!)G|sCp5=<?sebk
zF7N!<;oec-wzp$*M>PD;P(%m2tGRny&uR5I?K9neeWc-#iERD`9Y)MY4a6#NU+_8t
zmb8~lp_Wm7XdrzH{W$#*^Clyn@t6@s+f3g~UqO3H;gcn#hlC4+QMf&rIp|%`R_KQ1
zgE7MJO#eXpRl8p6tyXtE?egjD?p)LLrej~{!;Z5ZJzf8FpX^bpn|g#ASA7_m3NACY
z7|o_rNC0I<Q?cII%lK5H8zqS1N2#IArj{`FGi3BNjIlI#dJrRpHigzinM5uiZYB{)
zGW=642Zcq=K>rK%vy3*b1zZgTFjmLbUR3vVcXc0BFYnImvUJYvSl;~!_QJlNBi%f8
zmPV?BbTfd3pd)B&UI3rV?L_(@XP`@P_XyXCeBvI`2QrpMq32Qy>APu4S_{L4?o2PE
z4W)qO;}j%CK`g^V*vXhz*tMuO`220C@r)_fI1BUu@90iy9%>$IU#i`D*7XeN>gW#Y
zDeAi0bFTYw_j5H)GeL{hdFYPof<c05t5I*BW)VWO(FDvQY!B>lTjD{|Ey_bmEHw-s
zPeF{s^eEa3dOhV9)tPpOGLbwU{^k4}=Z`PI&OuK@uYzJMiy)P$%vcVt(bIr`;hlek
zrd9K*=Sq)E!|TDR&-Og;a#6olC#zR!+%@)Ey)GFZjrR;V(-Y$XXd}WE*@ezWFT@_l
zA0log)siHX0`hhmivF5<pZ<utoa#@XM#WJTlrf~~#BIbV!aF!NX!L00YIr5ln-7?6
z4EqcZK{61dKc;)G@zP{yk(x8=9`#z-?~^nLwV&pVx>!9$dqLN#E7!Y&-vQ8AYhGjC
zg1C-2i_FEG$BOZD35$q5#9QQ0YBS|At%Lf25<;IzE2b)FyUF{>3&~4J`w1iQRNN=@
z8O$OS53vA|Y}#zPZW?8f814fa-94RI=cp5DZ)hi~@2fG|5$dZNPmMwiYW8Srv^Kg&
zx<cK1z|T0xaLSZs-fQ+pg2?{p+t^I3H$IQhNb)1kp^T%}lS64aw8vBx{RU++#g|$_
zb|<eRR^q4QCgPT1pQ1uh9ncKRBxts&&A8pj1lxd(K)Ify@74ur_h@|K-Y02nwPH0z
z`%XJlo2xwz-{HEqz-C|yIK+6&u+{7YpOc<~+Jy>6mtwj2?}P**fgDEKMPbnLD5126
z)YX(gS}J7|<stbIaUi_UzJ_0fJ&mzJmmsbqrBJZB)l4?l8a^4ugRQ_QV3B^bP62y8
zQoBVrUqjG(>jYYs?y^>;9jD{#`|0QFEkG!sfcp#@ms*11v*b~z>u4XW7N^B`6Ldr>
zg-jVw&8JSMOs3URvG5vlh76GIlHL&K5Dw$+VRO+d&@IUC@LBi-bGqq)>9ygJL2lrH
zivSkj01)+q^@DX0TAIE=yIg0htJ93sZPs1TwdtJTwkg0Kg8{TLwwWfFmO&ASLC9RR
zBjza94X-CSlk_A<$~jUrWiu^;vV=B^Qcb!<nMpoF(i8mgSFv2IKXwL6g<>Plnh!!K
zv)r`BbOF2z_JBV?9>@goz!2RL;E~=%?*fpt^K@}~ioRHXO-Iue>zV)sSPqbkH^7s|
zJ(g$Y48#!RTBI|^4Z9ydn=phpi8zuZrk0YAQAbeUl7grwDObt2$c+R&-W5LvKLxu8
z{R)mU6`2GrFi*D3HU2WZGs+D+4f72i;1zu)uoA4-3&1MfVO<0esJ8`9>zC_x>)+|U
z0khr!EC;Fqf0MwNY<g*_GUJhA)IaFW*e>id{2;<;k{1~yJ5l3Ek(8HISIP~lnskDQ
zCMk(RLNFGDcW``^0JRrBYhP;aG2+Y;<3QtV<2i5&cpWr?weV@$YJjf?043lLBmk#$
zWA&HySl}42Q$I%^t>+msz|WwqX$t&H>oBw!nu8jFo`X4njmI4&GDs81DWvV>Z`2Kx
zH`El$N78VLk<_0wk2nWki=BoE$9zIr;BNx5%qJ{DbCPi^Jg?>&h8dQCS3n3%17GQ5
zfs<ey@EM$@7wAs`Y~Un3=fZS%^<v-$FdFCqw}81|vuUyEtz{PcH9-c7kMYNC#m^*k
z5J92@-eta^uB3&Laa1<djS@w9N;KoY;5XqLu`cLv)O|!Jv>8&H4x5d}SOdlQ3A}E&
zVAud&2M8e6kOn*lzXAjF8ej?#1v~+8`o(&sJ`k7zyw`{5BlKB@5JRhBg87|kDddTK
zj+~2mh+T*OiJwOV$m=MH)Uohek7(LH>OZsv@PCe;@P6b0AqO`Ly8(S0>59sOK3LwG
zHyH<+jE3(9z_1m}1h;~l!8IVxfH&OHX8``71VkIw>xb*vz*-;#NQPH2g}xuq2uuR5
z8YUSw8#$I-a|&V>st%Qh8Gv(zKgroo-cB)*{b*#G8eT^ODF`Z^vYYHk*5U=YJWLNJ
z0DThC1HFOQp=eV!T*E{I&hQlc1<(zC1~YgVXad{}Q^BEzukh$<0D^!nphjP*Ytfz7
zIRH)iW<4LU10==?#{H&i@HYr|k!bWbObRZDaDb#IJ|~w_57NHT)2T10t7u8oR;rA=
zj95b0ho6o6ioSu0Mc^PNL^7{4tu>Mi3*nVpW+($!gB9RHum;QmHyQRAJ_5F&5Zn&l
z0ps+W^*-=Zg$$g~(e<wSZSYFw2ttPE#slU6h>Pft{)(B1dx5tQO361VXqqQ2jJlN0
zrJtv7prI+rWFJyCaT{Sbb|(5fQjO#x8q5eY$9U10WXJ{`497u7Lm=n{ZZ+VHfyN48
zE*NY$Xjo=UhF8@TAO#2jz4Udu2;CdqAs|{G4I}|1aHi>usnGHY!9hZ38Fm$ZD3MI2
zQ)9?8sRX)?{)(}anoLQcT&1j}Y$6QAjlc$Dg3zlGd!T3LXQt(*7lvB+iSZuX1Db&Q
zhLeU%hCo9+NH?O5YNNpD41R-q{luUHW8oESrS3Rz7KqTX^d$XgkZo9HIBuE??+5!K
zN21<h{qXyU$;3mXkJN9pIC=>!g&ItINqbKlM==ud#Ibk)SBp`g{y|)^?6E8|hZ|oR
zYC(!&Av{MrL6U)NYy|P}E^n%7m#Nw?#}HxA8dHp8!DPT0_zKJd4Z28OjIKbp1Xutd
zKnu9u=wv=>8G{T)oyXMSw&1-;{*-0ZR+@k|nf8o6i*c1clNw6iPI^LGK)ivyht?po
z;jeoho8yd|jd_L?@EUj#o}(k-o-YSQ##p1$L^h#~hm2jOLepkA8gIe<V6_1OD)f4t
zukNZ|3e@NZ=!XOAK+tg86lumFUZ7mi>#!jNHYt$ON!dp!pxt6jWNf83Q<c;ZYB{By
zcm#hROTomWcO#AFG3G#1k%4H;1YZLY;CZkEz!@qH+l|hqrSQSk0CR>}YW`@-Gk}Ip
z(*UCdcm|Bq-_ZXAvURcABpp@17<dET1MeAGmL`iUG6wC3b%NJVHE}p)1$_-2$GAvu
zqaLRl=wGRq$X>)m{8fAiwgou^L4@*6Hs+1S2!Lcb0?vk4tTeD490Sjl2*Y|)0{m@`
zz!GSBZCqg)VvaD{8{YsOz%Iigz@WXQTc$gy3jn%xFZ6p1j}56NlZAsgfc}al;5HJF
zloZMYS`0j^Lh0|||4@o)W=b8&ja){|z@achP(nlpbl)=8P-@s@m<GrUZNOl7d|fqU
zf;gknywq%K*$%I66Cr=-jG1FG8%RdIX|`bmU<<Ej{d8g=OQ+D*!_Vs&Ai*dyqT%tq
z8R?D*!7U+VkgiglC@ZLkn1%4}H;isiA<=$PKaiXVU$KiZlhL)vx8~2LpC(W6i{TZ>
z)_WNyfa8G$hFQiJ#;2xu^IX$5O9_OuU=XLwuBKs7lj)<e!{7$g>Gy#Cz#Gj`-Blf^
zT?;PLX9I1f111IJj_g6L!QCO~2r|-rS|BZ(X3Jbhb))ZOBv8&!`jIm5KX41N(WuuD
z7b<~AlCx={{v9|ST%g}*m;}xPla2AFH^y_OMkvHG2k{6xW5Ocypd#}u%VKz?o?$8i
zYjyv?>xxD*9WdwyYXb}yfO!UqWxtt^9EV<pIfn}&8cFfwI{H(}P%4u}p%Lk6)Dpr~
zQa{p6{4R73auPxW?S}4yD#LjrNk7BD1Lx@zji7;Q2sggB%!j}I>O^ce%a99EKP{0+
zoF&zC4q9$nXk2610esX=1j%5N8qkl|-_W_61Ym&i3A6w*BX6Rea4!hK<nyEg;$6mU
znv~|pa3&F`?bKmJ79k5e4g(=I$j6rV@Y=TpUZMLLsk(`V1E3oaYkXrwnKr;XTEP6w
z!a>8|7@~F}drTEbCE}c=*xUiy8SqAb!wW4=?*|;w_=4;8zPfd$AcLQ2BeWFp2t6HZ
z#*M@uBhRJ`A~PA;<W%x)I+5H=wk6eK&tl!Mm(g*Sofc11gJG0;wtfS!)gaTKhvPjT
z>@-!Ioy|7pFk}njU*sn=3(7^kL9-Dc@|@+odA?<bsUDu)ao{R=zmfv((3XR?@RKIr
zJi)ZUvIg0JT8Md!T}*gH7(`)^GYNX?A$ZSQNshx+<HPV|>~_?5L<vMTqb+3y75Lnk
zpx+E$H9P~(8s`~<jmJ#xW`bp(SqWvDN5Okrgr%Qln|Y&YqWO+lW+^w7n@(EpSj^B`
zL<W?L<e~K_IwluWjtRs1;wEE1VZY(HSQ1u<{fIh=S%VpZ+>bhfyo0!pT7g^(xgZuH
zo1yoJa@eOGh+&9p=7or-X0>UPWxTNxj{9&!nZ6cK>zUeSV5jc8W)HAK`$6w(I0alb
zAWUz}j?i$F5$TSaM<C;F;DgAI@HffJDAB|l<U8a|<YHnN=_a8Ff1NZ369QWUAiS}&
zP&XkBayp_0S_N%J>@nM$hePKKzf1+ji@;FRIj|0J2Q=C%`UCpw`ght)EucNpGgSS(
zr?fj?gH*FLC~dvgpx+Ew3^$EImJGyB6o?s1pb{OZk<^Whfy|Mtft+ymL;ewd34b-~
zC;bb@kH4GEBQ{VcLiOaKlvU=l?Dy>%ngr}%4P=_sozu0x{gisO{#u6)7*M@XPeAlE
zoq&AnzV$d-q&0^TC)&q1-_qVMYlqy7Bb%PL4(i<3GTTI^Tr1Dj4u#A{l+#qham;dV
z2ED&`F#jR^=B~?D<M~Z6Z^R{W65Vdt&8}NxW=WP-9i8El?FDtZ950I(&MS&6X~pwf
zhBwkGW_JV^d3NV%cNY$7ORia_K8~7Ep4{+4&FJoGcIa5#LMitIMivIQ?b4plK>(*J
z7S(3pgX%|iM_4A|&O;9wM8|aM631JPCsbEP6*zbIYadQ`TQ&wgpu}sq{D9NrftmaO
z=a=AR3tRcEs~zdmG`74Ga`?5r;d9S|%!L(~o5khzwT*Q%>YH2K>*>`SI+nHWZltz`
zmigApYSU`BmfX)O>#A(;E|wSFNDI)tHcx6P?HS(qgnWm0QCjA7op{mb;>4Z(=Z>7=
z?LJ;HX~)Pnld^q%N7fGoJdUUq*>t&xIfF<~)R$YIV2^jNX<U;rAkMp?UH!f`HF;mm
zz>06REzRp%w8^2GwJj^lYYMhjZo$>p&q&GnS&}@!99Gp8eJT2SI#0V;pPMUBs;ggV
zOmW_7|E?g_cwp9^p%LSz`Um=LU3YadW9IG+HFLq~J0|7%>>UBjDDyK9g}M+q`9AN4
z&`qw-3nC0fcWAG==#Tb9<Y#irpJE<n^WHF9vyvY`J?gCyAB~L}k#$e=zQ%RogG;A`
zMh5RrJkmZxEe{jCOi#So_=S8M%FSAyy~Odd2YD1NFhn?Sa@tC_6|*;<TXKE%hV{Fb
z#m%}rzkZJQ;s>KHAQst-379F_M;?^q7}MQd1x_h-d!6`sV9bK%*7hS|Z*qrb$t#te
zxj%e6z&2rCNW-F-AuSIyh;-ND;@4@RGh5tabWyuM`@fo8cD&<l^UBPb)l;C4HhDt|
z$pNkzQ&T4_-e|LA*{ZzVC42cBYyXK3y1q>rRMwy78ZvgaJKDFFG^=uD#~$^(*81XI
z@#$~Y#nPGvW{>{4C}DlfYE4Vy(S+)vi78o~^^MLkHFZbIyUOM1DIX@5{gZzwLHO~)
z-BB^J#@vdB-#5hTDoe~PnF|?<ziM~0-;^23xjlg=mY?5#Z{v^c6E^3rs@S1lUpe;L
zROE=rAwP$GL|w<=`5H9ZoRp0J`o8R7Pgi#NJD;dou};l_EmvZEia3R#mBSi<#KNZi
zE&rtL&1a-{7cQ#oNtzxP^cfXeo^>PcM%0a;7h)HdJOcd<$Lc;?9>~7>MU1@f95<|U
z$;s6|JBVu?S34Xm+}$?6V_EYC_2PzUNwQfYrvV{0h3vHE33)B;6`k9P5NX?zv!aHl
z_p98JF(RWWkCLUW7gxj<G?lGLKU-f=@i6{g(Hi(bClJ*yEI21A_j%0h5Yn5O*%<Zt
z+R(&?(wpe@LW9jpg}dE@A$up|=LIf<Uqx^Gy5;Wj!P~y>ShMQPs-UUOgDQtt4Or-E
z5^M#-K&IiPwzd6O+U&69xjAine~tS-_vhQxCv}f&?`DK%pD7$(T~_3noKktTUX~mf
zJv7!W%c<yi;;GNrclUmdFCLc#p90Au7JqGN#D#Od5x28f^xGCVa%$Cd`mA}&^0w>=
zda&ui%5g#OHrr3#JOwqQa&pMPM9xE;3o}*R57$`COI}nR(3M(Lo6?!!829$qz4GFm
zP1%aV%LTg&P8V&d9#P6lzmO-*>z6bxYj%EjQf9=$u;GbsbLVCy{6CJa0=lWKSs#lu
zb$5d*P#0QiP#j93xVyVw+}+*X-R<HRD_WqgNgCHCP15L*H~(8%y>~%N_t~>&zWHX(
zo|zB3o;H`arw#UX(sH%L$2UQl%A`l9b}Cvjao)tU<7Q0qUAAgwz_7XFDkshxwW8nR
zjO9^J+Lgo>2J9jix9(C$$onYwDcY)B-fa96B0Jr%qx|%bmz9&mGnLVTWq;lXaCLRV
zv9G1orApVo$scF_C;JxP^!RV)>&H*ierx3q_?K#eB(26N$ZF5~?R+Ai#;nZW-b*v&
zpK-AxCX6;r>^gh?_@jdpC#)LWt-vScQ}V;K^TB1#`wW`aY|c2_^15jsxq`_mx7w=8
zV?X{@OcNavF!iEZKZ&P&PW6Wdqw<sZ?cbt5Z)+pV-j*+{6n~I>KJ@A7cXrLW+I{uc
zf9z>KNHn<2WJNL?qrx%|=U?sRmfvIO>Is)7+!_%%N<8Q22$%kQdQa+s_8pe$7as04
z(D}RH8vMT0U6LqiFY;;B3fEMJe>OCJY)Wg!#lQYsX&TkESy`s)UNKP6PO^}H?5C)_
zqioC1M_;DDo%ius!^FxvrO)5lYm-|0x7<=MH5}j~{=Y((B^9Mi&%QnI`@rPkH^+@1
z=P~-huxn#y4QwjD+wW-#mi{oTJiJ3>DC&azCw(vZYV^|%YDjy3yy?4eWMi=8;g9qN
zfh?a-HP_UxmMm2@S1qYQL>jSc#rvPx<p;jf<um@Kzgtuq^nFTojNqg2n|zn(rsJ^7
zw~)-xXWky2>++5keHs3=xOR+aBtGfnu!50)C+Z7@Jp<Ce#J|Z|7<Sn+7WXy#vK;1}
z!o9Uj!$M(M^}o%pD_{I_RnMyJFMcSORa8hz>N|>^l>KWhjrTyZML%X&c=JDf+Vd^#
zUBA)`^?PcgYaC@?WQ)ur(PHjcB0S_+%;v=Qg}=L&_RAZ2XZWyTnPaX`NF5eA=s^F<
z&L?|!%}xv+8SBq`>;8{BN1tbKG!;W535ob+<FSt-QAw?$sjg-G@5930()JB4vX-WC
z!hBJ5?Wv0Ob<6nLvh`*2fAsxu=<l?@TfUW-UH@}UI7W5C(6z0Xo%SjBHzZt6{M9L;
z->2Sxig%BkG~(W{jU^{W^eGxY$g}^lPIq#rMh){{7nj7{jh!$rP}y2A)dTUt@(;DE
z8y{DUR&1*(t{Bj=p$eB#@;g;u<S2i6<D4c_{fC;2^7N|hpN^CtsC@Jx^w;T+gUa(8
zmozEF`@|O=8FZ!R_VD9DW70ll%<DG3B(7xdsI4Q_<A07;jyN>IrC)kq-`=01g;{T-
zC%aDe-(|VrNO4?M91zW`Nt1N0mI;<Ny#1E0{8Q!E^hRr`NR_5ZX4i5gb)sYSAFKA%
z-u)F`X{h%9oKzO~&F%BQ<&ou^s*l(E@{g<cTh}{HBl>yrV*iWw?RF-|xohLF)Pc4k
z#U+Eswi}z$n=^QQ7jyTYg=v9~jzL}_ysy5KEO(6;HGZmrqVeKd+04I2epb``%02oc
z_4-;$bE~>kaZCB3I=nf!xus@7)zhY7aMxy9<)QyFs<&1B_j63uf?t)*Llrx94_gOV
zM|y8}J{eV%FfsmI_vJbB`z#r}W$^S-Z+m5p7&*9CkFb)o<c}F+(gu0`h^};}n7Q0H
znh83so~!-UxU;6aVrONM!d1xo{atsp{;cq+*0t`C{J2b9{jo7h@uYUZ-&GCMzb&ZN
z)^z!tSFz)Fc;%=DOTAT=uIX$#X^H02p;_LuV&qB3lim*aR@l97<A6=Y`^GqTKQZK0
zkx%xnUU#B)r!*$Mb-oms%}gT;@t4{=vY!%-CZ%o{KSh~ZwOft~KUdoHsm)UU45hMm
zhy1%{ZOxyWI?1Z4Gv$t^o!>f_M^(ps{#<>hdV0eO!P)vB+N-8Syn){7(y{$K|G11D
zncB|x2F>c;XFzdL%}}RNCvuAVpYMLX^TYzb(1hq-?VO#4c*Z)Gn2H^lDlgGBu~>V#
z?sk2aBC*O#n;;!rbyc%o@LH6mzR=WO{6Vp;W@}Zta&P6S-~J7EKA9@l*X;bJt+H3|
z65SA2NJknQs1%n|L>Ipi9sX<gD`$CDKo?mt-rqD()Qdad&)`ux(|Ql<G9zJi=7@mi
za8<xw%%9ucSgG%BJgVBwzbNq6j;K-aA1R~ivo&h*gc_CFM|MzjM|Pm$wP2jaTI>I(
zuQ;{*Te-Ml!^abU>+1IZSy0!m9+Nkz!gQ-_2hk9}$8Pf?t|dN=dDG)ZL3AO1NOa%L
z16zBEil>w;N$-}QkXG37M8ai{`#vr1IcP8v+44(uTz5<D(|EBVOdZ~^p}9`JyXKzS
zpm^T6MgC0`FIu4-C{)%?l&+|CDeo)UUADBWtxoghS!M6K{0ecy{pNEme!4PCDPnc0
z32*Z0A7e`2lKP^5RJWFHwL`uYPc1poEvR?b{y#Gky3CEc93hUH>A`jXjo-1Jw%utt
zpja$hCO^~|Ebv$TskI6}C^3G6vQ#>y5mkJX+k}I}1DZ-|4#;NIdj3poT3WWW{AJzW
z&wt8CHT7sR3c|#7dcI{eyPmVo-4Hb}vVHpOE^e7s14i||)z4lc?iXHsvB%=x^9zq9
zP$@`^HgrPZY}Q!T3MShU+<HgWMN%!Dpe(DesT(Xi(KKCpOxCxdMAlb%OY}p0LbSH2
zRYD0;{?2b)UuFOOtbX-3>km`S%ik}nQybD7J*AKJ?)GZOOP<bSdZ;a_Eyk;JWVfAN
zPY+(xC%TVE$=Kq1MLxM_^PlAGOPJGXSYS`@Io_8!caYbnEZrsD4Q-T!B^)PhY`QOc
ztW0RwE;_A_6QOcM{vUsoR3ZP|ut|{AbhkWToLKGo{Z+%|-^Z%j8n>2RuiGu-XlJT_
z8QL?K*|UQ?`sIa^$%hgqb}i~!*2O+xcHf14UiZl^^zHsFds%iwQs1!g?XCnIalgeq
zW&dnbn7M|1O3*3M4oRij(D=J?pW;#TU`3v?2mifzxu(7Nu%K2XsBJGHgmZotG%l%*
zuE^y({o3_+lyE9v(Y#Prsv2QTBVu`-oN|KJhq`nK?eZqEFmFlsSKT%h4=gMw+}!JV
zw|RO0CFl}7J3J0A2rA(HL%0x=8NBVO`o6-USgO4s$>0}@&xuCMpQwrie}on_E`KNa
zSN4hjP5eZ@wx)l>z@~#0F@oI6q2CJ{hSpAQY!Ot~Wl53@K8|@d34X@8%BMqzeo^in
zmuBD1itUB<oKVo#+tIVI$ESkm%)<2cDO);p3nRSvp6lFVi8t1MEfqSQp;|jz6d|k?
z|0DaU?j}-0DP*pEpu9ppMtoB|SH)^>ZJH#?uAL<;ZmRe>xH_l0xZ2$Kvg$$gK*>c-
zWsB8N*mfB;`%VgI@fSvI>^LQBe)q@O!@36bN$$10H$N{TFQMQ`=KW5)+f9oY9?J4_
zavDQ!uo<n1=AN1g*;es0$!zst`Et0;!j{!5#;Jx$Fk!w@t2issi3|-ZL}tmB>XB7j
z>yVlb4ZSOW{!rHI#p%)-$$5!LKLNeY?ZbWI<r_FNDlPq9N{`NMT@Q7;&~sC-o`s_d
zA9PL2NzVxF_)pBTn7JV*Jp9<dFce?uAoP7DE%JEXQ}tz`sqwpHhf<+_E|Ck|<=a*J
zWQ0U7+9~NK8{b%8*Vt56m)2NTqxrSIBCo!_!QS+nKU1(k^Trxab;4d_Up(HnlgH%8
zeMsbWZs=Olr@3oc!OGsUo)f!n&pe+tB%@2GLE&F~rhA_BT;<%~u|l^+zr&cQ*U3sm
z+08-HMM|xl1^RYDo-D6Z%$6N#UL}=EoW&jZAL}*?w(u*e41c~?xz$HC{H$H~_efKg
z_K5zRZk4`_-s<s>|G2>6;oW10q{rtC%sr65v1eFss(VUze!=3rE7>K<#c|8S=Y@0$
zI_Bz$&$owIv#k$}BUH8g7ve9fN2<x9V~w39CdD81Ls^61wDg;@w@f0~%bz9QA@r@A
zR@JeZu3K1lv-0ZieHEd?W8z-o`!b!1u<at&xo|w&d&jm<OZt<sAlpCZSmCJNKl?53
zW$gB~$Ixyovo|DC@o(eDM8J(EPAtBIH63j=G)dnpezyFhnISdty9=Ml1}nQL;zYB=
zdlh@7<7F8VdGnoSRIr^tt9DQ=(X^<Jt{C&1sIfKe6levL>dr_#tabD_I)&=wA`Kl8
zJuUWG+?eE5xhD&I74*$3=uy-oKksnX)bybAWr=&*^$0lW0ks|OpU}>h+}0(AR|bK8
zx18U&Ks-#9uT7T@;}=R7C_ZZ5%AfNKBnuT<$)AS822^}VP*wZ0e0kL#{z1Xmh8q=<
zI*Vpy>umif!*r{s(;e@y;Gz&!sH)TUj1FD6Ih%7&6tKF6bRUtsvGa<oAE`c29X>TU
zF0|fT!98Q2Zuv@i($jUn1ly#$wKrRiDfaW{i*_iNt2e1!Ma!l0RYRo#l3Y=x_?&P-
z)78dtRYx2A1x<A)YerYx=LgEwid40eY?|Q&?&~(%?KrO{@K~%iX-E3~Wbe!e1>Eji
z@=Llf`5W_2XUIF|#%khQ+ZFrY;_bsua+b1e*1lRdl}?)lcd`PchxqGcjf!3^-Q>T8
z$7LefD|N2Cp!u@6zxbH=U2R1DLXoNdWZjPPzZJ@6sd%)gPvf=bO4BOpA7%@+fpyV$
zWte-sIwmu|UDlBtcD^FdFTXYaP;N_hR$5WYrG&9D!^46+13jxe7I2nQd-T5gO{PY(
zT>ZMKhh(ZUtL2UQoZyeRUcN$gO4UzPD7zrrBRSFhz45*{pMSAIS2y|3xW+X?|AxKw
zXl<TUsheVaYfLwuMyI%q4VoYP)_-#B)#Sp?6Z58I)phC7HMZ;goJm<HI{T$rJG~6|
z3*m+D@Z068qaRvQsM+K((>Ix)^q112zN5<#e-_ruS1RILf@Bv(8)S>5Vnwh>(mY(e
zo!?%#sH%P4hvuKPYwB)QUaNU2>#dS2$ICjm{Ghr!jdb70JMTR_GA2GTV_wRbRAt_b
zg64d`{L0)DU9M%lOe%|g74O`Ba>!t>Jfbs4!_H+gO_P<M)GoRehA)apem5yC+oFA^
z77Gp12I)1$21TsswKToi-aMD@U*{&`Hm29Vs_FUXQ`0H&(B?#8p76Kky=^u6m3BjU
z9z@Wq7)R{ysDjkrSsinybhYN*%FQq6ne#a<Kiw;NaonQzm`{V}B%jB;G5GPel~9X1
zu1&9>B@Pu=OSh@^=`M=4iFmTFGOpGk=_5WNxg@?TnbP=0@LHJGu%lsNxxVI$aDBtg
zhF!IZ{I!}N2Fj3Xh^0nwZ9aQLeFIJH#w28=dF18g9PDB&i0JljUTdx+`)Hap^-;{n
z&`S|^f5ht=r?1_URFF%p?X|ve`>#eB-=dTr7I36DBrDZjmHV1U$ebl>q({Wtg<j&d
zjjNlE)xM}I<%ido)Sa)ER8$H#Dc&l7$y-%@%`Db*kLk__+$Mxvh%QNeom!q~?TqIy
z%(vxBb4O%9?$Vsbiu=)VRP2v1G|-ttaP~PT5+5Dgv}e?tb$d)DdRFs!@g~VMbxEsC
z6ffaP71ERHbTJ}!6}@TpZC+J7Ob{pR*0`wQ+ux=2D`dYVw?#MjZt|ZN0(-}NCg(co
zz3)aYjq4v-9e*eFUFOW((45{`le+}uj7#mA7L#%yc4}PrfIaRpeplTF@~%(=TKAat
z+osu^Rc)g2Qk8O_afW=Xu#>D*;?&|$u$m{x0>s@VBL#7SX7P_k7d}}%zgj99EbJrr
z+>q8-qGTDJ%!7<9YYifC_X<_`9SxitwYTHs%srhGQlm3(=61*q?_8hxB6(Kor?{0t
zXCi8XD}BDZIUEzo2y7gk+qM|)0p3<!YJJ->N7PStLOemGXxT3|fVX-o9;J8!_dur#
zxWbkEteOP=2EqKM_l?5pyG;sZm3Ff_Q0d<K9U1JJ<*anN=zBO+96vg_Z^w`nZdPs<
zJNr$}fX;~-?bFxB{p}DCw>;Dly2Et~`?B+PVlHyX%xM{_9buf_HcoLxGGDS+@v3!)
zyn}d*bi0_R86l5tJ}((0n$^r}ENg0O{?QoP7*Z{$`7GWf{UhGpyh#?{ddp#F(wH#z
zSeK)L=c7gKsOX}E?x}{X9O&TFBg4^USNf=wZYg`?y2odQOFc{dsyrV!Z(?<CGaHxN
zPuZ^NF!>vKvErZ}(;gG+W!=S4oTwfoW@Mwq@y#Mpbn~<3V19j*u>MHRyC$pPkwC;(
zHr*6w=`zeuP2JkAkQaEL{d@a6`)5S#jNO!SJ<~I-K7CV{U0EwKu<Vkw14&Oi@xrYU
z^TLh3-@Mxqd2}gup4M9*>*uQ7l>g~Qw7ST{WziB$-mk?hTPewvG&kRtUzGF`9&YX?
ztY|t?hc{joxbn9&a%=ZAY?k?I+N-B4JL%Wjzp=+Vt9cP##Q}fX2Pgd3$(;B#O`iEP
zYgDehb6wiL%uNZZ_!%9FBKL-$_x<7&;PQpL8qcEUwwAQKHRiO<)J&3nkyc9=wgjo`
z#ZRPnL_zZ9@<36rWMA`L{*xx0&lAjSTGBYYc53ZqzCzSfk|Yk0PFM3R)1i;#IV|1D
z<by}TrKKo){Jo^K%*ZZRvb;P0&Th#Zl<JlKIbmpgNHi}%;5XQ}!0ozI9yJi&{0XfK
zjSn?}%1yE^nh5Pc86{mIHcFN#=S!c77m93x>CHWa#e7jyZ6jHS)y}VvZraRm&-ZWI
z)cj5PPiqR?V0-3pV}*Mn{%-?@gr!AIPY6m+$#{_woHa08(zznrKhrs7Lb4+IOk_;E
zGeOV&dbm77&tT422Hj@vr=6?3qWfSpsXj;>#IMB@wK=Ll@d<HI^Gr#hBwo0(d6@7>
zqp;4WQO>_7c*u{e+h0FaJXzgO`(8C!d(LzOtAeJizgz}-WraP9&*=EH!@Pv`sq-^!
zSxjbRYDmVNq`<f>9siB0kKl#mxcIwVaqaE&2`_I$!DF4Z78w#$4YDg@TzjKsm-LFX
zw`hj=xS~j66g_M1%Wo%;@N1e53(5s#{m{CfO(L-rbRtGls_139&Fn%(Fl&hdx4*$p
zA`V4#Y(FF}AbE0nSw?tTak?$NQ_`iBX^9zew_+_pt-ccfd!Au#(}{HZ9eXKhwG|n;
znvwDunvSiDR8I1Fk{_Zqs%46YVn4}x;kaf?bEaUH&|m1+xURmSku9hfEf!@8Tt(*;
zMyMlb*Vf%So|)ua<TKhYJs>jlMRZ|;CV5)&*W|SHy=k-4x25Y6e<sw$sv|x{z6km4
zpXIfMeHb53$PlxGZSra1>B<dDbO%&sS)}Bn@`K7(HeEVO<SptXJt?XY)(Qnp7aHA~
z@|)fZZVBQWGn-~NGxAy5Q<|~bH^$#&0DB(qmGdHxD*=W`BF?A7nvQ5vYU=0oznNpx
zVpGDCdv%n>=fv_O=Y`Jkx#gyE9nKrUilTLGGfZ18Hj}L-LA6s}rV7#KDo4t`ih1JR
zvO;N&m=BdQ7n_>+mHYs~IetOI)B3$lNzKQl{bc`1?MheudTTn<2XSC0d9!@hhjfj&
z64@4=+i7k}ar%(7O{rVc_N8c(CMFH*SQ@i9VoK1OfcL&^kB!`3NEs=kq8)qM_UoUh
zzo^f)RBC1@-%G!Xr^rUiw@OcmHwdo_27q=43u^e!8_D{s4SSn*3%@qI3U4)^lkL(D
zGiA0NGoy43JJfxV&mzBjK|dmo#|aXglJ&`#Qkzomr9Dh%r`9EScc_b=(#{fI6uj1F
zmg{X`V-xWj`mMF8^|a2^s?bl?bX3$zcgxL+6nUd0RaDlzTC}aXS!fY_Zo1LX*x=hV
zgny0CYRYb!EgUW#s7lnV*Pbv$+G>&4+|$lK+$6r%kcm+haT_}fNa&M%E$u?a>GaL1
zisW61c^x~%YoWj0+`wp``|bx_IZicbXL77{jpbq6saCYbq#C38p<1PSuDBsRE7>KP
zCwT!;j#BWPf0=)Ze~a&E(l<gmbK_sZB2ksZMRrNiNjuSa#=f5Fiu}v|<(lGK9&|r6
zDDqcyuMU=klBC^9tCAcE=?U*UC3P4Eod-%n76yoXpLmXQPG&zqbC`$JCHr|Z+4@1p
zY0YlcwBVYv${1B|^(&RDk|*0BJuKZR*(3QRMnqo1DB+vtZDNx|C1y#M$=TX{hG`~Y
zo5U_a_#E18w&zuENq{``TKn~}rr6LpS=@pShdMUL&y3+kosTFDaRj*r=)4BHiaDDJ
zf8r8)&Jk;#VyuCikGNr=?x5y}W@F3j7QSY%DimT$i$b8xQbx&+O8$lVjgGQ`GE_Q3
zQZ8*!EYT$EM7kx08D>usCvLL|?snG?UX1|-P`mgwA~$Mg%%(VxcuDN#nB1s$k+z8J
z@TY+yA8*fVE-RfEbLV1@>BWvDTak5-`K(c;AEt}Y;re)8rDmMkNu8}$sf{X~e2Dyu
z?7sA`tb^>mWUFMf#41%Onp7p~3mRNsZrW@AO@%U{1n%_KRq12*D+{<A@;uD5y>E;N
zy2G@Kni@4c>RtOc;Xi{H2Il+9y%%^jx@_Yn5lay{@(<J3E@)F38Vo;-ZiZeh_tg37
z47Eb7Qgu}L%h$`oWY^{O^4`*olG(t{P`K5<S(&dop?RRcYD%|awxbRKlR?;>|8<kQ
zq24imeS=dXsPOoRHIZ}My=ZT2zq*|`{9$N*aCzYUK#fnG`w5qx+#K#7Hi?+Xw>FvO
zf+fNH(ePgPON(gVYSo&Nsve4|@+A3o#csv4|Fu?@U{ax6A)g>0q$pR+QWxkt8hRK%
zn#Ne4ki}R8w9Do?hq-_DdKi!qbU(NttTyag<iYl<+W(FGH=GyVH_RG(FsRM<wRby@
z5VzwlJ2)?J8i}C#kwuO<mP00G>s5W7o~>V^wX2F%vy>|3bd^MYTh>>$Ou9uLtjLw^
zlP!|b@>2CW%|Y#c9cB==owXgNjxw=$JSUVl-s6k+S6?L1C1_n}&&acp-y#zuPe;T=
z)<h`7#s-%Ltnq7xwq38?nw=JL4&V%W0hs|A49s%eRBB8#n)JT9quO%yAE+64tlFw@
zRh*OkkS8if%W`GI;2Ab3w<%XBuc)gv=XE2D95ct--eID1v2mOi&bM9Hd#3xO_=ktw
z3|$sJBVu!SOk`BMWswuZD?^4t2aj0+zP?!=Z(Sw4{@j`DG1wcrf~>dMEn4$Z(<_5S
zZ){o9vZJL*Q>W^pYE&2%?NvYJ>tuSFzsw>RD^AM!in+j-v@MAKW^1*n-csNQX1Mr#
z)_tc`*Uj$7eZKog1@#Mg7SaJaY7|Abi(DN}gnbP~Lr(>jLUr#uPpR7-7ZcY&sIhj)
zVrn_uq1t3tn=Tu$)|q;3%N6Ys%^8(NS)&ptb@EH{`Lbd;tzgM1*#Bb11@$&fs`k6?
zSL;pFK<j3Q3%w5YWGOgu7uw^m*LUAM|J{MNLQBJDhTFqVhh7dF9Uc=_5*!}T<lD>V
zj`wSim(J(87M2BX#vU?O$3t7a`B>Y$wll^Xt!cVKZ8vR9OPY3=DpA=>p;W9^PgUNK
zXDHUn@2P%kD%3IBbK0-Eji#68iPo`Dhcy|gCeAvMJf7P&k8)3~Urk_B(AD7iL9*bC
zFt;$5&|X0X|5E=;{=<E_o}_D)^J1so+_|htXcuNGInI9Cw!yNZZH%#2AE5Wsr|GV0
zzo?g~LR1QMU-b<|v*M<_y>gl6vPz_CRe#mI*Hf(>jDOoC7L}bt&qP(Y2WJv*vvXJX
z4&HBk3jO=~M+S@uCPL<hj0o->_$2Um;QWB6zWcm(dPv-^x_;+L+4Y0~3qm^4Jo2V(
zs+DZB8EuBrR<~AMM`<E7)tUmWi#l4BrGyr<>N2Peva5X5P1@hOwYoE{yN&MVcDA4P
zS=3FW7Jtmz#GUCf$?ZSSN!~ZToBiwoGlKpNQUojx+!CY>d=g;yReDeH?(6l{eW?rF
zu;MhbcHw?#Abp7pcC5ATHhZ;&K-IufeSmI7%bk{2TA{j8m82px&KjX|k!rB2PQAM2
zjCOuYdwq3lZrfpVq_xg|f?AHe!;Z3oxC@<=-Gpv0JlFfg`=J5L{p+B+#qU5{ASd9D
zuh93luh6@vr?Xp>%UtI{P6OB-aSAarhbbN082i^U%$#XTFj)1s^-vSs@?GPr>8FX;
z9#P*?%~qXMjnO7)=W9gTS1r3+CmVkn>)WEN1yDiogmJ>StdU%$6Y3&xOY&^?p6T<%
z=b@il01-GZV6Wd3zv2En{hEB7yqcj-rOma#`5RZm>JIYuN4RvogRnoht~GBmjWj+p
zbZRZpxkB_ar{%VGz1m0pTs2oS4o*H<qtU!=326;%?O@0;9W?i`ne19}J+lLo5@*?Y
zP*=Int&c~ghrz4D=b+zu|H*#i{Nnwm`?vaWeV=*}UT-`r+}F6y;f>_#IWwSw-~f_I
zM^N654C_;~tGU^9%kW7*RkugCO*agxfdp!+dVw}mvr?U@`KcjW4(aae?D`{yIc-6f
z<<@y{C-E<H4}FJsXNNicb*_g>+HoGQy;^<F_*DDoeb4y~@t@*%*hk^b^-1vd@x15u
z+{MEsi`SpCg!KpOkESAZ<X8J~K$MN<^`^CkzO5ZwrMiVJ2ed;pCE5t>E_IVy2iCNp
zrE|-+7M(83u+@0flw(e|j&-c2N@-VgEB=7p0@aNM=ZS7sk2=rAUI)B~`Q-Wy_w(}g
z_tpD+_Nnq#dGg&2ZmZlzx@7Q*IDJ?VP#yD{F;G7of9z&!PxDq&Z_^|rrC+4$(Bi6l
zs<Ue%HFot2jkB&*o2pG|xu(lD@C`GKw@tsz)wWKKTJjXFM{00iRuCuJ>9BK)E7z^r
zZI=h*b-<^q_Xe+U?-C!I&n$1KNpk0V)Ve=(b#mUqHE;_#?!*bq%J?&EdYApXm22gj
z-<fI+`K>GU*IR$-LR!kT*EF4=7AsKuTPxHK(q|dowMH6F8q3Tt;I{j2dm{OmS&9zA
z(uq0jBTjF4D&7hgz1w`x4xU#$CV2Mo(t0oQ-r{NTIPN*sQw-HAH=JXfDP9V<mF+<!
zWB0Jlj2HFEp|$C)3oK&OS;JIgwPCNmLf4|jbqn=)i$iPFUT#_5`b8fP7Ns+8Xd7t0
zX}M@!0rx-W&@&M~>>Lr!dCAFiI?pS0Sp=1K=iD#2i#*G`Rzgi{nCBR%vs~&C=H}#D
z?#gkA<GFD6vxc&V5Mo5aoTomM?&M)>jyc<W9MEjB;f?;0u3PH@-H8@LC(s&oJ@iq!
z1N!5wKMZ3{d)rpEEw|X<J~9hxkq$B8_;I2)Yb$#p*ULG{We?Q(3EVtA(>!K-Eb`dk
z5$WaYImlh(7Vo~$?Yzr$=V+%d+<5RCDtsd<Vf+z<x@A9LGg|JN8{1wOM?+q=t~E&?
zt)I{`R#&D^(T&i_bXaSIaj((Wc*Z2MJg`2sEp~i#gfjEc>F7Ybiin5ml*LYCcw3!o
zUAww{bsOw{((S7U*Yk|~YxhX#h{kpQ<a)*VEw9iy#Ayp>4a*%rg`Y-`(R1J?{~G&u
z@YY*RuS}y%Jq@DPc>QtR!qx^|y6%PUo^C&!u)4L%@Wm8m=2&#rYAa<QK@XzCks0Vc
z>?-RpyNJ`78v_@#&$>W;h|3AL0Umm{$?h#~zunwD8r%w8H@Zk%crH0SB~<wBXaCFk
z2b+i{Fns9#-)P@pU2HjMX0;WWZWu1;ZLJ+z>vW^_9dy(5FIsK-(NJ5+H-@yWGVd|(
zwq!V(9CGp;Oa~Z&#SwnQRMstaIhS<0#QVs53RwEbHOp;}+b7op?uG7LH;e07*EH8%
zP?NpX={~oVTf}b9O2!RHJCtA+kvzv5+ivSAsQgMb<{E>Ii(6N<;`&<Mj@C{3qx!s7
zW$RR9s;R=XxvkAI0;(C<q&GQ_Zih0+DXa`nWetN43gz4$POi=x=jARdTo1W?b**!&
zbe-u&xjt|;x$<3JI0rh5c;lQRxewW+h>3&`z5*#=!l(*|&Th0mGB0WKYCC1jF}Agi
z(^r7^D$!f@<DjyztFf=~oYA+<$s)46vR$!lw-2W8)76Y0%vJb@pjl$pAoerPH>cUW
zXy+_mobzAThc0H9DwjN{=iTla>N3@Nm-7ne!Mx*6*V)6_4z>apVh@qm^i*a9wa9+K
zidnra1I&%4m#x9Zt;T7s;f9g=YW;cRN5fgeaATust+~pgwLG_+c2ts~R4|iFN1=A8
z%N$Eo67$)C+&|pA+*RBl=gH11on2iv^A5u9BVBx5hB!ZQe(kL15l-JZE!=F*FV;Zf
z06G=xhIXa*koERn_7yg7Ysa?Pri8XE;~rx-!#jPx@rWVG;B0g;zBIM9O@w>&>#g_f
zukB{?AbA?9!&?y&ZN@s|eAYL1J$yX4Q=A?;{orkIO5t^O32;8=ywN$*nQ)l~H;@lI
zeQ+A+L~~L&_lc9lazcidA!q4WN=43aIILb4uH|`~TiZrcu3@0D*f`jbVeDz>Yy4_@
zVw&2v(Hv?$W$k76c4+L~XlIyxk%m4*WY}v$MjT=tW7V)RuAX~>JDt0b7si_kU6Y)6
znNVH&jyHkl!YkpOauRU|adxsR*dpQ$9)N|x43{VLdbq8B+&0i!Y>}JynH0ueP+j-P
zSZ<hU5E>sC$C(_a%WVWy40N~Yti2qgs8Li7<ITh%D$IoK!iD$?khhc_#tGnz=W1bn
zUtX-!BPTx3>{P;=&+E-A;EA15o#MDD+&)mLlEx~-{=-OA!|bGs$#BOVsBT(qDQ)wG
zvtDm98TT9BL!IARW3nm4^bEL2xTV74VT*E%cZkU6)LUv9l7Q|;?_%GvETS{(9ZSZN
zv#jjroVO6kI5@|gdOKZ!s;FWof;W=)#!1a(L%nA-cRXi4%Se!fFa8_-$jqWM=xgLV
zyUChi4Y8z{oz1bPHe--!fw7zEn=#8Y7^)3loBLQMSTEVC?NY}*$8%~aOn*VqdPI$u
zLG{&cVh}N#wT7)_`*Ys2DNZqWD3{_+=5}-{b4qdYbn4_Z#py41C-)iWEc+4r66-9{
z9#2Obk&jG&Sosy)@BU-$XWeKHZX4Bh%5=!o*>uEs5Rh$jTU*;mv$xe~y=m)eKkS%D
zeWI-NI>ry7(S4XdJ`JzOtBEw0h2_dlU<=qO93!WiQ^r}vUCFKD`Z-}vY#8tKlv~Yt
z%9+X8%znZOCC1|qLAxD{nR-t09jon$ws#hr*~h%NExB!pX`(6HG{|Hym9z~to6JWn
zmDcMvwY}A0AQjYDTFxktt!NRJhb7|a#0#RCI7-ZArLdo}zq7ZqCv(nmL{R^x=3L<t
zPItIL+z#CN+zXuH9E|NC2C{gB3JXSiFeds3b%1<t?_rx~y=!T*h}!B*2jFXKThBIy
zsl@!p{0?mSvUQ(*yJH<x9h{&9FaeE)o<lUq5d0_p9I6%T@Sj8h>jx{9b&HkFp2nWQ
zdB^tPSUJ}?jqnU&PBSN(yOYzxN@HW}WL7v)iuOf~h>96VpLbM4?UCKK(z@DQW^Qk8
zg-Xgs)91ES^Hg&O%VtX$RJcvE4|JFvmte>JU_Q<ZW(GPCdxy2dUt>LRocKXJBAke;
zu%jy0C)Pz)3HvU)6UUpwu<vj_a8__0uq)vtX0UGqmK?|X;u)Ab)O2#_ev|=fVy@U0
zSf5xtEK!yzW?h@1O$PPYKh0w-8P@wy7k1J<z)?qDr)JPU=u05&<ERk*jE=+7@hi9h
zKLB4Vh(m;u@MF2NM#KI&?B#48$G{e|-8qq*B#w@~gH5vfv)&T<#5Oz-`;3$^w_$G0
zW%8rlXzOa*Vf|}So7bDyn$JNE=QHzU%Sp>rYl!Wct)s){m`l#1vgp3dLgXe)u-SnI
zVGppLxF@c`7UH*X6QHRFkxPgOH8GO)mUWwz$lk_Yz%FI8Ie*x<*xlK$zyc?;ya^2N
zhYdlmA<KaIZy}#Mp4qiftNG2c6e>x}%xz{nobeo}HaliL2z6*myTI|7oJC3LtuRaI
zD56Imq4%+ASO!*#VR(O-m@^me3SBQ^hyg?yv4Kz!hgr*5&g?DhA?&s6f7p@i&g=sA
zG}cujj>yA5Vlp%b@nt&EiBO@?-|@rdWjh8{FfS})EfwYr%XZ5l%WP}7ZLMuFRG@Ll
z0_bc}LU)H*Oq-F9=tuMpnveB{3g98Q2|I>m;^W~2Tk(hZ8>mR0Kzt%5!yKL0EE}tl
zl>j=gV{K(EXB{J^5#GdB>^%A(vY)A;Us1itM8_=q2^*|qU2VBxxoR0`p)4s-%iGb0
z*>~F4IQEh<@*DMtj$}3<&B$A17kUfz!+v2qup;a^?EC~sJ_fJF?%-ST-}ogWkJwJQ
zu)<l_SsK=J_~=*@SY4sRPX}Trjzf)O7j!aGM?a=slT{A8eTuz<?G)6E-nIBy)1hK}
zhgD!Lu#L4xJ2pCU$pw^xQqu20vwtEXXbRd9i@*}Ft<dFe99D&W!+JrDqZqq}T>ymn
z2QMIkh&x0vXw@9n4c0!^CYFO0##&13B>LfO{0+uI-H-&vn;u2&CVM!#*eh+WHnX+L
zS_g=E9%`Z&*y?Tmc9uf`^`>*EPxMoIITH@^nNC1&jge>_`Y#%R{lSJ|x1fr4IEKN>
z*D)U~6=&f&cs_v<!-)^XeZrk}iq(bnmxy3x5N^Z)q8@8Sr=muf(p12lq7tFn$<49L
z-V-XagdpQ()~>cKwjQ>@_8Pl~BNo<ONTJXN3b-d!C~rb0qs!5~=pif{`-nE8)#w9s
z9kv)NMEk;X;MfMJU=d(KICW>(c@0>+Go0~Quy{YB3qBSvMQ@^$&>hSnx`kpx)w0YX
zvXiz5d$?_*O$gQE|Je|Gd;3a<6B$T8CEe*xw3Z%^lrwLTuIOXL72{y1P&M?ud5MO=
ze!bCms1xRc{)2VLK0x)%F02`|<2)jONG8@1>xp)({lqi;FwqVFhQ;E2Q6(}8`ASF7
zUnvE-9_lF<0Gb^GG+l2a?4xaa?R<Ni-3)bEHu4>mAdvI|<}1<}nS_2tO-Lj91*Tq!
z(MRYqbRA5;`heU)y)hBO!hXY^((s?q-*pk_x(@oa>?a)fd3cJU_;{iTBsBorj7&ll
z%zAnk<wngUvmFbeGdBjc;wz!PQ)wS;&vFcN{Bbx@6;un=gZ{*9VG@w>=tih<yNG(A
zP+^YlK^LNVC<h&aK1KH<IWT+cBGL&?@&zi#)?#JYMI0kuf>-NE+`=ysQn2Q|co_B;
z{f0Utk08ctp<F3BRGJfx9**(Quc+9OXuo8Sb1?Q;s23GLZSfTPEX`#O!IZcy$U5{U
z@*5@5eDpjz4(*5bfC_OTB0>6~Y4CLky^GYKYv9>rSOsQ*y2mT{PTY*=5DB;qAB;~2
z>wkvEq6TCs6U5x18>oNDHKfYHx9@j6u`jmwb4;+OIa(dHj>{xUZJ|=>VazCCVPa%4
z5`osB8srwN(Ggt@S{{miLJY`A<P0(Z;&VGp2ipkT;XlBe4cHc}66=na!-^;HKez!a
z$K7#fY#o-4zCxxTJ(<U}J3WP(Ms6TIfFa!m|E0Cd9U~la#{}{!xtQ{$574*he_?W5
zFJu%TP(Sny%vrmPE<&TwMAVAhL#88@NFmHadj{3WrHC8)6S)MEm!o^I&zK4`V6*X5
zm`rvAe+fQr16Bc3%N`@S$QwpT$I{2BTxvWymaKCObcB#o9Ge}P<Xguxay)dg<I?+K
z_S#71BvK3=$~K}8kon-Rc<2^18`#Y!*ykCTH+LI3&$NS8KQZOV2V@X*J1IlU(KKuy
zHV<pUKH;md1Uv!%56!_lV1ejL;3hYimCS3pf;vs*Kt4f0E+IEKo|3a2O2-iDBRPyZ
zOOa52_Y~&)?Pdbe^~e+G8~zoU11EV9$w1@LYNQ0&j!?{HrUu!}7?_JlD)R>kh8*u!
zv=_P+ZI5Zd&PQSW@DNx#9AAbWz!sqA5e%(^X>(S3Ha(BpO&z5&Ne<PWd;zO&Ab*2y
z<xzo9hn)g5;Y>_ln8Nn}q$@|N(6^xB%h7L$2|0yKMVgr@FuiUKGYLszJ~Ee)m&^nB
z`#s1e(0?=7{W`1wJA~!o8uSP@2P;CoFcx6<EO=5gy^fwr@1vH$zI%|JsXyc)ays=N
zxsB>e52fGG7;})h%3Otcc}qdJZAc)TawC$9QpiQ<u~7)~{+=@|WH!@*aYK3lL-j-E
zGOOVn)JO-k2z`$>qnj~TtP^$%dxK8HTmW;nqnBaAW(_lhDX06=d7x)AsjZZS+z($S
zQbgUNGU<Kvc{&QF7LI_ai$4(?%+tG$vQR&C7Fvt&&`U70ZvxCG{L1u&pP9~dgb9jf
z`ZN=Zd}pS^6u@ev0FcE1tH)y!v>Uby+XH_(f$E{3>M-OlbBgK3?59KMvGi@~B}g5m
znyEKbBh?F7%PV>`=)yZD4kigMLPny6U{j}Hx1OM1uR)iFz@)%h<`GOH><DuRxr~l}
z1d{?mZ$VCdkoO=TH*`FD8yHj{>?UZn8#Wq!f~KN(Kqj8Z4)|9cnX7bXx+i^*l29h<
zGF3opsRWoTsHG>t^gq}M^Bf|KYaruJs0&OE)FD!+RNRb=2QDdr>4)n<7v4c%78k~Y
znaQZ>ZNOAHNI#H?5TTG|=ygCmKDr9<trRez2(5z2h()mL)o@0k%wD>fUPHUl{lU)U
z)M~I|E|b9&G9Lgpx5Mvff}SmH;HxqKJ-b4*QHJb*Q;tGDGpAvn35+XKMe~?fbOW6Y
z|Lz#bpphvAO)$f}#Uykh`VXM&Jah><2cA9vJ&Fu~8IW(7SqukGsEj@i*82~=g}zMx
zg6eA*=*@5yW>F47mLne#FSIk-2RKC@SW^s&qSujaNH#)(tV@_IhRrxJA3!gxASsHD
zXO!S$#9-sSkX3Lh)yO=wC*bBvu#O@)sq4shWGu|Ftbr+$3jj$cK&*F`4rVUWJsBSJ
zlitmIVv=BTWE}jI4B3qSKzhME#xmqIX!sMbssEkw7v^7P9uo<pkc;Um`X<!K`ZGQ0
zE6}5*9Zalz43j#QU>9!a8Q?QY#1&$~diYZ__<%dm8PxRuQ#bp;^vGS%6QM8EeZHb+
zFz0~(*x_bHcaXIiVWZyQmHt;-y98Au-O$_cxBH>nkNE%RV7fB@(%(T=ujmOd2l6_6
zIPmNedLqpDOoaKI1CSRmIg*XGAR@#WEk&vT`If?ONJH$PMPHc{%u>+wBCwAupwU{G
z{)xk!%>7_ZBCzIQU=v$G)`@5Y%0=zS2|(=jfFq}&@|q1#eUV;B_oMsJ<KYQb(`)H(
zw2AHpGdi!q3{QWgFRXPBc@DN&0j&Ky;O#%q4|NnEFABN$3RwLzbBocy&(_0)(QuIR
zJ$TlK2!UpzgTXtEK?~5Ku(AcPY&X&$rn7zo{4D_;c}kzA3+WtsG93>UzkOf^=D)Os
zZlzse(&i(W51k4>I}|w$>;H$mhX1}njv(XU_m2c!iGV4i0>%rbl^U2pnCjXEzIPtE
zg8V@oNF3~UENIwlbP8zMAh-nn8YYGIf$6%x0XNfuvz&v8n)ARi!vGm9R2n@6s=e33
z^XTc`Fk|yDXwv`mWe!MqF#OK@$VLRP9VEU4)=q%mGzq@j1Id7l#u?-|av3QH$#}vp
zC%}4((L><%FQEg#Qze169YW@UoL+(F4q?jZQhGP!1Jc3UtEePe2|g}?E}$>a)i7(+
zm-&Y|1oKkkU^-|TAW|`M5IKfy0txI!*1`Yx!}QV>@JvI2&wqyf%8)w1-Xg%D0l+-=
z01jM3cY(B*11qoqJ}d`66_4D4UO@$njot&N980UIIJ%0eqG;+HL?%7x?r`Rh!NLQX
zZ7`4Z4C9K(nSNkrImj-Uu(}?s{VaHwBgiAb+Q*0(IftMS>GF}WDCDqUuUo+uE~9^e
z?Op-=N&@XBK)3&eIjvl<$jOWsXz@)t1u&3BKLHFpMm?tV)FX-wtTl(;3|^-WbbTdE
zf_()0mN1#1UHxF?W3bz+fE15muQZ&z9niKOnF^WRT#)WGbRRGv1@P+I=r8mbp#Mh5
zLUut#|MP<&?WfFE(CugRLwY041%C6C+Cw4q3&^g%qRzuO^dfp7Jp^W|{-!+um8LO!
zV76>E(*w@8JM8#2oc1e(L0S+JNkJ=+?%+?l!Y((#eo62yAAnJd;Y$Mkb}a0?1b!w6
z-H9ZFZX5?+m%+&C#q=UNiarJVd`vB(-cv=?K47hXKmsf}5xy%0d#|Gp!0g%U%>OK+
z0AxNGxdb-W40aNaVqiVD0OuY7vd;p~qJ?NC1Z#smyI`5vbMzkUI~ydP3_KTnAg~b`
zGZq-E4DgmmccFu!Q$!s#jmn3!o(t1tZ&6pk2ZhtU!4KC0I!oyH%s4>wB#7WA{J)mH
zg2>nt)?J1UggLfiupvDfhn1oOFi)s}9|Ccs3)TXa@b`dK3V{I*L#3c!M*x9d02603
zUqO#{fNrrsw|h|4)I6#ib(QJ~-Dz%8@2Dn<09)?^nBD-WevKIpQ+>OG?JfuVx`Q+z
zX@HKM;WzI9xemnsLvyi#7=>=c24T6_P;4~j1uVV*+YaY`5IATQ`V8g{=OCw;IZPL(
z5qQm5=)=2};!{tlXzBtLM@0a?8bmFic2N&O)59P)pA5*-0PB~7rnfKy0eeq@7qtUU
zO@otN15x5nlnuO?Mt4ADJ_x&s%?A!Q3)_f=Vp22`8wXhS5A+pi0M;x6?>vQx2Hidf
zryLE^o(h_^0@%e7DgoA>Pj!ZF9mgP2`3%#0hl9oQz<axZCt3{*Y6<xF&w%FXFf;fo
z$g&LBk~cOLqSR5?8+hZh7<-6az*d69r(rhq2g<<)fOH~&#hnF2ybIbI$W+h=!Jai#
z1N9SjyNxQQ+Q>1$s$8hyQ~@;_`l&sm9#Ea=>5zS30dq+JbbiAmgGHZ2+K^)OFyI9n
zbI1I!m$1((m=#vkV0>8lC3Xp0h4qBB&EVhPqRzk$8UbIsBBfv{`AiF-b`j|CGg#p&
z6;6$#I#M`QNYSJ#?7cHJ7#Q9kIRAV=*nfb($3P!HA!B1EgH2%&BW(b_)B<Nb9$SM6
zu@{&Y^TKN|9P%L*kgI(JCy)%enfrh%$I%+35pcH|CRpzUt5Shq>_xi(ip_xu$!n-j
zWIxJ@`a-s+YDqO2Lrnm^+XT6Xlhgu;S*Fr6nK0<@(Hs2x6+pu@@J0@_7i5F^*a2)m
zwgUf(h2bOdPgo>GL=D(&><QKfvO5#8`M}~Ap?#6-$UNi<^N>ja_IeUd+MWIc_UjI@
z{yORjIe@AG{_F?2bRFpdQfLnt<3nGfcG5@SWR5d)q2Jj&@E6s{P+*1EA@8#SqTC$3
z6;om-aUIqRUxoYPX^`V6!!}@#AuIF|^}(W191Ta4U`DhKeB=nmhxv~l2@LK7$hrY`
z+n-9Ju9C4-75Rd+lC`7|Vu(dlAL<6>3O{oixR#i{&m3V0(C!)}8{GzoL83>oACUDJ
zhKIm<ckn!XCVWC6^JayZcnZvqZh@HUHA*A3;O7m%O78=UabsS9mka{`bOG#W2PGpz
zC@yso@=8zOQv;t?(jT<E5G*Vd{OB*RE@$8aHt5q)i$sDKlA<F(qsuT7@@&WOG58Gp
zCO!l*J_{ipWZ`Pi^kl3vR))?+=cD(Ko#3yeFekhOwDlvf$6UIJ5>ivB-k{Aj5CJ!X
zv_F&g$$R7*vYAwoKGb4rD*Qwu-2wPzJZPB*=;&o67UDDk#DB*@my==DVfYh>yU*j_
z@%13_DR?Ys+ehpm=7AyDMv%2XAoqCS>$_kIc@R@c@1zIND)3T&0K1~7PSkyn@egt%
zd4W7Zo`s0Go@^tN0nJy#WbX06QWGIUy$ihd3E~gghbG7}9mSx96}|}H1nbK2fAP2Y
zCwwjBx_aYY_!F?RVmRrypkroW-0grpeg+gv2Bx|Ua3YSb1RY*S`BMaCCy$V~$<yQ<
zavOOJ`sO_(<)o3!fVlM;<Wbkt_voR_1119eqyrg^R-)q}?o(nJFbDiK?DiXUS*^u?
z!Rp&V3aJqJZ-&$GhDc>4#5lJ=+Ahc+;Eg^^{r~eJf0|Dn1REMkaVR1A3-)@HTo2t5
zm;e9jH%Jla`XuT;C4+anujmfUZHPpc0G2F3YteMrvj*!5QT|K32C_SL_=xZi_$7QL
zo)0VE!xqA=-H%{ZG*XHz0Ji>%Sq9OO4q}p#v=89eQ)(IbDsMRDQt}454Az}XPKBLs
zg6AkDc~m6GTMqu~G3Zz^;P*UWKVu<p;|-P^jweFy`WyZVPk>ya8FwXq;`i~rVA}}Z
z1WzUaZ?*|y${=(!Vg-)6ml?`XfMR{YBXPk;Ux#zHk!jR9@*13P9yx)WO-_QfZ;_YD
z=VVW+AE0<4a2P2)8D`n907epk-av<g4#}_yFjKu54<VZITzLCxg#7(4$nz}3lkj`k
zCP2}r=zU;CH(~mG2Sf>{l>{F8HN+=*G)~_I&E5(-6Ov+b1?+Sa*@GNJP9aB=L&@Xh
zN0Nc8^>VQKNx+iE0jKc<7MlaHUL>{~D+g)c#!DfC7)tm+_BMg=C3N@$d<~w0i?Acu
z2+RuSoCOi>S%{xy%ud*I7<kI9zzrCx9%9jPfFx~X8Q{n!avEe{^2mI$H#vY@2^Lld
zXFU`6!yx)L?FIhE7qBn^@_7{GlPGLBeiHIY?nD;Rk0>HC;0Z{0k{x&vVA(bBoLb;Z
zBY=UPMl!*oA45bK3e0yac#Tkqe-Be7;3r73fxJYn208a23&|8R6LvnC+)dsgX>t;E
z8~ST4pjGr<#tHZ?iEKvQVb5kj&(mO0!NeG1C{aQTA<~FI$l_groT&%?6dMBC{S4v_
z204HXN4y{wodfZh0Ql!Tx;=E)yGyNvv-F@okXOi6&}Fb683*rwV#qYu_Z;$HQc326
z{}xh<VC8X4EmH!~;U<&-4p0VYeGJ#*k?`JQCNT~&_5F!p(6ndxV%#6E!ggX|*f+Eo
z*i#wARsjgS(_yk1ntl#(MHEaBdkI{iGvpRqz@AUS3FnZBq(2!(hLc@E+qRHj0Lzzx
zW#!Rt>1c=*#sV{$3>G~G`w3a3JNOSgi0DO3A-2HRFd~Ow6W;*My5Tag_;_GTyU}(K
z6)u99sFpd-bO*NokX}J&(}8p;V989_b1PWUQgSBQ9rheS`oYR^<Y4&o4blr_@*Y^q
z4nVRS5O=(UY(yD46syBJ;D>Pyth|6&44=)Aq3#E}Zp07bJ#ibh9rE~MbOl<7en!?n
zY+l8j1nkC{kMv=B1dY;Sz^SoRSIDQ9!AXw=osK1W&@axL^dXZ#{s&13`0owiw>HD=
zg?(_+r@=>mLbKtmP!iyV4o@Mv5*vv%#47me5ASD`_+`LQD}28@c=2s$AiN7d4BS`3
zYywXi1D3TH_^mH3qDsLxBmgUUP2L3^%Y*eiNH%G8xWic&k$Yg*?r<V%Y6)FV4`R3w
z#YF?N^v5n@(V$_kac|JAX~Y#`A2FYpN^~Mx@vHb8+y~x9jKdn?jlwv{FI`2#p<CN$
zU>GTY-N)!@;5T^mdGM6^(3Or&9R-{2PezgLNECMMM79SV9}S*_0B`yiGJU`4DG)O+
zg?#ZQSosO&ginV4xg25+NO}dVy&BHCH-QrG@nwK-cOaV?3vYmyLiS)CG9O~uQf3Ln
zI9mD($UA{X=+7X_wUj4S4PD%3lQTfad`M5y;b0snXxSK$H$jC!98gG~f$07LlLK+a
zCX@@vOkzVJGn`JO5<7_F@O6clPILn#{fjTbBXKD(gm#e8O9ck{45IHO<N?TgFyjm-
zy&3X`R`7#2!B=*t_+Ud<$YQd93?NB|$<gK@NH4JP734eU<+Ty^d=z@B-DbKWzmOr2
zEt~=Gf!2U_yAYFz5yVa6I=p?`2`BAO2=Oy`CfwpYiE**N5My#7*D@LWl@6lwp|J8N
zSa}*m(I3DQ&Y;48fj%eq0djRBBT1YzJ9O~o%?C96B>4)E>=Z-*E5L7TfJo~qAm~?g
zKD>X)$KS(!f+BdwyqtJIoFJAFi--<@Ca3Umu;*RaV2FM8qH*XghzL7@jy-_<N)V%<
zUji%21pPioT>{o^2llt0oDbR^04p0DdPlRv1+;7w`3dl3D8zi-fsxIGT=GGPB|oEC
z*cY&?1GpDx)qLVCu?ODv?gBi^Aq?Oxivh>Z0zbfjgLZ|JUIqDV5oD77r(<nk)2o0V
zctA(kmDC(y2-W0QSh*kU8X<L%uQxa>(5btaTt^~s8ZRKnd6_O^<e+0NfZZ{`^0V+=
zxCHMD>z#!??<dZHZD#_Sya0CMj=#csU^-x`36O_819s(x{0otJK4Ss@vkS6A?z8~*
zJQT9WM(~UKz*i)KU729z7U)~&L6!i1e+LXbPX*IA=orWlk3kg32Gj#`@y_^WU<OhD
zk6~ws3$X9mL?OW<-hp=e!^*Saz1U-P6lBPrLXL-k+`(qZRQkd@g0mp+j&wEL#@GtI
z)I6xS@Fr$CnGWy17?8HWK{_JfIgY_eW1xo?>Hr-9dDAq=ZZ3y7V<V=+`op_rH(2c`
zNc=8wjTjFY>P~!wmAl}jfbKciZge<g6i-6V!ymN!BJ{mY1T?t~If4T4`!}d_FrmN*
z_Hzn2$q>@z|253+5IaK2ZeUwA!2jpNp8JA!pM}iPdwBcv9qkHr<5NMKIufzqGoBMG
z;ReoHq6;ACACN^f@ZXuxYg_{PsThc_{+CVCK(28q%ui?nW_OzIM!N!rE`(1aRRJeG
zkL*QefR44odkTj`>qvpW*$bS!gnCZRhnRW=WW%;1@FobD$y=-seilx87-04$u;&$E
zStEg;G~tI}&ws(L;(>P`fmq`wMDPg+3%LjJY&OGUz5}D32r-rhe8MO|Z!55Y)8t4p
z8SKg7P&hOWH_{h8^?C9yITp?&2eJu083D5%@r7JWDsb*#{35OfPq`d?#$Mta;Mpi5
z8dg4v55U_X^6G=tK@8Xx{S9_ig0upHZew~wo~RKx|1`)*X<_9ZV9`EQ8My=WI}L6i
zBL6RO1h6y@^sb3afjtKSYwZD9gh`O80fYcv9RzqK!TrHg?gCG_4G^>+5k<5B_b-Nb
z*yrG!&5)Zb1m3+98HjiwpCG3_9Bvm0=@*dk%>~PP1-yP7#iJy^1ZMzxw<8Jg8Ya*)
zU$PIpC#oT#e=0<I+i4%>Ipl19!y73S;#eA+ia*8ufDJ8zcgGuH@8jXNfDy256pjKj
z8G+gV_vRno^*sXZjz)x#t(^`wZ3Qm453(XYke@#aemV{K?@MwkIS@RS6P&ccK|4Hv
zA+3P8Cj=0*g<4NDkY(-wdGP)aYfQnau@Yc?W;~l14cfgLtZEQ&!4`<LrURBd$7Wz`
z><;8XozRz%zl?_Wt9Kzw-sS&K`Y2ddEXezR8LCW(-@ky5_`lN51H6jjTi~~ZKp>P*
zLy;Ch5u{6zB1jQwf{Ic_QTYpkNC#07K~#z&pol0<L_nH?NbiBr6G|Wi5<(~eLLdo{
zklefX{mu^K?hWz(-uJ!im)tEgbLN~mbNb%A0lkZRTzu2Flg|d&;eUJb!QGe1d?p(o
zV)HLRj_tya-bvNST=#W%bs)YUFecywGU-nSJisOz>@MpL=iAAPVVMjeesIk3Dcmj5
z{qe}qa#S!ZCNfaRa2b1v4t2!eIEHsK0KHKe3&B8R756-YMfN*#te^LUw~G;puDnC8
zsRYug8u_Jitn_Jj38dyA^m7la!Ri4S?%mui={`loCe#&646CH`Dm$XHqZpRpSL9Bs
z61&*NN;knKI}E*t;Lj#O@6l+-I_PMprw~UIs6E}2=IMp6(+O!`-xov1Ez|KenY7Wa
zY-&|RW7P)s`|Pf^0d-Bgd$hYIe*6rwU%QFQ)pW+Q($5nEjW<`ikuTlYh~DjqpZtLM
z!~k|yisv96){CA-SO$gQ@hZsiUicpuJssih;$$CcV)MUD1f(x=Yz$fZmsr&c?y!K?
z@O5AQmJ7(jyBmYWA4k-rp(}yt@AGJlMcAMf@HW;H(QS?&9|Pn;XpUquUt@_51yR*I
z8{6+WAeIJpC^)}`u1xSWAop2<yiF-$`Zb8UcQtL$W3IaHuc3D^7JnyTw_rbKnm%oP
z_YM53)@Y3%iF_NxeTNdYzYFBgS?S`)(B;NR;=E3&$s#gU#Cr~}YP_dA61%*ojOQ^V
z+AHknX!h0DWL?J@*~XXT9De58k+(UUB27wx-wyKS)$uc0;^$NZ@>cgmYBy4_*4pFc
zEF}_Ih?w96M`MS<f9RObx3E_6rLwao7%v$mi6V%v^Mp4I>tr%3-3q&)5=Sj&F~t+<
zDGyC<dEYj!8RTYt)A8+oaaJaJ5P;Xb)_ny(r#^T$#M8KiNBg<Ejr+c9IXl|z+CtR5
zobwb}vo7e$lSI!4kzL3l5;B|bo~U9Zz(FIt4ZPW&J$Uki(U%R)Rc`L-i{#!-^yCA4
ztk-D&3c1Y>@N+(L<{|EvNFCTTJS+z*{8T_#K+%9ZP<uL%o$f!0%Y^`WBw8aLE&U2P
zw~P4VqtTXyeP@kj#{1+_vWZ51PUIvH^!^ok_d;&g<7ne~4e1iWjvnki=6#0U@T~8M
z?<L1M$2;Wf`?>Z}r7#X3{;oR@l^Nxzj!DK!n(UTJoXzN~3a&%cbu@7%Vn+=kw{Vwu
z&1C%Xisb0lkZWve1QNfPCjZaJn}|l9j%V2w4cW-k7R@;spSFPaHN5G1MDiqpP!C`F
z1!_i`x>jTVzJn(h<@QmVQY63~kO<^y?yl}2_fFRczQsQdYpj_wn~cC1>P@nI2YfSq
zZ<6Os$2yr}bT>kc^TfE{gWh+c_X1)FZ+Kn+b{FRG4R->7ywO_?EmMMgSvfq~YGjVX
zh##brEuZGz&suxov~>2^-&{ZM&gb4^?yGn*44s^T&Is~-?Hxf>+AJax+7MsonDGOV
z=Ne}GVk{nB5OKM+o-e@lHT;Y|o?)J^uzh`=SCO$H%+fF><84eQ|2Z9vHN<rsdcTkS
zjwD)g$DKrF${$3Hy10Ygkwj}66PNpyDx~5_(3x0*704F;P6n$TcF|dO)^IG~JjO0+
zLte(RPoWlQCbEmSkAOS^+HVEtwpe3%h%DVT29l#2jz>Gfc?rLAiz~$aCOox`7*Qg}
zek$-j1#$`Z5j?wRiGr^quM|ekWidJB3RvD-d|#L`gqy}XeEBv+PNLb<Z(*IJ;?*o7
zLN){`(%&;2dtod7><f5U0mz+b<2BzIUr%zDFA=Y4j1_v9dXx$7-&pG?_c0*<;{Jp>
zydv)7c(a|+l-r0CRVT}|0v>BbX5$c9vEIJNec8r7vQ<6sY7>ZU5ArraQ^$BVvby83
z6NY2=e#<(iVS&!`UgtZDk71b{L`&~*G&ifjCSvu6;m6H$uW^TSY=+;)Q-4>IDA63^
z76tHfq_*TXa%>#2!~(>}7LXTi?hEimVv)TGy;F%)P2zjW%Mkb72G(Bydkk{qCm<Wt
zRD41Fxg8u?pX})q@K{Ci6;5o-y{_WKM?P{da<8ZUX)V!&53z^JP=~(I)x%ZF6-frG
z9WknK@?N5`F8kJCdp~dP=@snh2FTEG=-rq6Mg|`BIwC|<*vnJd-}^oHJ<Z^Pcp(37
zl*6jwKVA@PA4vqZtLqoyCJo*Fh|er`F9ZHGqEpYa&KHUE_b0b;20O4DJQj&1*o%1N
zZQnL5vKP_Q*NC=#OolMOaR$3z=v}}Y@7V#w@1gWuVl_uSS)PW(D^F9$v5>s&6f)jJ
z9M_4=g*%^eO`-Cr6e~L#?J<v7!X)<)A_t-Fc;+;~Rn>KkEa{uhO89oak!x+hN+0lj
zN6zpme4U-dVY`!`P4uq8+i8zSolcF+2K>uKp5Nf~Q^>HU#5PWOpG4X^kh}?a8<G5%
zj#b2p-X)We;i^Mi=zU_ald%i>5%n$s<Q3G!)FO|zf~a#Xyp64_bW`;73EvVbEb0*#
zjKbrPJ$;*~&9`_vkCWAjM^|sa9$AG~mw;9BEOR>Ut!sQnPN^UN@uw3UQ<XiPN%itv
zyxPLxInX@_xC5!XY6fq|qBF+08o1Kn#GzP%27b<Dvf*Wjkgde(Z$(b$3_5=V{zkA7
zMI36N_i4QORIuKT4Yr3FTp<qHgj~-7Z#gnv7mZhayL>f?^9K{@JB{uA3GzFSyE=UJ
zI{5bIvlf!%BGK1T*uGiRgMA6)yx9ET;!Rh^7L?4LTIrRnbO$_+3&_xs_!Jef{1bq^
zkC=NDo@_C4E8~&eC9$8*8P721GFZ{~slVIm48eO_M=Z3ITVl^W`F+m)BpTy9cSljp
zo!_;OXiaDGNHN$Z{fUHTkO}*SJzdq8My&r!{H$_Vz?<1UJ%~yMdGC1QJSROTn8AJG
z{B41}8@ps6v5wkk*&yQ17aXn7(+1he?~tMfahoRY)=<5%yNU^UjcYvdsY2|lIpk;`
zqb_ebb#pC<JfC8O|By}cQRna-UTt;bzIP8R{Wg_oWxZZ-jR*P_j|a=31A9H(8%%}5
zE^3sfVT1M{b6119rc2H`;Py9I2LrLTy8-rJsM~Oz1Lp~@j@Z7jaQ8dTC$afAQPI<p
z8m9BU6|8his(H>BOTea)5nvp}w;V-w_;L2uJ+fHIMEC=-R=NUtuQ$KZn;2qA>H^})
zW36PRhmsEtb-m%5PaSO<d{&Vv-ir9{_o=L1jn3$X?VE@vHk9n5hy3|8>RZZ@)89zU
zrXzYI0X;pMJzbP&{~BQQf}_e1t;(jJ(*?iP_I76#!pU3rpk)vd)MNP4a~&B-@8#sr
zTEb<2xz3O;EJ!w^xI2JM)(O{IstjL3N8fb*jeXD(d+Y>x#sO4}rBOjUgPeE;@}Ga<
zH@%2OmW*}s4Hif{VsvG^!9Xue45zWTKQ^FHyE|C{7xwxVeChGnzm17+o<mdjLrU+Y
zrZ1KCb`l4?Ojc_Zb;Uhg)m(SU%72L*E91O?-WW-~(m{@4K3;7t(?a-$m}E6#Rr{#{
z7>mAaMl7MUHx#(l;q3R=Z%2XL4f`pBs-M-q0_6S<;!O`GADs_Q`WR`s2OB(@c*1q?
z-;X5WKf<|c6N%jK{Lb0SSrv`-7ZIDbc$Tqb^#|hLxv&t#tF3|bK1Wph3o`QUuoG%{
zD+9MV@uML`rw)6Iumk2ADd?+3RCv8gM%>MazhU>+aP=X2@&|9AoFh9MOa1It*8<j{
zHx<=ReE4}(xzwhLYZq4N%joGVSO{aV1%t5=mY_FUvC@g`tl4l`PcUudtp}xBqesR<
ziE}{i#&_!{8O@QrH+(HwwNyu2Vxdt)Z8~6!{={nUCo_E%*|LGFPnl0We9ANIz9D4n
z9oQ!G$e%rKS_qS|`a|KdRi-ovWu?P`GLgO271%AP2<VK(Fo8JDS#JSy@^g(iqYjat
zvt*{fq?+Xk>PI#sMQf7rpM*#M7m<veuFb6SJiP2aSVRTL=By<X-;R2!^VCZW#<TRH
z<-hjzB64zr3Zf}sRE4UZ<K9(Rq91r)N1Am6elNV(ui*K3Z!x%VHrdMRz7O#iDmgx2
zpA<t%EXJcQP7Lflat({vO@G4IOUd$#C+gdneBo8+Mq-h#kTXo8zG*BLLVhfSAFx7e
zps{uneeP}4Ca)8NojI5M^n1YW38e?1E#|TYi9|rVk++W_LiIj%hlQZqT0G0=;M_gV
zEY`Z4YZ#Hoc|c#n4xf&{*~|3|*1;{F&m!tvldQ@%YUR2Tr;4N2YcSuFWFW_c#~M-T
zcLhoI3s{c@*Z&Yt7zxKML5|#_0-`%OpD@Z0clgui^L3^Q>@szmgQyw0Kz&IQIBEoY
z>09>LOm_2da)r%ZW!YB|_;!Pw^~r5Wtf;T4H`YP9R#Zfat{jFmDNc^#IJBLMb{a>{
zY8-3+9oNT*$5o;JVYYFa3Zs5_l_|bw$mm2;J=Yn1xsU&ZQNh&`*u&uINgN+S{a1nf
z7?lrESid8wktjqZ=r4|UskV|js?U5K$m(1`MvOyaRl?Uf<K0Gfd=^oo$>2K+3T%eI
z98?(fM#7&kiXlrDU>`h5+<YVSewsR-Wz-M3iGsBO_Fym{<r+!_#w$Rs$c{dX1pS13
zPACzCwP>4X94_MRGs*Op#iw1575W-`I>5N>jldFJg!Guj?@yc`AW{;94)4#dI!*5E
zMQTOQ;%)Q?gLp>;cJ<dtl<QRS)N;K5?6-)}yaQ*yh=#6+PkDh_fv<>zK8`fmLfoVs
z)qkhR>GVZcrearqMMkMED}9@|$W}OfG5TXMQT;7kr+5pK-5bQ3oG=O@?We=t1@TR1
zP`j6(daco59m(zrb=4&^DOEMSk)0jj?aD-)6Ua%=!rQ1vcK85RXm@OrSR#`D!79o&
z!lC2<Vq~R^d-$y3Si!51XRG1#{bVRJiN-xg)x$z?4#q$E9LvPO^8SQ+f>d_(>%>Gh
z6Y+Plu1^EIGx&B!sy1|0;%$W_>VD=?McSMw)hV(-uT!0P4LLTFh@{JRoan^|_!||;
zaa<xRznkdDdZOEV$)a4t!>B^sbriK+r-|^lrOIv#^$T^83%@$z@Uz;1^%A17H<02L
zs5fW<)OM~`SYlz=B~n$j4C|?bvji4`)O*x*q+=C*gaj=>_3IMiRGrZqd5Mz6kVV)9
z^nGZGIC36^sDXJIpLYcj(EMoi(Ns+&`NH_0g0s*ZUMgf?XC?n|p5#AP1%s#5Iy7aU
z)n=W8UFmT5YP^l^_*g0E4Y5KUjy+JW1GT;vjMYfcmysq#pmzdR?jerj$m<(auazeM
z(31?v8Z5E=cqhZrHW$dzz5u;9kktt#3N#FgZga*uGuYb|T~7kN4u30B@sr6rF&p5*
ze#H4R96L=bv@n&CbKvgBkf5Ta`yx$BL+_i^ZAEjOBR822Usqw32T;Md0qe66RfWUZ
z(Wmfen-cd~LKUQgF<*5~KsW58F8P78psO5q{^RK9a#V(A@-ECaeCdJYr30NuktVMq
z$IfAoy+QWwwiyc@0E9}=`z~vnKrZ&GH<g`Sf@oo9W3Vxcc-$3sRSUeb`TXx&FV(Sq
z@u#=qbCkgD7>G<+&6-NhO93pQisWTWL+vbhZ;$gQv`cGeh%*)|^etkcSIBq1hnCK!
zD)UEptOJ!KMW_o;Co`DrP4jxmO;#qR(GyAYGrs2yqP{KYF&FDK4cnwMdC%ow?W5+T
zD|K_<LDwkuwwLuT<|@H&5RenicVa$7-jyM4vK-E=P1JimTDqyviG8q;2w6AwbSNHm
z7WGB<ftwfVKSeI{EmrwgBLd5y6!LZ;e(+8zk&9E?I|%CS1nXk>t9_|%_ywtQ7JI>P
z2C>G4*i~81tML8rJnKQM=r)pXyrVf$*d4x!zBbf$$H2K0z^y6tE<!BU3ugslEmUUh
zyFu$|Xz@tn9{!|2o=Jst0+x4u_<OQrHQv0JD!lgCM_&VDKdYVQ^iiqCzuX4$b>z&S
zSZ!}2O|pqqPeG35rG|ehv7+L>i)6AU!(%OpJ{QNk%)@#Yq=xP(td*Wvr*q)JXd}xg
z&n|oyKVd!b10U}IcgC)p&uB@Gf>^h&QjPZm8u>UBP6uxn_K-k6i48i3c|C(SeGE_M
z72ZHNjZfTz`iE;+)6>wE?ct}gMhH*~VvmLy^^qa{@u_~MvL%iPdnIJpK<xds)H7uu
zy`Sa1i?7fGr>Uqe4-dVAKeH5ypFyr<u--nTYBKw3CwaD!RBaZ8#}-m|QGxjH0zBHs
zu|apky+g1(o(5hSpoZez)}RjL6=?khc4s)8osX6;;LA><GV=&^+(qD(myr$gS?kM=
zyzH(n?Cfvxard*gZ&H8yz<lT99NfJGtEda{$Se2>gRs1B;-d{Vx%(gzbTnGH8T?%V
zyvrle8o*t>xjPFfa)kF03gUHl0`gRRln8Q$fz(&FL+4Iqt&bBmDg{0JIzMI){Y~ZR
zMet7JNMaUy(bAup`Lh(H&uF5s8RSOBA(sNFQe0|$ijUO>3O`PrWOeA?oErOg;JhDM
zi)i9f#js(zVGm6sVzQS?K`)+VBkJZp#ID?q40oan+q1K$BB^)qX3r&HC&Sz4@Pt+&
zVc*1$&m_k48SgH*kf4)TJE{6ui(mOJu$mDMt<C;wLhWErtd%dxitaMv4G$JcLp+mV
zK>ihd70XJ8km>CR)?Y!x!;Tc{VV?%G(d_IsL^Pt2B3FSQ1LU<tBj3jUbvX~AUnTx~
z6hEgM_Q4hK`j+aI*Qj}Jf~0N&pT7uqjfK{$u+^>^0mMt2!;izD_EMrPr?86hQqkUw
zs`@e5Wm|~H`W%(1l^g({E#f`Cqrkif^s_)-$NImAA76l~;~(e|>WCr7!2j+=g6^hH
zaV$HlBYDeaMhp1-HE1w_yMGbaNI_dX!Jg`a?D+=BTc}XHhMq2gWz~Tw-xR8p4mxf)
z3Onm!<&MT0SOs52LFqU+{UFt#KfvA3qbuXEX5QjWkwoPG066CXcr6Cb+eF--M}oIO
zTK7SsPC>eDG0w2cMe)PhBj?9rsV_yA9PwT9-SY)AMssi&O$G8sur{b0R9G*j&gl@@
zhqFXBj$k|dM0I;tEbr^^<51>%i+ubr-W73UgDxi?IT(MnGx&C3KlR5Rn2y}s%_?UZ
zp~U1nGt2Qv&t-7tL3HIE>LW{&spyE0IvK1Zz`77NuB`POu-*a1qmd+sfxHMyum?Pt
zhAlG=OE8Pse}ulzPu<*FvUkIIXM_Ldi_Gi+t;e(WtEuh2h6no?_RGuYi;28ZAdn-l
z1h4x%?CPpu-HWyU&cxd12t#K42Wwy<@+=(Lc^s>I3p;u;d#;u<3z;{W3~>M%%g;?O
z{xWjvJE{Q&U=6+o+<r)wiLCN^B=!v>5L>YoHtz@6%HN~oHlnXiL+`un>e5&^?U81a
zu#XPH;YE?8-KpZ4gB0Hm>_b4_%8s7G`#lY)<v)TY*p1l532=B7zD+Uq@V3Ha`1>vR
zjQ{-xzfHqV+GLzG(v1*!p$&1J5yXn;BS|)q-HihBEx4?xxz?{C!@q};F=RVLf4qn9
zGasJb3G97v*kZ2V#S+X<1mSyVRL-<P`xEDvyvj;^tg%E+`a|gt;J2CPDqmogOHx7k
z0^a^Otls%ZzKuYRq~<vZYcMaCtZ?`{VEqegeG9GGn6(}ShcAQT+oAP(<oPrpKkF=v
z>=y2>iVeDgTxmmcrDw5t<^pd7bRNnKKBL}e4SM+sx}q#x_!8RUV|3&~qPAO*V#mlC
zUV_WK*xyyKj=F>Ocf^4%AkD(~u7H8~kqe;sU+~u-=<aFIp&i~vBC(61rhTx1J^C!s
z-vm~AAu{Vjtb~zp*HmQr1|r)@ta2Dq<W*$+L{|A%bk!DcKH`feR&?zl*0R>`u&-C(
z0i-!fI-6pXj&;steb-{Etb^Lq@r61%%Tp(~0gtw+BOCi*5;kaQEWy2KrI}zo7Pu4P
z^d;mlqo~y?;H!=l>1D3+kMP%eWY~UiK7kCqj4U&Jg|Xn9A;ZTap|<nZNIpE*E>!t`
z>HL|<>uPq`5@s=ydsXmrM0U3}?SmO6kKF~owea^8V1Ekkv(O?tOkGh3$nEgA$0D-@
z@<!~Teb|9fCe}$0IlK=0dJvJXb?EC1VmPgw{jo{EWhbxXP>^3{M%iY3tTVO0r?KhY
z@YUqaplGPO09>aaQ@&!&SHkbHCTG`X=M8|rzBX5RGa6$*nTZoXj-k5eHfvo3-?#<#
z=qKp@aNf)bK|gdivHlT?|Aq{kfz8r`c#RXSF`HVd(!>OpV&gR8ow+!)(sKA}8f!e0
zIjo2N!r7&G+J$`6Cs^peBJ~9F0pD@xeG<DUo~TVa(ySbDkQec9zr~k`Cwf!~etH|M
z=imqY#18ug`Pmb>9>6<-3$RS8!QHE&V+(ZU4LEr%d^MZnN3`QQq<Ny@CT7<FjWz_C
zGmlxW<NbjMFg^_INFc|et5d)_gt4Aw#LtOZ9pW95lBPvE9N4pf{UaPUg1y$5eRYm~
zC0=|6a^VwXa(Ul<Jk^bG*+QVtCnvZCDUw1ozpSqr{52XW@&kK$D{Fkfgd7RZQOL4b
zlfwhheGS=LquE<q%{Sv}p`G3a(;49XHG6C%^79#I!GB_c9^QSNispTSl|IkP{(<~h
z2*zun^=axG@*z1}qaR1mY9W>X+h~6fFFKOr7<ivVqFjXH9<Z)~ee@1dtF=`4Kj0m^
zW>lUE)?ac=0&*|t5JLRmFT8|SWEhUIOW(wo4#EmOg1r2l)n3Ere!RFeqc9S#Ej&05
zE%hrAnjK(#3|ym3*irD=DPUh=U*~s}M+^0a%a-t->2*_EcfleZjTJV9%9;;=+#FeQ
z6Dd0psTV>`=t8tmb1d)M(07ONCwQ+1as;;Secpho!Jc}X6`2j>zrgs23G)QlMuM}f
zcQjZhv#*OGo4T4@wh7D3&F*alv|+qG^9jF0p+HN#oZCbrr?W1SnO=z;d!F^Y&n}8!
zeg9;C?O=Z=8V`V63!8HQb$Q<-X}7{%{C`hY_cV}?0{7@cieCcjg2>~RNaZhhyYM7c
z=cU+NFQYSuBhSWyb8jr7a>PLozzaRGrIL{i6WKRmL=di^Id&2m+y<>r8kfvHRiDU=
zK>iVly$xCmN1x+Yt@IISaD=&Bq(alhE^UY``<Q*R+w?u2LW1{3hL3^fgV@h4*=^a_
zi{HZ!5~JEd9;_!;Z7?zKQ^4Gd?|6W->u`1%_LSJ!Q_xZZ`4F^?1#UFQN$`z8svPA^
zI9%+}I@p#&$o?vNmuDY!$0{65?DcJGtlOYXGI@(&Azo!;EEB0{8h~FJ;!DFrKgB-Y
z2d&Q|vjd6CHblA(<-N}N=!$TY(lNZz8_RJDE<XsyhfOISXIf^Juu<NG-s`acZ#s%&
z9d!WfesJ0VaBe|0sF(NtR}wvK1b3gLYHk=jRvvA66DfKWxY1Zax3Gi4n2}f`lgP1c
z20!7a3uuZ<z>S2%4+D80d4iMB`z8{l1i8Ro(0eX?bj=Y+4Q3N`R6i{JKD?XO6lw>M
zNs>3i+rixz8FdtP){{hR?!eJ!*-sZ(<xKQcRrJ&=#F1vwW)rJ?5_x%<-wVDtxa<^^
z=6n6Y{4kbT0&=t{{M{biF_ZXiEboRD0qZto6?(yIoxnK^oMU+QF*Z?2BCvmhQ!iGu
zFxJT}V8$8=#!YHiN&xv;cJm0Lf6Hlg1RZe^2v@*apdV)44}x(7b2`ji(y&n~AVptC
zSO4zVk6l)PitZN3aC!5qJ-l9tTD|k^=qbG4T?OlRD<k*8zAR5}IvqM+!WOw_IEfwA
z2IqcQBQw~0yMTNSnAfm7ZvZD6PCLZ0&s>LNU@fw&xJmC(WD<9SwVQoZ6Rg|A<!yNj
zu@bSGOH?yWL$g)GKG+R4hhpVbBZiQH%uMF3*)$`MuOutb89!t!x^x+IJr3lnSbp**
z`!)D18jjmZ@4ftrWQ${07scOt0gGpvX$PlZmpy^i*$(I}fgFaOyol%fHNHtb-ieJu
zj*Y_Bst$j<shzt`_B9hdRUX@~HF3%@<S^E<r)1w=1>;+A(-n>rCU5UFA#Z2RFPikO
zZ1VSXbkZR#LI?D&1I*`;opqr=9{lLtP~`Q8-2Dd;?{4t%W9(`V{!E%l>r(8g_E38=
ztMR*Oab5)1TUZ0>%piu9KF0bU^ld<QhC}!BJk9cj0=Wm)|6<lN0mub-U$;K6n?U!n
z<Y#YTGkr%je-n5t9+^B9PI}JdZ-V{cE2~@)OS?N(!8mBL0-1dVSU0hM(!e{Jx8())
z9%!)_tMGuy;R&pC3FzGo{{99CN6^*5_;R&5YI2mrm%W7ioQFQ`<On1?yd7I-BrE*{
z^1Cn=iW}V(4E3KyUkruA=CG%>vyYO1cn6H{vetLN@c=6&c3C(YbT>Qv63>E=$t}QX
zGW0&q`(ZAs^Gf2|)PU~AS?8;8{qIPzwq}0e7<zvI(yAfxkWlgr0bpE(qb0jpzByqY
zw##w$?`0@`7de>)ggCCEq4o(R|3={MU=}f~f|oa>niFaK6pL#U?^RqU79PsG169E|
zg#6V_Y_*?w+JPLFmw7J*vp%e<KrTkcv=p?iiw)Kj`8L6{gZ4q&%TPL#??g%G^ER+A
z!B;!LcoTm`mPN7#Ui4)>XgLT;wu+kfWb{^H-Zu*cav`#_33y;j(c^s_m59qlvukGH
z!L&wmgu&CLslX7<?!Y>aL~74v&mLe;$(!~Wyk(aS=IQX$N$9YjoxT??6A$1xbGb+U
zvLf||1F!&Ak}*1m9qdDfmm~)t<b1%pQxW*l6NrsH&0G8zq1Wd`V7g&-)#6(a%EIL}
zk!mkc2Q9IvMc5<aOI-tE7LhnFe{Ztt7l9>vdLw+c39QBIxq&Sz9#22wH*?^!<9OCS
zR=Y4<o(E6%DmX8}YU<0rDn{&g3oAXs<nP+Z%qs9&O|(dBe8@4(X&Gbhhq~g$`Ow53
zFwbBfSK;@)JlTvK+|3yK;lk@a2Yy}yZ2!^7?^WcO&f)WrDCV0r+*k(j;JgZbCN)I`
zk)Yd&U3|()cVKPn0<|W%H-ZLzusgrTF4)X|J;&PKW8ZlBHUbapoyMIQ@Z7^n{Ee-&
z9jv2~Fb|-24dRpU5DQuim&Niu9@$7zgD7c=xz6j5asBXeN|0ZOA|^N)tN$hTQA42C
zz=M3w*Ofa%q4rYzsS|LR;Ov2#yu?PIWbiwKyp90wHX!e0b|TwT$Rbu{*Yv}~T!555
zjD?a!UB&}=Eft&(k=2+E&TZiCG<b9^(qtS`x-Bpppg)>{e;2Mlg2R?GayZn!0j6$h
z!d+MtUMP?Zw?}a7G%fMXU>yM!Qi&#1L|=;iJst0HI~2dh?#d)un8drMyRp<}@J$iz
zSrrHN!8Rn-NOo^0ux^bEX-SNt7dU?eXa5ZU96@s2Gx^I2#sSoFdZ4W6jRQQ}0admz
zhP1i?y+epZcSLhcVQ+0>WiKGZuLCz8Ydjpt-|~$&9l<#de$G}h44>kmzYeBtf!x|$
z<zYmGX24;ap>`rNI}`ghAJu(%$tTO6z65on*jL+`+g5YMqtM+MczI&^_aPQE8#w#H
zIu@vxkSwRbS*Se>8C!>u65-LMrVM=p`{a4{Qy2E~o7mzXV{88oPRCg1WM~{n>mac9
zfpZ%CeHJ`rPwxP-_#mRQ(y{z2!n@t6W0`>z-H7!c1>|_7=@I;&737^p5-qO7dosz4
zyb4d^L+tuq$kDFwS`T*FaQ2jVR9hH70Z1O+M(2z4=@E$RONZX)*hz;?&9NEC63Mt=
zdi15(SzY0y&#-b=5sx~CZ+#lv58}PAgxUi6Y4lYZ)Lf4q{tQ@eA~U-Kxi_>Qg)jF#
zJ8nDA1@Z%SYcNsM{6H3*Z*lh|v)Tp5+d0ImKMf_kSSRw08-3xj*+l9#v$_Y7rIB#<
zX0B%dxeuDMl;Z(%a0_<c7f6nGf!UMw7Fv(R515OsEs*0)`%>^NXwq9GifGGdG-L$S
z-p20^&Q2p?9uUQ-f~VDs^_)t^Xa#ZE2=><@R(S*TpN0L|3(Zo7F)lIh->{3uAw>s3
z=QprM1_F6Ha%3$d9->7mxa5V_K|l{S_ttIG7K~)i?FI5SB-sIQ5N#QVHP{$>55{+#
z3FHk}!uz1~R=mkyv4_Us<1}aAJK?c|aME1l$p}34chMgM*kvCBc_A~}2~8#LmxcT)
zKoqYq^bWxP7EK)kma?b!K$%^fMY8j6nQ>9Ry$qU;MPe<0!~cNJ+xcC?)pV#WQY;LM
z{~BDmk)1W29Xt#=4@P>8!XBQ=y+0UNFu7@RSTJx4nk(%<l3j<FPoO!%q04R#(O9vp
zf{&H1hL6_+tf#<H3-PS~gv<YAPs#UNjb%=4Xb}XDorFu4VRKD_#v|agF;IRY_K5iG
z`<Rz-ST?&kzsX~Tp}K=Nf0K}7vGCX-aNYsU!{Kg;5N4Qh=*DpH+u%1H3uqbGt{_*p
zl+4SQ$gn<m@U_4q9qF?Jdd~;TiO7#J9G~)T!5nD41}dI5_o)Zo7HStY`P)FUq(h7I
zU>y#f_kgo_y3x$$9vo2~N!AJoADDaV2k`!lHI{GOnvAFY2KI3cw8lO9A0`H~7|HQD
zcF4!TodgBGM?3$`n9*?TO>ho`(nax#3a~=?u-4O9=`$S1!S?{|_JY5}g45agMXAJl
zj&B`#A6YhueLWwji;39H;A#{*t^+t1HF@j^+_@Akn-1*H@Lj(`PyGbWe=(=yCeB$%
zC)rg+=ur?J^I-`lAx|V;bI9cEaC1i|nDVX|9Ml~C?nQ0Ir@)(s6#pKKzrkJ^j?LW~
zSyC1aa0{;7#txc~ESrvon!?{Xrsw<@W1a<a8d6&%NeEd!p?3gsEE}8?ky}SOBEVSu
zJJG1g?CC;4u8sWeO(g0QVpdbJQs%Iir{dEM2Io%5&kBrk15VikH!TC}ndpfbWK8Bk
z{bk6QaClp+>?~-QA1kI9SQp^T$<9iJ_hOlucv<^7B%*O1N@TOrrGeZW`8@!SegZr`
z4Sc6U>krXmz0p=rBTMqb-RGF^My&dU$kEy68vlUgTx06UQ{bEmM+KUk9Rl7VtaAX|
zeVg^a03SrL&f;B4Y*PFUktW6YzM|%)6dlCMeg@uhOhk?hg!9@F->A&K%3y5qh}Qt^
zXY|BeFkXoNu^yg308SFoHn75kw~Ik-ktS|dN%nLiJSOoA!CT@N601sOPZ!0ut&e^3
z60w`1!2SfxKOqx60-vr29QHJj3o-j^&~z`Hyb{<8f&Md}zhifbog=(`8)^ptPxwn9
zD~)xZRY*jNN*v)RoGtcf40j~*UV!iXssYw7@?9DOfISjAj|J{vcKNF&&K04ZkF|+~
zOSS@Q1u%aB-{0^q{s!`K#uB-m31r3FLhWGa?PKSrGOIZHO2p_m&?P>XXmSPr_MV;9
z0BQ9y)E&hB8p`f|A6mb`>bK^}<KW@s?crEfYd5=S9e6M2Sk2j1xaJ5?B&KX2w}Ze|
zxI2V>B{o?$kdwhVhC`w!Q6{xT)`~PK2KUwj>(1=0zR-9O_`V0my`e)ps9hCVB2qXJ
zN=2}@HUM!I#~-F$xt|eZSj{`gL^o1Xud_&Rz0%^#pFxI1GQw$aP5`o4=SA4DHHiAR
z0a8!2#DAdr+wA2YT(^e9!hoC?$XDT{gY2zM!2ScOZ{SQc-$|$`UeyDW!wLdh<XB<2
zEdV<-11sbzs}Tb?NTf_bPJ;IgBu`oJs)z1qk4MuRy!!#S547$~Or;*wE(zoZtn_)P
zwI6QY#QxgI->vYR$c8xh?+$xZa8@!*AO}Hj2l2dAD3Soh&zi7R<U7gau^`r^5<Ycf
zXxoX^?g7<%!EfD|NlW;?8WHMz%>EX=Ps7Q3fxQ)ra~rxM9G-~=auPUavd#iI#KgG}
zIE%*0GFSR4yHY5A7ThJ~E|4D}d5RG8uMRIY2X<%n*DD;|m_<9*K)yMx6r*@)dzqdR
zSKI^4T~J!&;c>>h2v)+|3UXn_6P$yA?1abeGUp`d9S7`KR`~+wNpPgJFN7ouLpL;n
zy6uo#orzI)!rN?xwNx9MDU?xstjslfod(N;&|IPc5%9H0hD*q2WdQ~<$3j3Z!e7}}
zE@qs;oNvJW3if#@muN!HK+flf-W6ESx>$VA!fDTQv_pqAgR^TgCxI;AN_UgqF|4b|
zBawthS@&o#N#scylEi`4nIC$KMWi5$#u7a(SYI|*J01!N<P^BuK!z4UI)?$J9;@A)
z)osOZbLLSOuCD~-g3LbC<kC2(E3hSF5QSVg3l3M<v+1mx&(s-W`N|Otj|t=~_O8fp
z`Ch3@9Ep5h=gvKNGJugwU?o%mc71664BmB9=I}JMegco66ywMaxnpvv#F9@zWr+%$
z0b_~%-2$@UoCgXkIVKz?T0^{A(OD9uyUHB-r(3kY!S!7ryO>>3*19qjuLYhB*u@R`
zTL+A*GNY0}&cg_I!R?C4r7^%1PK`BJ?K;#@9$f&?WTgv%OE8oVG*>#4o_D}H3D^Q%
zAg6Foe1p8SEr|rL430Iyv<~p=aP|aiP!4(sWP_Et4c4Lo6qm-ruM%aw$+-9b!MT8m
zwNN`h<BFG+&AbF_fz7whGsaCuN{0h{(7OOTAr#nQKzkBgYw}wij4Q$c#epmyqQnAZ
zy%NDY&O8##HM_;Q8I13Mx_N;ou!H$4eq{iAI-95I%<dL6yTNgjGX>d;^vTEQ#i4k4
z@UDXNs0P$3aMxqZrzqnDn!IusD&1h-mw_&ard&EWXPX!($ozZDhmhT@v=_SGH({rk
z&;@QP*BRL8PN-P`4lfRd<=A1B%%dW3OG9h1CId~Wa38ES)fC-i#ZsYWCZjl@Z6G*^
zB`Ee#KCbf6&tN4oX_HRNJ3zh7-&EFF;%7o{;YxvB3g~5!<z@LB3fy8)LwH5zF8x#K
zDbSN2QcYrxvdRXdNW4OPEAimvZy?lm0a;>I8MKnfs5<U4lB|$eGI?k#-bqnlmEb68
zLJeUyvNQGE#a~i$zhllkjcXNw^MbPrNP@K-;@>IA4q$ssyzc}3o_XAV*h?%{7wv*f
zO3AJ$!W`tc;KTJ2Juk5UHFuf495PNOtC+<TA8RI25}~j_6}Wj!oSpRantdP8TH<Ay
z|Mc>LwUe=x*DsWkb&_A9Szhi7r|@bFBk-lyz*2n$ra+bc1guS*WsE%LNCH=)RIZ18
z1#@2FHv7n@9MaSGu&>Npda5IUE9viKchJOyE%VRjR}SeZPzA1nta`{8s;7di<}Gb0
zWHkG!-m1Sqm$BtX#*)$0k6f#}>WOY4&;*|Rx=ifkum2%Wq=i1zNHT(~ftrWHLeWG1
zD$Il;a>$QxgMwjUCbSW%Xv(S<IseLRR3Alup`zd=G!QrsID`W%4ip{~9#ShJR8U-`
zc*viNWe2J8>=cqadIbaF0pUD36z?e5!Z`v{qT{Lj-r-mB0|H(6NTj3e8IeyS9}AkC
zuOx;*Rinu4?Hnv~7HX-zE^<amIK{te=PB+Nc_Z*;*QmXh30&a>=Rc4Is?tXyo%5OV
zcc9H=&#9TqZkKuAW2^_}td)F|o?<zO-BQGyc@WsB=v@|VwX{eDcj+xSE65_31*%x|
zVr_{wl)kdtwPp|*muwy>$UEu(fZif6M6QbeQw&)thw_6&kITFt&{E=-BHeHCSN9be
zC9+2BTIpHxp_G%Ei}j&(lGq<N(1dc_0RA2D5UDPZ1+GZQQ1pR(+pfrF@%{qM-l7#!
z=y4rQs&uL71kpuebL6LGF<^$8(mfO@UxLxZ!d2FXXq4;!SRazNlMIJM-CeYiXa@gg
z6P-{FZB*`|J`zpn#OArjEN`L-#d5LqpxBoDM;Bm(n0=*Z`G0yBVMY=q5W7eEip3?l
z*-OkpEEchqlucZWIg2)|$Wg)6g`)k%N|n4%3ayo;80U+p_Z6rn7MmB1mLJHa%)Vh*
z5n*W4@?c*aY(#@+0$D6vu^i5GT%f<$dw0y<d7!pfU5^2^^26Su|BKOEY#wDF3*<O@
zN?)0|vhl=QEb<U?Wo(D4^smS~N^&>Iq_@}(Nzh7q$I(|=Ew@=Mk7<7tW|pB)TPRkZ
z&rq&qrNt8x-c~CuoFY7u!nN?H=y6#s(I>*+vadv!iM^%eg4QUqtF>Mcts;6tcD9oA
zmb3;SKO$?Cwvy3heA%m_-_?$jeoEGeq)~_Ld9f|LChv-zP(Gc+EJU}<u2Z{4Y$CmD
zQcSBNg;h{ig~*w_z$-+rlF(Eg$|_NNRz>#2mb=O7$*#ExMPwBp09z!DhAewl;ud08
zh%F_Sg}@d`Bho?+nYG9nu}lQE*pFh(<bQZ5YfAKivMrQ;75yx>h_VYry9fo9CR5b2
zG?vz4TH7e;o}2y>Eo#@K>WX3cQMyj)D>b$nPia(Td&pWV8^F@w(o<|D(c4O6XuTo#
zWEP@jWId&)aE9=OvH}FYf^3bTtp}Nd>MM4K>aBRnvO5%POKWM{MQK;vTj@-zueLq3
zh89Sol?AelCD(f1O5ZE^@>g`bnzhhHQ%m{?wyLM1ykM<t7G*CeyFjg?K(^>@*&n*6
z>=1KNOjvrwgjVWD_f|8IS*X#}U)@*W+Yf=NILK<P`sxt`uKWlTYZP^*pJ*70FXT#o
z^rwbkjUZ3em1?QyZto*)<i{FCk7Iqxb2WQur_N>l|NTd|(k&istMBMf8DF34UKUh+
zN8={fR%>;pul1+Z#!f}Kt8tNY{iE)Qt)uVQKkaw*xn2!BJl)5CM*6P*oUMLx_Gk~8
zOU{|Ak*uE9$oh#qd$gB*b#+S((>{jAO`fSytUKyVue&v8dw+dy_0o6Lh}Kn3=z4V3
zBKQ7+nP8&lU>_~#c}^Nx^Odm`m8?EF;o12>)6N=EwYIKhJk`p6&l){<T;;hQJ7){4
zuhl}`(-8EhZmF*|Ci*((b9Jpb#NNt&u6xO+9?^bor;mSIduuyZGP<2^7G4^z`n31g
zPwWu%J^8e^l{T7Z?d|`6=Ng*-C^_Nkr~gJ3^;~*cJ!ND)dTzML3R$f+gq)vh1bctg
z=h6E)d+KY|Qm(8s{Y=fkj+NSZ`o3;w|FqBA8d1+m?r5y^r~RH9Nk7q_*7)|hNI%tA
z{^tBqPt*vHj-y)Ven0oS(!&l%jjyqhEBjM@U%}CT?X%bStWUioEckjvf12vMR!{59
zYN;fp^+aZ*da5=S6zfd2mTNs1-9LAj{~aG|F7{FEckQFv&vpC%_G!&pV`Xox@5!gM
z)VK>~s;9b>6HogX_VY()r$_c*X$@EU=03JH6V*mTvG<fQE&OtFmj7Jr?etjwBirv<
z=ef_$dM;;*a_XKx)SNSvmN{GakLCZ|A6wN@W1>IhuKhgcc>mkAUTGOc;QbrM0>hu)
zGIDM+)Fa9BoHMhqx1OjoeJ!8*Tt={dteGmfImgny^yj0P=qEC!JoU%N8qW^XI=9a3
z<H$(<*H%00OpmQT^_6=5=seZ^|9w<FzO>Y>^`~`5x6+?h3w1}&#=5WX=pOPZ_j2Bs
z9#${=bL+0^WACY+`QKMGuzJav?ql7x=A-Y~S5V(mt@M?&(C6|*U0HWD6g{@}#F~Me
zS@)%fb*09%{>n2wru5RQYfi&&CK{rGBhPg|>xmjyL(`x3nOXPrT@6u<qQ;cb{YSN~
z{{4x41l`_$j&hZA?WCn1Q+?_yJ%;*x^sb(()$Y+Y)-yTNvypZdj&fJ^%-LUG=l)bi
zRI8xd$sPTpVOeAUI~?6dfBLV9qM0>cHKM?@-&1|<oTo=qv$W<T_j8-E)n1*c9s)!6
zwJ@++<W2$AL;hN4s*j$tx-a)~pNmBUX=!g`KUZVQUu!&dPq(te*Y^}ftiJZ%_Hk5u
z-AjM!e)g97p8nL&a_^(=S{SNcR$J9uUu%l#vDIv)je6q$+*&Q&UXP=%?Vol?(o@e{
zU|8pN`q+Etel9%)=D+cx>ZRvtLD6UGQ(xI(_+w(f(&xGLvX5Y$+gqx0J%*l{{<OE0
z{?@goymd#9ug8*WX=PnoZS8mExoV@%R4c2O8dvUG_w-0P+gdHuTy;A&hWu5KbvyNG
zwbJ*crCvkpsob^GKwbOa(KE7-q^arOQup?6ncH1;&!U<CjO_jGG}0se-#`6F^6#gp
zA(;3>_iv@)%SgJN^pJD==>FHbrT<u}y?&Onw|`q{rCQqCNgLhYzrD30_WQc8eyTaZ
zYNK0Ncl6n#bg{S9=Q108u6ychJyU(Hp39Z|%2VA!_q5;9&;5H_E!EkhBRtwdk0ei2
z``ml|J0v|{-QU7l_3`g%-LuYe&Q|xZ&qVI&-+ybb?yJ9#j$t3ozm3&T_Yz!md;O{L
zvf5bv{@a=EFa7kny}ce!ed;S|VVx@;wXXfg@xQXhw%YrTCiBqG9__2{Sod=~(=g<j
zjHKJx&vlzeKlP5Yuc(@j9_P_Maz{P2+Grf~6Kf1<W3{u7X7#aVp~kki*XQzS_0V_q
zc<TDm=T<xGneL-M?a-~&&`+&T{}C*$AT9LlEO=HwIrHzUpXGK}?%7AN&gD#gbL(aA
zqn@jNIotZrTIOMmFIPF+>pT9fq@{Y|e_wh(Izmnu_CD%dRzN5(S5|*@mb10>+?<5@
qM@xuDv6IL45v*%Hj{elGtU2f>CJ4Vj(nh!Ud+>j{&^^`oa`it@_o+Gn

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 95ccb7b7e..5fdf2ba29 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -439,7 +439,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       "Steering Temporarily Unavailable",
       "",
       AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
   EventName.preDriverDistracted: {

From af1c8e5412d3d50d67a5748c496e0461421342ce Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 21:15:33 -0700
Subject: [PATCH 285/435] Subaru Forester: 2022 requires new harness (#25229)

* Revert to 2021

* update docs
---
 docs/CARS.md                   | 2 +-
 selfdrive/car/subaru/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index eb4dfd884..73211a8d2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -134,7 +134,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 8fac93428..ae471a56e 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -52,7 +52,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-22", "All"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),

From 444de299b6c0dd7081bc23b16b465f80a83d2d70 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 20 Jul 2022 22:02:22 -0700
Subject: [PATCH 286/435] FW versions dump (#25203)

* hyundai dump

* dump

* optima (good, it doesn't get rid of previous segment values)

* add these comments back for now

* add another from release3 today
---
 selfdrive/car/honda/values.py      |  3 +
 selfdrive/car/hyundai/values.py    | 28 ++++++---
 selfdrive/car/toyota/values.py     |  1 +
 selfdrive/car/volkswagen/values.py | 97 +++++++++++++++---------------
 4 files changed, 73 insertions(+), 56 deletions(-)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 3ce467e29..5749b5347 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1303,6 +1303,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TXM-A070\x00\x00',
+      b'36802-TXM-A080\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TXM-A050\x00\x00',
@@ -1341,6 +1342,7 @@ FW_VERSIONS = {
       b'36161-T7A-A140\x00\x00',
       b'36161-T7A-A240\x00\x00',
       b'36161-T7A-C440\x00\x00',
+      b'36161-T7A-A040\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T7A-A230\x00\x00',
@@ -1351,6 +1353,7 @@ FW_VERSIONS = {
       b'78109-THX-A210\x00\x00',
       b'78109-THX-A220\x00\x00',
       b'78109-THX-C220\x00\x00',
+      b'78109-THW-A110\x00\x00',
     ],
   },
   CAR.ACURA_ILX: {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 303558b5a..9c3d852ed 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -383,7 +383,7 @@ FW_VERSIONS = {
       b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
     ],
     (Ecu.esp, 0x7d1, None): [
-      b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
       b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
@@ -413,8 +413,8 @@ FW_VERSIONS = {
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
+      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
       b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@@ -493,6 +493,9 @@ FW_VERSIONS = {
       b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
     ],
   },
   CAR.SONATA_LF: {
@@ -1052,18 +1055,27 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_OPTIMA: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
-    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+    ],
     (Ecu.engine, 0x7e0, None): [
-      b'\x01TJFAJNU06F201H03',
       b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
     ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
     ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+    ],
   },
   CAR.ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 46b43ba25..48caef565 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1863,6 +1863,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
   CAR.MIRAI: {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 912978435..34eb75e53 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -300,6 +300,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264L \xf1\x890002',
       b'\xf1\x878V0906264M \xf1\x890001',
       b'\xf1\x878V09C0BB01 \xf1\x890001',
+      b'\xf1\x8704E906024K \xf1\x899970',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927749AP\xf1\x892943',
@@ -335,76 +336,76 @@ FW_VERSIONS = {
       b'\xf1\x870GC300043T \xf1\x899999',
     ],
     (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114417121411149113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142404A2252229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142405A2252229333463100',
-      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\0211413001112120004110415121610169112',
-      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\0211413001113120006110417121A101A9113',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271112111312--071104171825102591131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271212111312--071104171838103891131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023341512112212--071104172328102891131211',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
+      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
+      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
-      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\0211413001112120041114115121611169112',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011211200621143171717111791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111',
+      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111',
-      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\023271200111312--071104171837103791132111',
+      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111',
       b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
       b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
     ],
     (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\00561A01612A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566A0J612A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A00514A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A0J712A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\00571A0J714A1',
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A01A18A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A0JA16A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521A00441A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00442A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00642A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A07B05A1',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00521A00602A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00522A00402A0',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0',
       b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A20B03A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
       b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A00442A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A16A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A18A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
       b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A01A18A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
     ],
     (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\00101',
+      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
       b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
-      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\00101',
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
-      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\00101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
-      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\00101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
+      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
+      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',

From c3e95d5e194be9d445f54661d0ae0f0612db6a62 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 21 Jul 2022 14:48:08 +0200
Subject: [PATCH 287/435] prereq for matching speeds shown on cars dash
 (#25222)

* prereq for matching speeds shown on cars dash

* also handle fallback in the ui for replay

* update translations

* update ref
---
 selfdrive/car/interfaces.py              |  6 ++++++
 selfdrive/controls/controlsd.py          |  6 ++++++
 selfdrive/test/process_replay/ref_commit |  2 +-
 selfdrive/ui/qt/onroad.cc                |  8 ++++++--
 selfdrive/ui/translations/main_ko.ts     | 16 ++++++++--------
 selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++--------
 selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++--------
 7 files changed, 43 insertions(+), 27 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 4c7ea97df..a451ef2ae 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -162,6 +162,12 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
+    if ret.vEgoCluster == 0.0:
+      ret.vEgoCluster = ret.vEgo
+
+    if ret.cruiseState.speedCluster == 0:
+      ret.cruiseState.speedCluster = ret.cruiseState.speed
+
     # copy back for next iteration
     reader = ret.as_reader()
     if self.CS is not None:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a20a3a9f3..b6f323d37 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -163,6 +163,7 @@ class Controls:
     self.can_rcv_error = False
     self.soft_disable_timer = 0
     self.v_cruise_kph = 255
+    self.v_cruise_cluster_kph = 255
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -454,11 +455,14 @@ class Controls:
     if not self.CP.pcmCruise:
       self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
                                           self.button_timers, self.enabled, self.is_metric)
+      self.v_cruise_cluster_kph = self.v_cruise_kph
     else:
       if CS.cruiseState.available:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
       else:
         self.v_cruise_kph = 0
+        self.v_cruise_cluster_kph = 0
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -538,6 +542,7 @@ class Controls:
           self.current_alert_types.append(ET.ENABLE)
           if not self.CP.pcmCruise:
             self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
+            self.v_cruise_cluster_kph = self.v_cruise_kph
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -752,6 +757,7 @@ class Controls:
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_kph)
+    controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 00bf28ed8..a9339bc4f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7c1168af0311d2fef67b82812cd863a0e97c030e
\ No newline at end of file
+c428493b2a46cb996a7565ea4395d7ad6cd79786
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index fe39cd0cf..fbfa7e646 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -184,13 +184,17 @@ void NvgWindow::updateState(const UIState &s) {
 
   const auto cs = sm["controlsState"].getControlsState();
 
-  float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
+  // Handle older routes where vCruiseCluster is not set
+  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
+  float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
   bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
     set_speed *= KM_TO_MILE;
   }
 
-  float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
+  // Handle older routes where vEgoCluster is not set
+  float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
+  float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index ec8f3a52d..acff1de2b 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 9485e9449..438ce65d7 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -486,30 +486,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9a3b80041..ade999f25 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="279"/>
+        <location filename="../qt/onroad.cc" line="282"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="326"/>
+        <location filename="../qt/onroad.cc" line="329"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="332"/>
+        <location filename="../qt/onroad.cc" line="335"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>

From 75473daf31c8fd2b1d4ecc6a60fe232f344c15ac Mon Sep 17 00:00:00 2001
From: Jafar Al-Gharaibeh <to.jafar@gmail.com>
Date: Thu, 21 Jul 2022 12:20:58 -0500
Subject: [PATCH 288/435] Mazda: update supported models info (#25230)

* Mazda: update supported models info

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

* correct format

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/mazda/values.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index e1d690799..7db401e16 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -36,10 +36,10 @@ class MazdaCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
-  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"),  # TODO: verify years and torque for first 4
-  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
-  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
-  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
+  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
+  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
+  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
+  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
   CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
   CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }

From e66145f9e0ec561a2e630e03e2c94d760874fc48 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Fri, 22 Jul 2022 02:24:40 +0900
Subject: [PATCH 289/435] Multilanguage: Korean improvements/translations
 (#25231)

* Update util.cc

* Revert "Update util.cc"

This reverts commit d7d2f4f6c16785084375b8b8e3ae63dda414c872.

* Multilanguage: kor translations update
---
 selfdrive/ui/translations/main_ko.ts | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index acff1de2b..9928a57e1 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -638,17 +638,17 @@ location set</source>
     <message>
         <location filename="../qt/util.cc" line="82"/>
         <source>%1 minute%2 ago</source>
-        <translation>%1 분%2 전</translation>
+        <translation>%1 분전</translation>
     </message>
     <message>
         <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
-        <translation>%1 시간%2 전</translation>
+        <translation>%1 시간전</translation>
     </message>
     <message>
         <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
-        <translation>%1 일%2 전</translation>
+        <translation>%1 일전</translation>
     </message>
 </context>
 <context>
@@ -1017,23 +1017,23 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>Switch Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>브랜치 변경</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>ENTER</source>
-        <translation type="unfinished"></translation>
+        <translation>입력하세요</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="unfinished"></translation>
+        <translation>다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>Enter branch name</source>
-        <translation type="unfinished"></translation>
+        <translation>브랜치명 입력</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="272"/>
@@ -1043,7 +1043,7 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="272"/>
         <source>Uninstall %1</source>
-        <translation>제거 %1</translation>
+        <translation>%1 제거</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="274"/>
@@ -1217,12 +1217,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
-        <translation type="unfinished"></translation>
+        <translation>UI 왼쪽에 지도 표시</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
-        <translation type="unfinished"></translation>
+        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="90"/>

From 289239710d48ae1450e8c42c04373f7ee5e79d8e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Jul 2022 11:02:59 -0700
Subject: [PATCH 290/435] better star descriptions (#25236)

* better star descriptions

* most
---
 docs/CARS.md                      | 10 +++++-----
 selfdrive/car/docs_definitions.py | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 73211a8d2..49f2f6e85 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -5,16 +5,16 @@ A supported vehicle is one that just works when you install a comma device. Ever
 ## How We Rate The Cars
 
 ### Stop and Go
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot operates down to 0 mph.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
 
 ### Steer to 0
 - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds. See your car's manual for the minimum speed.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tight turns.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to comfortably take most highway turns.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make tighter turns.
 
 
 # 196 Supported Cars
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 3c58b3043..01473e4cc 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -172,18 +172,18 @@ class Harness(Enum):
 STAR_DESCRIPTIONS = {
   "Gas & Brakes": {  # icon and row name
     Column.FSR_LONGITUDINAL.value: [
-      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
-      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
+      [Star.FULL.value, "openpilot operates down to 0 mph."],
+      [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."],
     ],
   },
   "Steering": {
     Column.FSR_STEERING.value: [
       [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
-      [Star.EMPTY.value, "No steering control below certain speeds."],
+      [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."],
     ],
     Column.STEERING_TORQUE.value: [
-      [Star.FULL.value, "Car has enough steering torque to take tight turns."],
-      [Star.EMPTY.value, "Limited ability to make turns."],
+      [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."],
+      [Star.EMPTY.value, "Limited ability to make tighter turns."],
     ],
   },
 }

From 8e3595185dc2cf0d3ee35fa135384c4acc6bb5ef Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 21 Jul 2022 11:03:43 -0700
Subject: [PATCH 291/435] Kia Niro EV 2019: add missing FW versions (#25223)

* Add missing FW versions

* sort
---
 selfdrive/car/hyundai/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 9c3d852ed..1391bf090 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -966,6 +966,7 @@ FW_VERSIONS = {
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
       b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@@ -978,6 +979,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
@@ -985,6 +987,7 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
   CAR.KIA_NIRO_HEV: {

From cb73f9dbc38fff4ab249d8379a788a6b6d7770e3 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Fri, 22 Jul 2022 04:50:04 +0800
Subject: [PATCH 292/435] Chinese (Traditional): Add/improve translations
 (#25228)

fixed readme

shortened ETA & revert unit
---
 selfdrive/ui/translations/README.md      |  2 +-
 selfdrive/ui/translations/main_zh-CHT.ts | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index a6f2f665e..96d251c95 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -8,7 +8,7 @@ Before getting started, make sure you have set up the openpilot Ubuntu developme
 
 openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
 
-1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`).
+1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Traditional Chinese is `中文（繁體）`).
 2. Generate the XML translation file (`*.ts`):
    ```shell
    selfdrive/ui/update_translations.py
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index ade999f25..85d40c60a 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -135,7 +135,7 @@
     <message>
         <location filename="../qt/offroad/settings.cc" line="112"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
+        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用）</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="116"/>
@@ -340,7 +340,7 @@
     <message>
         <location filename="../qt/maps/map.cc" line="622"/>
         <source>eta</source>
-        <translation>埃塔</translation>
+        <translation>抵達</translation>
     </message>
     <message>
         <location filename="../qt/maps/map.cc" line="632"/>
@@ -440,7 +440,7 @@ location set</source>
     <message>
         <location filename="../qt/maps/map.cc" line="178"/>
         <source>Map Loading</source>
-        <translation>地圖加載</translation>
+        <translation>地圖加載中</translation>
     </message>
     <message>
         <location filename="../qt/maps/map.cc" line="195"/>
@@ -1020,23 +1020,23 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>Switch Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>切換分支</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>ENTER</source>
-        <translation type="unfinished"></translation>
+        <translation>切換</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="unfinished"></translation>
+        <translation>新的分支將會在下次檢查更新時切換過去。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>Enter branch name</source>
-        <translation type="unfinished"></translation>
+        <translation>輸入分支名稱</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="272"/>
@@ -1220,12 +1220,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
-        <translation type="unfinished"></translation>
+        <translation>將地圖顯示在畫面的左側</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
-        <translation type="unfinished"></translation>
+        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="90"/>

From 063cd137ef022d9eefd56d9ca6f8d4bf4a59e615 Mon Sep 17 00:00:00 2001
From: chengyu-k <59636949+chengyu-k@users.noreply.github.com>
Date: Fri, 22 Jul 2022 06:05:02 +0900
Subject: [PATCH 293/435] Impreza 2017: add missing eps FW (#24892)

* Update carFw for Impreza 2017

* Update selfdrive/car/subaru/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/subaru/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index ae471a56e..362e9ccd6 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -114,6 +114,7 @@ FW_VERSIONS = {
       b'z\xc0\x04\x00',
       b'z\xc0\x00\x00',
       b'\x8a\xc0\x10\x00',
+      b'z\xc0\n\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',

From aec9b2cb8a65b2631b385de3a7a09dcc2342d584 Mon Sep 17 00:00:00 2001
From: Christian Gribneau <christian@gribneau.net>
Date: Thu, 21 Jul 2022 17:11:04 -0400
Subject: [PATCH 294/435] Hyundai: add Genesis G90 2017 FW versions (#25183)

* v2 fingerprint 2017 Genesis G90 Ultimate 5.0 AWD

* remove Genesis G90 from 255 steering torque blocklist

* Update selfdrive/car/hyundai/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1391bf090..791d84305 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -858,6 +858,12 @@ FW_VERSIONS = {
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.GENESIS_G90: {
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
+  },
   CAR.KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
     (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],

From e6e8607306b14ca1d869846007d91f240bfe2c7a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Jul 2022 14:14:24 -0700
Subject: [PATCH 295/435] implement string representation for Bootlog

---
 tools/lib/bootlog.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py
index 4e7112040..351537082 100644
--- a/tools/lib/bootlog.py
+++ b/tools/lib/bootlog.py
@@ -35,6 +35,9 @@ class Bootlog:
   def datetime(self) -> datetime.datetime:
     return timestamp_to_datetime(self._timestamp)
 
+  def __str__(self):
+    return f"{self._dongle_id}|{self._timestamp}"
+
   def __eq__(self, b) -> bool:
     if not isinstance(b, Bootlog):
       return False

From 937013e48867862bccf0153064f104778e356f5d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 21 Jul 2022 16:35:47 -0700
Subject: [PATCH 296/435] FPv2: log all responses (#25239)

* should be all that's required

* try using rx_addr (should be the same)

* log bus

* bump cereal

* remove debugging

* bump cereal to master

* rm line

* add printing to offline debug script
---
 cereal                                     |  2 +-
 selfdrive/car/fw_versions.py               | 36 ++++++++++------------
 selfdrive/debug/test_fw_query_on_routes.py |  2 +-
 3 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/cereal b/cereal
index 7870a1123..bc999518e 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7870a1123d4e8dfe5c39e86224c2f851382f3fed
+Subproject commit bc999518e73c2b04fee3b8207b3c28a8644233ea
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index ee2c0f31d..9c6f6e44f 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -452,7 +452,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   addrs.insert(0, parallel_addrs)
 
-  fw_versions = {}
+  # Get versions and build capnp list to put into CarParams
+  car_fw = []
   requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
@@ -463,26 +464,23 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()})
-        except Exception:
-          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
+            for (addr, rx_addr), version in query.get_data(timeout).items():
+              f = car.CarParams.CarFw.new_message()
 
-  # Build capnp list to put into CarParams
-  car_fw = []
-  for (brand, addr), (version, request) in fw_versions.items():
-    f = car.CarParams.CarFw.new_message()
+              f.ecu = ecu_types[(r.brand, addr[0], addr[1])]
+              f.fwVersion = version
+              f.address = addr[0]
+              f.responseAddress = rx_addr
+              f.request = r.request
+              f.brand = r.brand
+              f.bus = r.bus
 
-    f.ecu = ecu_types[(brand, addr[0], addr[1])]
-    f.fwVersion = version
-    f.address = addr[0]
-    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
-    f.request = request.request
-    f.brand = brand
+              if addr[1] is not None:
+                f.subAddress = addr[1]
 
-    if addr[1] is not None:
-      f.subAddress = addr[1]
-
-    car_fw.append(f)
+              car_fw.append(f)
+        except Exception:
+          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   return car_fw
 
@@ -531,7 +529,7 @@ if __name__ == "__main__":
   padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 191411f45..0cc674cfc 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -115,7 +115,7 @@ if __name__ == "__main__":
           padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False

From 0ca62bf7df0fe81829c744fd8689c9b97cb6a36b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Jul 2022 20:54:53 -0700
Subject: [PATCH 297/435] let can packer handle counter (#25240)

* let can packer handle counter

* diff is expected

* update refs

* clean that up

* bump opendbc

* fix sim
---
 opendbc                                   |  2 +-
 panda                                     |  2 +-
 selfdrive/car/body/bodycan.py             |  6 +--
 selfdrive/car/body/carcontroller.py       |  2 +-
 selfdrive/car/chrysler/carcontroller.py   |  3 +-
 selfdrive/car/chrysler/chryslercan.py     |  7 +--
 selfdrive/car/honda/carcontroller.py      | 20 ++++-----
 selfdrive/car/honda/hondacan.py           | 36 ++++++++--------
 selfdrive/car/hyundai/carcontroller.py    |  4 +-
 selfdrive/car/hyundai/hda2can.py          | 11 ++---
 selfdrive/car/nissan/carcontroller.py     |  4 +-
 selfdrive/car/nissan/nissancan.py         |  7 ++-
 selfdrive/car/subaru/carcontroller.py     |  8 ++--
 selfdrive/car/subaru/subarucan.py         | 17 +++-----
 selfdrive/car/toyota/carcontroller.py     |  2 +-
 selfdrive/car/toyota/toyotacan.py         |  3 +-
 selfdrive/car/volkswagen/carcontroller.py |  4 +-
 selfdrive/car/volkswagen/volkswagencan.py |  9 ++--
 selfdrive/test/process_replay/ref_commit  |  2 +-
 tools/sim/lib/can.py                      | 52 +++++++++++------------
 20 files changed, 94 insertions(+), 107 deletions(-)

diff --git a/opendbc b/opendbc
index e2465cc70..4195e8f4c 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08
+Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e
diff --git a/panda b/panda
index 1dfee5973..a1686ca3c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3
+Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64
diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py
index cc448d53d..580e5025a 100644
--- a/selfdrive/car/body/bodycan.py
+++ b/selfdrive/car/body/bodycan.py
@@ -1,9 +1,7 @@
-def create_control(packer, torque_l, torque_r, idx):
-  can_bus = 0
-
+def create_control(packer, torque_l, torque_r):
   values = {
     "TORQUE_L": torque_l,
     "TORQUE_R": torque_r,
   }
 
-  return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx)
+  return packer.make_can_msg("TORQUE_CMD", 0, values)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index c13acebac..7705cd86c 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -80,7 +80,7 @@ class CarController:
       torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
 
     can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))
+    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 6d158e7cd..344a2f162 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -70,8 +70,7 @@ class CarController:
       self.steer_rate_limited = new_steer != apply_steer
       self.apply_steer_last = apply_steer
 
-      idx = self.frame // 2
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx))
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
 
     self.frame += 1
     if not lkas_control_bit and self.lkas_control_bit_prev:
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 1e26a6d27..10ed73e9f 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -52,19 +52,20 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame):
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
   # LKAS_COMMAND Lane-keeping signal to turn the wheel
   enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
     "STEERING_TORQUE": apply_steer,
     "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
+  return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
 def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index d47caaa9a..a5f25e3a2 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -155,9 +155,8 @@ class CarController:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
-    idx = self.frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      idx, CS.CP.openpilotLongitudinalControl))
+                                                      CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -190,18 +189,16 @@ class CarController:
 
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        idx = self.frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
       if self.frame % 2 == 0:
-        idx = self.frame // 2
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
@@ -210,7 +207,7 @@ class CarController:
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        idx, stopping, self.CP.carFingerprint))
+                                                        stopping, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -218,7 +215,7 @@ class CarController:
 
           pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-                                                         pcm_override, pcm_cancel_cmd, fcw_display, idx,
+                                                         pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
@@ -234,14 +231,13 @@ class CarController:
               self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
             else:
               self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx))
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
 
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
-      idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 7246b9868..1f5f75426 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -20,7 +20,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   return 0
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -42,10 +42,10 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_STATUS": 0,
   }
   bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
+  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -67,7 +67,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "STANDSTILL": standstill,
     "STANDSTILL_RELEASE": standstill_release,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
   acc_control_on_values = {
     "SET_TO_3": 0x03,
@@ -76,21 +76,21 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "SET_TO_75": 0x75,
     "SET_TO_30": 0x30,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
   return commands
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
   bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
+  return packer.make_can_msg("STEERING_CONTROL", bus, values)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
@@ -98,10 +98,10 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
     "SET_ME_X10": 0x10,
   }
   bus = get_lkas_cmd_bus(car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -129,7 +129,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
       acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
       acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
       acc_hud_values['ICONS'] = stock_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
+    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
@@ -146,29 +146,29 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
 
   if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
+    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
 
     if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
 
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
   # send buttons to camera on radarless cars
   bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
+  return packer.make_can_msg("SCM_BUTTONS", bus, values)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index d0d9c4083..981a3309d 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -73,10 +73,10 @@ class CarController:
 
     if self.CP.carFingerprint in HDA2_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
+      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
 
       if self.frame % 5 == 0:
-        can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4))
+        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index 9a9e477cf..36207aa11 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -1,4 +1,4 @@
-def create_lkas(packer, enabled, frame, lat_active, apply_steer):
+def create_lkas(packer, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,17 +10,18 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values, frame % 255)
+  return packer.make_can_msg("LKAS", 4, values)
 
-def create_cam_0x2a4(packer, frame, camera_values):
+def create_cam_0x2a4(packer, camera_values):
   camera_values.update({
     "BYTE7": 0,
   })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255)
+  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
 
 def create_buttons(packer, cnt, btn):
   values = {
+    "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf)
+  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 7d9dad669..dbc2b33c6 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -33,7 +33,7 @@ class CarController:
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if CC.latActive:
-      # # windup slower
+      # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
       else:
@@ -60,7 +60,7 @@ class CarController:
     self.last_angle = apply_angle
 
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame))
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index ceace5088..f59714b8d 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -2,17 +2,17 @@ import copy
 import crcmod
 from selfdrive.car.nissan.values import CAR
 
+# TODO: add this checksum to the CANPacker
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
 
 def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
-  idx = (frame % 16)
   values = {
+    "COUNTER": frame % 0x10,
     "DESIRED_ANGLE": apply_steer,
     "SET_0x80_2": 0x80,
     "SET_0x80": 0x80,
     "MAX_TORQUE": lkas_max_torque if steer_on else 0,
-    "COUNTER": idx,
     "LKA_ACTIVE": steer_on,
   }
 
@@ -22,7 +22,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
   return packer.make_can_msg("LKAS", 0, values)
 
 
-def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = copy.copy(cruise_throttle_msg)
   can_bus = 2
 
@@ -35,7 +35,6 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
   values["SET_BUTTON"] = 0
   values["RES_BUTTON"] = 0
   values["FOLLOW_DISTANCE_BUTTON"] = 0
-  values["COUNTER"] = (frame % 4)
 
   return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
 
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 3fb4bc855..6cb754ac6 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -39,9 +39,9 @@ class CarController:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
 
       self.apply_steer_last = apply_steer
 
@@ -74,7 +74,9 @@ class CarController:
         self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index e6efe7aa7..5f2233be9 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -3,19 +3,15 @@ from cereal import car
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 16
-
+def create_steering_control(packer, apply_steer):
   values = {
     "LKAS_Output": apply_steer,
     "LKAS_Request": 1 if apply_steer != 0 else 0,
     "SET_1": 1
   }
+  return packer.make_can_msg("ES_LKAS", 0, values)
 
-  return packer.make_can_msg("ES_LKAS", 0, values, idx)
-
-def create_steering_status(packer, apply_steer, frame, steer_step):
+def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
 def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
@@ -66,17 +62,14 @@ def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
-def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 8
-
+def create_preglobal_steering_control(packer, apply_steer):
   values = {
     "LKAS_Command": apply_steer,
     "LKAS_Active": 1 if apply_steer != 0 else 0
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values, idx)
+  return packer.make_can_msg("ES_LKAS", 0, values)
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 61a41b9c5..390e5f817 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -83,7 +83,7 @@ class CarController:
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame))
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index d57131dcb..7ab3ab3e7 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,10 +1,9 @@
-def create_steer_command(packer, steer, steer_req, raw_cnt):
+def create_steer_command(packer, steer, steer_req):
   """Creates a CAN message for the Toyota Steer Command."""
 
   values = {
     "STEER_REQUEST": steer_req,
     "STEER_TORQUE_CMD": steer,
-    "COUNTER": raw_cnt,
     "SET_ME_1": 1,
   }
   return packer.make_can_msg("STEERING_LKA", 0, values)
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 1643fbe9b..e38cd9705 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -69,9 +69,7 @@ class CarController:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (self.frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
-                                                                 idx, hcaEnabled))
+      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index 10e0054c7..1b42d1a40 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -1,7 +1,7 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
+# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
 # PQ35/PQ46/NMS, and any future MLB, to come later.
 
-def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
+def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
     "SET_ME_0X3": 0x3,
     "Assist_Torque": abs(apply_steer),
@@ -13,7 +13,7 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
     "SET_ME_0XFE": 0xFE,
     "SET_ME_0X07": 0x07,
   }
-  return packer.make_can_msg("HCA_01", bus, values, idx)
+  return packer.make_can_msg("HCA_01", bus, values)
 
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                            ldw_stock_values, left_lane_depart, right_lane_depart):
@@ -34,6 +34,7 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le
 
 def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   values = {
+    "COUNTER": idx,
     "GRA_Hauptschalter": CS.graHauptschalter,
     "GRA_Abbrechen": buttonStatesToSend["cancel"],
     "GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
@@ -46,4 +47,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
     "GRA_Tip_Stufe_2": CS.graTipStufe2,
     "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
   }
-  return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
+  return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a9339bc4f..41d683602 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c428493b2a46cb996a7565ea4395d7ad6cd79786
+658b1097663a8deea2c4d77c4c00a514739980bb
\ No newline at end of file
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 939d081a8..af4339b2e 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -33,48 +33,48 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** powertrain bus ***
 
   speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
+  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
     "WHEEL_SPEED_FL": speed,
     "WHEEL_SPEED_FR": speed,
     "WHEEL_SPEED_RL": speed,
     "WHEEL_SPEED_RR": speed
-  }, -1))
+  }))
 
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
+  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
 
   values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
+  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
   values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}, idx))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
+  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
+
+  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
+  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
+  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE", 0, {}))
+  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
 
   # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
+  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
+  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***
   if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
+    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
     for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
+      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
 
   pm.send('can', can_list_to_can_capnp(msg))
 

From 2f808985c086fd54f1fbc13adeccabb78a07db21 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Jul 2022 21:04:31 -0700
Subject: [PATCH 298/435] body: fix integrator freezing in turn loop (#25243)

---
 selfdrive/car/body/carcontroller.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 7705cd86c..0d5d780bd 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -61,8 +61,8 @@ class CarController:
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired
-      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR))
+      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
+                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
       torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
 
       # Combine 2 PIDs outputs

From 0c5668d96e714334a7d6c79678ee8577e6f6739b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 21 Jul 2022 21:05:52 -0700
Subject: [PATCH 299/435] Revert "remove casync from agnos manifest for now"

This reverts commit 8ea982264ec4ba7aa47a3228236f943e76a911c5.
---
 system/hardware/tici/agnos.json | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 7ccea95ee..853d3ab43 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -47,6 +47,8 @@
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true
+    "has_ab": true,
+    "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx",
+    "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13"
   }
 ]

From f300a8df2b5dbc457cbb132ee4085c07e381a7fb Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 22 Jul 2022 13:21:53 +0200
Subject: [PATCH 300/435] use v_cruise_cluster_kph for hudControl.setSpeed
 (#25245)

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b6f323d37..f0927b9c7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -674,7 +674,7 @@ class Controls:
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead

From f0d494b7522bb1aa398ff1665a1a878bcd03b315 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 22 Jul 2022 16:25:06 +0200
Subject: [PATCH 301/435] Nissan: cleanup set speed (#25233)

* Nissan: cleanup set speed

* update ref
---
 selfdrive/car/nissan/carstate.py         | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 3c5d7dc24..a5ca23711 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -74,8 +74,8 @@ class CarState(CarStateBase):
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
-      speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
       ret.cruiseState.speed = speed * conversion
+      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
 
     if self.CP.carFingerprint == CAR.ALTIMA:
       ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 41d683602..b14485271 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-658b1097663a8deea2c4d77c4c00a514739980bb
\ No newline at end of file
+2bfa96aad8b951988cf9d0dd95d3c9d9019a1c0e
\ No newline at end of file

From 15846435fe16505fbb5a1e397dd87b47527ad33d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 22 Jul 2022 10:01:08 -0700
Subject: [PATCH 302/435] Revert "Revert "remove casync from agnos manifest for
 now""

This reverts commit 0c5668d96e714334a7d6c79678ee8577e6f6739b.
---
 system/hardware/tici/agnos.json | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 853d3ab43..7ccea95ee 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -47,8 +47,6 @@
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true,
-    "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx",
-    "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13"
+    "has_ab": true
   }
 ]

From daded8ebebb47d79fd0847b9a802d255df4eb02c Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Sat, 23 Jul 2022 03:18:45 +1000
Subject: [PATCH 303/435] Multilang: finish unfinished Simplified Chinese
 translations (#25247)

* Finish unfinished translation

* Update main_zh-CHS.ts
---
 selfdrive/ui/translations/main_zh-CHS.ts | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 438ce65d7..da0841c3b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1015,23 +1015,23 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>Switch Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>切换分支</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <source>ENTER</source>
-        <translation type="unfinished"></translation>
+        <translation>输入</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="259"/>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="unfinished"></translation>
+        <translation>分支将在更新服务下次启动时自动切换。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="261"/>
         <source>Enter branch name</source>
-        <translation type="unfinished"></translation>
+        <translation>输入分支名称</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="272"/>
@@ -1215,12 +1215,12 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="77"/>
         <source>Show Map on Left Side of UI</source>
-        <translation type="unfinished"></translation>
+        <translation>在介面左侧显示地图</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="78"/>
         <source>Show map on left side when in split screen view.</source>
-        <translation type="unfinished"></translation>
+        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="90"/>

From 3117c069d8ce28ca7c4f19afaae8016158992b9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 22 Jul 2022 13:51:08 -0700
Subject: [PATCH 304/435] Car docs diff: fix new platform detection (#25252)

* Fix new platform detection

* add some helpful comments and clean up

* slightly better
---
 selfdrive/debug/print_docs_diff.py | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index c02649e3f..44c821a4f 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -20,17 +20,18 @@ def load_base_car_info(path):
 
 
 def match_cars(base_cars, new_cars):
-  """Matches CarInfo by name similarity and finds additions and removals"""
   changes = []
   additions = []
   for new in new_cars:
-    closest_match = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)[0]
-
-    if closest_match not in [c[1].name for c in changes]:
-      changes.append((new, next(car for car in base_cars if car.name == closest_match)))
-    else:
+    # Addition if no close matches or close match already used
+    # Change if close match and not already used
+    matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)
+    if not len(matches) or matches[0] in [c[1].name for c in changes]:
       additions.append(new)
+    else:
+      changes.append((new, next(car for car in base_cars if car.name == matches[0])))
 
+  # Removal if base car not in changes
   removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
   return changes, additions, removals
 
@@ -62,6 +63,9 @@ def print_car_info_diff(path):
   for car in get_all_car_info():
     new_car_info[car.car_fingerprint].append(car)
 
+  # Add new platforms to base cars so we can detect additions and removals in one pass
+  base_car_info.update({car: [] for car in new_car_info if car not in base_car_info})
+
   changes = defaultdict(list)
   for base_car_model, base_cars in base_car_info.items():
     # Match car info changes, and get additions and removals

From 9ab1c492dd051276a422fbac38f754c4e6633f32 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 22 Jul 2022 14:07:54 -0700
Subject: [PATCH 305/435] Multilanguage badges (#25244)

* Test badge

* fix?

* Test

* debug

* debug

* debug

* debug

* debug

* debug

* debug

* try this

* need to build

* a minute for what

* download and commit test badge

* get dynamically

* fix

* Add to readme

* force push

* should work

* one step

* Update badge

* draft

* clean up

* remove these

* one line is fine

* Adding badges will have to be manual, but that should be fine

* cause error

* continue on error

* hope this doesn't delete the badges

* ugh, allow-failures would be so nice

* whoops

* yep need this

* do this

* now try a push

* clean up

* rm line

* need this

* see if this works

* orange

* does this work?

* ?

* do dis

* needs to be global?

* cool, this works

cool, this works

* run only on master

* add back workflows

* remove that

* sorting

* sorting

* print badge markdown

* it is bytes though?

* run once more

* revert

* looks nicer

* strange

* no decimals

* run again

run once more

* nice workflow_dispatch

* only run on a schedule and remove error handling

* make links absolute

* adjust badge text
---
 .github/workflows/badges.yaml              | 53 ++++++++++++++++++++++
 selfdrive/ui/translations/README.md        |  4 ++
 selfdrive/ui/translations/create_badges.py | 43 ++++++++++++++++++
 3 files changed, 100 insertions(+)
 create mode 100644 .github/workflows/badges.yaml
 create mode 100755 selfdrive/ui/translations/create_badges.py

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
new file mode 100644
index 000000000..68a13398f
--- /dev/null
+++ b/.github/workflows/badges.yaml
@@ -0,0 +1,53 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+
+    - name: Build Docker image
+      run: eval "$BUILD"
+
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge_*.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 96d251c95..1ed73a048 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -1,5 +1,9 @@
 # Multilanguage
 
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts)
+
 ## Contributing
 
 Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
new file mode 100755
index 000000000..58b587462
--- /dev/null
+++ b/selfdrive/ui/translations/create_badges.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import json
+import os
+import requests
+
+from common.basedir import BASEDIR
+from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+TRANSLATION_TAG = "<translation"
+UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""
+TRANSLATION_BADGE = "translation_badge_{}.svg"
+TRANSLATION_LINK = "https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/{}"
+
+if __name__ == "__main__":
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  print("Copy into selfdrive/ui/translations/README.md:\n")
+  for name, file in translation_files.items():
+    if not len(file):
+      continue
+
+    with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f:
+      tr_file = tr_f.read()
+
+    print(f"[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/{TRANSLATION_BADGE.format(file)})]({TRANSLATION_LINK.format(file)}.ts)")
+
+    total_translations = 0
+    unfinished_translations = 0
+    for line in tr_file.splitlines():
+      if TRANSLATION_TAG in line:
+        total_translations += 1
+      if UNFINISHED_TRANSLATION_TAG in line:
+        unfinished_translations += 1
+
+    percent_finished = int(100 - (unfinished_translations / total_translations * 100.))
+    color = "green" if percent_finished == 100 else "orange" if percent_finished >= 70 else "red"
+
+    r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}")
+    assert r.status_code == 200, "Error downloading badge"
+
+    with open(os.path.join(BASEDIR, TRANSLATION_BADGE.format(file)), "wb") as badge_f:
+      badge_f.write(r.content)

From f79a21d29ef29dafb958d60d3d7087fe27b4a01e Mon Sep 17 00:00:00 2001
From: alancyau <59986772+alancyau@users.noreply.github.com>
Date: Fri, 22 Jul 2022 16:30:51 -0500
Subject: [PATCH 306/435] Update incompatible Toyota Security cars (#25249)

* Update CARS.md

Update Toyota security cars. Toyota US doesn't sell the Yaris anymore.

* add autogen comment

* correct US model name

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                   | 11 +++++++----
 selfdrive/car/CARS_template.md | 11 +++++++----
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 49f2f6e85..12e93c850 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,3 +1,5 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
@@ -260,11 +262,12 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 
 Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
 So far, this list includes:
-* Toyota Rav4 Prime 2022+
+* Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
-* Toyota Yaris 2022+
-* Toyota Corolla Cross (only US model)
-* Lexus NX 2021+
\ No newline at end of file
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+
\ No newline at end of file
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index ba95eeccb..db05c7937 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,6 +1,8 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
 {% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
 
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
@@ -63,11 +65,12 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 
 Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
 So far, this list includes:
-* Toyota Rav4 Prime 2022+
+* Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
-* Toyota Yaris 2022+
-* Toyota Corolla Cross (only US model)
-* Lexus NX 2021+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+

From 57aa085e183dea0e1b470682ecae4c443ab5909d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 22 Jul 2022 22:19:14 -0700
Subject: [PATCH 307/435] Fix footnote superscripts on website (#25260)

* Fix footnotes on website

* Revert "Fix footnotes on website"

This reverts commit c2a11fa34e204e9360ac78e0986d7db2bc053cc6.

* fix now, clean up later

* Fix

* revert
---
 selfdrive/car/docs.py | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 26f8949e8..3a81788c6 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -12,20 +12,21 @@ from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
 
 
-def get_all_footnotes() -> Dict[Enum, int]:
+def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]:
   all_footnotes = []
+  hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else []
   for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    all_footnotes += footnotes
+    all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols])
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-ALL_FOOTNOTES: Dict[Enum, int] = get_all_footnotes()
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> List[CarInfo]:
+def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
+  footnotes = get_all_footnotes(only_tier_cols)
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # Hyundai exception: those with radar have openpilot longitudinal
     fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
@@ -39,7 +40,7 @@ def get_all_car_info() -> List[CarInfo]:
       car_info = (car_info,)
 
     for _car_info in car_info:
-      all_car_info.append(_car_info.init(CP, ALL_FOOTNOTES))
+      all_car_info.append(_car_info.init(CP, footnotes))
 
   # Sort cars by make and model + year
   sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
@@ -58,7 +59,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co
       for c in hide_cols:
         del car.row[c]
 
-  footnotes = [fn.value.text for fn in ALL_FOOTNOTES if fn.value.column in cols]
+  footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)]
   cars_md: str = template.render(all_car_info=all_car_info,
                                  footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS)
   return cars_md
@@ -74,5 +75,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template, args.tier_columns))
+    f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns))
   print(f"Generated and written to {args.out}")

From fd5819e9ec79e7cb1b714a5302e90e10e04e36fe Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 23 Jul 2022 08:00:17 +0100
Subject: [PATCH 308/435] Fix for multiple footnotes in car docs (#25256)

* Fix for multiple footnotes in car docs

* Split footnotes with comma

* oops

* one link tag

* fix empty footnotes

* sort footnotes

* Fix footnotes on website

* Revert "Fix footnotes on website"

This reverts commit 187686b0d7b591cf81a8d59ea6d45f7ba94b5fae.

* fix sorting if > 9

* try both

* it pushes star a bit too much and float: center doesn't work

* try on gh

try on gh

* doesn't look too good

* revert

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                      | 12 ++++++------
 selfdrive/car/docs_definitions.py | 27 ++++++++++++---------------
 2 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 12e93c850..35cd03531 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -188,14 +188,14 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -206,9 +206,9 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 01473e4cc..015646972 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -2,7 +2,7 @@ import re
 
 from cereal import car
 from collections import namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union, no_type_check
 
@@ -37,13 +37,9 @@ TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TOR
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
 
 
-def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]:
-  # Returns applicable footnote given current column
-  if footnotes is not None:
-    for fn in footnotes:
-      if fn.value.column == column:
-        return fn
-  return None
+def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
+  # Returns applicable footnotes given current column
+  return [fn for fn in footnotes if fn.value.column == column]
 
 
 def split_name(name: str) -> Tuple[str, str, str]:
@@ -61,7 +57,7 @@ class CarInfo:
   name: str
   package: str
   video_link: Optional[str] = None
-  footnotes: Optional[List[Enum]] = None
+  footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
   harness: Optional[Enum] = None
@@ -106,9 +102,9 @@ class CarInfo:
     self.all_footnotes = all_footnotes
     for column in StarColumns:
       # Demote if footnote specifies a star
-      footnote = get_footnote(self.footnotes, column)
-      if footnote is not None and footnote.value.star is not None:
-        self.row[column] = footnote.value.star
+      for fn in get_footnotes(self.footnotes, column):
+        if fn.value.star is not None:
+          self.row[column] = fn.value.star
 
     # openpilot ACC star doesn't count for tiers
     full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
@@ -129,9 +125,10 @@ class CarInfo:
     elif column == Column.MODEL and len(self.years):
       item += f" {self.years}"
 
-    footnote = get_footnote(self.footnotes, column)
-    if footnote is not None:
-      item += footnote_tag.format(self.all_footnotes[footnote])
+    footnotes = get_footnotes(self.footnotes, column)
+    if len(footnotes):
+      sups = sorted([self.all_footnotes[fn] for fn in footnotes])
+      item += footnote_tag.format(f'{",".join(map(str, sups))}')
 
     return item
 

From e0cd4bd7ede6d4f536cf68b6856f414d81f9554b Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Sat, 23 Jul 2022 18:05:31 -0500
Subject: [PATCH 309/435] Add missing RAV4H_TSS2_2022 engine f/w (#25263)

`@atran913#6118` 2022 RAV4 Hybrid  DongleID/route d8117083fe3d623d|2022-07-23--19-42-53
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 48caef565..0f29ae1ee 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1401,6 +1401,7 @@ FW_VERSIONS = {
       b'\x01896634A08000\x00\x00\x00\x00',
       b'\x01896634A61000\x00\x00\x00\x00',
       b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A62100\x00\x00\x00\x00',
       b'\x01896634A63000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [

From 551d2fe511ac2801befaa93d525b5c8bdb608629 Mon Sep 17 00:00:00 2001
From: pcjx <109846435+pcjx@users.noreply.github.com>
Date: Sun, 24 Jul 2022 01:49:41 +0200
Subject: [PATCH 310/435] Make ubuntu_setup.sh use codenames to support Ubuntu
 based distros (#25261)

Using codenames allows the ubuntu_setup.sh to install
properly on systems like Pop!_OS or Linux Mint.
---
 tools/ubuntu_setup.sh | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 5bc363076..bd12b878f 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -69,7 +69,7 @@ function install_ubuntu_common_requirements() {
 }
 
 # Install Ubuntu 22.04 LTS packages
-function install_ubuntu_latest_requirements() {
+function install_ubuntu_jammy_requirements() {
   install_ubuntu_common_requirements
 
   sudo apt-get install -y --no-install-recommends \
@@ -81,7 +81,7 @@ function install_ubuntu_latest_requirements() {
 }
 
 # Install Ubuntu 20.04 packages
-function install_ubuntu_lts_requirements() {
+function install_ubuntu_focal_requirements() {
   install_ubuntu_common_requirements
 
   sudo apt-get install -y --no-install-recommends \
@@ -93,12 +93,12 @@ function install_ubuntu_lts_requirements() {
 # Detect OS using /etc/os-release file
 if [ -f "/etc/os-release" ]; then
   source /etc/os-release
-  case "$ID $VERSION_ID" in
-    "ubuntu 22.04")
-      install_ubuntu_latest_requirements
+  case "$VERSION_CODENAME" in
+    "jammy")
+      install_ubuntu_jammy_requirements
       ;;
-    "ubuntu 20.04")
-      install_ubuntu_lts_requirements
+    "focal")
+      install_ubuntu_focal_requirements
       ;;
     *)
       echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
@@ -107,7 +107,7 @@ if [ -f "/etc/os-release" ]; then
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then
         exit 1
       fi
-      install_ubuntu_lts_requirements
+      install_ubuntu_focal_requirements
   esac
 else
   echo "No /etc/os-release in the system"

From d01847e4140b1e31961bae53bea57a5727e9040a Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Sat, 23 Jul 2022 16:50:47 -0700
Subject: [PATCH 311/435] hyundai: torque lateral controller for palisade
 (#25262)

---
 selfdrive/car/hyundai/interface.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index a32ee2c0a..d5085e322 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG

From 10b212dc7ef126f34150cd1c110b804f8cf0f082 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 23 Jul 2022 23:25:30 -0700
Subject: [PATCH 312/435] Chrysler: add Ram 1500 FW values (#25266)

---
 selfdrive/car/chrysler/values.py | 79 ++++++++++++++++++++++++--------
 1 file changed, 59 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 5a979776e..56b11652f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,7 +1,6 @@
-import capnp
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Optional, Tuple, Union
+from typing import Dict, List, Optional, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -113,27 +112,67 @@ FINGERPRINTS = {
     # Jeep Grand Cherokee 2019, including most 2020 models
     55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
-  CAR.RAM_1500: [
-    {35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8,  129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8,  164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
-    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
-    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
-  ],
 }
 
-FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = {
+FW_VERSIONS = {
   CAR.RAM_1500: {
-    (Ecu.combinationMeter, 0x742, None): [],
-    (Ecu.srs, 0x744, None): [],
-    (Ecu.esp, 0x747, None): [],
-    (Ecu.fwdCamera, 0x753, None): [],
-    (Ecu.fwdCamera, 0x764, None): [],
-    (Ecu.eps, 0x761, None): [],
-    (Ecu.fwdRadar, 0x757, None): [],
-    (Ecu.eps, 0x75A, None): [],
-    (Ecu.engine, 0x7e0, None): [],
-    (Ecu.transmission, 0x7e1, None): [],
-    (Ecu.gateway, 0x18DACBF1, None): [],
-  }
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68294063AH',
+      b'68294063AG',
+      b'68434860AC',
+      b'68527375AD',
+      b'68453503AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68441329AB',
+      b'68490898AA',
+      b'68428609AB',
+      b'68500728AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68432418AD',
+      b'68432418AB',
+      b'68436004AE',
+      b'68438454AD',
+      b'68436004AD',
+      b'68535469AB',
+      b'68438454AC',
+    ],
+    (Ecu.fwdCamera, 0x753, None): [
+      b'68320950AL',
+      b'68320950AJ',
+      b'68454268AB',
+      b'68475160AG',
+      b'04672892AB',
+      b'68475160AE',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68273275AG',
+      b'68469901AA',
+      b'68552788AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68448163AJ',
+      b'68500630AD',
+      b'68539650AD',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360078AL',
+      b'68384328AD',
+      b'68360085AL',
+      b'68360081AM',
+      b'68502994AD',
+      b'68445533AB',
+      b'68540431AB',
+      b'68484467AC',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68402660AB',
+      b'68445283AB',
+      b'68533631AB',
+      b'68500483AB',
+    ],
+  },
 }
 
 DBC = {

From d462a08056d54a957084d594286626a2509c94aa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 24 Jul 2022 14:56:55 -0700
Subject: [PATCH 313/435] remove CS.steeringRateLimited (#25251)

* remove CS.steeringRateLimited

* bump cereal

* update refs
---
 cereal                                        |  2 +-
 selfdrive/car/chrysler/carcontroller.py       |  2 --
 selfdrive/car/chrysler/interface.py           |  2 --
 selfdrive/car/ford/carcontroller.py           |  2 --
 selfdrive/car/ford/interface.py               |  2 --
 selfdrive/car/gm/carcontroller.py             |  2 --
 selfdrive/car/gm/interface.py                 |  2 --
 selfdrive/car/hyundai/carcontroller.py        |  2 --
 selfdrive/car/hyundai/interface.py            |  1 -
 selfdrive/car/mazda/carcontroller.py          |  3 ---
 selfdrive/car/subaru/carcontroller.py         |  2 --
 selfdrive/car/subaru/interface.py             |  2 --
 selfdrive/car/toyota/carcontroller.py         |  2 --
 selfdrive/car/toyota/interface.py             |  2 --
 selfdrive/car/volkswagen/carcontroller.py     |  3 ---
 selfdrive/car/volkswagen/interface.py         |  1 -
 selfdrive/controls/controlsd.py               |  4 ++-
 selfdrive/controls/lib/latcontrol.py          |  6 ++---
 selfdrive/controls/lib/latcontrol_angle.py    |  4 +--
 selfdrive/controls/lib/latcontrol_indi.py     |  4 +--
 selfdrive/controls/lib/latcontrol_pid.py      |  4 +--
 selfdrive/controls/lib/latcontrol_torque.py   |  6 ++---
 .../controls/lib/tests/test_latcontrol.py     |  3 +--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 .../test/process_replay/test_processes.py     | 26 ++++++++++++++-----
 tools/tuning/measure_steering_accuracy.py     |  2 +-
 26 files changed, 39 insertions(+), 54 deletions(-)

diff --git a/cereal b/cereal
index bc999518e..9ae66d071 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit bc999518e73c2b04fee3b8207b3c28a8644233ea
+Subproject commit 9ae66d07129dcf1b5d6fc5167bbc89691a56d24c
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 344a2f162..22abf1b67 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -10,7 +10,6 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.frame = 0
-    self.steer_rate_limited = False
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
@@ -67,7 +66,6 @@ class CarController:
       apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active:
         apply_steer = 0
-      self.steer_rate_limited = new_steer != apply_steer
       self.apply_steer_last = apply_steer
 
       can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index acc08954a..56cece47b 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -75,8 +75,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index d7666c1d6..11d9bb3c7 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -25,7 +25,6 @@ class CarController:
     self.frame = 0
 
     self.apply_steer_last = 0
-    self.steer_rate_limited = False
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
@@ -46,7 +45,6 @@ class CarController:
     # apply rate limits
     new_steer = actuators.steeringAngleDeg
     apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo)
-    self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
     if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 1af04bee4..857ccbab8 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -70,8 +70,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     events = self.create_common_events(ret)
     ret.events = events.to_msg()
 
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index f763a5853..727c05efd 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -22,7 +22,6 @@ class CarController:
 
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
-    self.steer_rate_limited = False
 
     self.params = CarControllerParams()
 
@@ -51,7 +50,6 @@ class CarController:
       if lkas_enabled:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-        self.steer_rate_limited = new_steer != apply_steer
       else:
         apply_steer = 0
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e0dd10d4a..bdb42f97e 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -156,8 +156,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_loopback)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
 
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 981a3309d..0bdb7d99f 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -43,7 +43,6 @@ class CarController:
 
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
-    self.steer_rate_limited = False
     self.last_button_frame = 0
     self.accel = 0
 
@@ -59,7 +58,6 @@ class CarController:
       steer = clip(steer, -0.7, 0.7)
     new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    self.steer_rate_limited = new_steer != apply_steer
 
     if not CC.latActive:
       apply_steer = 0
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index d5085e322..969540ad9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -314,7 +314,6 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index a83cef508..2add59ccb 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -12,7 +12,6 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
-    self.steer_rate_limited = False
     self.brake_counter = 0
     self.frame = 0
 
@@ -20,14 +19,12 @@ class CarController:
     can_sends = []
 
     apply_steer = 0
-    self.steer_rate_limited = False
 
     if CC.latActive:
       # calculate steer and also set limits due to driver torque
       new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
-      self.steer_rate_limited = new_steer != apply_steer
 
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 6cb754ac6..a33657205 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -11,7 +11,6 @@ class CarController:
     self.es_distance_cnt = -1
     self.es_lkas_cnt = -1
     self.cruise_button_prev = 0
-    self.steer_rate_limited = False
     self.frame = 0
 
     self.p = CarControllerParams(CP)
@@ -33,7 +32,6 @@ class CarController:
 
       new_steer = int(round(apply_steer))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
-      self.steer_rate_limited = new_steer != apply_steer
 
       if not CC.latActive:
         apply_steer = 0
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 952885a75..f820cf42b 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -111,8 +111,6 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 390e5f817..858a3815b 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -20,7 +20,6 @@ class CarController:
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
-    self.steer_rate_limited = False
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -52,7 +51,6 @@ class CarController:
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
-    self.steer_rate_limited = new_steer != apply_steer
 
     if not CC.latActive:
       apply_steer = 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 21a5d47f6..642c39952 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -243,8 +243,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     # events
     events = self.create_common_events(ret)
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index e38cd9705..5543d4f05 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -22,8 +22,6 @@ class CarController:
     self.graMsgStartFramePrev = 0
     self.graMsgBusCounterPrev = 0
 
-    self.steer_rate_limited = False
-
   def update(self, CC, CS, ext_bus):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -46,7 +44,6 @@ class CarController:
       if CC.latActive:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
-        self.steer_rate_limited = new_steer != apply_steer
         if apply_steer == 0:
           hcaEnabled = False
           self.hcaEnabledFrameCount = 0
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index c2b077b6d..225a6a32c 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -163,7 +163,6 @@ class CarInterface(CarInterfaceBase):
     buttonEvents = []
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # Check for and process state-change events (button press or release) from
     # the turn stalk switch or ACC steering wheel/control stalk buttons.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f0927b9c7..47a15c6ec 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -176,6 +176,7 @@ class Controls:
     self.logged_comm_issue = None
     self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
     self.last_actuators = car.CarControl.Actuators.new_message()
+    self.steer_limited = False
     self.desired_curvature = 0.0
     self.desired_curvature_rate = 0.0
 
@@ -594,7 +595,7 @@ class Controls:
                                                                                        lat_plan.curvatures,
                                                                                        lat_plan.curvatureRates)
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
-                                                                             self.last_actuators, self.desired_curvature,
+                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
@@ -721,6 +722,7 @@ class Controls:
       self.last_actuators, can_sends = self.CI.apply(CC)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
       CC.actuatorsOutput = self.last_actuators
+      self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 785c8faa8..78b59fda5 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -16,14 +16,14 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS):
-    if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed:
+  def _check_saturation(self, saturated, CS, steer_limited):
+    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 2eee71c70..0e5be4a97 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if CS.vEgo < MIN_STEER_SPEED or not active:
@@ -19,7 +19,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS)
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 79c881d11..2bc3cef76 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -63,7 +63,7 @@ class LatControlINDI(LatControl):
     self.steer_filter.x = 0.
     self.speed = 0.
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     self.speed = CS.vEgo
     # Update Kalman filter
     y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
@@ -115,6 +115,6 @@ class LatControlINDI(LatControl):
       indi_log.delayedOutput = float(self.steer_filter.x)
       indi_log.delta = float(delta_u)
       indi_log.output = float(output_steer)
-      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
+      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
 
     return float(output_steer), float(steers_des), indi_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 5dd1b20ae..6bd678073 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -43,6 +43,6 @@ class LatControlPID(LatControl):
       pid_log.i = self.pid.i
       pid_log.f = self.pid.f
       pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
 
     return output_steer, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 46caa41a9..c4604d90e 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -33,7 +33,7 @@ class LatControlTorque(LatControl):
     self.kf = CP.lateralTuning.torque.kf
     self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
     if CS.vEgo < MIN_STEER_SPEED or not active:
@@ -66,7 +66,7 @@ class LatControlTorque(LatControl):
       # convert friction into lateral accel units for feedforward
       friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
-      freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -78,7 +78,7 @@ class LatControlTorque(LatControl):
       pid_log.d = self.pid.d
       pid_log.f = self.pid.f
       pid_log.output = -output_torque
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
       pid_log.actualLateralAccel = actual_lateral_accel
       pid_log.desiredLateralAccel = desired_lateral_accel
 
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 503eaaa6a..f15ab2fa5 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -26,7 +26,6 @@ class TestLatControl(unittest.TestCase):
 
     controller = controller(CP, CI)
 
-
     CS = car.CarState.new_message()
     CS.vEgo = 30
 
@@ -35,7 +34,7 @@ class TestLatControl(unittest.TestCase):
     params = log.LiveParametersData.new_message()
 
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, 1, 0)
+      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b14485271..ce4f5c171 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2bfa96aad8b951988cf9d0dd95d3c9d9019a1c0e
\ No newline at end of file
+8f918a54cfefcaada91a7eca0c14ca4d4b6f11c8
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 08933d143..9e6fee0de 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -5,7 +5,7 @@ import os
 import sys
 from collections import defaultdict
 from tqdm import tqdm
-from typing import Any, Dict
+from typing import Any, DefaultDict, Dict
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
@@ -105,7 +105,7 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore
     return str(e), log_msgs
 
 
-def format_diff(results, ref_commit):
+def format_diff(results, log_paths, ref_commit):
   diff1, diff2 = "", ""
   diff2 += f"***** tested against commit {ref_commit} *****\n"
 
@@ -115,13 +115,22 @@ def format_diff(results, ref_commit):
     diff2 += f"***** differences for segment {segment} *****\n"
 
     for proc, diff in list(result.items()):
-      diff1 += f"\t{proc}\n"
+      # long diff
       diff2 += f"*** process: {proc} ***\n"
+      diff2 += f"\tref: {log_paths[segment]['ref']}\n\n"
+      diff2 += f"\tnew: {log_paths[segment]['new']}\n\n"
 
+      # short diff
+      diff1 += f"    {proc}\n"
       if isinstance(diff, str):
-        diff1 += f"\t\t{diff}\n"
+        diff1 += f"        ref: {log_paths[segment]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment]['new']}\n\n"
+        diff1 += f"        {diff}\n"
         failed = True
       elif len(diff):
+        diff1 += f"        ref: {log_paths[segment]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment]['new']}\n\n"
+
         cnt: Dict[str, int] = {}
         for d in diff:
           diff2 += f"\t{str(d)}\n"
@@ -130,7 +139,7 @@ def format_diff(results, ref_commit):
           cnt[k] = 1 if k not in cnt else cnt[k] + 1
 
         for k, v in sorted(cnt.items()):
-          diff1 += f"\t\t{k}: {v}\n"
+          diff1 += f"        {k}: {v}\n"
         failed = True
   return diff1, diff2, failed
 
@@ -187,6 +196,8 @@ if __name__ == "__main__":
     untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
     assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
 
+
+  log_paths: DefaultDict[str, Dict[str, str]] = defaultdict(dict)
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
     if not args.upload_only:
       download_segments = [seg for car, seg in segments if car in tested_cars]
@@ -214,13 +225,16 @@ if __name__ == "__main__":
         dat = None if args.upload_only else log_data[segment]
         pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
 
+        log_paths[segment]['ref'] = ref_log_path
+        log_paths[segment]['new'] = cur_log_fn
+
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
     for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       if not args.upload_only:
         results[segment][proc + subtest_name] = result
 
-  diff1, diff2, failed = format_diff(results, ref_commit)
+  diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
   if not upload:
     with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
       f.write(diff2)
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 5084247cb..7abfb6358 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -71,7 +71,7 @@ if __name__ == "__main__":
     active = sm['controlsState'].active
     steer = sm['carControl'].actuatorsOutput.steer
     standstill = sm['carState'].standstill
-    steer_limited = sm['carState'].steeringRateLimited
+    steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['lateralPlan'].laneChangeState != 0
     d_path_points = sm['lateralPlan'].dPathPoints

From ef00bf76c1db2ac85f8033e48e89213f1f846d44 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 00:01:16 -0700
Subject: [PATCH 314/435] model_replay: update format_diff call

---
 selfdrive/test/process_replay/model_replay.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index bccad5d92..06720d4a1 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -176,8 +176,9 @@ if __name__ == "__main__":
       # TODO this tolerence is absurdly large
       tolerance = 5e-1 if PC else None
       results: Any = {TEST_ROUTE: {}}
+      log_paths: Any = {TEST_ROUTE: {'ref': BASE_URL + log_fn, 'new': log_fn}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff1, diff2, failed = format_diff(results, ref_commit)
+      diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
 
       print(diff2)
       print('-------------\n'*5)

From f72c988415a2a1c4299df67cb8e02eee20e5ba77 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 25 Jul 2022 16:20:52 +0200
Subject: [PATCH 315/435] map_renderer.py, output monochrome images (#25272)

* map renderer, output monochrome images

* pass token/url as argument

* greyscale
---
 selfdrive/navd/map_renderer.cc | 17 +++++++++++------
 selfdrive/navd/map_renderer.py | 12 ++++++------
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index cb24f2087..d0770cfb4 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -153,10 +153,15 @@ void MapRenderer::sendVipc() {
 
 uint8_t* MapRenderer::getImage() {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-  uint8_t* buf = new uint8_t[cap.sizeInBytes()];
-  memcpy(buf, cap.bits(), cap.sizeInBytes());
 
-  return buf;
+  uint8_t* src = cap.bits();
+  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
+
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }
+
+  return dst;
 }
 
 void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
@@ -189,7 +194,7 @@ MapRenderer::~MapRenderer() {
 }
 
 extern "C" {
-  MapRenderer* map_renderer_init() {
+  MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
     char *argv[] = {
       (char*)"navd",
       nullptr
@@ -199,8 +204,8 @@ extern "C" {
     assert(app);
 
     QMapboxGLSettings settings;
-    settings.setApiBaseUrl(MAPS_HOST);
-    settings.setAccessToken(get_mapbox_token());
+    settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
+    settings.setAccessToken(token == nullptr ? get_mapbox_token() : token);
 
     return new MapRenderer(settings, false);
   }
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index dc39f335c..900062292 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -3,6 +3,7 @@
 
 import os
 import time
+import numpy as np
 from cffi import FFI
 
 from common.ffi_wrapper import suffix
@@ -16,7 +17,7 @@ def get_ffi():
 
   ffi = FFI()
   ffi.cdef("""
-void* map_renderer_init();
+void* map_renderer_init(char *maps_host, char *token);
 void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
 void map_renderer_update_route(void *inst, char *polyline);
 void map_renderer_update(void *inst);
@@ -40,20 +41,19 @@ def wait_ready(lib, renderer):
 
 def get_image(lib, renderer):
   buf = lib.map_renderer_get_image(renderer)
-  r = list(buf[0:3 * WIDTH * HEIGHT])
+  r = list(buf[0:WIDTH * HEIGHT])
   lib.map_renderer_free_image(renderer, buf)
 
   # Convert to numpy
   r = np.asarray(r)
-  return r.reshape((WIDTH, HEIGHT, 3))
+  return r.reshape((WIDTH, HEIGHT))
 
 
 if __name__ == "__main__":
   import matplotlib.pyplot as plt
-  import numpy as np
 
   ffi, lib = get_ffi()
-  renderer = lib.map_renderer_init()
+  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
   wait_ready(lib, renderer)
 
   geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
@@ -73,6 +73,6 @@ if __name__ == "__main__":
     print(f"{pos} took {time.time() - t:.2f} s")
 
     plt.subplot(2, 2, i + 1)
-    plt.imshow(get_image(lib, renderer))
+    plt.imshow(get_image(lib, renderer), cmap='gray')
 
   plt.show()

From 4d8f40aa2d60400c808fa276ef40f8f3d6c10fc5 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 25 Jul 2022 17:00:42 +0200
Subject: [PATCH 316/435] docs: add svg images (#25273)

* docs: add svg images

* important whitespace
---
 docs/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Makefile b/docs/Makefile
index 02db7db2d..d0aa841c4 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -32,7 +32,7 @@ clean:
 	@echo "Copying docs & config to build folder..."
 	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
 	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" \) \
+		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
 			-not -path "*/.*" \
 			-not -path "./build/*" \
 			-not -path "./docs/*" \

From dc1590a9d0a23217ecddf4a6e4d704977d25b181 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 25 Jul 2022 10:44:26 -0700
Subject: [PATCH 317/435] Ram 1500: remove harness (#25275)

Update values.py
---
 selfdrive/car/chrysler/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 56b11652f..48ea6bd14 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -56,7 +56,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.none),
 }
 
 # Unique CAN messages:

From cff4cdc44b73921b5ef4a6df5c9eeb440d8a7f36 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 25 Jul 2022 12:55:21 -0700
Subject: [PATCH 318/435] 2022 Palisade: add missing FW versions (#25258)

* We support the 2022 Palisade

* Add fingerprints to exact match
---
 docs/CARS.md                    |  2 +-
 selfdrive/car/hyundai/values.py | 12 +++++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 35cd03531..4d83d2c2e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -78,7 +78,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Palisade 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 791d84305..45985d2a4 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -119,7 +119,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
     HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
@@ -712,7 +712,7 @@ FW_VERSIONS = {
   },
   CAR.PALISADE: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
@@ -722,7 +722,7 @@ FW_VERSIONS = {
     ],
     (Ecu.esp, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360',
+      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
       b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
@@ -737,7 +737,7 @@ FW_VERSIONS = {
       b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', # modified firmware
+      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
       b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
@@ -750,6 +750,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
@@ -757,7 +758,7 @@ FW_VERSIONS = {
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\177\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\000bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
@@ -798,6 +799,7 @@ FW_VERSIONS = {
       b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
+      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
     ],
   },
   CAR.VELOSTER: {

From d6105f2d1f2315e208a9e7bd42acd90a2e48ce12 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 25 Jul 2022 22:00:38 +0200
Subject: [PATCH 319/435] cars.md: use markdown images for stars (#25274)

* cars.md: use markdown images for stars

* See if this works

* smaller svg

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    | 404 ++++++++++++++++----------------
 docs/assets/icon-star-empty.svg |  57 ++++-
 docs/assets/icon-star-full.svg  |  57 ++++-
 docs/assets/icon-star-half.svg  |  69 +++++-
 selfdrive/car/CARS_template.md  |   2 +-
 5 files changed, 378 insertions(+), 211 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 4d83d2c2e..3ee05960e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -7,218 +7,218 @@ A supported vehicle is one that just works when you install a comma device. Ever
 ## How We Rate The Cars
 
 ### Stop and Go
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot operates down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
+- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
 
 ### Steer to 0
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds. See your car's manual for the minimum speed.
+- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to comfortably take most highway turns.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make tighter turns.
+- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
+- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
 # 196 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Acura|RDX 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|CR-V 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Fit 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Insight 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|EV6 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTD 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2015-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 
 <a id="footnotes"></a>
 <sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg
index b12b42662..5d3c32d67 100644
--- a/docs/assets/icon-star-empty.svg
+++ b/docs/assets/icon-star-empty.svg
@@ -1,3 +1,56 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg1425"
+   sodipodi:docname="icon-star-empty.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata1431">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs1429" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="631"
+     id="namedview1427"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="8.9999925"
+     inkscape:window-x="0"
+     inkscape:window-y="1267"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg1425" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path1423"
+     inkscape:connector-curvature="0"
+     style="stroke:#b7b7b7" />
 </svg>
diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg
index 8211fdcc2..294db2b7f 100644
--- a/docs/assets/icon-star-full.svg
+++ b/docs/assets/icon-star-full.svg
@@ -1,3 +1,56 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" fill="#F5C543" stroke="#F0A43B"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg817"
+   sodipodi:docname="icon-star-full.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata823">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs821" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="1898"
+     id="namedview819"
+     showgrid="false"
+     inkscape:zoom="20.005229"
+     inkscape:cx="8.4325646"
+     inkscape:cy="3.9969093"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg817" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path815"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543;stroke:#f0a43b" />
 </svg>
diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg
index 7f64bc87e..ab905fddc 100644
--- a/docs/assets/icon-star-half.svg
+++ b/docs/assets/icon-star-half.svg
@@ -1,5 +1,66 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12 2V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2Z" fill="#F5C543"/>
-<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
-<path d="M7.33226 18.9192L11 16.7055L12 16.1V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2V4.6L11 6.92203L9.8754 9.57544L4.44617 10.0361L8.57098 13.6094L7.33226 18.9192Z" fill="#F0A43B"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19.000008"
+   viewBox="0 0 19.999983 19.000008"
+   version="1.1"
+   id="svg831"
+   sodipodi:docname="icon-star-half.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata837">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs835" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="948"
+     id="namedview833"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="9"
+     inkscape:window-x="0"
+     inkscape:window-y="950"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg831" />
+  <path
+     d="M 10.000002,8.1671631e-6 V 15.270008 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 Z"
+     id="path825"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path827"
+     inkscape:connector-curvature="0"
+     style="stroke:#b7b7b7" />
+  <path
+     d="m 5.3322621,16.919208 3.66774,-2.2137 0.9999999,-0.6055 v 1.17 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 10.000002,8.1671631e-6 V 2.6000082 l -0.9999999,2.32203 -1.1246,2.65341 -5.42923,0.46066 4.12481,3.5732998 z"
+     id="path829"
+     inkscape:connector-curvature="0"
+     style="fill:#f0a43b" />
 </svg>
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index db05c7937..6a3a41f41 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,5 +1,5 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 

From 2351ae48b932eb7942178954811695b1a98e66e1 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Mon, 25 Jul 2022 21:02:27 +0100
Subject: [PATCH 320/435] Ford: fix gear parsing (#25267)

* Ford: fix gear shifter state

* Ford: manumatic is drive

* add full gear names to CarStateBase

* fix for unrecognised gears

* Update interfaces.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/ford/carstate.py  | 14 ++------------
 selfdrive/car/ford/interface.py |  4 ++--
 selfdrive/car/ford/values.py    |  1 +
 selfdrive/car/interfaces.py     | 21 +++++++++++++++------
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 67a72fd67..aaa3af612 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,5 +1,3 @@
-from typing import Dict
-
 from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
@@ -51,8 +49,8 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = int(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"])
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
       if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
@@ -85,14 +83,6 @@ class CarState(CarStateBase):
 
     return ret
 
-  @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
-    d: Dict[str, car.CarState.GearShifter] = {
-        'Park': GearShifter.park, 'Reverse': GearShifter.reverse, 'Neutral': GearShifter.neutral,
-        'Manual': GearShifter.manumatic, 'Drive': GearShifter.drive,
-    }
-    return d.get(gear, GearShifter.unknown)
-
   @staticmethod
   def get_can_parser(CP):
     signals = [
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 857ccbab8..405579fa6 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.car.ford.values import TransmissionType, CAR
+from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -70,7 +70,7 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     ret.events = events.to_msg()
 
     return ret
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index aae011ad3..6b8396cf0 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -7,6 +7,7 @@ from selfdrive.car.docs_definitions import CarInfo
 
 Ecu = car.CarParams.Ecu
 TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a451ef2ae..38a613b0e 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -2,7 +2,7 @@ import yaml
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Any, Dict, Tuple, List
+from typing import Any, Dict, Optional, Tuple, List
 
 from cereal import car
 from common.basedir import BASEDIR
@@ -318,13 +318,22 @@ class CarStateBase(ABC):
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
   @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
+  def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
+    if gear is None:
+      return GearShifter.unknown
+    
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-        'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
-        'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
+        'P': GearShifter.park, 'PARK': GearShifter.park,
+        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+        'E': GearShifter.eco, 'ECO': GearShifter.eco,
+        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+        'L': GearShifter.low, 'LOW': GearShifter.low,
+        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
-    return d.get(gear, GearShifter.unknown)
+    return d.get(gear.upper(), GearShifter.unknown)
 
   @staticmethod
   def get_cam_can_parser(CP):

From 6b74be53ae83d255e3513e336b8ed9efbd52a182 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 13:31:39 -0700
Subject: [PATCH 321/435] check vin validity (#25199)

---
 selfdrive/car/car_helpers.py | 4 ++--
 selfdrive/car/vin.py         | 6 ++++++
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 1a9a5f50f..aa4b37d57 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -7,7 +7,7 @@ from common.basedir import BASEDIR
 from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from selfdrive.car.vin import get_vin, VIN_UNKNOWN
+from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
@@ -106,7 +106,7 @@ def fingerprint(logcan, sendcan):
     vin, vin_rx_addr = VIN_UNKNOWN, 0
     exact_fw_match, fw_candidates, car_fw = True, set(), []
 
-  if len(vin) != 17:
+  if not is_valid_vin(vin):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 007c10e77..5ace68649 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import re
 import struct
 import traceback
 
@@ -15,6 +16,11 @@ UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pac
 UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
 
 VIN_UNKNOWN = "0" * 17
+VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
+
+
+def is_valid_vin(vin: str):
+  return re.fullmatch(VIN_RE, vin) is not None
 
 
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):

From f4d9573ff05ce246f17306e7ffe736cfad06e4b9 Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Mon, 25 Jul 2022 15:53:26 -0500
Subject: [PATCH 322/435] Add several missing LEXUS_ES_TSS2 firmwares (#25268)

`@RTDoc#2994` 2022 ES350 (ICE)  DongleID/route 6ed275339186a130|2022-07-24--18-21-35
---
 selfdrive/car/toyota/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 0f29ae1ee..ca4172f24 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1466,6 +1466,7 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_ES_TSS2: {
     (Ecu.engine, 0x700, None): [
+      b'\x018966306U6000\x00\x00\x00\x00',
       b'\x01896630EC9100\x00\x00\x00\x00',
       b'\x018966333T5000\x00\x00\x00\x00',
       b'\x018966333T5100\x00\x00\x00\x00',
@@ -1482,18 +1483,21 @@ FW_VERSIONS = {
       b'8965B33252\x00\x00\x00\x00\x00\x00',
       b'8965B33590\x00\x00\x00\x00\x00\x00',
       b'8965B33690\x00\x00\x00\x00\x00\x00',
+      b'8965B33721\x00\x00\x00\x00\x00\x00',
       b'8965B48271\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },

From 60eab24e0c0b4ab372ef5aa30191fe4c18d0ddf0 Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Tue, 26 Jul 2022 06:12:38 +0900
Subject: [PATCH 323/435] Skoda: add FW versions for Karoq 2021 (#25271)

* fingerprint Skoda Karoq 2021

dongle: 2c4292a5cd10536c
route: 2022-07-24--09-44-25

* Update docs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                       | 2 +-
 selfdrive/car/volkswagen/values.py | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 3ee05960e..099ff16b4 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -142,7 +142,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Škoda|Karoq 2019|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 34eb75e53..80cd421d6 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -177,7 +177,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019"),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
   CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
@@ -821,18 +821,23 @@ FW_VERSIONS = {
   CAR.SKODA_KAROQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018P \xf1\x896020',
+      b'\xf1\x8705L906022BS\xf1\x890913',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300041S \xf1\x891615',
+      b'\xf1\x870GC300014L \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
+      b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
   CAR.SKODA_KODIAQ_MK1: {

From 0574b8504f85132bfbe5d8a41913e37ad030401e Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 25 Jul 2022 16:15:14 -0500
Subject: [PATCH 324/435] VW MQB: Cleanup stock ACC button handling (#25168)

* VW MQB: Cleanup stock ACC button handling

* use controls resume output as trigger

* these can wait until taco bell

* pass through of previously fixed value

* retry CI

* checks already done in carcontroller

* don't need these anymore

* reduce diff for now

* remove parenthesis

* update refs

* fix packer exception

* update refs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/carcontroller.py | 36 +++++------------------
 selfdrive/car/volkswagen/carstate.py      | 36 ++++++++++-------------
 selfdrive/car/volkswagen/interface.py     | 19 +-----------
 selfdrive/car/volkswagen/values.py        | 24 +++++++--------
 selfdrive/car/volkswagen/volkswagencan.py | 22 +++++---------
 selfdrive/test/process_replay/ref_commit  |  2 +-
 6 files changed, 44 insertions(+), 95 deletions(-)

diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 5543d4f05..99a3ce55f 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,7 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,10 +17,6 @@ class CarController:
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
-    self.graButtonStatesToSend = None
-    self.graMsgSentCount = 0
-    self.graMsgStartFramePrev = 0
-    self.graMsgBusCounterPrev = 0
 
   def update(self, CC, CS, ext_bus):
     actuators = CC.actuators
@@ -83,30 +79,12 @@ class CarController:
 
     # **** ACC Button Controls ********************************************** #
 
-    # FIXME: this entire section is in desperate need of refactoring
-
-    if self.CP.pcmCruise:
-      if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if CC.cruiseControl.cancel:
-          # Cancel ACC if it's engaged with OP disengaged.
-          self.graButtonStatesToSend = BUTTON_STATES.copy()
-          self.graButtonStatesToSend["cancel"] = True
-        elif CC.cruiseControl.resume:
-          # Send Resume button when planner wants car to move
-          self.graButtonStatesToSend = BUTTON_STATES.copy()
-          self.graButtonStatesToSend["resumeCruise"] = True
-
-      if CS.graMsgBusCounter != self.graMsgBusCounterPrev:
-        self.graMsgBusCounterPrev = CS.graMsgBusCounter
-        if self.graButtonStatesToSend is not None:
-          if self.graMsgSentCount == 0:
-            self.graMsgStartFramePrev = self.frame
-          idx = (CS.graMsgBusCounter + 1) % 16
-          can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
-          self.graMsgSentCount += 1
-          if self.graMsgSentCount >= P.GRA_VBP_COUNT:
-            self.graButtonStatesToSend = None
-            self.graMsgSentCount = 0
+    if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
+      idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
+      if CC.cruiseControl.cancel:
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
+      elif CC.cruiseControl.resume:
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / P.STEER_MAX
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 9c4a111e4..052a1262e 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,18 +4,19 @@ from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+                                            CarControllerParams, MQB_BUTTONS
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.button_states = {button.event_type: False for button in MQB_BUTTONS}
     can_define = CANDefine(DBC_FILES.mqb)
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
     elif CP.transmissionType == TransmissionType.direct:
       self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
     self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
-    self.buttonStates = BUTTON_STATES.copy()
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
@@ -114,26 +115,20 @@ class CarState(CarStateBase):
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0
 
-    # Update control button states for turn signals and ACC controls.
-    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
-    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
-    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
-    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
-    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
-    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
+    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
-
-    # Read ACC hardware button type configuration info that has to pass thru
-    # to the radar. Ends up being different for steering wheel buttons vs
-    # third stalk type controls.
-    self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"]
-    self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Typ_Hauptschalter"]
-    self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]["GRA_ButtonTypeInfo"]
-    self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Stufe_2"]
-    # Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
-    # later cruise-control button spamming.
-    self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
+    self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
+    buttonEvents = []
+    for button in MQB_BUTTONS:
+      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        buttonEvents.append(event)
+      self.button_states[button.event_type] = state
+    ret.buttonEvents = buttonEvents
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@@ -181,6 +176,7 @@ class CarState(CarStateBase):
       ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"),  # ACC button, resume
       ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"),  # ACC button, time gap adj
       ("GRA_Typ_Hauptschalter", "GRA_ACC_01"),   # ACC main button type
+      ("GRA_Codierung", "GRA_ACC_01"),           # ACC button configuration/coding
       ("GRA_Tip_Stufe_2", "GRA_ACC_01"),         # unknown related to stalk type
       ("GRA_ButtonTypeInfo", "GRA_ACC_01"),      # unknown related to stalk type
       ("COUNTER", "GRA_ACC_01"),                 # GRA_ACC_01 CAN message counter
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 225a6a32c..8bab93d4a 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -10,8 +10,6 @@ class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    self.buttonStatesPrev = BUTTON_STATES.copy()
-
     if CP.networkLocation == NetworkLocation.fwdCamera:
       self.ext_bus = CANBUS.pt
       self.cp_ext = self.cp
@@ -160,19 +158,8 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self, c):
-    buttonEvents = []
-
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    # Check for and process state-change events (button press or release) from
-    # the turn stalk switch or ACC steering wheel/control stalk buttons.
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
-
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
 
     # Low speed steer alert hysteresis logic
@@ -184,10 +171,6 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
-    ret.buttonEvents = buttonEvents
-
-    # update previous car states
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
 
     return ret
 
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 80cd421d6..52a03c320 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,4 +1,4 @@
-from collections import defaultdict
+from collections import defaultdict, namedtuple
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union
@@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
@@ -18,9 +19,6 @@ class CarControllerParams:
   LDW_STEP = 10                  # LDW_02 message frequency 10Hz
   GRA_ACC_STEP = 3               # GRA_ACC_01 message frequency 33Hz
 
-  GRA_VBP_STEP = 100             # Send ACC virtual button presses once a second
-  GRA_VBP_COUNT = 16             # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
-
   # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
   # Limiting rate-of-change based on real-world testing and Comma's safety
   # requirements for minimum time to lane departure.
@@ -43,14 +41,16 @@ class DBC_FILES:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "setCruise": False,
-  "resumeCruise": False,
-  "gapAdjustCruise": False
-}
+
+MQB_BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+  Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
+]
+
 
 MQB_LDW_MESSAGES = {
   "none": 0,                            # Nothing to display
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index 1b42d1a40..f4c21eeed 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -32,19 +32,11 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le
   })
   return packer.make_can_msg("LDW_02", bus, values)
 
-def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
-  values = {
-    "COUNTER": idx,
-    "GRA_Hauptschalter": CS.graHauptschalter,
-    "GRA_Abbrechen": buttonStatesToSend["cancel"],
-    "GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
-    "GRA_Tip_Hoch": buttonStatesToSend["accelCruise"],
-    "GRA_Tip_Runter": buttonStatesToSend["decelCruise"],
-    "GRA_Tip_Wiederaufnahme": buttonStatesToSend["resumeCruise"],
-    "GRA_Verstellung_Zeitluecke": 3 if buttonStatesToSend["gapAdjustCruise"] else 0,
-    "GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
-    "GRA_Codierung": 2,
-    "GRA_Tip_Stufe_2": CS.graTipStufe2,
-    "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
-  }
+def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+  values = gra_stock_values.copy()
+
+  values["COUNTER"] = idx
+  values["GRA_Abbrechen"] = cancel
+  values["GRA_Tip_Wiederaufnahme"] = resume
+
   return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ce4f5c171..0c1fa408e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8f918a54cfefcaada91a7eca0c14ca4d4b6f11c8
\ No newline at end of file
+dfacf4d807e04b855832218803b5c025d06569b8
\ No newline at end of file

From 49bd53549d3e4ee16d9fcfc9f7a3fa27957d8ddb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 14:46:21 -0700
Subject: [PATCH 325/435] Chrysler: increase steering angle resolution (#25278)

---
 opendbc                                  | 2 +-
 selfdrive/car/chrysler/carstate.py       | 5 +++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/opendbc b/opendbc
index 4195e8f4c..67cf76f25 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e
+Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 47b28f9e0..fefd351a2 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -63,7 +63,7 @@ class CarState(CarStateBase):
     ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
 
     # steering wheel
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
     ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
@@ -126,7 +126,8 @@ class CarState(CarStateBase):
       ("WHEEL_SPEED_RR", "ESP_6"),
       ("WHEEL_SPEED_RL", "ESP_6"),
       ("WHEEL_SPEED_FR", "ESP_6"),
-      ("STEER_ANGLE", "STEERING"),
+      ("STEERING_ANGLE", "STEERING"),
+      ("STEERING_ANGLE_HP", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
       ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0c1fa408e..0d0574764 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dfacf4d807e04b855832218803b5c025d06569b8
\ No newline at end of file
+ee36966d20fa63ed4b9488bbc75d61e95e464cb7
\ No newline at end of file

From 347455325e5cd67e0697708ac980782aec2c3b33 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 15:16:38 -0700
Subject: [PATCH 326/435] Mazda: use torque controller (#25265)

* Mazda: use torque controller

* update refs

* update refs
---
 selfdrive/car/mazda/interface.py         | 14 ++------------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 35e3c1bb0..864090344 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     if candidate in (CAR.CX5, CAR.CX5_2022):
       ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA3:
       ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 14.0
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA6:
       ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
 
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0d0574764..5067208d0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ee36966d20fa63ed4b9488bbc75d61e95e464cb7
\ No newline at end of file
+2da0446f3cc0c4fd705f7b199ed1d9e6341fc466
\ No newline at end of file

From 5101a7cf8889750e1ed8269f0e456a29f9f444eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 15:21:58 -0700
Subject: [PATCH 327/435] Chrylser: some Ram 1500 can steer to 0 (#25279)

---
 selfdrive/car/chrysler/interface.py      | 7 +++++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 56cece47b..3c2bc3131 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -51,10 +51,13 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
-      ret.maxLateralAccel = 2.4
-      ret.minSteerSpeed = 14.5
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+      ret.minSteerSpeed = 14.5
+      if car_fw is not None:
+        for fw in car_fw:
+          if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
+            ret.minSteerSpeed = 0.
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5067208d0..01e762d33 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2da0446f3cc0c4fd705f7b199ed1d9e6341fc466
\ No newline at end of file
+66790e176b98244bb76ce19fb1aa943b36c87dec
\ No newline at end of file

From 5d4d2c3b0dfd8607144066317d0bb60962975c5f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 15:55:43 -0700
Subject: [PATCH 328/435] Subaru: move all pre-global cars to torque tune
 (#25281)

* Subaru: move all pre-global cars to torque tune

* pid init
---
 selfdrive/car/subaru/interface.py | 34 ++++++++++++-------------------
 1 file changed, 13 insertions(+), 21 deletions(-)

diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index f820cf42b..d246ab202 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -13,6 +13,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "subaru"
     ret.radarOffCan = True
+    ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     if candidate in PREGLOBAL_CARS:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
@@ -21,9 +22,9 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
 
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
-
     ret.steerLimitTimer = 0.4
+    ret.steerActuatorDelay = 0.1
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
       ret.mass = 2031. + STD_CARGO_KG
@@ -31,70 +32,61 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
-    if candidate == CAR.IMPREZA:
+    elif candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
-    if candidate == CAR.IMPREZA_2020:
+    elif candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    if candidate == CAR.FORESTER:
+    elif candidate == CAR.FORESTER:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+    elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
-    if candidate == CAR.LEGACY_PREGLOBAL:
+    elif candidate == CAR.LEGACY_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
 
-    if candidate == CAR.OUTBACK_PREGLOBAL:
+    elif candidate == CAR.OUTBACK_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase

From 5a6b0a9f4ca065a14abe085c47bac0ef36455c9b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 25 Jul 2022 19:08:56 -0700
Subject: [PATCH 329/435] fw_versions: fix ECU scanning (#25283)

Fix when scanning
---
 selfdrive/car/fw_versions.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 9c6f6e44f..1c696b8ed 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -467,7 +467,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
             for (addr, rx_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
-              f.ecu = ecu_types[(r.brand, addr[0], addr[1])]
+              f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
               f.fwVersion = version
               f.address = addr[0]
               f.responseAddress = rx_addr

From 260171fcd8a5659ed2501cc6b425d037323f2fa8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 19:48:30 -0700
Subject: [PATCH 330/435] EV6: can-fd footnote (#25284)

---
 docs/CARS.md                    | 115 ++++++++++++++++----------------
 selfdrive/car/hyundai/values.py |  11 ++-
 2 files changed, 67 insertions(+), 59 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 099ff16b4..c84008bd6 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -92,7 +92,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -109,19 +109,19 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -141,7 +141,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -150,85 +150,86 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>7,8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 
 <a id="footnotes"></a>
 <sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
-<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
+<sup>3</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
+<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>9</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 45985d2a4..7a25188e8 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,10 +1,11 @@
+from enum import Enum
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 Ecu = car.CarParams.Ecu
 
 
@@ -86,6 +87,12 @@ class CAR:
   GENESIS_G90 = "GENESIS G90 2017"
 
 
+class Footnote(Enum):
+  CANFD = CarFootnote(
+    "Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a>",
+    Column.MODEL)
+
+
 @dataclass
 class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
@@ -153,7 +160,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),

From ab236e5ae0330edd984c8f19e694ab50090e9183 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 26 Jul 2022 17:47:40 +0200
Subject: [PATCH 331/435] fix finding the lte connection (#25286)

---
 selfdrive/ui/qt/offroad/wifiManager.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 124138eea..fbb64b972 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -303,7 +303,7 @@ void WifiManager::initConnections() {
     const Connection settings = getConnectionSettings(path);
     if (settings.value("connection").value("type") == "802-11-wireless") {
       knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
-    } else if (path.path() != "/") {
+    } else if (settings.value("connection").value("id") == "lte") {
       lteConnectionPath = path;
     }
   }

From 7700a6c1e6d521f5d04da1ba25968ddf6a17a76e Mon Sep 17 00:00:00 2001
From: Igor Biletskyy <briskspirit@users.noreply.github.com>
Date: Tue, 26 Jul 2022 14:59:51 -0700
Subject: [PATCH 332/435] body: bump opendbc (#25289)

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 67cf76f25..3fcbe9db7 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac
+Subproject commit 3fcbe9db7211b2f7524b80c351c7cf1f233c1e52

From a009723513329921aafa6902ce320c3cc537729b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 26 Jul 2022 22:10:14 -0700
Subject: [PATCH 333/435] test models: add env var to filter out models

---
 selfdrive/car/tests/test_models.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index cb4b86858..929c53984 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -57,6 +57,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
+    if 'FILTER' in os.environ:
+      print(tuple(os.environ.get('FILTER').split(', ')))
+      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
+        raise unittest.SkipTest
+
     if cls.test_route is None:
       if cls.car_model in non_tested_cars:
         print(f"Skipping tests for {cls.car_model}: missing route")

From f3be47bc55b2ed50ebe803fb461a6d3002b1fc7c Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 27 Jul 2022 16:19:19 +0200
Subject: [PATCH 334/435] plotjuggler: allow loading ci routes (#25294)

* plotjuggler: allow loading ci routes

* update readme
---
 tools/plotjuggler/README.md |  9 ++++++---
 tools/plotjuggler/juggle.py | 13 ++++++++++---
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index e120edf2f..25fcb5931 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -12,7 +12,8 @@ Once you've cloned and are in openpilot, this command will download PlotJuggler
 
 ```
 $ ./juggle.py -h
-usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] [route_or_segment_name] [segment_count]
+usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
+                 [route_or_segment_name] [segment_count]
 
 A helper to run PlotJuggler on openpilot routes
 
@@ -25,12 +26,14 @@ optional arguments:
   -h, --help            show this help message and exit
   --demo                Use the demo route instead of providing one (default: False)
   --qlog                Use qlogs (default: False)
+  --ci                  Download data from openpilot CI bucket (default: False)
   --can                 Parse CAN data (default: False)
   --stream              Start PlotJuggler in streaming mode (default: False)
   --layout [LAYOUT]     Run PlotJuggler with a pre-defined layout (default: None)
   --install             Install or update PlotJuggler + plugins (default: False)
-  --dbc DBC             Set the DBC name to load for parsing CAN data. If not set, the DBC will be
-                        automatically inferred from the logs. (default: None)
+  --dbc DBC             Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically
+                        inferred from the logs. (default: None)
+
 ```
 
 Examples using route name:
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 96ced2834..6f1038ec0 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,6 +12,7 @@ import argparse
 
 from common.basedir import BASEDIR
 from selfdrive.test.process_replay.compare_logs import save_log
+from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route, SegmentName
 from urllib.parse import urlparse, parse_qs
@@ -51,7 +52,7 @@ def load_segment(segment_name):
 
   try:
     return list(LogReader(segment_name))
-  except ValueError as e:
+  except (AssertionError, ValueError) as e:
     print(f"Error parsing {segment_name}: {e}")
     return []
 
@@ -73,7 +74,7 @@ def start_juggler(fn=None, dbc=None, layout=None):
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 
-def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None):
+def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False):
   segment_start = 0
   if 'cabana' in route_or_segment_name:
     query = parse_qs(urlparse(route_or_segment_name).query)
@@ -81,6 +82,11 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
 
   if route_or_segment_name.startswith(("http://", "https://")) or os.path.isfile(route_or_segment_name):
     logs = [route_or_segment_name]
+  elif ci:
+    route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
+    route = route_or_segment_name.route_name.canonical_name
+    segment_start = max(route_or_segment_name.segment_num, 0)
+    logs = [get_url(route, i) for i in range(100)]  # Assume there not more than 100 segments
   else:
     route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
     segment_start = max(route_or_segment_name.segment_num, 0)
@@ -132,6 +138,7 @@ if __name__ == "__main__":
 
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
   parser.add_argument("--qlog", action="store_true", help="Use qlogs")
+  parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket")
   parser.add_argument("--can", action="store_true", help="Parse CAN data")
   parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
   parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
@@ -157,4 +164,4 @@ if __name__ == "__main__":
     start_juggler(layout=args.layout)
   else:
     route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-    juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc)
+    juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci)

From 25a89d102677ffad42d4c33db41000d1da88639c Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Thu, 28 Jul 2022 00:43:06 +0900
Subject: [PATCH 335/435] navd: include hw.h fix (#25297)

---
 selfdrive/navd/main.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index 3a2fedb7d..b6eec1032 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -5,7 +5,7 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/navd/map_renderer.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 
 

From 787232d762ae42f5f37c454817e82d6697fc0859 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 27 Jul 2022 13:00:56 -0500
Subject: [PATCH 336/435] VW MQB: Add FW for 2021 Volkswagen Atlas (#25296)

---
 selfdrive/car/volkswagen/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 52a03c320..fbbae4c8c 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -226,6 +226,7 @@ FW_VERSIONS = {
   CAR.ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026AJ\xf1\x890638',
       b'\xf1\x8703H906026AT\xf1\x891922',
       b'\xf1\x8703H906026F \xf1\x896696',
       b'\xf1\x8703H906026F \xf1\x899970',
@@ -237,6 +238,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
+      b'\xf1\x8709G927158DR\xf1\x893742',
       b'\xf1\x8709G927158FT\xf1\x893835',
     ],
     (Ecu.srs, 0x715, None): [
@@ -251,6 +253,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',

From 98146f5858241fedfe2b16c26afc20396665f884 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Thu, 28 Jul 2022 01:35:37 +0200
Subject: [PATCH 337/435] Gather quectel GPS data (#25300)

* bump cereal

* Use old name

* back to default
---
 cereal                              |  2 +-
 selfdrive/sensord/rawgps/rawgpsd.py | 13 ++++++-------
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/cereal b/cereal
index 9ae66d071..5fce93da7 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 9ae66d07129dcf1b5d6fc5167bbc89691a56d24c
+Subproject commit 5fce93da72fbd7cebd025ebdc58fa3ef3b4a3fd5
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index 3aa6d4b07..14f0fe387 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -81,10 +81,9 @@ def main() -> NoReturn:
     LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
   ]
   pub_types = ['qcomGnss']
-  if int(os.getenv("PUBLISH_EXTERNAL", "0")) == 1:
-    unpack_position, _ = dict_unpacker(position_report)
-    log_types.append(LOG_GNSS_POSITION_REPORT)
-    pub_types.append("gpsLocationExternal")
+  unpack_position, _ = dict_unpacker(position_report)
+  log_types.append(LOG_GNSS_POSITION_REPORT)
+  pub_types.append("gpsLocation")
 
   # connect to modem
   diag = ModemDiag()
@@ -204,8 +203,8 @@ def main() -> NoReturn:
       vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
       vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
 
-      msg = messaging.new_message('gpsLocationExternal')
-      gps = msg.gpsLocationExternal
+      msg = messaging.new_message('gpsLocation')
+      gps = msg.gpsLocation
       gps.flags = 1
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
@@ -220,7 +219,7 @@ def main() -> NoReturn:
       gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
 
-      pm.send('gpsLocationExternal', msg)
+      pm.send('gpsLocation', msg)
 
     if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
       msg = messaging.new_message('qcomGnss')

From e3e694096a3a79e663712797e559e729e6818c7c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 27 Jul 2022 17:24:16 -0700
Subject: [PATCH 338/435] thermald: remove modem registered workaround (#25288)

---
 selfdrive/thermald/thermald.py | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index f20c649b4..7277e737d 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -96,7 +96,6 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
-  registered_count = 0
   prev_hw_state = None
 
   modem_version = None
@@ -134,16 +133,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
-          registered_count += 1
-        else:
-          registered_count = 0
-
-        if registered_count > 10:
-          cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}. nmcli conn up lte")
-          os.system("nmcli conn up lte")
-          registered_count = 0
-
         # TODO: remove this once the config is in AGNOS
         if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
           cloudlog.warning("configuring modem")

From b2c1098cd80ff53544c2b65b77c145a5d4af80ad Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 28 Jul 2022 14:58:23 +0200
Subject: [PATCH 339/435] thermald: log modem data usage (#25298)

* thermald: log modem data usage

* add to deviceState

* add cast

* set refresh rate

* bump cereal

* cereal master
---
 cereal                           |  2 +-
 selfdrive/thermald/thermald.py   | 15 ++++++++++-----
 system/hardware/base.py          |  3 +++
 system/hardware/tici/hardware.py | 23 ++++++++++++++++++++++-
 4 files changed, 36 insertions(+), 7 deletions(-)

diff --git a/cereal b/cereal
index 5fce93da7..a4db5e79e 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 5fce93da72fbd7cebd025ebdc58fa3ef3b4a3fd5
+Subproject commit a4db5e79e4fac20a906bd951f75b1b91c06148b5
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 7277e737d..c765af664 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -34,7 +34,7 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@@ -119,11 +119,14 @@ def hw_state_thread(end_event, hw_queue):
           if (modem_version is not None) and (modem_nv is not None):
             cloudlog.event("modem version", version=modem_version, nv=modem_nv)
 
+        tx, rx = HARDWARE.get_modem_data_usage()
+
         hw_state = HardwareState(
           network_type=network_type,
-          network_metered=HARDWARE.get_network_metered(network_type),
-          network_strength=HARDWARE.get_network_strength(network_type),
           network_info=HARDWARE.get_network_info(),
+          network_strength=HARDWARE.get_network_strength(network_type),
+          network_stats={'wwanTx': tx, 'wwanRx': rx},
+          network_metered=HARDWARE.get_network_metered(network_type),
           nvme_temps=HARDWARE.get_nvme_temperatures(),
           modem_temps=modem_temps,
         )
@@ -166,9 +169,10 @@ def thermald_thread(end_event, hw_queue):
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
+    network_info=None,
     network_metered=False,
     network_strength=NetworkStrength.unknown,
-    network_info=None,
+    network_stats={'wwanTx': -1, 'wwanRx': -1},
     nvme_temps=[],
     modem_temps=[],
   )
@@ -227,6 +231,7 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.networkType = last_hw_state.network_type
     msg.deviceState.networkMetered = last_hw_state.network_metered
     msg.deviceState.networkStrength = last_hw_state.network_strength
+    msg.deviceState.networkStats = last_hw_state.network_stats
     if last_hw_state.network_info is not None:
       msg.deviceState.networkInfo = last_hw_state.network_info
 
@@ -340,7 +345,7 @@ def thermald_thread(end_event, hw_queue):
     current_power_draw = HARDWARE.get_current_power_draw()
     statlog.sample("power_draw", current_power_draw)
     msg.deviceState.powerDrawW = current_power_draw
-    
+
     som_power_draw = HARDWARE.get_som_power_draw()
     statlog.sample("som_power_draw", som_power_draw)
     msg.deviceState.somPowerDrawW = som_power_draw
diff --git a/system/hardware/base.py b/system/hardware/base.py
index b052a48c5..c9c02f3a5 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -144,3 +144,6 @@ class HardwareBase(ABC):
 
   def recover_internal_panda(self):
     pass
+
+  def get_modem_data_usage(self):
+    return -1, -1
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 66cb98c60..c3f8c7f82 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -18,6 +18,7 @@ NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
 NM_DEV = NM + '.Device'
 NM_DEV_WL = NM + '.Device.Wireless'
+NM_DEV_STATS = NM + '.Device.Statistics'
 NM_AP = NM + '.AccessPoint'
 DBUS_PROPS = 'org.freedesktop.DBus.Properties'
 
@@ -49,6 +50,7 @@ class NMMetered(IntEnum):
   NM_METERED_GUESS_NO = 4
 
 TIMEOUT = 0.1
+REFRESH_RATE_MS = 1000
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -143,6 +145,10 @@ class Tici(HardwareBase):
     wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
     return self.bus.get_object(NM, wlan_path)
 
+  def get_wwan(self):
+    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
+    return self.bus.get_object(NM, wwan_path)
+
   def get_sim_info(self):
     modem = self.get_modem()
     sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -504,6 +510,22 @@ class Tici(HardwareBase):
 
     return r
 
+  def get_modem_data_usage(self):
+    try:
+      wwan = self.get_wwan()
+
+      # Ensure refresh rate is set so values don't go stale
+      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if refresh_rate != REFRESH_RATE_MS:
+        u = type(refresh_rate)
+        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      return int(tx), int(rx)
+    except Exception:
+      return -1, -1
+
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
 
@@ -511,7 +533,6 @@ class Tici(HardwareBase):
     time.sleep(2)
     gpio_set(GPIO.STM_RST_N, 0)
 
-
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)

From 11da2804f6f0ffdc6d9bc0b146c8a308d6b66018 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Thu, 28 Jul 2022 19:56:59 +0200
Subject: [PATCH 340/435] Support quectel gps (#25299)

* qcom clock gets corrected randomly it seems

* Use quectel gps

* fix small laikad bugs

* Support both

* Support ublox and qcom clock model

* fix laikad test

* fix typo

* Back to original value

* More typos

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/locationd/laikad.py           | 81 +++++++++++++++++--------
 selfdrive/locationd/locationd.cc        | 12 +++-
 selfdrive/locationd/models/gnss_kf.py   | 15 ++---
 selfdrive/locationd/models/loc_kf.py    | 38 ++++++------
 selfdrive/locationd/test/test_laikad.py |  6 +-
 5 files changed, 98 insertions(+), 54 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index b67c48349..830eb3320 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -19,7 +19,7 @@ from laika.downloader import DownloadFailed
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
+from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
 from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from selfdrive.locationd.models.gnss_kf import GNSSKalman
@@ -36,7 +36,7 @@ POS_FIX_RESIDUAL_THRESHOLD = 100.0
 class Laikad:
   def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False,
                valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
-               save_ephemeris=False):
+               save_ephemeris=False, use_qcom=False):
     """
     valid_const: GNSS constellation which can be used
     auto_fetch_orbits: If true fetch orbits from internet when needed
@@ -45,14 +45,14 @@ class Laikad:
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
-    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
+    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
     self.auto_fetch_orbits = auto_fetch_orbits
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
 
     self.last_fetch_orbits_t = None
-    self.got_first_ublox_msg = False
+    self.got_first_gnss_msg = False
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
@@ -61,6 +61,7 @@ class Laikad:
     self.last_pos_fix = []
     self.last_pos_residual = []
     self.last_pos_fix_t = None
+    self.use_qcom = use_qcom
 
   def load_cache(self):
     if not self.save_ephemeris:
@@ -105,17 +106,40 @@ class Laikad:
           cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
     return self.last_pos_fix
 
-  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
-    if ublox_msg.which == 'measurementReport':
-      t = ublox_mono_time * 1e-9
-      report = ublox_msg.measurementReport
-      if report.gpsWeek > 0:
-        self.got_first_ublox_msg = True
-        latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
+  def is_good_report(self, gnss_msg):
+    if gnss_msg.which == 'drMeasurementReport' and self.use_qcom:
+      constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
+      # TODO support GLONASS
+      return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+    elif gnss_msg.which == 'measurementReport' and not self.use_qcom:
+      return True
+    else:
+      return False
+
+  def read_report(self, gnss_msg):
+    if self.use_qcom:
+      report = gnss_msg.drMeasurementReport
+      week = report.gpsWeek
+      tow = report.gpsMilliseconds / 1000.0
+      new_meas = read_raw_qcom(report)
+    else:
+      report = gnss_msg.measurementReport
+      week = report.gpsWeek
+      tow = report.rcvTow
+      new_meas = read_raw_ublox(report)
+    return week, tow, new_meas
+
+  def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
+    if self.is_good_report(gnss_msg):
+      week, tow, new_meas = self.read_report(gnss_msg)
+
+      t = gnss_mono_time * 1e-9
+      if week > 0:
+        self.got_first_gnss_msg = True
+        latest_msg_t = GPSTime(week, tow)
         if self.auto_fetch_orbits:
           self.fetch_orbits(latest_msg_t, block)
 
-      new_meas = read_raw_ublox(report)
       # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
       new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
 
@@ -123,7 +147,7 @@ class Laikad:
       est_pos = self.get_est_pos(t, processed_measurements)
 
       corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
-      if ublox_mono_time % 10 == 0:
+      if gnss_mono_time % 10 == 0:
         cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
 
       self.update_localizer(est_pos, t, corrected_measurements)
@@ -139,20 +163,21 @@ class Laikad:
       dat = messaging.new_message("gnssMeasurements")
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
       dat.gnssMeasurements = {
-        "gpsWeek": report.gpsWeek,
-        "gpsTimeOfWeek": report.rcvTow,
+        "gpsWeek": week,
+        "gpsTimeOfWeek": tow,
         "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
         "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
         "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
-        "ubloxMonoTime": ublox_mono_time,
+        "ubloxMonoTime": gnss_mono_time,
         "correctedMeasurements": meas_msgs
       }
       return dat
-    elif ublox_msg.which == 'ephemeris':
-      ephem = convert_ublox_ephem(ublox_msg.ephemeris)
+    # TODO this only works on GLONASS, qcom needs live ephemeris parsing too
+    elif gnss_msg.which == 'ephemeris':
+      ephem = convert_ublox_ephem(gnss_msg.ephemeris)
       self.astro_dog.add_navs({ephem.prn: [ephem]})
       self.cache_ephemeris(t=ephem.epoch)
-    # elif ublox_msg.which == 'ionoData':
+    #elif gnss_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
   def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
@@ -303,24 +328,30 @@ class EphemerisSourceType(IntEnum):
 
 
 def main(sm=None, pm=None):
+  use_qcom = os.path.isfile("/persist/comma/use-quectel-rawgps")
+  if use_qcom:
+    raw_gnss_socket = "qcomGnss"
+  else:
+    raw_gnss_socket = "ubloxGnss"
+
   if sm is None:
-    sm = messaging.SubMaster(['ubloxGnss', 'clocks'])
+    sm = messaging.SubMaster([raw_gnss_socket, 'clocks'])
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
   replay = "REPLAY" in os.environ
   use_internet = "LAIKAD_NO_INTERNET" not in os.environ
-  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet, use_qcom=use_qcom)
 
   while True:
     sm.update()
 
-    if sm.updated['ubloxGnss']:
-      ublox_msg = sm['ubloxGnss']
-      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay)
+    if sm.updated[raw_gnss_socket]:
+      gnss_msg = sm[raw_gnss_socket]
+      msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)
-    if not laikad.got_first_ublox_msg and sm.updated['clocks']:
+    if not laikad.got_first_gnss_msg and sm.updated['clocks']:
       clocks_msg = sm['clocks']
       t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
       if laikad.auto_fetch_orbits:
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index c33ff6a49..ffdd649a8 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -443,6 +443,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->time_check(t);
   if (log.isSensorEvents()) {
     this->handle_sensors(t, log.getSensorEvents());
+  } else if (log.isGpsLocation()) {
+    this->handle_gps(t, log.getGpsLocation());
   } else if (log.isGpsLocationExternal()) {
     this->handle_gps(t, log.getGpsLocationExternal());
   } else if (log.isCarState()) {
@@ -490,11 +492,17 @@ void Localizer::determine_gps_mode(double current_time) {
 }
 
 int Localizer::locationd_thread() {
-  const std::initializer_list<const char *> service_list = {"gpsLocationExternal", "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
+  const char* gps_location_socket;
+  if (util::file_exists("/persist/comma/use-quectel-rawgps")) {
+    gps_location_socket = "gpsLocation";
+  } else {
+    gps_location_socket = "gpsLocationExternal";
+  }
+  const std::initializer_list<const char *> service_list = {gps_location_socket, "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
   PubMaster pm({"liveLocationKalman"});
 
   // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"});
+  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
index 5c9cb4b3d..0d661dc32 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -39,12 +39,6 @@ class GNSSKalman():
                        1e14, (100)**2, (0.2)**2,
                        (10)**2, (1)**2])
 
-  # process noise
-  Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-               3**2, 3**2, 3**2,
-               (.1)**2, (0)**2, (0.005)**2,
-               .1**2, (.01)**2])
-
   maha_test_kinds: List[int] = []  # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
 
   @staticmethod
@@ -120,7 +114,14 @@ class GNSSKalman():
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
 
-  def __init__(self, generated_dir, cython=False):
+  def __init__(self, generated_dir, cython=False, erratic_clock=False):
+    # process noise
+    clock_error_drift = 100.0 if erratic_clock else 0.1
+    self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
+                      3**2, 3**2, 3**2,
+                      (clock_error_drift)**2, (0)**2, (0.005)**2,
+                      .1**2, (.01)**2])
+
     self.dim_state = self.x_initial.shape[0]
 
     # init filter
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index b1ed8599f..25bf36d2c 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -91,22 +91,6 @@ class LocKalman():
                        0.05**2, 0.05**2, 0.05**2,
                        0.01**2, 0.01**2, 0.01**2])
 
-  # process noise
-  Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-               0.0**2, 0.0**2, 0.0**2,
-               0.0**2, 0.0**2, 0.0**2,
-               0.1**2, 0.1**2, 0.1**2,
-               (.1)**2, (0.0)**2,
-               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-               (0.02 / 100)**2,
-               3**2, 3**2, 3**2,
-               0.001**2,
-               (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
-               (.1)**2, (.01)**2,
-               0.005**2,
-               (0.02 / 100)**2,
-               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-               (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
 
   # measurements that need to pass mahalanobis distance outlier rejector
   maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]  # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE]
@@ -345,9 +329,29 @@ class LocKalman():
       msckf_params = None
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
 
-  def __init__(self, generated_dir, N=4):
+  def __init__(self, generated_dir, N=4, erratic_clock=False):
     name = f"{self.name}_{N}"
 
+
+    # process noise
+    clock_error_drift = 100.0 if erratic_clock else 0.1
+    self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
+                      0.0**2, 0.0**2, 0.0**2,
+                      0.0**2, 0.0**2, 0.0**2,
+                      0.1**2, 0.1**2, 0.1**2,
+                      (clock_error_drift)**2, (0)**2,
+                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                      (0.02 / 100)**2,
+                      3**2, 3**2, 3**2,
+                      0.001**2,
+                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
+                      (.1)**2, (.01)**2,
+                      0.005**2,
+                      (0.02 / 100)**2,
+                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
+
+
     self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2),
                       ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
                       ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index bc7a0d7fa..418625f9b 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -28,7 +28,7 @@ def get_log(segs=range(0)):
 def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
+    msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
       if return_one_success:
@@ -152,7 +152,7 @@ class TestLaikad(unittest.TestCase):
     self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
     kf_valid = False
     for m in self.logs:
-      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
+      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
       kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
       if kf_valid:
         break
@@ -201,7 +201,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=False)
     has_orbits = False
     for m in self.logs:
-      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
       if laikad.orbit_fetch_future is not None:
         laikad.orbit_fetch_future.result()
       vals = laikad.astro_dog.orbits.values()

From da8d8a212141571d2f07ce944af380edae9e62dc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 28 Jul 2022 11:02:42 -0700
Subject: [PATCH 341/435] Toyota: FW fingerprint on bus 0 (#25277)

---
 selfdrive/car/fw_versions.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 1c696b8ed..0ed8cc542 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -144,16 +144,19 @@ REQUESTS: List[Request] = [
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
+    bus=0,
   ),
   # Volkswagen
   Request(

From e77dc1ab444ce41749d287337ace74f32170cd65 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Thu, 28 Jul 2022 13:10:01 -0700
Subject: [PATCH 342/435] Lateral Acceleration Error alert (Sensor Invalid)
 (#25291)

* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref
---
 selfdrive/controls/controlsd.py |  2 +-
 selfdrive/locationd/paramsd.py  | 20 +++++++++++++-------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 47a15c6ec..2f7c85aa7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -347,7 +347,7 @@ class Controls:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index ae67dc28a..86672b046 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -16,6 +16,8 @@ from system.swaglog import cloudlog
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
 ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
+LATERAL_ACC_SENSOR_THRESHOLD = 4.0
+
 
 class ParamsLearner:
   def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None):
@@ -31,6 +33,8 @@ class ParamsLearner:
     self.active = False
 
     self.speed = 0.0
+    self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
     self.roll = 0.0
     self.steering_pressed = False
     self.steering_angle = 0.0
@@ -39,8 +43,8 @@ class ParamsLearner:
 
   def handle_log(self, t, which, msg):
     if which == 'liveLocationKalman':
-      yaw_rate = msg.angularVelocityCalibrated.value[2]
-      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
+      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 
       localizer_roll = msg.orientationNED.value[0]
       localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
@@ -56,8 +60,8 @@ class ParamsLearner:
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
       yaw_rate_valid = msg.angularVelocityCalibrated.valid
-      yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
-      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
+      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
+      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
       if self.active:
         if msg.posenetOK:
@@ -65,8 +69,8 @@ class ParamsLearner:
           if yaw_rate_valid:
             self.kf.predict_and_observe(t,
                                         ObservationKind.ROAD_FRAME_YAW_RATE,
-                                        np.array([[-yaw_rate]]),
-                                        np.array([np.atleast_2d(yaw_rate_std**2)]))
+                                        np.array([[-self.yaw_rate]]),
+                                        np.array([np.atleast_2d(self.yaw_rate_std**2)]))
 
           self.kf.predict_and_observe(t,
                                       ObservationKind.ROAD_ROLL,
@@ -173,12 +177,14 @@ def main(sm=None, pm=None):
 
       angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
       angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      # Account for the opposite signs of the yaw rates
+      sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
 
       msg = messaging.new_message('liveParameters')
 
       liveParameters = msg.liveParameters
       liveParameters.posenetValid = True
-      liveParameters.sensorValid = True
+      liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO])
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
       liveParameters.roll = float(x[States.ROAD_ROLL])

From 1f087bceb4a6f569a2f703f348f70048c010ef04 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 28 Jul 2022 13:17:11 -0700
Subject: [PATCH 343/435] params: add put_bool_nonblocking (#25292)

* add bool flag

* cleanup

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 common/params.py            |  3 ++-
 common/params_pyx.pyx       | 12 ++++--------
 common/tests/test_params.py | 11 ++++++++++-
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/common/params.py b/common/params.py
index 2cfca3712..b6be424d4 100644
--- a/common/params.py
+++ b/common/params.py
@@ -1,8 +1,9 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index b3b824852..36c8cf777 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -100,11 +100,7 @@ cdef class Params:
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
 def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+  threading.Thread(target=lambda: Params(d).put(key, val)).start()
+
+def put_bool_nonblocking(key, bool val, d=""):
+  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 906198871..f99ac81a3 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -4,7 +4,7 @@ import tempfile
 import shutil
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
+from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -89,6 +89,15 @@ class TestParams(unittest.TestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params(self.tmpdir)
+    def _delayed_writer():
+      time.sleep(0.1)
+      put_bool_nonblocking("CarParams", True, self.tmpdir)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
 
 if __name__ == "__main__":
   unittest.main()

From 7fee45ad6c5d78c36137db44ae6503c1e57669ba Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 28 Jul 2022 16:42:42 -0700
Subject: [PATCH 344/435] Subaru: log EPS torque (#25304)

* Subaru: log EPS torque

* update refs
---
 opendbc                                  | 2 +-
 selfdrive/car/subaru/carstate.py         | 2 ++
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/opendbc b/opendbc
index 3fcbe9db7..e37049620 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3fcbe9db7211b2f7524b80c351c7cf1f233c1e52
+Subproject commit e3704962060058c1ec1fb48a5aef767153d28fe7
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index b26118697..9246cbde1 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -47,6 +47,7 @@ class CarState(CarStateBase):
 
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
+    ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
 
     ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
@@ -80,6 +81,7 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("Steer_Torque_Sensor", "Steering_Torque"),
+      ("Steer_Torque_Output", "Steering_Torque"),
       ("Steering_Angle", "Steering_Torque"),
       ("Steer_Error_1", "Steering_Torque"),
       ("Cruise_On", "CruiseControl"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 01e762d33..22cc2442b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-66790e176b98244bb76ce19fb1aa943b36c87dec
\ No newline at end of file
+cfe79d760f161a46e48b60c1debe11b8f300e717
\ No newline at end of file

From f1fecc3da7299a45f1f4728c48ff33b225d43eb1 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Thu, 28 Jul 2022 18:52:10 -0700
Subject: [PATCH 345/435] Sensor Invalid Alert (#25303)

* modify text, add soft disable

* Update selfdrive/controls/lib/events.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/controls/lib/events.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/controls/lib/events.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 5fdf2ba29..de666fd50 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -656,11 +656,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
-      "No Data from Device Sensors",
-      "Reboot your Device",
+      "Sensor Data Invalid",
+      "Ensure device is mounted securely",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
+    ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
+    ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
   EventName.noGps: {

From 753f4c7fab565234e455f19e3ca123e44171e042 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 29 Jul 2022 17:46:19 +0200
Subject: [PATCH 346/435] casync unittests (#25306)

* simple extract test

* add test with loopback

* test for chunk reuse

* test seeding

* add instructions

* cleanup

* install casync

* make more tests work without a loopback
---
 system/hardware/tici/casync.py            |  33 +++--
 system/hardware/tici/tests/__init__.py    |   0
 system/hardware/tici/tests/test_casync.py | 153 ++++++++++++++++++++++
 tools/ubuntu_setup.sh                     |   1 +
 4 files changed, 175 insertions(+), 12 deletions(-)
 create mode 100644 system/hardware/tici/tests/__init__.py
 create mode 100755 system/hardware/tici/tests/test_casync.py

diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
index 9dff64239..8ae42fa71 100755
--- a/system/hardware/tici/casync.py
+++ b/system/hardware/tici/casync.py
@@ -40,10 +40,12 @@ class ChunkReader(ABC):
 class FileChunkReader(ChunkReader):
   """Reads chunks from a local file"""
   def __init__(self, fn: str) -> None:
-
     super().__init__()
     self.f = open(fn, 'rb')
 
+  def __del__(self):
+    self.f.close()
+
   def read(self, chunk: Chunk) -> bytes:
     self.f.seek(chunk.offset)
     return self.f.read(chunk.length)
@@ -61,19 +63,24 @@ class RemoteChunkReader(ChunkReader):
     sha_hex = chunk.sha.hex()
     url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
 
-    for i in range(CHUNK_DOWNLOAD_RETRIES):
-      try:
-        resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
-        break
-      except Exception:
-        if i == CHUNK_DOWNLOAD_RETRIES - 1:
-          raise
-        time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
+    if os.path.isfile(url):
+      with open(url, 'rb') as f:
+        contents = f.read()
+    else:
+      for i in range(CHUNK_DOWNLOAD_RETRIES):
+        try:
+          resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
+          break
+        except Exception:
+          if i == CHUNK_DOWNLOAD_RETRIES - 1:
+            raise
+          time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
 
-    resp.raise_for_status()
+      resp.raise_for_status()
+      contents = resp.content
 
     decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
-    return decompressor.decompress(resp.content)
+    return decompressor.decompress(contents)
 
 
 def parse_caibx(caibx_path: str) -> List[Chunk]:
@@ -120,6 +127,7 @@ def parse_caibx(caibx_path: str) -> List[Chunk]:
     chunks.append(Chunk(sha, offset, length))
     offset = new_offset
 
+  caibx.close()
   return chunks
 
 
@@ -139,7 +147,8 @@ def extract(target: List[Chunk],
             progress: Optional[Callable[[int], None]] = None):
   stats: Dict[str, int] = defaultdict(int)
 
-  with open(out_path, 'wb') as out:
+  mode = 'rb+' if os.path.exists(out_path) else 'wb'
+  with open(out_path, mode) as out:
     for cur_chunk in target:
 
       # Find source for desired chunk
diff --git a/system/hardware/tici/tests/__init__.py b/system/hardware/tici/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py
new file mode 100755
index 000000000..8724575ad
--- /dev/null
+++ b/system/hardware/tici/tests/test_casync.py
@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+import os
+import unittest
+import tempfile
+import subprocess
+
+import system.hardware.tici.casync as casync
+
+# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
+# sudo losetup -f /tmp/img.raw
+# losetup -a | grep img.raw
+LOOPBACK = os.environ.get('LOOPBACK', None)
+
+
+class TestCasync(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    cls.tmpdir = tempfile.TemporaryDirectory()
+
+    # Build example contents
+    chunk_a = [i % 256 for i in range(1024)] * 512
+    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
+    zeroes = [0] * (1024 * 128)
+    contents = chunk_a + chunk_b + zeroes + chunk_a
+
+    cls.contents = bytes(contents)
+
+    # Write to file
+    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin')
+    with open(cls.orig_fn, 'wb') as f:
+      f.write(cls.contents)
+
+    # Create casync files
+    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
+    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
+    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
+
+    target = casync.parse_caibx(cls.manifest_fn)
+    hashes = [c.sha.hex() for c in target]
+
+    # Ensure we have chunk reuse
+    assert len(hashes) > len(set(hashes))
+
+  def setUp(self):
+    # Clear target_lo
+    if LOOPBACK is not None:
+      self.target_lo = LOOPBACK
+      with open(self.target_lo, 'wb') as f:
+        f.write(b"0" * len(self.contents))
+
+    self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
+    self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
+
+  def tearDown(self):
+    for fn in [self.target_fn, self.seed_fn]:
+      try:
+        os.unlink(fn)
+      except FileNotFoundError:
+        pass
+
+  def test_simple_extract(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as target_f:
+      self.assertEqual(target_f.read(), self.contents)
+
+    self.assertEqual(stats['remote'], len(self.contents))
+
+  def test_seed(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    # Populate seed with half of the target contents
+    with open(self.seed_fn, 'wb') as seed_f:
+      seed_f.write(self.contents[:len(self.contents) // 2])
+
+    sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as target_f:
+      self.assertEqual(target_f.read(), self.contents)
+
+    self.assertGreater(stats['seed'], 0)
+    self.assertLess(stats['remote'], len(self.contents))
+
+  def test_already_done(self):
+    """Test that an already flashed target doesn't download any chunks"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    with open(self.target_fn, 'wb') as f:
+      f.write(self.contents)
+
+    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as f:
+      self.assertEqual(f.read(), self.contents)
+
+    self.assertEqual(stats['target'], len(self.contents))
+
+  def test_chunk_reuse(self):
+    """Test that chunks that are reused are only downloaded once"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    # Ensure target exists
+    with open(self.target_fn, 'wb'):
+      pass
+
+    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as f:
+      self.assertEqual(f.read(), self.contents)
+
+    self.assertLess(stats['remote'], len(self.contents))
+
+  @unittest.skipUnless(LOOPBACK, "requires loopback device")
+  def test_lo_simple_extract(self):
+    target = casync.parse_caibx(self.manifest_fn)
+    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_lo)
+
+    with open(self.target_lo, 'rb') as target_f:
+      self.assertEqual(target_f.read(len(self.contents)), self.contents)
+
+    self.assertEqual(stats['remote'], len(self.contents))
+
+  @unittest.skipUnless(LOOPBACK, "requires loopback device")
+  def test_lo_chunk_reuse(self):
+    """Test that chunks that are reused are only downloaded once"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_lo)
+
+    with open(self.target_lo, 'rb') as f:
+      self.assertEqual(f.read(len(self.contents)), self.contents)
+
+    self.assertLess(stats['remote'], len(self.contents))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index bd12b878f..379df37ad 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -14,6 +14,7 @@ function install_ubuntu_common_requirements() {
     autoconf \
     build-essential \
     ca-certificates \
+    casync \
     clang \
     cmake \
     make \

From 22408781f7d7df5ff0395f80c1b15d6407acd0ff Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 29 Jul 2022 13:52:24 -0700
Subject: [PATCH 347/435] Remove RHD toggle: determine by driver side instead
 (#24802)

* driverview

* auto choose

* useless

* remove

* modeld not use toggle

* remove from params

* should have commissue anyway

* delete icon file

* deal with init more elegantly and prohibit switching when engaged

* nonblock save when not unstable

* filter very low speeds

* a few more secs dont harm

* draw icon

* match

* radius

* use const

* ref commit

* new transs

* put_bool_nonblocking

* 5k route tune

* ref comm

Co-authored-by: Comma Device <device@comma.ai>
---
 common/params.cc                              |   2 +-
 .../offroad/icon_openpilot_mirrored.png       | Bin 18150 -> 0 bytes
 selfdrive/modeld/modeld.cc                    |   5 +-
 selfdrive/modeld/models/driving.cc            |   8 +-
 selfdrive/modeld/models/driving.h             |   2 +-
 selfdrive/monitoring/dmonitoringd.py          |   9 +-
 selfdrive/monitoring/driver_monitor.py        |  20 ++-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 selfdrive/ui/qt/offroad/driverview.cc         |   5 +-
 selfdrive/ui/qt/offroad/settings.cc           |   6 -
 selfdrive/ui/qt/onroad.cc                     |   4 +-
 selfdrive/ui/qt/onroad.h                      |   2 +
 selfdrive/ui/translations/main_ko.ts          | 156 +++++++++---------
 selfdrive/ui/translations/main_zh-CHS.ts      | 156 +++++++++---------
 selfdrive/ui/translations/main_zh-CHT.ts      | 156 +++++++++---------
 15 files changed, 270 insertions(+), 263 deletions(-)
 delete mode 100644 selfdrive/assets/offroad/icon_openpilot_mirrored.png

diff --git a/common/params.cc b/common/params.cc
index 1ead28d6c..11b24fe9c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -124,7 +124,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
-    {"IsRHD", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/assets/offroad/icon_openpilot_mirrored.png b/selfdrive/assets/offroad/icon_openpilot_mirrored.png
deleted file mode 100644
index 23a7d5a5528b7811887b68448dad93be1705e48d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 18150
zcmW(+1zgi_6Cd3@y1PdA=<b*_f^5V9K}w{%JETiWL<MxDG>k@iC{mJ2OGrrb?*D#1
ztLORMbI(0@Pu+cQNhU_xB!mov004kQS4ZOs0DuYn?~RX*uGxJV=868oc2PA{1ppc{
zi0)uG=rWt5&J#lbAeaXLh>QgQZqQYcy8yr|Q2<~c3IKo$003I=k`9Oh`T?eczP1M7
zF(G537hNLo*0Fwx{zg*)>;dmvT+h%y@ceWQHSvC7<IzyE`MPZ8005ecx*DoxflGf%
z14^hhFNcgL`!cy4F;z_{xcPK|W@gx`8e)y{QV!2F#g3+9JL0A4-3;lxsd2D1vr5cW
zd?|BED5BVP-@vAhGw7kXJYD}fK6(Z8-j<SqHw-V@zucC7`1Gm6xtt5bKvmOB^>;~x
zxe2|q2_|=DJZ1Ys?_+P_LQHp%(q%+9RWX8M4^MeQdT#-!EQ-PeE{o!fRPa1UznDbh
zlXZOj+K4^Wz^Dd_+6IN&0gu;HQ4Wk!$usIPj=rfC7U_yW+PrhxJjccG<v!mgYp`~*
z<u^Vx!rIN|l8hxj{`z<L(hkDgP~mNdH;e2-TDsU$$>d1X`wU#UOA}oiLkD&!|2CSy
zft02=4CR|+1*yVU0HwiQ<FsT+c)^TrnNXQ+M_e9<Xlp(pO@2bD<i38#8N&J*LYMM_
zW||R?K@EdJYy*kT>T160DlH08R}+yDHlxh>P5BTp&Smilup7VLvu}KuSO-;DQ=0l_
znHH3QJQye*_I8m&NMlSZO^qpU0B1MyQr5^ucYPsYj4mEl;Mw@LnoIsUF#5#LPbH)|
z`Hn8uQrZDK9@b_pBE%I0sUnZ0o}u|O%VJ)g8%yZG6A$C#dH&cR@r^Guj@pO5V?Feb
zdLWefrizv4z1>w3L!2=}L0FTvnY!#5GxdC>a?dcfx*Pjg6hqw0Kx|=ETH8cQlpe<@
z!@0Jy!IMt!G=?~JD+bysB5-+5^XtSW2Kz1dyGs8JQYk|16Q-5;aT6^YZOR5Z)~bA?
z@4hh%ajycoJT)x8WzA>hI5~(a^_$pv!WpFqQ)bpNSK{@vc<Q;vtYeH%ldO4!IQ8B`
ztfI|*Bs?{R+?e%92VFyBqu?3MnXctp8}#og6+P9pOBpFtP^WUMGDL5kV_BsLjZg4b
zqVY^jZ4#c~50V8=rsn5Scz)xfj33#2wvv>L0_PMIME#hVcG4Ti7kmyRK;8tB|JW~g
z9<_@5GBf9qn@6Gbjc+sl#R>V6eys`RFOkqxnMq$adYF0|2dNdY-3d8^-hqiiBN^67
zM<Gav)8IX15P!~_kwx>B8*{Rh)&{?Xu8oG3NmU{S&46JbrPSM3eDn0lHIrs;6fl*v
zO8kQ4gA<@p&U}TeBl#O?iE2%3W~pSga^&~jC{r|TIy-J<LLsLR=jeL~5MO@FS~An3
z;tG3~RdFKJjb2qVjl+HcW4fZDnQ+LZafVjWZ>{mpq)L`p8p-I&U9U#Lfpxq||1;v=
z<Qw1LKF1Rd&u?{Ha(jUcth;{4E4xoO0idYcQ`xWRF<>G?6<p(WQ}9Wj1LY7B&-D9$
zD&_XmMdM8#qd1~flba*i`fixwyuS0~sJG$2yyg+q9mmJiU8{mRE2PM03e>9;fQo0Z
zj=66WHJ>ozn0k}F(S4mv8G^t#Xi(beU2dT2B)!d#GJDHG&7W}B3;Mcq1|j%vVgm-1
z6=W<=V!Khi=4yZ-l$5k2+^EwRlB?xd4;m+thSazgDlH1E=00W`UM@-hP74-!gw&I{
zqzLo+wgN#<mT&9(E3vi_gC4J6BPB~>!FWoQuOfPB9!1ymQZm{3)1rk=DU5P0U{OD>
zsGG#_n#6buOk=IMM@084#nN*v9OJxB$(k%|VjsCmAqdd3!JifBx5fq|9uvb%AmTYK
z83h`{8M-ueFZ!pabV@p{e~1R|;&lQ3gCXofO6s7#>4HcCcvdrTy5jIlsszN^MnBr1
z@5Q!^8%6kQ4J{<+DbJ@Y3ksPKQN<B9RCV=2JTA!$!_Fp?S=KzIOvowbGs%!@=POMV
z9nNRua>dQ9roo6wYTvir<5!w7!LqdVvkcmL?nx=_ZBrAuG#g~PFd!)5aWmMBTC53!
zQxwQKf$PTpFc9n-lQIjIWMn@?ItEJ64-3BT;|t^oPH-@u2`fm2(Z#!sd2dkTj#n}Z
z4{OTm+2|Ui4jRrzkW%_oK?UCQWk;2jchhp7Na5m~QPcnpR3&UvjbsgNbhAAA|G*=g
z@xN#+@mW!I&pxrytT-IfIUfk<2r)+@z~C*L=FE8rcG;#<lbubhJckFci}bj%q&XRL
zY_uU!2&LAK;l9aWOSQ}JPT#xxTGJ+$k`^=~LTA<}n=I21?U&w<e{dQkoTU_n^LmU0
z#8b-24PSUY{`PYrrqz%OeSFk+m4WThY{s|7&KL%jo<M5Sg;IKyrM}XkbA&%s($a#k
zPx2wn@vZUm9*=b#)FLD~(s@Dq20WG!bU5X0$W2I~Q1}@a;nk4wID((?5XbUnupRYd
zl>P8GE%8lY*eHzQ^M=(PRT$k`Lzf>sClsdbnb!mUn>j^mWe64=!#p@qUf~J*dWJ|;
z4cE#pnK^NT>)O+|UzG-kS$`eG!L?YgvgHihf7uZ8Lw84G3`fvA^IR$`1#<X4;QbSX
ztk*B5J$*J>FA2R@-};FUUS^$t&s4_^aSM>ZKT%81>7gSPg?Oo80Xn@q&vR8?PptEP
zD^<nBW^9!Cr)y8cHKzPZ<td#KcNj?~m&8>=kp}t3heN8whFZHWJus~<QOcR=-kGtl
zNXWkJINQJt6FH!1bh8RosH1141PG`Ixn_6Qb5Y}Gkp2~bq9q!8(?L1tVr3Wl+?=M@
zBpaW~qaTSfLQ;T9#<dr8?%b{erL(4@DV05j#`-O%J}W!}6X{~gpNPzwc1M<0zbxk>
zB>B9fH+$g1T&(B9PO$!G0;n*?ctzGdO)L)@;?-pRc)ae6l1r47427JWA8q$ukV*)g
zScP-Qjytd(=TE6P!NkIaU8&agW}Lr4IcLplrgcVGbqj_u9BTY<L~_&ZeXu_N1~(k+
zD|hgWii7wsT?J!4BU1hDlI5+kSQ8CL_diHYgZjmpg#0*ocR4;gMG6gV|307nUY!RG
zG9s6Y+dKSdH{cXCbWInKZ0izZ^#pu_-}kkI$M@!;##}g?WPZ~m%l!p$MrOL=uM^iS
z4z7d1B)?zD#9dKOu|Kux*6}e1C2siGvU#I!8XD0LnCgTZSG;Kk8n|DcK!t=a?)|FI
zyih)ZsF@R%qm%ok+fr?PZ5Fk_uD;Ye*1$Ty6+Kbt3#0S<o8sEAMcECpo*&4S;iuJA
z7SY(I*TzSu*8(M<Qm{88bHgG&-e(Ixn3E>d_`I36+~f+wq~rvReCT;o1nPM&sFr&N
zb6X=4PIu<td#?`A_v!jv<BYYeKT?OyxVnB;c@8tkPM2F3o!sFUQQm(;q&ItFR^}Ct
z_nh?$dBN8Qr8lV{rD?Ohf?V&uCwB{$wYyd0Lxhp>W!Hfm^Ji*%iMig$gRpL#YcorR
z-$ZMtr(Ab~A5o_Q8!<J$6&aR$@~Bf>a;2Ruf-95!OMxULA=CC&?oFa!7e<WCZQc#>
zsvvVcCA{FPWmu<8(}E^=6@WZz|4}no)0F1dtar6>vGRM4y0h3tUz?FUP(bE3=R8OO
z0=D61K=51M`h9=bl<wDz5vlD{XiV_<#<{x6yb>$p^u^)=>aBhB)RViR8mHd!>1ygu
z1a|M=z5UV&6lzwFXX#23DG(#0JMvM3f}v+K+dMRXFk<(rQG|bWiWHS4FdO&px_N71
z8I`5SedTYD>U{Pk)_kRZJS-R&We0we^sCh|p6r8N|I&Z73H1d>1K&%A(otDAr3=}i
zA6_Zg)shQ5^nrU6x|jR2-*R3^e5elN?^jl1O%QlMI)=7?+~JwU&A;nUh`pS@U`p=2
zYPL34-jlu8+ffeHfg9UZ)?Sf~pSiGpI!dVCI_J!Fxj}r|vTGsG#I=|HHkEpp%+2z9
zfcRRby2|V|ecmtV&W|hH`ONe=XF^lC;UGf$-1H~9{#Gjq^doZ|U3eX25@Pl_=@1Cu
z-Hj-8O&_dhIo7!nwErdxUDpT`xCQsF9%rSaG&lFXi?^B;*_o><nPP{oOSc5WMHuz9
z-Q?Z4ON_OGjKEr&V?=W$KYrMfH|$x4{`Bd8{mQwN($(tg^~wDRN^HsC2hN0VQQhNS
z7Xfzxf|ysfHCeFQu{rmnp6!+-q~pGb5?bQb(Vg@iU77v<bLl%bNqrsd_k3|ky^`Z|
zMNuWp@1Fy+=YWRW6etP-JqRLx>)FK?iXzx>hQNq5dCHl451*QwCXnF^IF#23(e4-f
z>~;3OADatzMsB(Z#363yWyV0jz$Uq+{YEw^RZ|+t+bz?a!1c8frTbe0aF50uY650H
zVbGeNZVcIs`^n6J6V&1tn)LQ<^Bl?MaSpnc61n$n;Gz!1Y=1}K(=PVa9W~3Z=P)B{
zhw-=FFZA?X6@^48_trALf|SK;8Wv<bX+4KQv7Oj=Sk~+Z-EN{PN(`$M#*%Jji&$59
z)&P4kwSpEHta(Z}?PDb;4I<*Q&R%A&hSE-FrW-*#*1gpyL9MUTg<FBdukxacs~t^&
zPfvtgj<eU)5D!T|z(kK>XoqBo#o)J&%W-amuC}GwN$yom)l3Ae$j>j?fy!cAPy0Bp
zTfq?A(Xama4YGa^RO086?7-OSE&X0D_XBE{n(6X7J$mX_5UPPcnP_2hHYEO#hxw^0
zdyQOib189%kbrJ-Q@>HMwI;ar4l8^C(sy6YX$lNLlr$+LRGA)jvQ{>^7Jh?7n2Rgh
zVrzVAvj0sfy%A<!-az&obA6l0G+==M$xdi^k6C=X{G1YSm-=Qo5G<%H{$y4}24`)X
z9=Nd!)=>x+XYb1h1P*c3^_d&3sta1_fm>r#{e3AnE#`C54Ip>XJ8}X!|8o4CZm~d9
zI7XOV7GQDBQ>vcBUt!IhY>e2a;k+Ah^%fbGfw68Sd%wERbN!qER)xh(v8}Pc-=anC
zh1nhXI#9dlYUB3&VXFhZ;bhLQ)aeT;r5iHaLm2rydHra&H&@LkKI5HARoiADUDrdZ
zW<#;5m;oH(RG1x8m~4;c{$RZ}hQ<7INn7{%Re4N6?k`h~%K&mCD;X_QpuT8sHgi`K
z4WXg^uRYQmssq0WUrksTFU||kEQ0N)conwnVaY&ld_+P_zz^Rj-`5HQs%$nvY7hXx
z;ALakg5m?7_-HWsQ@@w2nu}ylW!qZp56&pXq+hN3|I;sH&?KO|TR?Umsz#{OIVeWj
zTN~UA^66!+XRUbLhqWR{x^)-(qvlFQ!fb%tt|u&b$IT=6*~%*&SK+7{4M;SeDRUjK
z-Sq2+L@&5qu!+Tlpk5zTA5Xm~;D+;O_$%c{uzE73_`>+j?F-o5fs(;WqdSz~kW^k+
zRk3LV_Ab{J0TQTE_*&H;6`{>WGW7CZFy6q4gLB88M;yWYw1H%q^e%w&L9!5)#YLpR
zKm_Xqk5g|KUxl+jd<m5qm&RE6EWLrtU^bxpKHd>RJ+giGW2!)=FkKlTyyM87=TNu^
zV)l|0i}<@1xawO)#%@%V*rbhYw0g1lbGSe{FFW%aLcvI@v?PMJsyQQJH5GklCpxWN
z<SR|u?R#Ps`#g_Paoiwr=l3bY5LV#N#`SG@@^6}KQkJB5@ADl=we@SqHjM9*gRZE1
z(JnTR5YOQWO{hov*s;M*;4_wdh$ywbcb9oP)<kX|Ri-3Da!N%)QvKz(ocSl%<DxjG
zqSO)-q;C8hvHS&TH~z(gAK<EoA{o<spS0|29sX53Q*fY;<bR(4ca4X?_X=wsmAVyW
zMK_{4t*vM-@J6PHF8F3EPX1}=l~t;`!kMhsyB}SF%UzB3n@OraEy)<pi|2IK9m$}}
zI4y8Qd)2Wx>Bt}p#+9_K$r~$srUVFrdz0ZIQPuTD)6(;ltXSR(p{31G4Ij&YLRSP^
zqF*PnXedJ$=uEfDrcC%A#f^t=P=TqH%7=NmK|=}-E!~O8WY?HhSK2EIe8xJYDDe<q
zlevvfX2S#NO6+rZfQLxhBA*pe3alypn5M*4+L}b3W2T%QTp?6sH5ouRI><#lWFnz&
zqa(WER^Z%j>=V<_%~^I4M)5e^i=BY;?gaFZAXsm_NWwUN4W6b1iLhG9_W8bxNWK^q
zyP-;P%>B-LUhLC#J-!3NqkFf>WE(Z^Q`h_&&_IfHN;16fbQ&YOYx+&9cM%v^=*$~3
zyoQZOOXK)7yze6XzJZjv_=<n|`LToY{4G$-s64erTa1p@I@KR9U1qOmM;1D>9%`GQ
zU%?0jPO@GR+7}d}#D8t<6}Yt+HxQURTDw!vv0IY}LSLR`{+Ljwc}m1y7gy|E_1pT>
ztcy}`)fa1aA$6K?tj^oSXD&UU8_fp#A*#TsN`#^;vaW^Uc_P%!HtOlj(%(|}UzNMW
zH+19&j@`RRtpZpJ@^pKp(jGYQTQ7$Dy)$G1Z@7$5J}O4YN1{XJ3-oe|Cp7&H{7o}4
zy)2=>rES@hbG2lv)JhU9YhVi*Z*jH705OIFjm$b69g(0A<Eh}iDJn&Y-^KqC`}RCW
zj2LIo0cgL;kW$$r8u5j}X?;VkjjXgj{ge-HG5%TL2<Ua*hDeF~E1^9tGl>wQ2;D3#
zq@Gm@<t2wk%&$GsMy^i--LiHz+P~Q2*M(9I-cWz&qA#<0al$ZHb3zNe54{1WNMoex
z(G){p^(213(s|L3M+|n5-98o0%gWoN>OM{Qe(5Q+kE6+`X;~Y++PY+;vLSbv;T%Yu
zTb;{AU9)Ldw=LLgCn+3R(4DuYyVH;u^h0wc7{Tsg<ZB(DU1=8)$?YR_H1{l)FXR;G
zS$eQ4m&KsK!lCj{_f`JG5zPy}PmK&eJ0YzEc{`6VZY7IiavqW|P$fJ>VKaGt!DJ$=
z$c)L4e={)dv49A&T$E$?p62`OBLxPsb>V|f5x!Nrl>7;NH;PZ|^aY+xa^LvsQq3w9
z38kA|sZ@?#m$2Rc_FAQDf9Js*38I_&(A=)auTnr?@VrUR)@~t#sP_U9vUQsNk0%=U
z;PfS^|L2LzvL$zT5mc17sk@n&x67-gMa@fzu=@fLymgu_H}c$S6M^%PWYhuY<hqMy
zfwwi|cOoR`ZR+0!M_XIWWDxE_ta?rp%_5@f<#4mTla@4GU87(nqpc`$4+sB#Pxel=
z8(`ee;DxSJoe`B<c7lEyrX-&{{Tjh=Zyv1^7cDm;{Z1Ly2*E4uaQY!j%}H)DJcSr#
zD5Y@bd<B<*VCrT@YT{&ZP=QlJ`&^Kos<OZgA80M`ym29qylxt!AU+)h22Pixi7}1j
zp~UM>;=a!lc3tzeX~UY7#ikcRHw6I)C;Ah^zrj2d^fr!|y;VQ&6}Wd(h*Rnb7>8VF
zmj5!(JBUmSNa=nV*E(;<Zn~ydx67P)`?TKBN5FXE5f8`qPGNF0ZA5AOCnxI$B$SrO
zyUHRvk&nL(gXkJJBZp=aqx1L^=DV8e!GC{a>D&&5lP(DIwzI9GJ56kDk~VWB{RSv6
zp;r1p(&))FI{9CZf1*?Sw+&jKq5CFy*C<G{wWxE*^a*Hat&qljI4tSLe(LC7)jPC3
z<^18Ur}Q&AVse;<?==+QPqoG3Kj?A(&93uxD(5LK&EH{iPid#K?JD5Z<ni(~@9)r*
zpMSji&8<q)<ZzYC-!zkI#%|3LNvO+2obh@f7HoP3NUs@(;%LZj(}r4^28s^TK7e<`
z$K*&jWn<ZIOktO>%%SbS%+;f7e1~Z!cX3%3FE@$vb_B1Of9x9&;HcnDY~yL>CJ>RY
z*?1giY@ZEEuvS4|q%7YPCpp`zyIH0FgNm^<+Gtr3$b4vHPPxX`*C$F!f-HD8w1j#p
z{XKx7?LiUENcJpNE)dTg9eRt}!dIY8-!N=i-fyn`k3>JJn<Duq`k3dnfMKQgK}-H0
z^ZGtRG^dW(^eZ1~wP9V&08j8)^>0E~@g1Ago#<I6$waAOj2jkrHSAiac=Ne=5WX0p
zPuF}wZFo$pRkB2vM_(~Rwveyycxg8LON;6Ub+jioLKO6Dv{Vb~uf`l+{vo{|-q3=1
z#d6H;t24UKoY>r@)B0KZa0@^2;iWly{9D#e2k=m`SGb+=V)6uDCO4+a6qj%fQYny`
z&N5a!6MLTsp_z7Mf1F}d()i*AtYPl>`<uK9YAuQINA%^2J1de7(@EydSHu==ohTa+
zLDT9Ab-v772-y6(AFfbL-ljQT!jk%)Y<^7ve`-fv%O&ChCGHhz^De>WA*vFR4zO4i
zA(J8uNkPs#wl<Xv5{&<q1NGN~{XST|rP}`68}-o%c4pk<r6u-t##(KY&1L>K6;0W1
zK0WCnZyB1ivZ%stw>iF|CaWWnGddho(ryWY#9izP812M>JpQ4&5che`0Fl*1Cw=5!
zEjUh|m3tjA!|w-iuZ+r1LtzQAY0>eP4#GF<PS(tNl-{6+l(nERz`J1M<^_w|75iT#
zldEYXp-sbXYJ_p|`Hs>(^B*aby-Fgd#ZvO|YY}e1AT54d`Z#Drbg38>7D#E^JZHf*
z@>n*DmSCz8(axMHq9xYv1}2Qn_r~oR+7s8d1ePQr3&xA%K6*VQ_tv$%k~9WiX$n_C
zsolA6n(C(HGbo--xLpY!lc!eVn~;@3<yakYddWO4VaY?=z8Czy|M(6sc(>_8dT6jf
zW5serF@96klyvDsDON*2tmk&NmYAwt{ZHmrruF{N$4$ytb3mn5;^dnTQ+ZKhj7<o_
zV$x6#RWYWlGYBrV3EqVX?W<;7D_f>0yqUDBQv%!@3x^xplozG{vCx_Y9mU^~KgCy|
z`nT~_L5!~<JH4SG&br`*#m?DW_d?P|Q16ggNo<E}a(cT6d$q}v8JZUjh4vd%_WtXo
z&JFdrlD9R6+YDvDwai-mB26ccJ)4jWSB#&&tBzw^Cmx?F@)U(7N%!sVCZ_l(MR)uH
z7fc{|cXxu<6y8<6ZW%Tb9dA^Yg8~(BTQL_>zaG8wI@7UDbDw!q>&!c7c0Tg2)uW_(
z2KUQ`!_OW$(nS6%mbJp5DN<4CN1;&4%BHc!o`ZG%R+-~<S{Z5NRv=LVOlVbAuqCN&
ztk2RFR#ce(=i+ig_$;O!`0AwfJHyQEaJk%@k<YdhKNgCF^Z2J)7UrXrZjrYkDOxZY
z&%A-4HUKS~NlLK#kXC49z@&{#TJca@hH<6f(RW`JA8(G1DtYNsUITPU*YncGJt$o>
z7jL+dbTv3Mxfmq1I%QRuKeq3h2zQNvcPOl2xzAwPUx{r`nXSa;pI@7*p?Al-RDuF0
z1==#$%an+Zw8bUu=6Goi0!3EOyO_5(rw2WituSBBkdw@k*F0r<t!v@GW!~lFe-)r&
z(NEN7I08~YkoK}(S<ydsCJxPFD%+T5$N4V)FiwYv;w;yvLywWq>jnwy2KC-L;`u}6
z{h{bj-sB3WPZ^Exleb7i&1Pru+|Ne_;O&nI&Zb>8rfYQwq7(!vV*>^w*<Aox!5Id*
z27^E)hd>3#$8ysBN|r+-7B3hN7G7GVG>x8%X2Yn5pTt%*=@f7!idHBOWb&(RAQYb|
zbicw~s0!;;yl8Y08`?M#;)>})2B2mgqn}#w0$x;K@Z~Kerf);C`Gp2RS}E(Efa<{s
zb}jVY;d;W!z)-yWJ-E+fBsY-K8hsiX|2iD6)uLc-JYky3uLJq>#c$iUVLz>Y#mDl#
zpEI%qY48qKGi8o17ji0dR^Oa>2W3vxc;!Z|*I(kfeRvG{W>SnVCqK(yAdOLg<C>O>
z63B`DfO9C5T!gX#8hZ@HX}!OKf(o2n)2Pvpupw26_<OQzcOaok?+IU9sE>=mkg+d)
zobWb*NJM#y2o6NSfu>60QU{IgsDuD1pm@T*mWzGD+b-_oq}0l2L{D)r4W8GWxF8mG
zlGlvO?Rh@Wd9LsRS4TfFJ3-9UCYqAhIgl$86CwLi*BwGxUKV6zqt;c>y^G13-z{h%
z%igICu{*$v&D`7Q+LB2*$wBildhW~^w;C9mF}dsEubZNiDN~=9W4V&;2$VwW!RJh;
zC&VWfvxzKV_ep~Z1PwHmqz;UrD7&EV%0Hu<lcs-rnjzZA7|^yXGsOEwtG}3xzsHn&
znJ+zSzG85w*I;*?rbzS3z$S)LLQV_j&Z#;?w!P`>Mqm+006V7UCVLKK|3#Y3E`-E|
zQ^f1Ln>f5}WYAoogYoF<BZlQsm^pO(!-Vle<Vn3Iy8S`$l4k6uqB!F%f6aB?msZ~T
z#3hc+HW2hVZMeIU=%t$J&N60@pH?;l#@|C?anKN{80(t8K4QYD?sZ=IU@U`XVj%zd
zTpcNryy~qKpIC(!1;az1C5n<s)W{~1lFHmqR04FKx5hJrvGo>*PYhxm0)%ZupfGKr
z7Mo<~9*A?$R={hTuyrFyzcNQR!Qy^m0znTBE9=l00NB<iGI1!^Ak@=yH%aCae2rDO
zh?XOYl3yo#z8pB_)MR86ErHp5+wp|$Ij~|~-VKBF+Vnpz=#omBS{52X!v=}>>g#)t
z(zs#h5u+PNs-iGUDqAE5A{jLC={SY@_-)#hiQj&JV3&qn>Dok_e&g$pyyU~2HfS<L
zm(nw7$_LS;>-4-rePUn<Su_vqH>}k-vRalR2~nHRfvPS=&43XmZXuPVC}OE(Xw#HN
z7`^|C|GGOgL?dgs)#PwJBJZiO|8&1l9Nmp#$Wbd`7wVIH^`A-*GB_b<)y0YG+eAKf
zozeMk?9YK1E>UQv-@cDjp~u0o4$7rjFR(x}D3}pTR%x0#%*<Oac==y*^g>i=vO+ht
zBBs?vTU#xSV+NFkrhfS<mV*l|Yteh-)(!)-PB`h&vckKY0r?2*4jnY9QwAv<w~z#_
z4&Q1|C2EFdZ3<V8pH+Q!|MjzoHl-8CN)^<xRGoqY^_?$z!XAam^!If$fSXjhnr$g=
zzJJow4dc^#T$>77X1qQA1-^P!{>(%M9Mh9V^h_2;gWHqBZW!rT@<!R{$uh(vmCQyp
z#)6~2DTlUviED=1Y3b2>VIkEdDyd`@Q(K$JumvVXv@U$AzOY2`_-Y})UV(!lnr}cJ
zx~d(`gw-k>mwA;)+TdjhHR<9yV3S>qElyq{Jr0X@h#P?(rU&K|K=(C1C~GM{`^8Br
zS_Jn0<Ti}`+JO+e*<%rBM^A@!4Y<A0n>exAB%VF1dMyeMj=%E`Pl>hV{@aB>)6&VV
zmWuciS#1~V+;p)hlmL*dZd5w?HyTRDl-06{3<y-jEssUxu~g$tX%2<Wq}71uIz%V9
z<4v?m+G1!>Sla?HRIWu~o1Razj?;>)0e1^v9wJ$ns_>;N{y-3tYr{G%NjeA=IUjC8
z{R&eWtZ5WdIy~c<t$?G=i8X$j@F(vja~1Qd>Wd#^kWdGl$dcO;=jXsEE|TvJsAn$~
z@Qy1yr)U}FXsS+QtQ{@Ir~7+nmc9`4A6b*KxqK>F4aLswSS?;4J8*RUbop^zpey5h
z$uO^5^(rvsR3LrC_&F7YBMw?XzkO?ugQQRw3CZE6g30R8m>sc=9V(B}od(Q%zkt8^
zjZCtE2Nl><?pjEot?g)rdj(?$OhVg1Vc0ReZi^O_VIfPFzoD_Az<)F<p@k+4`NHzb
z<lX2Gv%&9e41Ksp{h^?~V=Gr_<{OT@q1pFo9q&`LWbJ5!HQ)S3=b%K^tjoAb>Gd3{
z1T{@-se7dP5ZpWPv^oerM5_usfiP%Sy!CqmWL-=X=W&n7aF8o_L9f@x7ZY6ISY55L
zwmM{DEkkAGuw4vda}k|89A-rY=U}?RKa`s7spOdab-#SPT!T$z&sPCeUh4lj%puhv
z;C|Wk_yz4<_<2#^E{G>HqoVjKevwxd2-R!zM+P@bxLc&D>Bg#iDx#Nx*^`+mJ#?Cd
z-kry)@=!!C<Sw4r%}@_xf#0WhEQCrAb$ak%?920~sM|L32KABDQRp2^>0$7uB;${c
zD&Z3drIZO#iwR!+KqpWhF5Enuc%9Pu3OAN~(AJ<|<cef(A@-+^I>FltY&|v-?Jcfv
zS}(q7O#<?+3OgUOV^DCsVLov&QYumAIRhlwiyzP@m%IuTFT4rB8iDca4GKRO=+u|W
zFW9lIBBy7ULDOg5p=Bx!bkD0uga_L(mZpD4LYNBRL)s@^Zsw!tG>SAY!<C;-7TT68
z$<I+3vYTR#8!O%n4ElJloeb2;BxG0Z9ekPx<J$0R^vChMTd(DAvtzVoS=2ST@6&&X
zv4y9|;-_qRDp2QA{tKe>nz~rU$D{5588nPj`pK+?xJ3$`klDsb&hiNq2`!c}9U}CV
z{uRX4noOUcJ5WWAiF$2nbfp_0byj9xI}0^8T7gsFvJ*Wb-Bvv?MSBYlAXvsoU$+Wb
ztClq$^x17K*i114wDn*pd{~tD+U?L<fahcJ%VK~=n~|vgJ>+WOd5Loeqo4$AvTR%K
z+aR+JZ4%dyQL7_%mB(A4ytjzWU<9qDEL@zSqU^Y#ZD^Pi#f?(s!l9ZOG-zBbACqL=
zbm}4#jL_TK%#SJCmL}|VaY@(0I!jNX{0y(%i{=eY9~LUzz5g)9vB&m0(%8G_dM>;P
zp50Dl__Eh047Q0herX>b{`HC|pnxcK;3@W*!V&NUYH2ov^Jdv9SqKHwC<&PPe)#Hp
zTVYgQVBZKuTUdebNy>_r7*d9y)+g_J=0bG>uMO8Cxd%I%v0ECN_yMJ=Q6w|jeblM~
z0H~kgF5O7y$u9pYx-1*#n_wvOXD^N09?m}{pCb#nrp#isg>Q_FIPI}<OeAcFE0a17
zR}jE&C}#)J{!sVX{bIrZ+0Y`qUL*=rRPnULe#F;+-}X;Ci4>t_>ab!s^Vd2R!O*>d
zsK3Nx+fs!8WLV28vKNokGx0=?H(n}d?2u2(uwKcjeQ{8A!1yGtG_@+$Iq_<D?@lx*
z7#Jkr-1vZO|7moEQTit*ISntbKc}zG@f3(}bPm27XZ30IqswySWhh>|SK>20;qH)C
z=wp5N9PRpD@@>m8)0U+QKP+QI{Wtb?%p67AkS`e<=gzBiWgcH(idtXEgQiu!4h(kL
zZ;KHQs7H8YX|^p)d9+-K^=dkqoZ$x7=PGG{V@JjMLb+Z-v!evXR;|zC=y6s^Ts~=s
za7t)00ia6SBJEXAx3Eioi;*?qSdwaFnYS4pt;1!&u&AnGvO>H4e8`GZ9{9POMF*?}
zfyuaX)E=jbV%Nam#BH*E5_wJZ1N_183*OvW_?Agk0U@o#_^QO_zhQWBoJ^sD-EPbF
zuqB#0k!(`djQ}2>Jw#|qS_%tJgcSTt04L$lY_Q{145ra1PrsE4d?(ux<gvk9mqW_I
zQHQKTQ33#;p{W<r+DtcT1NjX1PS=^YCjlQ+CkEP-G36_N9=(WvS8>S?^2t~f5W)Zu
z`@~$J#s<j#3lE4*{AIV7j4C8^ZC!`Ck-XtQ4!WxQ;)kEL?tWI<9D83N6*%!chLNoI
zv+SV{V+tp;^gh3H6Uj(nuPqm^n5!s-&|C9BCvKy2X|l{FOh|^<#GwW=RXNfpuTPK3
zxxW4LL`y>W0fHrNtj{%t;!Z?I8iTHqvE<XqSro%n@d(Xo7AgCA7ZX=8V1gwS*3iC@
z5Fyy>%O}nIJGG^RV!D8z!s>Q5W=Qcq+$&M(8<Aoy`uL9>Kv)~{XjLJu`6LoUiXJ4+
zsXC0$rHx?z8;*PAYLiv){QqeFHT$+&2VBXVi4iv4tZO;Eu|DSDT@`gl-#Brn6~@Hh
zgg^eoH-G$FoWzqjopyLZk+Ab`@=j1}sq-3t`@!z>wOQo|^T>L*NUvuetlSTuJ#JO}
zm^fry=q&80@R4zGby6Fra}g1<$Q(8DmTYd>LVG$s+{7~eu@FiFtaJTP%6x5EJ+{Wj
z11+u|c(cdGO(S}LTGfmWu8lkfeeLu3W6IU%e`ji=hOrR5t1SKax9^$(ttLMGgqB9C
zFH}cl_jWg7bq9O@%4U@`SGruI!C!t1(?C=(IDt4B><b;&yJ}DEIK~SKE9|c!OvfP~
zjA8Jtr)UKX`*sNnu}4^u{;+!fG4lJ+r?g6-XKM*nhyu&a$Xl0?x~l6y?0;^r#?;|o
znqx8BD73BIT#~J`9?1wr37dwOUM_YjSUUU0USo;qx}Qu4)*Z5A^&T)y%F=nEy%)aB
zPN9~wSE|Z<SEtVQ`Uy(>eOtiKu-s<s3^Qb};{Aif0vofM&M4uoBLv_PV+xY`-doNJ
zgacdSJ3^OF*`7@ZkJlb?wZ*Y~-6|9cv;{|Io+K4=3stB*z&@0IfCr(2p}$%qse}|)
zCi-=S1L!X>Nq8#Sn+Y>OLwiZbx&7!QBea<@r=`D1W0W`(1M1S9by`s0IJa}7!_5{Z
zbf3zw^0&=7Jgakv22TsK81+465zmY(F3nL+rFkU$Xb5PVdu<35SAzs*R0>#F7e$w*
zZ(+(mBMx`_Gy9s!GML_Viz;g|aF!$mGW}Ed_bQaZ!uq3z*mp_6tAseZC~Nn6&@<<0
zYM||3I!t#5u`~AC;Hy9RqUzvCl`|8Q7nptK^Mv!Eb_--g$6{zJ;h#kEpdAt^^y2yu
zJ53ou{6gF(do>(5y1NeS9>)tgu6u~PN6e(8Xm66a|5Fx<HkCg^$Y%6$FmcxROOO>?
zD*jq$DK*U!xt$qp`<e9vOJQIsw8rh78%$ZaSsNy81;TzvY{{#0jPCr#%ku135R31L
zeaig^-zm)d1ty{m*7qasu`TgPz$>o4l)A~p*g@jQLOIf^InQFFFwOPJ3~+_c*Mw%y
zyU`CH!;xxV$1~1awk~Z=NYRtc2oy@F4oSEkUW#|-$5<5RwkP(%L%X~u2GpVBPY8C_
zMQr2Na|5$~BiEO(Bem<O;~6Z!8Psr)I!QlW+1UcmBj)p7O<*dB)FUy|y3PTUOe^L3
z(=WxA&R^%5h}Ok3)=617k$kUY9$S5PG!)a&0*$(3JgermTDMUuxDqLT$fB!n7!Y1z
z7pgE}(I~3UYb_tOmeo{x;wWIzcQD*`yBN1+7)i_CKpids=8SS-6_$!oblTut5nxth
z<8xALQm9L%KCysavpq^_exl)T)P`MdP`S_M5?;o-Nno(*xg%5rZW^i+)_TWn!kR=S
zB;IR2_ig)8WH{)(MWLR7xqfQ({KbqDQMyd)z7II^_bDSf@edYdD7(xR$~lC(TD5U&
z@oprWG>CMm{fl20`DODfUZL9*-;JgiU8J?o70)h#DMo;``#1(%utV1!p~g+@auM5v
zpehBuITQUGoQa+;%<~=`!;sN}qtPJxo(7%+<8Q=Am|}o+Hd|0VlCXCJ)Wp95${Cc|
zWn+#e*M}%ahD0$(x>@0hxQF;QF^&`oY4(CzpC+qX(as$>Z0z=t<^D{It(C`4HWiaS
zy&s(Lw2fzdt4_X|&bEvlSzNz}Ey_kyoH)y8@NNjhaNQ@bb)o3hgn$BjJ(5yLw8WWe
zYJkNyicKWJS5t&)7ipW<pG{Mo;&Y>37n8$kU6T0H15p+R2xOdl%WYLjt<|Vj+3Rt+
zDUc#lx&c*Gm{32B3#m7>1mr<OJw#Gx`6k3`GbUJ0+nC=t8qj#APB?9E)8z)X8sc`8
zm-*rM_}Xu7fy4U<Ee^WEJsb`JgAWUH+r%+{Rm&b-w(&w~+!Q2-=`3_*sS4Y8Fqaty
zzvlDoy1TNrw2t#3h!h>e+$PS*t(gRc<~<hDmf$Td^CjekHLL(pvKJF&EWSQC!PZL-
zJfk4>0k-MC7*^CNStpIX16MPH3c8Bh{~b!pG@QaoEHqDF4hWr`%oEaGh-ST_e0(JV
zm~1cs<BvFPc0kcus{t)xpO!7yGmU)3MZ;bxb6Wo@!o3ene`&0+sB<7L9hHk`7Xudt
zN`IfqfpzgVGI=L^-*N*<-5r&Zt=&Bn_vmg@whD?~NI$jJC49SylTt5-BtCnBuk39$
zsPioU>T_{@8&Hv>llXpQ-9965wbGESrv>D5-|b`wYPC?O!uMmIEJ@Ud3NYx@BEFgq
zo4SQROBFGB2F5?|7~bPqU)FCFduMaFHYH866%=Hf(mnCFQs7`ncU^mKlEs!W%Hg3s
zD6gzBaI@DlTxD)_LR@b2h3XdqfQWTBNxEYw2gX8yfBWDI&-%g8&%X<P7Y=SIICJHa
z`PBH4(<EK9SFD={HhfR~fwGt_#>B~J5D4Vg*DH&rb70xrF+U(;T$pk+GTM~gV*{Or
zAo9`wGtl=<`d+ZLS_FOoQ~B3Ed?OqR-<08OlQ-tkq9%4G3w|%|K(nQ=l2op21S;xo
z8$QgTfpBH4W2e;r8N8jMo;$IuU2RQ~HeDCkPoMaEmQiAysuMa4H+q)7#kR+$fU>(;
zN@gFI5?b5srtOVydwfUNKM-zqZ9?e<9!E$`K(X)WL)4mw4Bq^y#%Nmd>wksst9#o|
ze;8;oP3mP;0>^Q>21?Ae4L8;%KtD>7;NARlnbN*ImHND;QP=;kkeyiv^KO`2Vb>XN
z91?L<c7BvsEkZDq3Adg)J0QF)Tw9oU>HoaRYt(aEx~cVCidy}dzIWF5_Y#FOp593$
zF5L;rb?~iNwqt`1)-zh+A-Eg0kt`0?b=Ma>I6P}F`W^enwQe%I2@W?3u@iEm#-(Ro
zTRTO}tB#950~+!&{!(RhGE3awX75P6To_f07had#Q*qeD*mLK9=P|!dS_^SOefk5W
zS7FG1s^r7Y-!Y7L-<cQ28}qrTWQUmk*<>850*I_Z{eYylGePA%i@Ajyi8p8tct1Ct
zyCsSJoxX3+i?bSG+zt9DnsRFNDTlOLg{Lw0+#G01BhtVW5Z`BpP1E#Xxs?H>9hD~!
z(lxp`NTzX!&MnTAT=nc;bBi%=wu~J6{mLRK!YX}bd;eG#vwi-C|4=B**CDm5=)#mv
z^72%Xv2}9u4o^l8FFT>s0~B^YSkNf~((cKZa>mqcP|(gMp8lh)e{{OjLE}Wlsvl~f
zY1{s>?-6?!xhIACVU%j!`7QXD@9q9y-veZwqw}6A(DBeNtnK}8>k&`sqn*X9;<xJT
zy12cvhW<T=YyO8YlCj8lPnC1+b<5rsI7Y0Nxj!v2@A|2alTzZ*g5S3?>D2{_IlEZe
zf1!AZJs+?@yvu=CbLP7@2Yh+{_$uNBUMzQ46w5dwiSc06Tj2n(uo!%}?B+$)j~#Qf
z7;F*|Y&W<2^l<nl(lpZ=iPt^R2vvk!P<f<&x$-qP-v%GdF0aIjA`wMky7&8>%;pob
zv|IneZGT6>7$38*7UbrJ{H6^;9W~cJe-NqH?tLw7S;oV(P(x~Tn2Ul8F@@=-zY5F6
zOEtK3Oo{bvQPVj+R?xcvC&_8&%O$R<|GBug;`=e?h#)68F0=#exze4N4w4Sq(^Sox
z*~A?iAV+rHTZhjCZSj*XiUhqaTt8Ls7vL<<k@9X$SOw4t(GgYk!I|HDVPY_$59=a*
za~*e0#4Ku$ZYnu|cNJrgFl3_YQT)uQ8~Lh@O;Q>{Y;XOAU>)OF8Yb8$DeON33x<F{
z$%>og>f8M*!x|@4VjO3{eCJzsyo9p0zgbG$5(u7E#RVD4Aev19B2o9>%QWyLR)TBO
z*9orZNAzkliCC#lNN|gs<GOy)jhh=JZ;LdGnQER<;&qX$*Ly+R8EXotr5PG|QaNYl
zeKY%TB_-YKzwG1Bj|Ac|k9dnQVx86(mab(i08K-`H!?C$$nM1s64pA<q&Ke~67d}M
z-(5RS^X)sdelMkHqR)_qmt9yeBjI!u$Um2xE^<9X0R^t&z7g4$Ri85$#JvmYL8XaS
zFafQqmJ9fgiq=KX8h&?Eo5|2FcSVzOsW<*JA2}z0B`M0)=Gc)%fq*SU;lMTBQzp6`
zrCDtp`5Ar%X^eG#JZTIC&v72mB_F_IkYm9fl^f>|Z@#c7MN*0N@56;QT;#+1tx^Ym
zwvE+rdTMBI9luED4OG%vy3G!Y{NM^}^pJwTI*ASFA3|j-`*aY@uDP+qz|dJ9nv_kH
ze<m>9C>jQ;#E35S_nazq9~?E4U_VBb1~m>au(T6gjBo%2uUym0-kNg>oy~}wNkf?K
znHI25iVTYpD^-9%0XT9<Y3#VTlc{;1I8Vbq7Fu&TDn>zDZ1Unm-<#e2^2O@+UjB<7
zGk;67t|w>bLjwM?@cse!9}fTC<*w)0yTYK2o!~io=|I(2>i?oYI0F;vW1x+NSK(3_
zR)8yo5h=2T_7`;rU3Q;~S8EPpEyM7iFiYOGw<G<t=hHBurUt&04{%Acp;e>ym#3o7
z^5!$Sx}vqQn%=SV1d8)iMaRU?`6M^=yl9R=LE#^(?#Bc-Z$&)>ig{^2uhYcB`>kBr
zS;RBYG6+C3sfqy|%U=k16$vA&#eU4%MsMuWy(uh`TilHm@ri9t#&5#2o1{f?Y{q<`
zi}p7vVsSncsgBHM!GZd3`t#}nga>QWZT#cuV`;27>Ny(ghT36G1c1--jY)QGb7@d*
z^Q1}Fwx!=E;j8=aom~ooT$8g<0vuypl489&DT%cHLt*Jf;q$UL*}s0xV*#u%dgTgr
zFrC&NB>HnbEk&tCsydsK6Hh6Q#6r-jAd+_|kNKSq5TzEfQ~c)x2Lj}`o@yH&t1wC|
zmik(r1fOf@x=~ZGWBp7$d`3-xw4fu9srC%0%(C9q`!YZRnNVq40=5vxBR<Lh{v>K&
z&aHMCDN|lI*j~|`gnNa|G6ekmxfnagg3~8n5S7g=)x%Ifp_jk^v#;?Az`pn>jvyWs
z+9--DByopDHwn1Lq|R|;8Kq&a(_i7d`BEhqi6gu0;a$5%a+v(3<lZg`9CCsPdTOJ=
zapHQHn$0BD!$L9<oWIX}Jmd=Rd&2)I^nDC_bGKonNI}MoB*B6IGL&M9_=922fQbt_
z3vhFur-TtF(sIKyPK%0|cs%@dkl5J_P_f!PHhp?#VIqen3m=qpJUeQAcHH@S`}fs<
z`lEiyWY)7Z4e%paww=63U@1kPZ#TeT%txYY`YAfZ?<$qS^6udnQ=;;ABkKdwCvYKK
zqpS|h<B<j&!*Wq|2x~W*eYDbhR-0lSBroX;4y+%YUkKLLLyW!z?a^D*0szm3l}q8g
zhjnDrM$OkHKg~wuS34Q8fV!6aQvpSvjQ7;nMy>tRfBi6OqJrPVxx{RQPI-u3`V^J2
z?p2n@xPCR-LGK8+94q{eBV4OF2(~;#%z4nMpHYhZ0~R73!nCpZB3-1`BzJw1SGoEM
z^B;H$g1-Lk(CzOXfu_7l;e0W|mzV^YhkI9>`^J{pop)bnJ}~XbYHvU#4|K|iGF-&d
z*5s#V)lp&{`p*cA{7br`{2*8>YoMQ_lj%)B4^&X;x!g%8slIRG7U<%i3`bcR&55i*
z!ZPv$vaSE{R7PO=1e;hz-Hlp}cw}<;*lt>A;0fLCd(p{on(`0V`e36Pgp>qR$RE+X
zymZvdJUyTCEf7xjzk$1Rft{7yExHlwC6?iqxl`W1;XC=uB6S?h)jOcvP2f%tA%mBW
z%g_Fx+OLaKXXi3|eD`{AubmIJ8p{8s{Ijba+r9?9i5{H6Kj+!^sXkL^|KMYf%^|^H
z%|KP^wbhBiJZYA+dx%U~4{b1pTBYH_Q=0L;PMAV>-eW(i@~kUlZ$x--uz31!`nCxx
z_;L-OI-tp6@qIfDFI11nx(#j9D5hRGFn`KJ5U4J^xh)AmiSIpM2J|+X<#v|1@Z+bx
zo@(BaxBxVjxVYgJ>y7YdEqV6XMo;UG?1|~KUcKgao64SQs(I;j)j=k=G%{YznX7ja
z5!#L)5*O6N<9<7H_8Q*dm#0`-L3wzfpI0eQ)iesM@s1SXXBpE&H3W~MyzPCtbY=FK
zLS*I5<;L=vx<wdkcCq-g;|?}Pl#FSi493~1->AaSC|&%OmW^6J>M0CtbLCx5ah2eK
zzT4Yd;q>-p$dSqW)b4RIzu-V{NV9#@-%Ww0``o`@q3ELWlB*RfE4H8g>XDsh9-5r8
zm`JMgZ$qW}l-i!aagwl!zNuPDmfJ5R0TZB);9Wf%;+e0gYBt2~;{!C|=R?1UBn0CR
z?0uT}EFb=wW<7`8D8<n{Rol{@w1uiP8Zm1QNW~PTIt`e~S8qZ3bqE$8C0nCmxJD}*
zl`aJJyQ+4Pgs=S<@FKr16%{n){VBpY0n9?BW_ir!=T+TiB_zbA6i7R~NmoWX|Fdmr
zSHA1Skd<|`o8ld&jKb8&#FcTPf5;ZaU0Ft9kREt7CQ<o97N10^U#N%K6Zex(`)!k<
z70c7NQnGKG7rBMlr5Awq;1!w^lV>tydfK6xkt@M~NOsSG{2t~b;)(L{v?Py4b(=_2
zwT5X%(<?rnD_1JT7$>TzeRLXiN(HO%*=gjxPp40J`gaM6V~82?LkGlSXh(K!1nUy{
zibo&3zk>Z<8w0>Y6)|AKN*2fsKV#Z^pTd>gDZ|8d!gzP`Wa9KYPk7&2j5Ae~1YzId
z&~Lh}EsR=6P#MuxI@>HdNdJb73tRuxj@Ykl>~bS@$ehO%e56iL0s+8fgpt_xFHf+;
zHwjQav}(<1m2a9OqhVME19m+uzT(1S4+hGqDF6oaF|*EbB|rHV2mTkn*GBZVqZv?x
z?T5*fa_VCc*L(44r#xm+m^mmM8-=zZ39ZAY&k3LeW7*d&Z#k#)P4ZvyQ$}pd4ihjs
zGCagl_OSS2EaALzRfHNV`VLfylGfaW&M*gJdf~XUCH+QVuoto90i-4b+z8rX{O5f!
zJ)alusc8$8s~trW(cm(muTI;2%~CE086lc=QSCUb-kG?JP5z!^)FW*%a4?{_AnIj|
zJ5`i4VV_4|P{FTTSg|8G1lu(^fY%LUsvTm}7jBh)><D^(8@{e9yLJWfV25Fb9%PY>
zugf=6$et+pNnyOt>GQSP=)&((Ff;({!~Z&TC2V1nDv*{&%f$v|s{BI>aj2plD&oB!
zT+k<Dr3DW6GsY|i4AuxX3H0`}Q54gqr$l>Fu}2MERnL4K{@!IF`S<IJ0I<E+sUZoP
zr+-qmA`HCl1N{6I&-xDk$V*K1h+}))0dhN;0qh`wy9iUHbQt&TU?))Y2>64WuEa8E
z60ZV}fGLX+9YjuT!rFvdD}t#~w(5W~8ifx}uQPi~HS*Sh$iRCSvgs44Ug|3z3GA&f
z?T=)+*e6P}VNEoRRT&LDBk<^U>wzMr-_mgb-Z9X(*5|e7j*b0OE9}8yWX{a?n_aq+
zdi*qV2`z6u#tSPUN88`SZPj&2i%-aA=Sq+nRs%k%^{=1%ambAC`bqIW^(pa=-BTF<
z^S$a<A47>?Xk);cP{2TO7nj?MXs$1f-Bn%Eo6x=Ww!t!%510UGJHX>-XN*Yu!d-z~
zAwP4GsC8&s-j5f5ftQYXe$bMMz8`1FbRe2UWRFnjSI_n!C3fZ~Dh2xP#gC0NAvpb^
zc#X}E$3UD=E<gn5C`o8yb=}}gOl=)JD!!Y*&t&}{??nFT;i<h2O^LD>rLYdvR5{xI
zal*Pf5j}L}s^UOE8FD2c$Wt;$b!C6_nly^5-Pi$K_?k$12fSCymOv6JFe{X~Skm<N
zH(s8f(kSQVlq=^Y!QdZUT~9dP-oGSFi!F^k!41IjwN_V#QIIcN{9^PZj}q&xDNifG
zH=z}#H+=Uj=tT{h`cnNl-qz{lrF0@BNGhBUoF;2<xSgQTo*4S>M8GJUrYPaFA3(z7
z1iV3CoFE=spJHMg<AwW+6s&N#)fX-8;h?*U)I?#PWzv^sCE*L{!?1|S`5Y|hOiu`L
z3l$UirDVyztUm|l)6hMEufIB%pvUV)I{L^TMfVY|sVzhb!|R&ypK6Tq0rEy%+RSW*
z*gXc=?jkj<qIyjT{#VDj1|^w=aoo%-LJ}2k=%y*6tx|xO%tgz~3*x2Ka?D(7RTR+C
z1S6x=Q4z%(wO}fiT8friU|6iVRwj5!S1nPrHf;iIi=8f8jcc~s%<l2ye%MdvooC+v
zIrE(N+j)QI*T6P^I96fx{KsL-1>IK`>U?dOZ%PFmsT|lg$2zUZt}S#wNZv4`BamJd
zZpwrvCO!NAe&3cMsg{7&7B5>~13Zwp@m~L<B3GO`z{+oH>Ac3C5e16k=PWrm=2nM@
zS`xAo_0FX7V({a?b9tj*bw_N3k|IKUr-K_4>_>OcYUVA@+v#f}SG{f$?qA*!(vaAW
zfl1lPoLskA@&?J<mv$*-`}5|nM3h>Pcztxa(xNG1ZGpB=R&$K$Ef1^qfwP6pJ8)`$
z(YyEz+JYgBRQe3875UNXVbx$P20G{Fv_Q#g!Gc#&CAxQB=b~R=VP{akO1{^i9;Mz;
zZu1}()eTIf+fcRA@ye@)aAq%O)H|AW$I%_9{#Ja2A`*T^ywdH;X#nu2q?l`q5Km&o
zJ)ni_hTN20@-UdkEzNvPy`6p^bwN5lCi6e6Bgz0{#IFnHn#PJXSn+zllX_^WVahSi
zU|?|k;hj*V=tZ7Q--v)U@VLtw7NBDnWq9Gj&vxGZGq9?;s?t~)3z{&gFMAxnxDrFZ
z82Q(BC_u*F-tWyC)t-07qbxChARdHjz4CQCxd?me^*GZ}Q_i07PROhrb05s{`57mo
zaH?sc-Hb2iA`x2bsx-KUq;PmQ<QvJN?e}oY(9=lA10pB4SZAXIs;yk~Cu5rvbux*>
zq({|mL1&{rtDkbskFJdQ{4U{pPBXKtLL-D7`;+X0SzUCmEJ@kbsZ>ydo|{*w&AH~S
z{?Q`F_BQqHiQq#WtQA}wCWp_Mp(a-t>L6oT2sS#ItN@r9EI{QOH0j2Z4c%IsGH$~|
z9b_xtoU;tgf#iyG;cr|=7bp2?JDY42TlJEQY<i6yZ)c#7K_zdgBWKajk^(!RPdpF4
z1jdYDcH;tjmZ+{oLtzTi@!{g`UGnhi+F+yb@N^!iSD_)b!l5VZl;1k<HA25DxIG;N
zj0BKS?M~WkX-ID!c4Ri{5k)x#U=w_^QFf`hOTzoF58gBpSBI`4-8qeXAiD5T`K46$
zFr|(Ni|7wlA@dgz-xxD<Z5Kx5{jdkr*OB?F>8@wel?NvJ1i;cDsex;3Tb0VTEpUy^
zr7Rq5u{%DHM_DE>)zo*L#8@p7kS@(1W{DlZ7;)%{>EY$5);zuBr~_|sP4z}>XMI%b
z)e>Ir%eL*&ir|~ys8}nbpXhg#KXgmUdK<q$8xTmSPqelo;<pwPW{j0{gTU$F?Z>RX
z&i1$#<qab=I|v5X#*BTjAsyr$CWvH%o08%_U6S&pEX{!@dRqJ5<zCz-eLPdJ$`rVF
zHJG);#Hiye{BLzuV0LGt3^O_lC8ba~(`+y3wHwAK{Ehqw$S3ngij$J!)Z!|~nB=G;
zzEq{r`;<rzAPE^#(Ppf18fzgiP>h~xTxP6ep;zZ_lvkjk)HImiL~ot6^QS<%3!UM_
zKjMvpCR_meHdMbJLY<61m|Q!pP?(*-!)*vhJYzNirvp+2P+Rl8E}nd4(nGtcQD-0+
z_;Rf)LtT!BBGa<8!Kr9)A!;Y@SyIi<lJdP0T4GdfymhG1%~au*{j$jU+=cGyk7^#V
z7d@F@ESqbePylC0Xp+7(Q#&N;uKT5%Z|K=pIsK$c_@s&>Q|0>%6J^Ba*}ZXZI>;i7
z!ujj=d~iC-$P^WfQ$B3G^me$-G^8MHZUb#S(Ya{EZ2ZUaL`eZ`dRaOSye}RcD2bDi
z#>ot#<!6Gygor2Nad<x*eoq3yKZvjgfNtP92#=2yH8uYykeip0ML+%j0n*fN4-hb+
MLI)yx!cuwv0#tL~NdN!<

diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 0aac9b3c4..6039599e6 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -55,7 +55,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
 void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
@@ -111,6 +111,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     // TODO: path planner timeout?
     sm.update(0);
     int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
+    bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
     if (sm.updated("liveCalibration")) {
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
@@ -146,7 +147,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 59c0b249d..9bf7e6218 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -49,14 +49,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  const int idx = Params().getBool("IsRHD") ? 1 : 0;
-  s->traffic_convention[idx] = 1.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
 }
 
 ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only) {
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
 #ifdef DESIRE
   if (desire_in != NULL) {
     for (int i = 1; i < DESIRE_LEN; i++) {
@@ -72,6 +70,10 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
   }
 #endif
 
+  int rhd_idx = is_rhd;
+  s->traffic_convention[rhd_idx] = 1.0;
+  s->traffic_convention[1-rhd_idx] = 0.0;
+
   // if getInputBuf is not NULL, net_input_buf will be
   auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
   s->m->addImage(net_input_buf, s->frame->buf_size);
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 97e65fbc0..d551bdf48 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -268,7 +268,7 @@ struct ModelState {
 
 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only);
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c31e9da43..35eee5b03 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -3,7 +3,7 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from common.params import Params
+from common.params import Params, put_bool_nonblocking
 from common.realtime import set_realtime_priority
 from selfdrive.controls.lib.events import Events
 from selfdrive.locationd.calibrationd import Calibration
@@ -20,7 +20,7 @@ def dmonitoringd_thread(sm=None, pm=None):
   if sm is None:
     sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
-  driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
+  driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
@@ -83,6 +83,11 @@ def dmonitoringd_thread(sm=None, pm=None):
     }
     pm.send('driverMonitoringState', dat)
 
+    # save rhd virtual toggle every 5 mins
+    if (sm['driverStateV2'].frameId % 6000 == 0 and
+     driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
+     driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
+      put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
 
 def main(sm=None, pm=None):
   dmonitoringd_thread(sm, pm)
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 48d4303aa..9ff3125c1 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -57,8 +57,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
     self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
 
+    self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -115,7 +116,7 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
+  def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()):
     # init policy settings
     self.settings = settings
 
@@ -138,7 +139,8 @@ class DriverStatus():
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
     self.wheel_on_right = False
-    self.rhd_toggled = rhd
+    self.wheel_on_right_last = None
+    self.wheel_on_right_default = rhd_saved
     self.face_detected = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
@@ -227,13 +229,18 @@ class DriverStatus():
 
   def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
     rhd_pred = driver_state.wheelOnRightProb
-    if car_speed > 0.01:
+    # calibrates only when there's movement and either face detected
+    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos_learner.push_and_update(rhd_pred)
     if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
       self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
-      self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
-    driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
+      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
+    # make sure no switching when engaged
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
+      self.wheel_on_right = self.wheel_on_right_last
+    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,
                                     driver_data.readyProb, driver_data.notReadyProb)):
@@ -243,6 +250,7 @@ class DriverStatus():
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
     if self.wheel_on_right:
       self.pose.yaw *= -1
+    self.wheel_on_right_last = self.wheel_on_right
     self.pose.pitch_std = driver_data.faceOrientationStd[0]
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 22cc2442b..35226a30e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cfe79d760f161a46e48b60c1debe11b8f300e717
\ No newline at end of file
+912413daa4c36a788cf2c801fc49829d46ae3072
\ No newline at end of file
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 5bf70584a..be8b84d45 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -31,7 +31,6 @@ DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidg
 
 void DriverViewScene::showEvent(QShowEvent* event) {
   frame_updated = false;
-  is_rhd = params.getBool("IsRHD");
   params.putBool("IsDriverViewEnabled", true);
 }
 
@@ -60,7 +59,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
   cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
   cereal::DriverStateV2::DriverData::Reader driver_data;
 
-  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  is_rhd = driver_state.getWheelOnRightProb() > 0.5;
   driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
 
   bool face_detected = driver_data.getFaceProb() > 0.7;
@@ -85,7 +84,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
 
   // icon
   const int img_offset = 60;
-  const int img_x = rect().left() + img_offset;
+  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
   const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
   p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 0956f6c8d..e6e21bd8d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -41,12 +41,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
     },
-    {
-      "IsRHD",
-      tr("Enable Right-Hand Drive"),
-      tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."),
-      "../assets/offroad/icon_openpilot_mirrored.png",
-    },
     {
       "IsMetric",
       tr("Use Metric System"),
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index fbfa7e646..0ab142402 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -217,6 +217,7 @@ void NvgWindow::updateState(const UIState &s) {
   if (sm.frame % (UI_FREQ / 2) == 0) {
     setProperty("engageable", cs.getEngageable() || cs.getEnabled());
     setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
+    setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
   }
 
   if (s.scene.calibration_valid) {
@@ -381,7 +382,8 @@ void NvgWindow::drawHud(QPainter &p) {
 
   // dm icon
   if (!hideDM) {
-    drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2,
+    int dm_icon_x = rightHandDM ? rect().right() -  radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2);
+    drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2,
              dm_img, blackColor(70), dmActive ? 1.0 : 0.2);
   }
   p.restore();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index dc1e69da2..7f51a7351 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -39,6 +39,7 @@ class NvgWindow : public CameraViewWidget {
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
   Q_PROPERTY(bool hideDM MEMBER hideDM);
+  Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
   Q_PROPERTY(int status MEMBER status);
 
 public:
@@ -62,6 +63,7 @@ private:
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;
+  bool rightHandDM = false;
   bool has_us_speed_limit = false;
   bool has_eu_speed_limit = false;
   int status = STATUS_DISENGAGED;
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 9928a57e1..fe1000863 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="107"/>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
         <source>Serial</source>
         <translation>Serial</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Driver Camera</source>
         <translation>운전자 카메라</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>PREVIEW</source>
         <translation>미리보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Reset Calibration</source>
         <translation>캘리브레이션 재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>RESET</source>
         <translation>재설정</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>캘리브레이션을 재설정하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review Training Guide</source>
         <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>REVIEW</source>
         <translation>다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>Regulatory</source>
         <translation>규제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>VIEW</source>
         <translation>보기</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>Change Language</source>
         <translation>언어 변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>CHANGE</source>
         <translation>변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="148"/>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
         <source>Select a language</source>
         <translation>언어를 선택하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="168"/>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
         <source>Reboot</source>
         <translation>재부팅</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="173"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Power Off</source>
         <translation>전원 종료</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="193"/>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>down</source>
         <translation>아래로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>up</source>
         <translation>위로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>left</source>
         <translation>좌측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>right</source>
         <translation>우측으로</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
         <source>Are you sure you want to reboot?</source>
         <translation>재부팅 하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
         <source>Disengage to Reboot</source>
         <translation>재부팅 하려면 해제하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Are you sure you want to power off?</source>
         <translation>전원을 종료하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
         <source>Disengage to Power Off</source>
         <translation>전원을 종료하려면 해제하세요</translation>
     </message>
@@ -294,7 +294,7 @@
 <context>
     <name>DriverViewScene</name>
     <message>
-        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
         <source>camera starting</source>
         <translation>카메라 시작중</translation>
     </message>
@@ -498,20 +498,20 @@ location set</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="279"/>
-        <location filename="../qt/onroad.cc" line="282"/>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="326"/>
-        <location filename="../qt/onroad.cc" line="329"/>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="332"/>
-        <location filename="../qt/onroad.cc" line="335"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
@@ -710,33 +710,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="338"/>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
         <source>Device</source>
         <translation>장치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
-        <location filename="../qt/offroad/settings.cc" line="404"/>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
         <source>Network</source>
         <translation>네트워크</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
         <source>Toggles</source>
         <translation>토글</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="367"/>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="372"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Navigation</source>
         <translation>네비게이션</translation>
     </message>
@@ -975,89 +975,89 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Branch</source>
         <translation>Git 브렌치</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Git Commit</source>
         <translation>Git 커밋</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>OS Version</source>
         <translation>OS 버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Version</source>
         <translation>버전</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Last Update Check</source>
         <translation>최신 업데이트 검사</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="247"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Check for Update</source>
         <translation>업데이트 확인</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>CHECKING</source>
         <translation>확인중</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Switch Branch</source>
         <translation>브랜치 변경</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>ENTER</source>
         <translation>입력하세요</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
         <translation>다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>Enter branch name</source>
         <translation>브랜치명 입력</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>UNINSTALL</source>
         <translation>제거</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>Uninstall %1</source>
         <translation>%1 제거</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>제거하시겠습니까?</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
         <source>failed to fetch update</source>
         <translation>업데이트를 가져올수없습니다</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="292"/>
-        <location filename="../qt/offroad/settings.cc" line="313"/>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
         <source>CHECK</source>
         <translation>확인</translation>
     </message>
@@ -1165,72 +1165,70 @@ location set</source>
         <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
-        <translation>우측핸들 사용</translation>
+        <translation type="vanished">우측핸들 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
+        <translation type="vanished">openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
         <translation>미터법 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Record and Upload Driver Camera</source>
         <translation>운전자 카메라 녹화 및 업로드</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>가속페달 조작시 해제</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>Show ETA in 24h format</source>
         <translation>24시간 형식으로 도착예정시간 표시</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>오전/오후 대신 24시간 형식 사용</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show Map on Left Side of UI</source>
         <translation>UI 왼쪽에 지도 표시</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="78"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Show map on left side when in split screen view.</source>
         <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot Longitudinal Control</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="91"/>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index da0841c3b..5c949b0d3 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Dongle ID</source>
         <translation>设备ID（Dongle ID）</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="107"/>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
         <source>Serial</source>
         <translation>序列号</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Driver Camera</source>
         <translation>驾驶员摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>PREVIEW</source>
         <translation>预览</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Reset Calibration</source>
         <translation>重置设备校准</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您确定要重置设备校准吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review Training Guide</source>
         <translation>新手指南</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>REVIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您确定要查看新手指南吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>Regulatory</source>
         <translation>监管信息</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>VIEW</source>
         <translation>查看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>Change Language</source>
         <translation>切换语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>CHANGE</source>
         <translation>切换</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="148"/>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
         <source>Select a language</source>
         <translation>选择语言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="168"/>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
         <source>Reboot</source>
         <translation>重启</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="173"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Power Off</source>
         <translation>关机</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="193"/>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation>您的设备校准为%1° %2、%3° %4。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>down</source>
         <translation>朝下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>up</source>
         <translation>朝上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>left</source>
         <translation>朝左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>right</source>
         <translation>朝右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您确定要重新启动吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
         <source>Disengage to Reboot</source>
         <translation>取消openpilot以重新启动</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Are you sure you want to power off?</source>
         <translation>您确定要关机吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
         <source>Disengage to Power Off</source>
         <translation>取消openpilot以关机</translation>
     </message>
@@ -294,7 +294,7 @@
 <context>
     <name>DriverViewScene</name>
     <message>
-        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
         <source>camera starting</source>
         <translation>正在启动相机</translation>
     </message>
@@ -496,20 +496,20 @@ location set</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="279"/>
-        <location filename="../qt/onroad.cc" line="282"/>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="326"/>
-        <location filename="../qt/onroad.cc" line="329"/>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="332"/>
-        <location filename="../qt/onroad.cc" line="335"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
@@ -708,33 +708,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="338"/>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
         <source>Device</source>
         <translation>设备</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
-        <location filename="../qt/offroad/settings.cc" line="404"/>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
         <source>Network</source>
         <translation>网络</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
         <source>Toggles</source>
         <translation>设定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="367"/>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
         <source>Software</source>
         <translation>软件</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="372"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Navigation</source>
         <translation>导航</translation>
     </message>
@@ -973,89 +973,89 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Branch</source>
         <translation>Git Branch</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Git Commit</source>
         <translation>Git Commit</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>OS Version</source>
         <translation>系统版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Version</source>
         <translation>软件版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Last Update Check</source>
         <translation>上次检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="247"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Check for Update</source>
         <translation>检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>CHECKING</source>
         <translation>正在检查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Switch Branch</source>
         <translation>切换分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>ENTER</source>
         <translation>输入</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
         <translation>分支将在更新服务下次启动时自动切换。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>Enter branch name</source>
         <translation>输入分支名称</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>UNINSTALL</source>
         <translation>卸载</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>Uninstall %1</source>
         <translation>卸载 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您确定要卸载吗？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
         <source>failed to fetch update</source>
         <translation>获取更新失败</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="292"/>
-        <location filename="../qt/offroad/settings.cc" line="313"/>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
         <source>CHECK</source>
         <translation>查看</translation>
     </message>
@@ -1163,72 +1163,70 @@ location set</source>
         <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
-        <translation>启用右舵模式</translation>
+        <translation type="vanished">启用右舵模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
+        <translation type="vanished">允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
         <translation>使用公制单位</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>显示车速时，以km/h代替mph。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Record and Upload Driver Camera</source>
         <translation>录制并上传驾驶员摄像头</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>踩油门时取消控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>Show ETA in 24h format</source>
         <translation>以24小时格式显示预计到达时间</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用24小时制代替am/pm</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show Map on Left Side of UI</source>
         <translation>在介面左侧显示地图</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="78"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Show map on left side when in split screen view.</source>
         <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot纵向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="91"/>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 85d40c60a..d1b1566a5 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Dongle ID</source>
         <translation>Dongle ID</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>N/A</source>
         <translation>無法使用</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="107"/>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
         <source>Serial</source>
         <translation>序號</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Driver Camera</source>
         <translation>駕駛員攝像頭</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>PREVIEW</source>
         <translation>預覽</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用）</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Reset Calibration</source>
         <translation>重置校準</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>RESET</source>
         <translation>重置</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>您確定要重置校準嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review Training Guide</source>
         <translation>觀看使用教學</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>REVIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>觀看 openpilot 的使用規則、功能和限制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>您確定要觀看使用教學嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>Regulatory</source>
         <translation>法規/監管</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>VIEW</source>
         <translation>觀看</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>Change Language</source>
         <translation>更改語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>CHANGE</source>
         <translation>更改</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="148"/>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
         <source>Select a language</source>
         <translation>選擇語言</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="168"/>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
         <source>Reboot</source>
         <translation>重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="173"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Power Off</source>
         <translation>關機</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="193"/>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
         <source>Are you sure you want to reboot?</source>
         <translation>您確定要重新啟動嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
         <source>Disengage to Reboot</source>
         <translation>請先取消控車才能重新啟動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Are you sure you want to power off?</source>
         <translation>您確定您要關機嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
         <source>Disengage to Power Off</source>
         <translation>請先取消控車才能關機</translation>
     </message>
@@ -294,7 +294,7 @@
 <context>
     <name>DriverViewScene</name>
     <message>
-        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
         <source>camera starting</source>
         <translation>開啟相機中</translation>
     </message>
@@ -498,20 +498,20 @@ location set</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="279"/>
-        <location filename="../qt/onroad.cc" line="282"/>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="326"/>
-        <location filename="../qt/onroad.cc" line="329"/>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="332"/>
-        <location filename="../qt/onroad.cc" line="335"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>
@@ -713,33 +713,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="338"/>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
         <source>Device</source>
         <translation>設備</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
-        <location filename="../qt/offroad/settings.cc" line="404"/>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
         <source>Network</source>
         <translation>網路</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
         <source>Toggles</source>
         <translation>設定</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="367"/>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="372"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Navigation</source>
         <translation>導航</translation>
     </message>
@@ -978,89 +978,89 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Branch</source>
         <translation>Git 分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Git Commit</source>
         <translation>Git 提交</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>OS Version</source>
         <translation>系統版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Version</source>
         <translation>版本</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Last Update Check</source>
         <translation>上次檢查時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="247"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Check for Update</source>
         <translation>檢查更新</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>CHECKING</source>
         <translation>檢查中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Switch Branch</source>
         <translation>切換分支</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>ENTER</source>
         <translation>切換</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
         <translation>新的分支將會在下次檢查更新時切換過去。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>Enter branch name</source>
         <translation>輸入分支名稱</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>UNINSTALL</source>
         <translation>卸載</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>Uninstall %1</source>
         <translation>卸載 %1</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>您確定您要卸載嗎？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
         <source>failed to fetch update</source>
         <translation>下載更新失敗</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="292"/>
-        <location filename="../qt/offroad/settings.cc" line="313"/>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
         <source>CHECK</source>
         <translation>檢查</translation>
     </message>
@@ -1168,72 +1168,70 @@ location set</source>
         <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
-        <translation>啟用右駕模式</translation>
+        <translation type="vanished">啟用右駕模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
+        <translation type="vanished">openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
         <translation>使用公制單位</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Record and Upload Driver Camera</source>
         <translation>記錄並上傳駕駛監控影像</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>油門取消控車</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>Show ETA in 24h format</source>
         <translation>預計到達時間單位改用 24 小時制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show Map on Left Side of UI</source>
         <translation>將地圖顯示在畫面的左側</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="78"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Show map on left side when in split screen view.</source>
         <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 縱向控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="91"/>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
     </message>

From efa326e20856ff3a8ecff6f53d75a132ee0e4e1e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 31 Jul 2022 12:43:27 -0700
Subject: [PATCH 348/435] Subaru: 2020 Outback support (#25248)

* Subaru: 2020 Outback support

* bump panda

* bump panda

* update refs

* update refs
---
 RELEASES.md                              |   1 +
 docs/CARS.md                             |   3 +-
 panda                                    |   2 +-
 selfdrive/car/subaru/carcontroller.py    |  20 ++-
 selfdrive/car/subaru/carstate.py         | 185 ++++++++++++++++-------
 selfdrive/car/subaru/interface.py        |  22 ++-
 selfdrive/car/subaru/subarucan.py        |  28 +++-
 selfdrive/car/subaru/values.py           |  66 +++++++-
 selfdrive/car/tests/routes.py            |   6 +-
 selfdrive/car/torque_data/override.yaml  |   1 +
 selfdrive/test/process_replay/ref_commit |   2 +-
 11 files changed, 254 insertions(+), 82 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index b47a18a3d..5b63be2e4 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Subaru Outback 2020-22 support
 
 Version 0.8.15 (2022-07-20)
 ========================
diff --git a/docs/CARS.md b/docs/CARS.md
index c84008bd6..b9986f358 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 196 Supported Cars
+# 197 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -139,6 +139,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/panda b/panda
index a1686ca3c..4b86b8399 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64
+Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index a33657205..b5429daef 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,17 +1,20 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
-    self.es_distance_cnt = -1
+    self.frame = 0
+
     self.es_lkas_cnt = -1
+    self.es_distance_cnt = -1
+    self.es_dashstatus_cnt = -1
     self.cruise_button_prev = 0
-    self.frame = 0
+    self.last_cancel_frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -67,9 +70,14 @@ class CarController:
         self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
-        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
+      if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
+        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
+        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+        self.last_cancel_frame = self.frame
+
+      if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
+        self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
         can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 9246cbde1..7b2580c92 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
@@ -13,7 +13,7 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
@@ -21,13 +21,15 @@ class CarState(CarStateBase):
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
     else:
-      ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
+      cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+      ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
+    cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["Wheel_Speeds"]["FL"],
-      cp.vl["Wheel_Speeds"]["FR"],
-      cp.vl["Wheel_Speeds"]["RL"],
-      cp.vl["Wheel_Speeds"]["RR"],
+      cp_wheels.vl["Wheel_Speeds"]["FL"],
+      cp_wheels.vl["Wheel_Speeds"]["FR"],
+      cp_wheels.vl["Wheel_Speeds"]["RL"],
+      cp_wheels.vl["Wheel_Speeds"]["RR"],
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
@@ -35,8 +37,8 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw < 0.01
 
     # continuous blinker signals for assisted lane change
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
-      50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
+                                                                          cp.vl["Dashlights"]["RIGHT_BLINKER"])
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
@@ -50,8 +52,9 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
 
-    ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
-    ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
+    cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+    ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
+    ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
     if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
@@ -72,10 +75,59 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-    self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
+
+    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+    self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
+    self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
 
     return ret
 
+  @staticmethod
+  def get_common_global_signals():
+    signals = [
+      ("Cruise_On", "CruiseControl"),
+      ("Cruise_Activated", "CruiseControl"),
+      ("FL", "Wheel_Speeds"),
+      ("FR", "Wheel_Speeds"),
+      ("RL", "Wheel_Speeds"),
+      ("RR", "Wheel_Speeds"),
+      ("Brake", "Brake_Status"),
+    ]
+    checks = [
+      ("CruiseControl", 20),
+      ("Wheel_Speeds", 50),
+      ("Brake_Status", 50),
+    ]
+
+    return signals, checks
+
+  @staticmethod
+  def get_global_es_distance_signals():
+    signals = [
+      ("COUNTER", "ES_Distance"),
+      ("Signal1", "ES_Distance"),
+      ("Cruise_Fault", "ES_Distance"),
+      ("Cruise_Throttle", "ES_Distance"),
+      ("Signal2", "ES_Distance"),
+      ("Car_Follow", "ES_Distance"),
+      ("Signal3", "ES_Distance"),
+      ("Cruise_Brake_Active", "ES_Distance"),
+      ("Distance_Swap", "ES_Distance"),
+      ("Cruise_EPB", "ES_Distance"),
+      ("Signal4", "ES_Distance"),
+      ("Close_Distance", "ES_Distance"),
+      ("Signal5", "ES_Distance"),
+      ("Cruise_Cancel", "ES_Distance"),
+      ("Cruise_Set", "ES_Distance"),
+      ("Cruise_Resume", "ES_Distance"),
+      ("Signal6", "ES_Distance"),
+    ]
+    checks = [
+      ("ES_Distance", 20),
+    ]
+
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
@@ -84,17 +136,11 @@ class CarState(CarStateBase):
       ("Steer_Torque_Output", "Steering_Torque"),
       ("Steering_Angle", "Steering_Torque"),
       ("Steer_Error_1", "Steering_Torque"),
-      ("Cruise_On", "CruiseControl"),
-      ("Cruise_Activated", "CruiseControl"),
       ("Brake_Pedal", "Brake_Pedal"),
       ("Throttle_Pedal", "Throttle"),
       ("LEFT_BLINKER", "Dashlights"),
       ("RIGHT_BLINKER", "Dashlights"),
       ("SEATBELT_FL", "Dashlights"),
-      ("FL", "Wheel_Speeds"),
-      ("FR", "Wheel_Speeds"),
-      ("RL", "Wheel_Speeds"),
-      ("RR", "Wheel_Speeds"),
       ("DOOR_OPEN_FR", "BodyInfo"),
       ("DOOR_OPEN_FL", "BodyInfo"),
       ("DOOR_OPEN_RR", "BodyInfo"),
@@ -107,7 +153,6 @@ class CarState(CarStateBase):
       ("Throttle", 100),
       ("Dashlights", 10),
       ("Brake_Pedal", 50),
-      ("Wheel_Speeds", 50),
       ("Transmission", 100),
       ("Steering_Torque", 50),
       ("BodyInfo", 1),
@@ -123,36 +168,47 @@ class CarState(CarStateBase):
       checks.append(("BSD_RCTA", 17))
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
+      if CP.carFingerprint not in GLOBAL_GEN2:
+        signals += CarState.get_common_global_signals()[0]
+        checks += CarState.get_common_global_signals()[1]
+
       signals += [
         ("Steer_Warning", "Steering_Torque"),
-        ("Brake", "Brake_Status"),
         ("UNITS", "Dashlights"),
       ]
 
       checks += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
-        ("Brake_Status", 50),
-        ("CruiseControl", 20),
       ]
     else:
-      signals.append(("UNITS", "Dash_State2"))
-
-      checks.append(("Dash_State2", 1))
-
-    if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
-      checks += [
-        ("Dashlights", 20),
-        ("BodyInfo", 1),
-        ("CruiseControl", 50),
+      signals += [
+        ("FL", "Wheel_Speeds"),
+        ("FR", "Wheel_Speeds"),
+        ("RL", "Wheel_Speeds"),
+        ("RR", "Wheel_Speeds"),
+        ("UNITS", "Dash_State2"),
+        ("Cruise_On", "CruiseControl"),
+        ("Cruise_Activated", "CruiseControl"),
       ]
-
-    if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       checks += [
-        ("Dashlights", 10),
-        ("CruiseControl", 50),
+        ("Wheel_Speeds", 50),
+        ("Dash_State2", 1),
       ]
 
+      if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
+        checks += [
+          ("Dashlights", 20),
+          ("BodyInfo", 1),
+          ("CruiseControl", 50),
+        ]
+
+      if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+        checks += [
+          ("Dashlights", 10),
+          ("CruiseControl", 50),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
@@ -187,26 +243,32 @@ class CarState(CarStateBase):
       ]
     else:
       signals = [
-        ("Cruise_Set_Speed", "ES_DashStatus"),
+        ("Counter", "ES_DashStatus"),
+        ("PCB_Off", "ES_DashStatus"),
+        ("LDW_Off", "ES_DashStatus"),
+        ("Signal1", "ES_DashStatus"),
+        ("Cruise_State_Msg", "ES_DashStatus"),
+        ("LKAS_State_Msg", "ES_DashStatus"),
+        ("Signal2", "ES_DashStatus"),
+        ("Cruise_Soft_Disable", "ES_DashStatus"),
+        ("EyeSight_Status_Msg", "ES_DashStatus"),
+        ("Signal3", "ES_DashStatus"),
+        ("Cruise_Distance", "ES_DashStatus"),
+        ("Signal4", "ES_DashStatus"),
         ("Conventional_Cruise", "ES_DashStatus"),
-
-        ("COUNTER", "ES_Distance"),
-        ("Signal1", "ES_Distance"),
-        ("Cruise_Fault", "ES_Distance"),
-        ("Cruise_Throttle", "ES_Distance"),
-        ("Signal2", "ES_Distance"),
-        ("Car_Follow", "ES_Distance"),
-        ("Signal3", "ES_Distance"),
-        ("Cruise_Brake_Active", "ES_Distance"),
-        ("Distance_Swap", "ES_Distance"),
-        ("Cruise_EPB", "ES_Distance"),
-        ("Signal4", "ES_Distance"),
-        ("Close_Distance", "ES_Distance"),
-        ("Signal5", "ES_Distance"),
-        ("Cruise_Cancel", "ES_Distance"),
-        ("Cruise_Set", "ES_Distance"),
-        ("Cruise_Resume", "ES_Distance"),
-        ("Signal6", "ES_Distance"),
+        ("Signal5", "ES_DashStatus"),
+        ("Cruise_Disengaged", "ES_DashStatus"),
+        ("Cruise_Activated", "ES_DashStatus"),
+        ("Signal6", "ES_DashStatus"),
+        ("Cruise_Set_Speed", "ES_DashStatus"),
+        ("Cruise_Fault", "ES_DashStatus"),
+        ("Cruise_On", "ES_DashStatus"),
+        ("Display_Own_Car", "ES_DashStatus"),
+        ("Brake_Lights", "ES_DashStatus"),
+        ("Car_Follow", "ES_DashStatus"),
+        ("Signal7", "ES_DashStatus"),
+        ("Far_Distance", "ES_DashStatus"),
+        ("Cruise_State", "ES_DashStatus"),
 
         ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
@@ -227,8 +289,21 @@ class CarState(CarStateBase):
 
       checks = [
         ("ES_DashStatus", 10),
-        ("ES_Distance", 20),
         ("ES_LKAS_State", 10),
       ]
 
+      if CP.carFingerprint not in GLOBAL_GEN2:
+        signals += CarState.get_global_es_distance_signals()[0]
+        checks += CarState.get_global_es_distance_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @staticmethod
+  def get_body_can_parser(CP):
+    if CP.carFingerprint in GLOBAL_GEN2:
+      signals, checks = CarState.get_common_global_signals()
+      signals += CarState.get_global_es_distance_signals()[0]
+      checks += CarState.get_global_es_distance_signals()[1]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+
+    return None
\ No newline at end of file
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index d246ab202..049da10a1 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarInterface(CarInterfaceBase):
@@ -16,11 +17,13 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     if candidate in PREGLOBAL_CARS:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
       ret.enableBsm = 0x25c in fingerprint[0]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
     else:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      if candidate in GLOBAL_GEN2:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
@@ -68,6 +71,14 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
+    elif candidate == CAR.OUTBACK:
+      ret.mass = 1568. + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17
+      ret.steerActuatorDelay = 0.1
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
@@ -88,6 +99,9 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
 
+    else:
+      raise ValueError(f"unknown car: {candidate}")
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -101,7 +115,7 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
 
-    ret = self.CS.update(self.cp, self.cp_cam)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.events = self.create_common_events(ret).to_msg()
 
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 5f2233be9..d83b639a4 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -14,13 +14,12 @@ def create_steering_control(packer, apply_steer):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
-
+def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
   values = copy.copy(es_distance_msg)
+  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
-
-  return packer.make_can_msg("ES_Distance", 0, values)
+  return packer.make_can_msg("ES_Distance", bus, values)
 
 def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
@@ -34,6 +33,18 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
   if values["LKAS_Alert"] == 27:
     values["LKAS_Alert"] = 0
 
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 30:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models)
+  if values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert_Msg"] = 0
+
   # Show Keep hands on wheel alert for openpilot steerRequired alert
   if visual_alert == VisualAlert.steerRequired:
     values["LKAS_Alert_Msg"] = 1
@@ -56,6 +67,15 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
 
+def create_es_dashstatus(packer, dashstatus_msg):
+  values = copy.copy(dashstatus_msg)
+
+  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
+  if values["LKAS_State_Msg"] in [2, 3]:
+    values["LKAS_State_Msg"] = 0
+
+  return packer.make_can_msg("ES_DashStatus", 0, values)
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 362e9ccd6..e242ba321 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -11,23 +11,32 @@ Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   def __init__(self, CP):
-    if CP.carFingerprint == CAR.IMPREZA_2020:
-      self.STEER_MAX = 1439
-    else:
-      self.STEER_MAX = 2047
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
     self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
     self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
+    if CP.carFingerprint in GLOBAL_GEN2:
+      self.STEER_MAX = 1000
+      self.STEER_DELTA_UP = 40
+      self.STEER_DELTA_DOWN = 40
+    elif CP.carFingerprint == CAR.IMPREZA_2020:
+      self.STEER_MAX = 1439
+    else:
+      self.STEER_MAX = 2047
+
 
 class CAR:
+  # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
+  OUTBACK = "SUBARU OUTBACK 6TH GEN"
+
+  # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
   LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
   OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
@@ -42,6 +51,7 @@ class SubaruCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -396,6 +406,47 @@ FW_VERSIONS = {
       b'\xbb\xfb\xe0`\000',
     ],
   },
+  CAR.OUTBACK: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa1  \x06\x01',
+      b'\xa1  \a\x00',
+      b'\xa1  \b\001',
+      b'\xa1  \x06\x00',
+      b'\xa1 "\t\x01',
+      b'\xa1  \x08\x02',
+      b'\xa1 \x06\x02',
+      b'\xa1  \x08\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x20\x00',
+      b'\x1b\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eJ\x00\x1f@ \x19\x00',
+      b'\000\000e\x80\000\037@ \031\000',
+      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
+      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbc,\xa0q\x07',
+      b'\xbc\"`@\a',
+      b'\xde"`0\a',
+      b'\xf1\x82\xbc,\xa0q\a',
+      b'\xf1\x82\xe3,\xa0@\x07',
+      b'\xe2"`p\x07',
+      b'\xf1\x82\xe2,\xa0@\x07',
+      b'\xbc"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xfe\xf7@\x00',
+      b'\xa5\xf6D@\x00',
+      b'\xa5\xfe\xf6@\x00',
+      b'\xa7\x8e\xf40\x00',
+      b'\xf1\x82\xa7\xf6D@\x00',
+      b'\xa7\xfe\xf4@\x00',
+    ],
+  },
 }
 
 STEER_THRESHOLD = {
@@ -403,6 +454,7 @@ STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
   CAR.IMPREZA_2020: 80,
   CAR.FORESTER: 80,
+  CAR.OUTBACK: 80,
   CAR.FORESTER_PREGLOBAL: 75,
   CAR.LEGACY_PREGLOBAL: 75,
   CAR.OUTBACK_PREGLOBAL: 75,
@@ -414,10 +466,12 @@ DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
+GLOBAL_GEN2 = (CAR.OUTBACK, )
+PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
\ No newline at end of file
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 96eb5f67b..626f2a987 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -187,13 +187,11 @@ routes = [
   TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  # Dashcam
+  TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  # Pre-global, dashcam
   TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  # Dashcam
   TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  # Dashcam
   TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  # Dashcam
   TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
 
   TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 8e6f62c4e..27a8c26fd 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 35226a30e..80f5980fb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-912413daa4c36a788cf2c801fc49829d46ae3072
\ No newline at end of file
+01e23eec1394b07d2c537f0e28493b10e05923c2
\ No newline at end of file

From e076b2bd3456a370f0865ad3f008b74ad17e22f0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 31 Jul 2022 12:47:17 -0700
Subject: [PATCH 349/435] outback harness isn't on the site yet

---
 selfdrive/car/subaru/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index e242ba321..12f6dd1e6 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -51,7 +51,7 @@ class SubaruCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All"),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),

From 26d29d21380d3cd4b357a8ab986e71b52bb59844 Mon Sep 17 00:00:00 2001
From: Jeroen <33349469+jeroenlammersma@users.noreply.github.com>
Date: Sun, 31 Jul 2022 22:18:02 +0200
Subject: [PATCH 350/435] sim: role_name attribute used by ScenarioRunner for
 CARLA (#25315)

---
 tools/sim/bridge.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index 17dc2c7a6..fa4ce2b41 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -304,6 +304,7 @@ class CarlaBridge:
     world_map = world.get_map()
 
     vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
+    vehicle_bp.set_attribute('role_name', 'hero')
     spawn_points = world_map.get_spawn_points()
     assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
       {len(spawn_points)} for this town.'''

From 20c140b10eef52b6f6d6b9e142ed944264865bac Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 31 Jul 2022 15:36:37 -0700
Subject: [PATCH 351/435] plotjuggler: add max torque layout

---
 .../plotjuggler/layouts/max-torque-debug.xml  | 98 +++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/max-torque-debug.xml

diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml
new file mode 100644
index 000000000..05aa208e2
--- /dev/null
+++ b/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
+       <limitY/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
+       <limitY/>
+       <curve color="#1ac938" name="roll compenstated lateral acceleration"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
+       <limitY/>
+       <curve color="#0097ff" name="/carState/steeringPressed"/>
+       <curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/carState/vEgo">
+        <transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
+         <options value_offset="0" time_offset="0" value_scale="2.23694"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo filename="../tmp2db6nfa2.rlog" prefix="">
+   <selected_datasources value=""/>
+   <plugin ID="DataLoad Rlog"/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="roll compenstated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

From 811365800cc22a1ac5ca9ca2934218fb9b404056 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Mon, 1 Aug 2022 05:33:27 +0300
Subject: [PATCH 352/435] Subaru: Add ES_Distance Cruise_Soft_Disable (#24474)

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 opendbc                          | 2 +-
 selfdrive/car/subaru/carstate.py | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index e37049620..24acbb7c2 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e3704962060058c1ec1fb48a5aef767153d28fe7
+Subproject commit 24acbb7c2b35de01ed89679e78f7c470f5f777ba
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 7b2580c92..2d1e76848 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -111,6 +111,8 @@ class CarState(CarStateBase):
       ("Signal2", "ES_Distance"),
       ("Car_Follow", "ES_Distance"),
       ("Signal3", "ES_Distance"),
+      ("Cruise_Soft_Disable", "ES_Distance"),
+      ("Signal7", "ES_Distance"),
       ("Cruise_Brake_Active", "ES_Distance"),
       ("Distance_Swap", "ES_Distance"),
       ("Cruise_EPB", "ES_Distance"),

From 9eb27259c7b9bf267671b16d17ae9a21b43105f3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Aug 2022 09:48:03 -0700
Subject: [PATCH 353/435] Subaru: set cruiseState.standstill (#25320)

* Subaru: set cruiseState.standstill

* only global
---
 selfdrive/car/subaru/carstate.py         | 3 +++
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 2d1e76848..de5e62cb7 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -57,6 +57,9 @@ class CarState(CarStateBase):
     ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
+    if self.car_fingerprint not in PREGLOBAL_CARS:
+      ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
+
     if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
        (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
       ret.cruiseState.speed *= CV.MPH_TO_KPH
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 80f5980fb..ef0a47fbb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-01e23eec1394b07d2c537f0e28493b10e05923c2
\ No newline at end of file
+20c140b10eef52b6f6d6b9e142ed944264865bac
\ No newline at end of file

From 21719aa824f0b88ee2bc248347831cb21004a87f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Aug 2022 09:56:20 -0700
Subject: [PATCH 354/435] internal installer: set param for disable radar
 toggle

---
 selfdrive/ui/installer/installer.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index fe31a2dcb..ee98c4d3d 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -182,6 +182,7 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
+    {"DisableRadar_Allow", "1"},
     {"GithubSshKeys", SSH_KEYS},
   };
   for (const auto& [key, value] : params) {

From c8a90ef5866888ae5104c4fa9a61299de1879406 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Aug 2022 13:26:24 -0700
Subject: [PATCH 355/435] Prepare for new supported vehicles webpage (#25021)

* add well maintained footnote

* stash

* some updates for the website

* one extensible sort function, pass sort function into template, continue to use "openpilot ACC"

* use items

same

* return a final dict

* Fix descriptions

* Required

* Add detail sentence

* Make string packages into namedtuple

* add temp year parsing

* revert this

* one unified class like harness

* fix static analysis

* Fix body

Fix body

* Make specifics strong

* remove years

* Make Camry footnote more clear

* Revert this too

* Add notCar text, fix steer speed > enable speed (remove comma, no speed mention)

* fix missing years

* group_by_make

* Use full package text

* Only use full package text

* Check car name if notCar, fix imports

* add_years no longer needed, remove 'with Stop and Go'

* fix that

fix that

fix that

* Exception for Nissan and Subaru

* Adjust DSU footnote text

* Fix speed overrides in sentence, CR-V package imp

* init() was being called multiple times, only need to run once to set row
---
 docs/CARS.md                      | 122 +++++++++++++++---------------
 selfdrive/car/CARS_template.md    |   2 +-
 selfdrive/car/chrysler/values.py  |   2 +-
 selfdrive/car/docs.py             |  16 +++-
 selfdrive/car/docs_definitions.py |  65 +++++++++++++---
 selfdrive/car/gm/values.py        |   4 +-
 selfdrive/car/honda/values.py     |   2 +-
 selfdrive/car/hyundai/values.py   |   6 +-
 selfdrive/car/nissan/values.py    |   2 +-
 selfdrive/car/subaru/values.py    |   2 +-
 selfdrive/car/toyota/values.py    |  20 ++---
 11 files changed, 150 insertions(+), 93 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index b9986f358..3c81ba36b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -32,19 +32,19 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
@@ -52,7 +52,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
@@ -65,53 +65,53 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -126,22 +126,22 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -151,7 +151,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -174,17 +174,17 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -225,8 +225,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
 <sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>3</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>4</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
 <sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 6a3a41f41..e448c19d3 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -9,7 +9,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 
 ## How We Rate The Cars
 
-{% for star_row in star_descriptions.values() %}
+{% for star_row in STAR_DESCRIPTIONS.values() %}
 {% for name, stars in star_row.items() %}
 ### {{name}}
 {% for star, description in stars %}
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 48ea6bd14..66c76bbcf 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -42,7 +42,7 @@ RAM_CARS = {CAR.RAM_1500, }
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
+  package: str = "Adaptive Cruise Control"
   harness: Enum = Harness.fca
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 3a81788c6..5793596a4 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+from collections import defaultdict
 import jinja2
 import os
 from enum import Enum
@@ -40,13 +41,22 @@ def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]:
       car_info = (car_info,)
 
     for _car_info in car_info:
-      all_car_info.append(_car_info.init(CP, footnotes))
+      if not hasattr(_car_info, "row"):
+        _car_info.init(CP, footnotes)
+      all_car_info.append(_car_info)
 
   # Sort cars by make and model + year
   sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
   return sorted_cars
 
 
+def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
+  sorted_car_info = defaultdict(list)
+  for car_info in all_car_info:
+    sorted_car_info[car_info.make].append(car_info)
+  return dict(sorted_car_info)
+
+
 def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
@@ -60,8 +70,8 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co
         del car.row[c]
 
   footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)]
-  cars_md: str = template.render(all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS)
+  cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make,
+                                 footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS)
   return cars_md
 
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 015646972..c305a2eee 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,11 +1,12 @@
 import re
-
-from cereal import car
 from collections import namedtuple
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union, no_type_check
 
+from cereal import car
+from common.conversions import Conversions as CV
+
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
@@ -42,6 +43,24 @@ def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
   return [fn for fn in footnotes if fn.value.column == column]
 
 
+# TODO: store years as a list
+def get_year_list(years):
+  years_list = []
+  if len(years) == 0:
+    return years_list
+
+  for year in years.split(','):
+    year = year.strip()
+    if len(year) == 4:
+      years_list.append(str(year))
+    elif "-" in year and len(year) == 7:
+      start, end = year.split("-")
+      years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
+    else:
+      raise Exception(f"Malformed year string: {years}")
+  return years_list
+
+
 def split_name(name: str) -> Tuple[str, str, str]:
   make, model = name.split(" ", 1)
   years = ""
@@ -64,17 +83,16 @@ class CarInfo:
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
-    min_steer_speed = CP.minSteerSpeed
     if self.min_steer_speed is not None:
-      min_steer_speed = self.min_steer_speed
       assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+    else:
+      self.min_steer_speed = CP.minSteerSpeed
 
     assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
 
     # TODO: set all the min enable speeds in carParams correctly and remove this
-    min_enable_speed = CP.minEnableSpeed
-    if self.min_enable_speed is not None:
-      min_enable_speed = self.min_enable_speed
+    if self.min_enable_speed is None:
+      self.min_enable_speed = CP.minEnableSpeed
 
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
@@ -85,8 +103,8 @@ class CarInfo:
       Column.PACKAGE: self.package,
       # StarColumns
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
-      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
-      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
       Column.STEERING_TORQUE: Star.EMPTY,
     }
 
@@ -115,8 +133,37 @@ class CarInfo:
     else:
       self.tier = Tier.BRONZE
 
+    self.year_list = get_year_list(self.years)
+    self.detail_sentence = self.get_detail_sentence(CP)
+
     return self
 
+  def get_detail_sentence(self, CP):
+    if not CP.notCar:
+      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
+
+      if self.min_steer_speed > self.min_enable_speed:
+        alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
+      else:
+        alc = ""
+
+      # Exception for Nissan and Subaru which do not auto-resume yet
+      if CP.carName not in ("nissan", "subaru"):
+        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>" if self.min_enable_speed > 0 else " <strong>that automatically resumes from a stop</strong>"
+      else:
+        acc = ""
+
+      if self.row[Column.STEERING_TORQUE] != Star.FULL:
+        sentence_builder += " This car may not be able to take tight turns on its own."
+
+      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
+
+    else:
+      if CP.carFingerprint == "COMMA BODY":
+        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
+      else:
+        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
+
   @no_type_check
   def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
     item: Union[str, Star] = self.row[column]
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 328ca7c28..1cae6aa50 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -67,7 +67,7 @@ class Footnote(Enum):
 
 @dataclass
 class GMCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
+  package: str = "Adaptive Cruise Control"
   harness: Enum = Harness.none
   footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
@@ -79,7 +79,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),  # TODO: can probably just be ACC?
 }
 
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 5749b5347..b8ae3d11f 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -124,7 +124,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
   CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
   CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7a25188e8..797de06fb 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -97,7 +97,7 @@ class Footnote(Enum):
 class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
   # HKG and for others, it's likely packaged together with SCC
-  package: str = "SCC + LKAS"
+  package: str = "Smart Cruise Control (SCC) & LKAS"
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
@@ -107,7 +107,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA_GT_I30: None,  # dashcamOnly and same platform as CAR.ELANTRA
   CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h),
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
   CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
@@ -137,7 +137,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 5ffef691d..2126e550e 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -28,7 +28,7 @@ class CAR:
 
 @dataclass
 class NissanCarInfo(CarInfo):
-  package: str = "ProPILOT"
+  package: str = "ProPILOT Assist"
   harness: Enum = Harness.nissan_a
 
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 12f6dd1e6..b18ec68d0 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -45,7 +45,7 @@ class CAR:
 
 @dataclass
 class SubaruCarInfo(CarInfo):
-  package: str = "EyeSight"
+  package: str = "EyeSight Driver Assistance"
   harness: Enum = Harness.subaru
 
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca4172f24..7757c1b3c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -87,11 +87,11 @@ class CAR:
 
 class Footnote(Enum):
   DSU = CarFootnote(
-    "When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock " +
-    "Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
+    "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
+    "stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
     Column.LONGITUDINAL, star=Star.HALF)
   CAMRY = CarFootnote(
-    "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
+    "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
 
 
@@ -106,7 +106,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
   CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
   CAR.AVALON: [
-    ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
   ],
   CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
@@ -135,21 +135,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
   CAR.PRIUS_TSS2: [
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
   ],
   CAR.RAV4: [
-    ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
   ],
   CAR.RAV4H: [
-    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
   ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
@@ -160,8 +160,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
 
   # Lexus
-  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
   CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),

From 7547d887e0277a8394d3f7030900f3aa4af76e63 Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Mon, 1 Aug 2022 16:27:55 -0500
Subject: [PATCH 356/435] Add missing AUDI_A3_MK3 transmission & SRS f/w
 (#25328)

* Add missing AUDI_A3_MK3 trans & SRS f/w + cleanup

@Lord_Veit#2600 Audi A3 E-Tron (EU)  DongleID/route 7a66a72837a92935|2022-08-01--20-08-22
https://discord.com/channels/469524606043160576/524592892627517450/1003759334796316752

Cleanup was simply replacing `\0` w/ `\x`... a problem I noticed while adding missing firmware.

* Add missing AUDI_A3_MK3 trans & SRS f/w

Reverted previous "cleanup"... which was actually more of a disaster.
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index fbbae4c8c..25f7eb142 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -685,6 +685,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300013B \xf1\x894931',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300043T \xf1\x899699',
+      b'\xf1\x870DD300046  \xf1\x891604',
       b'\xf1\x870DD300046A \xf1\x891602',
       b'\xf1\x870DD300046F \xf1\x891602',
       b'\xf1\x870DD300046G \xf1\x891601',
@@ -695,6 +696,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
       b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
+      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',

From 09800b623ee36686f44a7789519fcf26ed5a5efa Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Tue, 2 Aug 2022 00:32:42 +0300
Subject: [PATCH 357/435] Subaru: Add missing Forester 2021 engine fw (#25322)

FPv2: Add Forester 2021 engine fw
---
 selfdrive/car/subaru/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index b18ec68d0..9465f75ed 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -240,6 +240,7 @@ FW_VERSIONS = {
       b'\xcb\"`@\a',
       b'\xcb\"`p\a',
       b'\xf1\x00\xa2\x10\n',
+      b'\xcf"`p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\032\xf6B0\000',

From d810d45421aa3af9ee62fb2026aa56f1e6d4fb8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Aug 2022 17:07:30 -0700
Subject: [PATCH 358/435] Car docs diff: print detail sentence changes (#25332)

* Detail sentence changes

* fix

* after everything else

* fix static analysis

* nice emoji
---
 selfdrive/debug/print_docs_diff.py | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 44c821a4f..469ceb8fe 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -83,21 +83,29 @@ def print_car_info_diff(path):
     for new_car, base_car in car_changes:
       # Tier changes
       if base_car.tier != new_car.tier:
-        changes["tier"].append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+        changes["tier"].append(f"- Tier for {base_car.make} {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
 
       # Column changes
       row_diff = build_column_diff(base_car, new_car)
       if ARROW_SYMBOL in row_diff:
         changes["column"].append(row_diff)
 
+      # Detail sentence changes
+      if base_car.detail_sentence != new_car.detail_sentence:
+        changes["detail"].append(f"- Sentence for {base_car.make} {base_car.name} changed!\n" +
+                                 "  ```diff\n" +
+                                 f"  + {base_car.detail_sentence}\n" +
+                                 f"  - {new_car.detail_sentence}\n" +
+                                 "```")
+
   # Print diff
   if any(len(c) for c in changes.values()):
     markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
 
-    for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions")):
+    for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
       if len(changes[category]):
         markdown_builder.append(title)
-        if "Tier" not in title:
+        if category not in ("tier", "detail"):
           markdown_builder.append(COLUMNS)
           markdown_builder.append(COLUMN_HEADER)
         markdown_builder.extend(changes[category])

From 35338196aca2619e8d32d8f75c03b400ae9ece5b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 1 Aug 2022 17:44:22 -0700
Subject: [PATCH 359/435] CarInfo: detail sentence exception for Toyota stock
 longitudinal (#25331)

* Exception for 2022 RAV4

* Exception for all stock long Toyota

Exception for all stock long Toyota

* fix exception

fix

fix

fix
---
 selfdrive/car/docs_definitions.py  | 11 ++++++-----
 selfdrive/debug/print_docs_diff.py | 10 +++++-----
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index c305a2eee..21df85030 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -147,11 +147,12 @@ class CarInfo:
       else:
         alc = ""
 
-      # Exception for Nissan and Subaru which do not auto-resume yet
-      if CP.carName not in ("nissan", "subaru"):
-        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>" if self.min_enable_speed > 0 else " <strong>that automatically resumes from a stop</strong>"
-      else:
-        acc = ""
+      # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+      acc = ""
+      if self.min_enable_speed > 0:
+        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
+      elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+        acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
         sentence_builder += " This car may not be able to take tight turns on its own."
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 469ceb8fe..b7721ca3a 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -83,7 +83,7 @@ def print_car_info_diff(path):
     for new_car, base_car in car_changes:
       # Tier changes
       if base_car.tier != new_car.tier:
-        changes["tier"].append(f"- Tier for {base_car.make} {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+        changes["tier"].append(f"- Tier for {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
 
       # Column changes
       row_diff = build_column_diff(base_car, new_car)
@@ -92,11 +92,11 @@ def print_car_info_diff(path):
 
       # Detail sentence changes
       if base_car.detail_sentence != new_car.detail_sentence:
-        changes["detail"].append(f"- Sentence for {base_car.make} {base_car.name} changed!\n" +
+        changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" +
                                  "  ```diff\n" +
-                                 f"  + {base_car.detail_sentence}\n" +
-                                 f"  - {new_car.detail_sentence}\n" +
-                                 "```")
+                                 f"  - {base_car.detail_sentence}\n" +
+                                 f"  + {new_car.detail_sentence}\n" +
+                                 "  ```")
 
   # Print diff
   if any(len(c) for c in changes.values()):

From 7aa563dc89e968f12b16d9ed401c7b8fc9e419b2 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Mon, 1 Aug 2022 22:05:00 -0400
Subject: [PATCH 360/435] Civic 2022: Add missing srs fw version (#25314)

Add fingerprint from a7f4cd3bd223a19e
---
 selfdrive/car/honda/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index b8ae3d11f..88e118cc3 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1415,6 +1415,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
       b'77959-T47-A940\x00\x00',
+      b'77959-T47-A950\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',

From 82fbd1414428f9c4cb9b7542a55858ea5cdcd3b0 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Mon, 1 Aug 2022 19:25:35 -0700
Subject: [PATCH 361/435] update tici power monitor

---
 system/hardware/tici/power_monitor.py | 71 ++++++++++-----------------
 1 file changed, 27 insertions(+), 44 deletions(-)

diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
index 07362c839..3e00376b2 100755
--- a/system/hardware/tici/power_monitor.py
+++ b/system/hardware/tici/power_monitor.py
@@ -1,15 +1,16 @@
 #!/usr/bin/env python3
 import sys
 import time
-import numpy as np
+import datetime
 from typing import List
 
 from common.realtime import Ratekeeper
+from common.filter_simple import FirstOrderFilter
 
-def average(avg, sample):
-  # Weighted avg between existing value and new sample
-  return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
 
+def read_power():
+  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
+    return int(f.read()) / 1e6
 
 def sample_power(seconds=5) -> List[float]:
   rate = 123
@@ -17,8 +18,7 @@ def sample_power(seconds=5) -> List[float]:
 
   pwrs = []
   for _ in range(rate*seconds):
-    with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
-      pwrs.append(int(f.read()) / 1e6)
+    pwrs.append(read_power())
     rk.keep_time()
   return pwrs
 
@@ -27,47 +27,30 @@ def get_power(seconds=5):
   return np.mean(pwrs)
 
 
-if __name__ == '__main__':
-
-  sample_time = None
+if __name__ == "__main__":
+  duration = None
   if len(sys.argv) > 1:
-    sample_time = int(sys.argv[1])
-
-  start_time = time.monotonic()
-  try:
-    voltage_average = (0, 0)  # average, count
-    current_average = (0, 0)
-    power_average = (0, 0)
-    while sample_time is None or time.monotonic() - start_time < sample_time:
-      with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-        voltage_total = int(f.read()) / 1000.
-
-      with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-        current_total = int(f.read())
+    duration = int(sys.argv[1])
 
-      # SOM measurements are questionable
-      #with open("/sys/class/power_supply/bms/voltage_now") as f:
-      #  voltage = int(f.read()) / 1e6   # volts
-      #with open("/sys/class/power_supply/bms/current_now") as f:
-      #  current = int(f.read()) / 1e3   # ma
-
-      power_total = voltage_total*current_total
+  rate = 23
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
 
-      # compute averages
-      voltage_average = average(voltage_average, voltage_total)
-      current_average = average(current_average, current_total)
-      power_average = average(power_average, power_total)
+  measurements = []
+  start_time = time.monotonic()
 
-      print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
-      time.sleep(0.25)
+  try:
+    while duration is None or time.monotonic() - start_time < duration:
+      fltr.update(read_power())
+      if rk.frame % rate == 0:
+        measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
+      rk.keep_time()
   except KeyboardInterrupt:
     pass
-  finally:
-    stop_time = time.monotonic()
-    print("\n----------------------Average-----------------------------------")
-    voltage = voltage_average[0]
-    current = current_average[0]
-    power = power_average[0]
-    print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {power_total:12.2f} mW")
-    print(f"  {stop_time - start_time:.2f} Seconds     {voltage_average[1]} samples")
-    print("----------------------------------------------------------------")
+
+  t = datetime.timedelta(seconds=time.monotonic() - start_time)
+  avg = sum(measurements) / len(measurements)
+  print(f"\nAverage power: {avg:.2f}W over {t}")

From 73ddddd9877ee2c37ec3b26c440eae51170175ee Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Mon, 1 Aug 2022 22:29:48 -0400
Subject: [PATCH 362/435] VW MQB: Add video for Arteon/CC family (#25330)

* VW MQB: Add video for Arteon/CC family

* single line is fine

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 25f7eb142..9f58d68f8 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -122,10 +122,10 @@ class VWCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.ARTEON_MK1: [
-    VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
-    VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
-    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
-    VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
   ],
   CAR.ATLAS_MK1: [
     VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),

From e7b3ebdb17c1bb931af704f2c36defdc8874ac28 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Aug 2022 20:02:53 -0700
Subject: [PATCH 363/435] power monitor: fix missing numpy import

---
 system/hardware/tici/power_monitor.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
index 3e00376b2..f9d1e3cc4 100755
--- a/system/hardware/tici/power_monitor.py
+++ b/system/hardware/tici/power_monitor.py
@@ -2,6 +2,7 @@
 import sys
 import time
 import datetime
+import numpy as np
 from typing import List
 
 from common.realtime import Ratekeeper

From ee6570da4a3fd7e8cbb27feae50c59064f1d55c4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 Aug 2022 20:03:32 -0700
Subject: [PATCH 364/435] enable panda deep sleep (#24949)

---
 panda                      | 2 +-
 selfdrive/boardd/boardd.cc | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index 4b86b8399..8b26ce940 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467
+Subproject commit 8b26ce940f8193012ede411fa55ed30e2c34c536
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index f47b5936b..240935175 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -193,9 +193,11 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
     return nullptr;
   }
 
+  // common panda config
   if (getenv("BOARDD_LOOPBACK")) {
     panda->set_loopback(true);
   }
+  panda->enable_deepsleep();
 
   // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
 #ifndef __x86_64__

From 772b748689cff4d6dc6aab6a8a20247b29a86056 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 1 Aug 2022 20:35:14 -0700
Subject: [PATCH 365/435] Cleanup calibration code (#25119)

* First attempt

* worksish

* tests pass

* cleanup

* get rid of garbahe

* fix name

* Still used in xx

* add debug functions

* used

* Revert "used"

This reverts commit 276e8ebab06d2d4f0e9927ba32b7d8aca2bf88c3.

* Update ref
---
 common/transformations/camera.py              |  15 +-
 common/transformations/model.py               | 147 ++++++------------
 selfdrive/locationd/calibrationd.py           |   6 -
 selfdrive/modeld/SConscript                   |   4 +-
 selfdrive/modeld/modeld.cc                    |  56 +++----
 selfdrive/test/process_replay/model_replay.py |   4 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 7 files changed, 85 insertions(+), 149 deletions(-)

diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index 5d100d104..b20ed5c64 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -77,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
   device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -94,12 +95,6 @@ def vp_from_ke(m):
   return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -163,11 +158,3 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
 
-
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
-  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
-  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
-  return camera_frame_from_calib_frame
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 62eb86423..811a17eaf 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,10 +1,7 @@
 import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           FOCAL,
-                                           get_view_frame_from_road_frame,
-                                           get_view_frame_from_calib_frame,
-                                           vp_from_ke)
+                                           get_view_frame_from_calib_frame)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
                    [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
 segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 
-# model
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
-MODEL_CY = 21.
-
-model_fl = 728.0
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array([
-  [model_fl,  0.0,  MODEL_CX],
-  [0.0,  model_fl,  MODEL_CY],
-  [0.0,  0.0,            1.0]])
-
 
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
@@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
 
 sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, 0],
-    [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, height - model_height],
-    [0, 0, 1],
-  ]))
-
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_zoom = camera_fl / model_fl
-  model_camera_from_model_frame = np.array([
-    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
-    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
-    [0.0,  0.0,                                   1.0],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001:
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
+### This function mimics the update_calibration logic in modeld.cc
+### Manually verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
-
-def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
-  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-  return camera_frame_from_medmodel_frame
+  if big_model:
+    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
+  else:
+    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(medmodel_from_calib)
+  device_from_calib = rot_from_euler(rpy_calib)
+  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
+  warp_matrix = camera_from_calib.dot(calib_from_model)
+  return warp_matrix
 
 
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+### This is old, just for debugging
+def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
 
-  return camera_frame_from_bigmodel_frame
+  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+    view_from_road = view_frame_from_device_frame.dot(device_from_road)
+    return np.hstack((view_from_road, [[0], [height], [0]]))
 
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-def get_model_frame(snu_full, camera_frame_from_model_frame, size):
-  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
-                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
-  if len(snu_full.shape) == 3:
-    calib = calib_flat.reshape((size[1], size[0], 3))
-  elif len(snu_full.shape) == 2:
-    calib = calib_flat.reshape((size[1], size[0]))
+  model_height = 1.22
+  if big_model:
+    model_from_road = np.dot(sbigmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
   else:
-    raise ValueError("shape of input img is weird")
-  return calib
+    model_from_road = np.dot(medmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
+  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
+
+  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
+  camera_frame_from_road_frame = intrinsics.dot(E)
+  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
+  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  return warp_matrix
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 81bcc6ce1..9e6536f9b 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -17,8 +17,6 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
 from common.realtime import set_realtime_priority
-from common.transformations.model import model_height
-from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
 from system.swaglog import cloudlog
 
@@ -180,7 +178,6 @@ class Calibrator:
 
   def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
-    extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
 
     msg = messaging.new_message('liveCalibration')
     liveCalibration = msg.liveCalibration
@@ -188,16 +185,13 @@ class Calibrator:
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
     liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
     if self.not_car:
-      extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
       liveCalibration.calPerc = 100.
-      liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
       liveCalibration.rpyCalib = [0, 0, 0]
       liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 3e9738d86..a108e2c9d 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,6 +1,6 @@
 import os
 
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
 lenv = env.Clone()
 
 libs = [cereal, messaging, common, visionipc, gpucommon,
@@ -82,4 +82,4 @@ lenv.Program('_dmonitoringmodeld', [
 lenv.Program('_modeld', [
     "modeld.cc",
     "models/driving.cc",
-  ]+common_model, LIBS=libs)
+  ]+common_model, LIBS=libs + transformations)
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 6039599e6..653661a3a 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -6,6 +6,8 @@
 #include <eigen3/Eigen/Dense>
 
 #include "cereal/messaging/messaging.h"
+#include "common/transformations/orientation.hpp"
+
 #include "cereal/visionipc/visionipc_client.h"
 #include "common/clutil.h"
 #include "common/params.h"
@@ -14,40 +16,43 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 
+
 ExitHandler do_exit;
 
-mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera, bool bigmodel_frame) {
+mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) {
   /*
      import numpy as np
-     from common.transformations.model import medmodel_frame_from_road_frame
-     medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-     ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+     from common.transformations.model import medmodel_frame_from_calib_frame
+     medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3]
+     calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame)
   */
-  static const auto ground_from_medmodel_frame = (Eigen::Matrix<float, 3, 3>() <<
+  static const auto calib_from_medmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-    -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
-    -1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished();
+     1.09890110e-03, 0.00000000e+00, -2.81318681e-01,
+    -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished();
 
-  static const auto ground_from_sbigmodel_frame = (Eigen::Matrix<float, 3, 3>() <<
+  static const auto calib_from_sbigmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00,  7.31372216e-19,  1.00000000e+00,
-    -2.19780220e-03,  4.11497335e-19,  5.62637363e-01,
-    -5.46146580e-20,  1.80147721e-03, -2.73464241e-01).finished();
+     2.19780220e-03,  4.11497335e-19, -5.62637363e-01,
+    -6.66298828e-20,  2.19780220e-03, -3.33626374e-01).finished();
+  
+  static const auto view_from_device = (Eigen::Matrix<float, 3, 3>() <<
+     0.0,  1.0,  0.0,
+     0.0,  0.0,  1.0,
+     1.0,  0.0,  0.0).finished();
 
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
-  static const mat3 yuv_transform = get_model_yuv_transform();
 
-  auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame;
-  auto camera_frame_from_road_frame = cam_intrinsics * extrinsics;
-  Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
-  camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
-  camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
-  camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
+  auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
+  auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
+  auto warp_matrix = camera_from_calib * calib_from_model;
 
-  auto warp_matrix = camera_frame_from_ground * ground_from_model_frame;
   mat3 transform = {};
   for (int i=0; i<3*3; i++) {
     transform.v[i] = warp_matrix(i / 3, i % 3);
   }
+  static const mat3 yuv_transform = get_model_yuv_transform();
   return matmul3(yuv_transform, transform);
 }
 
@@ -114,14 +119,13 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
     if (sm.updated("liveCalibration")) {
-      auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
-      Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-      for (int i = 0; i < 4*3; i++) {
-        extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
+      auto rpy_calib = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
+      Eigen::Vector3d device_from_calib_euler;
+      for (int i=0; i<3; i++) {
+        device_from_calib_euler(i) = rpy_calib[i];
       }
-
-      model_transform_main = update_calibration(extrinsic_matrix_eigen, main_wide_camera, false);
-      model_transform_extra = update_calibration(extrinsic_matrix_eigen, true, true);
+      model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, false);
+      model_transform_extra = update_calibration(device_from_calib_euler, true, true);
       live_calib_seen = true;
     }
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 06720d4a1..8b41d6df1 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,7 +10,7 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
-from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
+from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
 from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
@@ -35,7 +35,7 @@ def get_log_fn(ref_commit, test_route):
 def replace_calib(msg, calib):
   msg = msg.as_builder()
   if calib is not None:
-    msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
+    msg.liveCalibration.rpyCalib = calib.tolist()
   return msg
 
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ef0a47fbb..d1c0ef985 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-20c140b10eef52b6f6d6b9e142ed944264865bac
\ No newline at end of file
+6d9bd0e80ccdf39827bded1883adbc922224bdf1

From 32201bbbbda0ce4c2ff8cad81ecfe45ca15e4f81 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 1 Aug 2022 22:06:58 -0700
Subject: [PATCH 366/435] Quectel unix timestamp (#25329)

* Use laika

* Fix bug

* Better timestamp name

* Better name

* bump cereal
---
 cereal                              | 2 +-
 selfdrive/locationd/locationd.cc    | 2 +-
 selfdrive/locationd/ublox_msg.cc    | 2 +-
 selfdrive/sensord/rawgps/rawgpsd.py | 5 ++---
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/cereal b/cereal
index a4db5e79e..fbd45de6e 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit a4db5e79e4fac20a906bd951f75b1b91c06148b5
+Subproject commit fbd45de6e6bc71b4561eaef65dd86fce952c5d55
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index ffdd649a8..7714931b9 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -284,7 +284,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
 
-  this->unix_timestamp_millis = log.getTimestamp();
+  this->unix_timestamp_millis = log.getUnixTimestampMillis();
   double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
 
   VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
index c9833410e..c9f732e9a 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@@ -144,7 +144,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   timeinfo.tm_sec = msg->sec();
 
   std::time_t utc_tt = timegm(&timeinfo);
-  gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano() * 1e-06);
+  gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06);
   float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
   gpsLoc.setVNED(f);
   gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index 14f0fe387..e3336f487 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -7,10 +7,10 @@ import math
 import time
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
-
 import cereal.messaging as messaging
 from cereal import log
 from system.swaglog import cloudlog
+from laika.gps_time import GPSTime
 
 from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from selfdrive.sensord.rawgps.structs import dict_unpacker
@@ -211,8 +211,7 @@ def main() -> NoReturn:
       gps.altitude = report["q_FltFinalPosAlt"]
       gps.speed = math.sqrt(sum([x**2 for x in vNED]))
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
-      # TODO: this probably isn't right, use laika for this
-      gps.timestamp = report['w_GpsWeekNumber']*604800*1000 + report['q_GpsFixTimeMs']
+      gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], 1e-3*report['q_GpsFixTimeMs']).as_datetime().timestamp()*1e3
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]

From ecba8732088d27fac84c9d1c84c6082e0638009f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Aug 2022 12:44:21 -0700
Subject: [PATCH 367/435] Multilang: handle localized plurals (#25337)

* Add localized plural handling

* Do another location with plurals

* fix test
---
 selfdrive/ui/qt/util.cc                  |   6 +-
 selfdrive/ui/qt/widgets/input.cc         |   2 +-
 selfdrive/ui/tests/test_translations.py  |   2 +-
 selfdrive/ui/translations/languages.json |   2 +-
 selfdrive/ui/translations/main_en.ts     |  38 +++++
 selfdrive/ui/translations/main_ja.ts     | 200 +++++++++++++----------
 selfdrive/ui/translations/main_ko.ts     |  40 ++++-
 selfdrive/ui/translations/main_zh-CHS.ts |  40 ++++-
 selfdrive/ui/translations/main_zh-CHT.ts |  40 ++++-
 selfdrive/ui/update_translations.py      |  10 +-
 10 files changed, 259 insertions(+), 121 deletions(-)
 create mode 100644 selfdrive/ui/translations/main_en.ts

diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index a7d5438ae..381c06590 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -79,13 +79,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QObject::tr("%n minute(s) ago", "", minutes);
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
+    s = QObject::tr("%n hour(s) ago", "", hours);
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
+    s = QObject::tr("%n day(s) ago", "", days);
   } else {
     s = date.date().toString();
   }
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index dc54a3621..d70382588 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -165,7 +165,7 @@ void InputDialog::handleEnter() {
     done(QDialog::Accepted);
     emitText(line->text());
   } else {
-    setMessage(tr("Need at least %1 characters!").arg(minLength), false);
+    setMessage(tr("Need at least %n character(s)!", "", minLength), false);
   }
 }
 
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index b44ab11ed..ae91dd6f8 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -39,7 +39,7 @@ class TestTranslations(unittest.TestCase):
                         f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
 
   def test_translations_updated(self):
-    update_translations(translations_dir=TMP_TRANSLATIONS_DIR)
+    update_translations(plural_only=["main_en"], translations_dir=TMP_TRANSLATIONS_DIR)
 
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 48f094867..cc3995738 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,5 +1,5 @@
 {
-  "English": "",
+  "English": "main_en",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
   "한국어": "main_ko"
diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts
new file mode 100644
index 000000000..3f9692e5f
--- /dev/null
+++ b/selfdrive/ui/translations/main_en.ts
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="en_US">
+<context>
+    <name>InputDialog</name>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Need at least %n character!</numerusform>
+            <numerusform>Need at least %n characters!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n minute ago</numerusform>
+            <numerusform>%n minutes ago</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n hour ago</numerusform>
+            <numerusform>%n hours ago</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n day ago</numerusform>
+            <numerusform>%n days ago</numerusform>
+        </translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index c3b2b850e..67f48341b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -108,152 +108,152 @@
 <context>
     <name>DevicePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>Dongle ID</source>
         <translation>ドングル番号 (Dongle ID)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
         <source>N/A</source>
         <translation>N/A</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="107"/>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
         <source>Serial</source>
         <translation>シリアル番号</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>Driver Camera</source>
         <translation>車内カメラ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
         <source>PREVIEW</source>
         <translation>見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
         <translation>車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>Reset Calibration</source>
         <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="116"/>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
         <source>RESET</source>
         <translation>ﾘｾｯﾄ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
         <source>Are you sure you want to reset calibration?</source>
         <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review Training Guide</source>
         <translation>入門書を見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>REVIEW</source>
         <translation>見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="126"/>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
         <source>Review the rules, features, and limitations of openpilot</source>
         <translation>openpilot の特徴を見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
         <source>Are you sure you want to review the training guide?</source>
         <translation>入門書を見てもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>Regulatory</source>
         <translation>認証情報</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="136"/>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
         <source>VIEW</source>
         <translation>見る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>Change Language</source>
         <translation>言語を変更</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="144"/>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
         <source>CHANGE</source>
         <translation>変更</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="148"/>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
         <source>Select a language</source>
         <translation>言語を選択</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="168"/>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
         <source>Reboot</source>
         <translation>再起動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="173"/>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
         <source>Power Off</source>
         <translation>電源を切る</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="193"/>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
         <translation>openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="204"/>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> このデバイスは%2の%1°、%4の%3°に向けます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>down</source>
         <translation>下</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="205"/>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
         <source>up</source>
         <translation>上</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>left</source>
         <translation>左</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="206"/>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
         <source>right</source>
         <translation>右</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
         <source>Are you sure you want to reboot?</source>
         <translation>再起動してもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
         <source>Disengage to Reboot</source>
         <translation>openpilot をキャンセルして再起動ができます</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
         <source>Are you sure you want to power off?</source>
         <translation>シャットダウンしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
         <source>Disengage to Power Off</source>
         <translation>openpilot をキャンセルしてシャットダウンができます</translation>
     </message>
@@ -294,7 +294,7 @@
 <context>
     <name>DriverViewScene</name>
     <message>
-        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
         <source>camera starting</source>
         <translation>ｶﾒﾗを起動しています</translation>
     </message>
@@ -306,10 +306,16 @@
         <source>Cancel</source>
         <translation>キャンセル</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>Need at least %1 characters!</source>
-        <translation>ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！</translation>
+        <translation type="vanished">ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！</translation>
     </message>
 </context>
 <context>
@@ -488,30 +494,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="208"/>
+        <location filename="../qt/onroad.cc" line="212"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="275"/>
-        <location filename="../qt/onroad.cc" line="278"/>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="322"/>
-        <location filename="../qt/onroad.cc" line="325"/>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="328"/>
-        <location filename="../qt/onroad.cc" line="331"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>LIMIT</source>
         <translation>制限速度</translation>
     </message>
@@ -635,20 +641,38 @@ location set</source>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 時間前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 日前</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>%1 minute%2 ago</source>
-        <translation>%1 分%2 前</translation>
+        <translation type="vanished">%1 分%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
-        <translation>%1 時間%2 前</translation>
+        <translation type="vanished">%1 時間%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
-        <translation>%1 日%2 前</translation>
+        <translation type="vanished">%1 日%2 前</translation>
     </message>
 </context>
 <context>
@@ -710,33 +734,33 @@ location set</source>
 <context>
     <name>SettingsWindow</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="338"/>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
         <source>×</source>
         <translation>×</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="364"/>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
         <source>Device</source>
         <translation>デバイス</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="365"/>
-        <location filename="../qt/offroad/settings.cc" line="404"/>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
         <source>Network</source>
         <translation>ﾈｯﾄﾜｰｸ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
         <source>Toggles</source>
         <translation>切り替え</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="367"/>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="372"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
         <source>Navigation</source>
         <translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
     </message>
@@ -975,89 +999,89 @@ location set</source>
 <context>
     <name>SoftwarePanel</name>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="242"/>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
         <source>Git Branch</source>
         <translation>Git ブランチ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="243"/>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
         <source>Git Commit</source>
         <translation>Git コミット</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="244"/>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
         <source>OS Version</source>
         <translation>OS バージョン</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
         <source>Version</source>
         <translation>バージョン</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>Last Update Check</source>
         <translation>最終更新確認</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
         <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
         <translation>openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="247"/>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
         <source>Check for Update</source>
         <translation>更新プログラムをチェック</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
         <source>CHECKING</source>
         <translation>確認中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Switch Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>ENTER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="259"/>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="261"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>Enter branch name</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>UNINSTALL</source>
         <translation>アンインストール</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="272"/>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
         <source>Uninstall %1</source>
         <translation>%1をアンインストール</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="274"/>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
         <source>Are you sure you want to uninstall?</source>
         <translation>アンインストールしてもよろしいですか？</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="291"/>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
         <source>failed to fetch update</source>
         <translation>更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="292"/>
-        <location filename="../qt/offroad/settings.cc" line="313"/>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
         <source>CHECK</source>
         <translation>確認</translation>
     </message>
@@ -1165,72 +1189,70 @@ location set</source>
         <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Enable Right-Hand Drive</source>
-        <translation>右ハンドルを有効化</translation>
+        <translation type="vanished">右ハンドルを有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation>openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。</translation>
+        <translation type="vanished">openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
         <translation>メートル法を有効化</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
         <source>Display speed in km/h instead of mph.</source>
         <translation>速度は mph ではなく km/h で表示されます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
         <source>Record and Upload Driver Camera</source>
         <translation>車内カメラの録画とアップロード</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>有効な場合は、アクセルを踏むと openpilot をキャンセルします。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
         <source>Show ETA in 24h format</source>
         <translation>24時間表示</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
         <source>Use 24h format instead of am/pm</source>
         <translation>AM/PM の代わりに24時間形式を使用します</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="77"/>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
         <source>Show Map on Left Side of UI</source>
         <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="78"/>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
         <source>Show map on left side when in split screen view.</source>
         <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="90"/>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
         <source>openpilot Longitudinal Control</source>
         <translation>openpilot 縦方向制御</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings.cc" line="91"/>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
         <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
         <translation>openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index fe1000863..bc93fb7bd 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -306,10 +306,16 @@
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
+    <message>
         <source>Need at least %1 characters!</source>
-        <translation>최소 %1 자가 필요합니다!</translation>
+        <translation type="vanished">최소 %1 자가 필요합니다!</translation>
     </message>
 </context>
 <context>
@@ -635,20 +641,38 @@ location set</source>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation type="unfinished">
+            <numerusform></numerusform>
+        </translation>
+    </message>
+    <message>
         <source>%1 minute%2 ago</source>
-        <translation>%1 분전</translation>
+        <translation type="vanished">%1 분전</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
-        <translation>%1 시간전</translation>
+        <translation type="vanished">%1 시간전</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
-        <translation>%1 일전</translation>
+        <translation type="vanished">%1 일전</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 5c949b0d3..b1c8928ca 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -306,10 +306,16 @@
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>至少需要 %n 个字符！</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>Need at least %1 characters!</source>
-        <translation>至少需要 %1 个字符！</translation>
+        <translation type="vanished">至少需要 %1 个字符！</translation>
     </message>
 </context>
 <context>
@@ -633,20 +639,38 @@ location set</source>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分钟前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 小时前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 天前</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>%1 minute%2 ago</source>
-        <translation>%1 分钟%2 前</translation>
+        <translation type="vanished">%1 分钟%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
-        <translation>%1 小时%2 前</translation>
+        <translation type="vanished">%1 小时%2 前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
-        <translation>%1 天%2 前</translation>
+        <translation type="vanished">%1 天%2 前</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index d1b1566a5..b79e27511 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -306,10 +306,16 @@
         <source>Cancel</source>
         <translation>取消</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>需要至少 %n 個字元！</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>Need at least %1 characters!</source>
-        <translation>需要至少 %1 個字元！</translation>
+        <translation type="vanished">需要至少 %1 個字元！</translation>
     </message>
 </context>
 <context>
@@ -635,23 +641,41 @@ location set</source>
         <source>openpilot</source>
         <translation>openpilot</translation>
     </message>
-    <message>
+    <message numerus="yes">
         <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分鐘前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 小時前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 天前</numerusform>
+        </translation>
+    </message>
+    <message>
         <source>%1 minute%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation>%1 分鐘前</translation>
+        <translation type="vanished">%1 分鐘前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="85"/>
         <source>%1 hour%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation>%1 小時前</translation>
+        <translation type="vanished">%1 小時前</translation>
     </message>
     <message>
-        <location filename="../qt/util.cc" line="88"/>
         <source>%1 day%2 ago</source>
         <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation>%1 天前</translation>
+        <translation type="vanished">%1 天前</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 973116075..78c973c86 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -10,7 +10,10 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
 
 
-def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR):
+def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR):
+  if plural_only is None:
+    plural_only = []
+
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
@@ -23,6 +26,8 @@ def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR):
     args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
     if vanish:
       args += " -no-obsolete"
+    if file in plural_only:
+      args += " -pluralonly"
     ret = os.system(args)
     assert ret == 0
 
@@ -31,6 +36,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
+  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)")
   args = parser.parse_args()
 
-  update_translations(args.vanish)
+  update_translations(args.vanish, args.plural_only)

From 51b1d99f0cd00327b9cfc3da02e859082cd9c0ea Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Aug 2022 12:47:24 -0700
Subject: [PATCH 368/435] Remove obsolete translations (#25338)

---
 selfdrive/ui/translations/main_ja.ts     | 24 ---------------------
 selfdrive/ui/translations/main_ko.ts     | 24 ---------------------
 selfdrive/ui/translations/main_zh-CHS.ts | 24 ---------------------
 selfdrive/ui/translations/main_zh-CHT.ts | 27 ------------------------
 4 files changed, 99 deletions(-)

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 67f48341b..0e15dd1b2 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -313,10 +313,6 @@
             <numerusform>ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！</numerusform>
         </translation>
     </message>
-    <message>
-        <source>Need at least %1 characters!</source>
-        <translation type="vanished">ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！</translation>
-    </message>
 </context>
 <context>
     <name>Installer</name>
@@ -662,18 +658,6 @@ location set</source>
             <numerusform>%n 日前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>%1 minute%2 ago</source>
-        <translation type="vanished">%1 分%2 前</translation>
-    </message>
-    <message>
-        <source>%1 hour%2 ago</source>
-        <translation type="vanished">%1 時間%2 前</translation>
-    </message>
-    <message>
-        <source>%1 day%2 ago</source>
-        <translation type="vanished">%1 日%2 前</translation>
-    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1188,14 +1172,6 @@ location set</source>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
     </message>
-    <message>
-        <source>Enable Right-Hand Drive</source>
-        <translation type="vanished">右ハンドルを有効化</translation>
-    </message>
-    <message>
-        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation type="vanished">openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。</translation>
-    </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index bc93fb7bd..8fe0e9855 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -313,10 +313,6 @@
             <numerusform></numerusform>
         </translation>
     </message>
-    <message>
-        <source>Need at least %1 characters!</source>
-        <translation type="vanished">최소 %1 자가 필요합니다!</translation>
-    </message>
 </context>
 <context>
     <name>Installer</name>
@@ -662,18 +658,6 @@ location set</source>
             <numerusform></numerusform>
         </translation>
     </message>
-    <message>
-        <source>%1 minute%2 ago</source>
-        <translation type="vanished">%1 분전</translation>
-    </message>
-    <message>
-        <source>%1 hour%2 ago</source>
-        <translation type="vanished">%1 시간전</translation>
-    </message>
-    <message>
-        <source>%1 day%2 ago</source>
-        <translation type="vanished">%1 일전</translation>
-    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1188,14 +1172,6 @@ location set</source>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
     </message>
-    <message>
-        <source>Enable Right-Hand Drive</source>
-        <translation type="vanished">우측핸들 사용</translation>
-    </message>
-    <message>
-        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation type="vanished">openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
-    </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index b1c8928ca..02bda8782 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -313,10 +313,6 @@
             <numerusform>至少需要 %n 个字符！</numerusform>
         </translation>
     </message>
-    <message>
-        <source>Need at least %1 characters!</source>
-        <translation type="vanished">至少需要 %1 个字符！</translation>
-    </message>
 </context>
 <context>
     <name>Installer</name>
@@ -660,18 +656,6 @@ location set</source>
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>%1 minute%2 ago</source>
-        <translation type="vanished">%1 分钟%2 前</translation>
-    </message>
-    <message>
-        <source>%1 hour%2 ago</source>
-        <translation type="vanished">%1 小时%2 前</translation>
-    </message>
-    <message>
-        <source>%1 day%2 ago</source>
-        <translation type="vanished">%1 天%2 前</translation>
-    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1186,14 +1170,6 @@ location set</source>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
     </message>
-    <message>
-        <source>Enable Right-Hand Drive</source>
-        <translation type="vanished">启用右舵模式</translation>
-    </message>
-    <message>
-        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation type="vanished">允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
-    </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index b79e27511..0ea8e95f5 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -313,10 +313,6 @@
             <numerusform>需要至少 %n 個字元！</numerusform>
         </translation>
     </message>
-    <message>
-        <source>Need at least %1 characters!</source>
-        <translation type="vanished">需要至少 %1 個字元！</translation>
-    </message>
 </context>
 <context>
     <name>Installer</name>
@@ -662,21 +658,6 @@ location set</source>
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>%1 minute%2 ago</source>
-        <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation type="vanished">%1 分鐘前</translation>
-    </message>
-    <message>
-        <source>%1 hour%2 ago</source>
-        <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation type="vanished">%1 小時前</translation>
-    </message>
-    <message>
-        <source>%1 day%2 ago</source>
-        <translatorcomment>we don&apos;t need %2</translatorcomment>
-        <translation type="vanished">%1 天前</translation>
-    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1191,14 +1172,6 @@ location set</source>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
         <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
     </message>
-    <message>
-        <source>Enable Right-Hand Drive</source>
-        <translation type="vanished">啟用右駕模式</translation>
-    </message>
-    <message>
-        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
-        <translation type="vanished">openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
-    </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="46"/>
         <source>Use Metric System</source>

From abf9df336e6498b574e32083b214dbcc9458dac9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Aug 2022 13:49:03 -0700
Subject: [PATCH 369/435] Fix missing Korean translations (#25340)

Fix missing ko translations
---
 selfdrive/ui/translations/main_ko.ts | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 8fe0e9855..626373a95 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -309,8 +309,8 @@
     <message numerus="yes">
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least %n character(s)!</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>최소 %n 자가 필요합니다!</numerusform>
         </translation>
     </message>
 </context>
@@ -640,22 +640,22 @@ location set</source>
     <message numerus="yes">
         <location filename="../qt/util.cc" line="82"/>
         <source>%n minute(s) ago</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>%n 분전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <location filename="../qt/util.cc" line="85"/>
         <source>%n hour(s) ago</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>%n 시간전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <location filename="../qt/util.cc" line="88"/>
         <source>%n day(s) ago</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>%n 일전</numerusform>
         </translation>
     </message>
 </context>

From 54e54fb585fe0612f3f80382f4ce36077f400dfd Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 2 Aug 2022 15:53:55 -0700
Subject: [PATCH 370/435] Qcom use laika timestamp (#25344)

* Qcom location: use laika to generate unix timestamp

* bump laika

Co-authored-by: Comma Device <device@comma.ai>
---
 laika_repo                          | 2 +-
 selfdrive/sensord/rawgps/rawgpsd.py | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/laika_repo b/laika_repo
index 3ce2628df..c8bc1fa01 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 3ce2628dfc8ddba1769c518f90275e3caca9e8c6
+Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index e3336f487..7c4582902 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -211,7 +211,8 @@ def main() -> NoReturn:
       gps.altitude = report["q_FltFinalPosAlt"]
       gps.speed = math.sqrt(sum([x**2 for x in vNED]))
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
-      gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], 1e-3*report['q_GpsFixTimeMs']).as_datetime().timestamp()*1e3
+      gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'],
+                                        1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]

From 1cf2f9fc1316738f72e85052b0f9ffd74c369b1f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Aug 2022 19:29:33 -0700
Subject: [PATCH 371/435] Multilang: add Japanese to UI (#25339)

* Add Japanese to UI

* Add Enlish and Japanese badges
---
 selfdrive/ui/translations/README.md      | 2 ++
 selfdrive/ui/translations/languages.json | 3 ++-
 selfdrive/ui/translations/main_ja.ts     | 4 ++--
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 1ed73a048..07f1a4825 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -1,8 +1,10 @@
 # Multilanguage
 
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ja.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ja.ts)
 
 ## Contributing
 
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index cc3995738..f52a28ef9 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -2,5 +2,6 @@
   "English": "main_en",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
-  "한국어": "main_ko"
+  "한국어": "main_ko",
+  "日本語": "main_ja"
 }
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 0e15dd1b2..be0611f49 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -45,7 +45,7 @@
     <message>
         <location filename="../qt/offroad/networking.cc" line="136"/>
         <source>Enter new tethering password</source>
-        <translation>新しいﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞを入力してください</translation>
+        <translation>新しいテザリングパスワードを入力</translation>
     </message>
     <message>
         <location filename="../qt/offroad/networking.cc" line="144"/>
@@ -310,7 +310,7 @@
         <location filename="../qt/widgets/input.cc" line="168"/>
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！</numerusform>
+            <numerusform>%n文字以上でお願いします！</numerusform>
         </translation>
     </message>
 </context>

From 14cb90d5fb6971c74b9799bf8193c5bb7f184b87 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 2 Aug 2022 22:37:07 -0700
Subject: [PATCH 372/435] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 8b26ce940..7f6ef7cd0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8b26ce940f8193012ede411fa55ed30e2c34c536
+Subproject commit 7f6ef7cd00a31a3c50afd76804370e078f677ccc

From 1ab63cc8d812697aa1ffeec15f8adb4660512165 Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Wed, 3 Aug 2022 03:59:03 -0400
Subject: [PATCH 373/435] Hyundai: support Kona Electric 2022 (camera SCC)
 (#23517)

* Rebase and merge upstream

* Bump panda

* bump panda

* todo comments, minor clean up

* Add test route

* send CLU11 on bus 2

* Update docs

* Use Chrysler cp ternary naming convention

* Add FW version

* Update with latest test route

* Use segment with engaging/disengaging and moving

* sort FW

* push ci route

* add comment

* bump panda

* bump panda

* clean up

* Limit torque

* bump panda

* bump panda

* bump panda

* Add missing FW

* Add CAN fingerprint (need to fix spotty queries)

* missing fingerprints

* bump panda

* use O

* It's 2022, how is SCC still not standard!

* space

* bump panda to master

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 RELEASES.md                               |  1 +
 docs/CARS.md                              |  3 +-
 panda                                     |  2 +-
 selfdrive/car/hyundai/carcontroller.py    |  8 ++--
 selfdrive/car/hyundai/carstate.py         | 47 ++++++++++++++++++-----
 selfdrive/car/hyundai/hyundaican.py       | 12 +++---
 selfdrive/car/hyundai/interface.py        | 11 ++++--
 selfdrive/car/hyundai/values.py           | 38 ++++++++++++++++--
 selfdrive/car/tests/routes.py             |  1 +
 selfdrive/car/torque_data/substitute.yaml |  1 +
 10 files changed, 96 insertions(+), 28 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 5b63be2e4..e69d7461b 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
 
 Version 0.8.15 (2022-07-20)
diff --git a/docs/CARS.md b/docs/CARS.md
index 3c81ba36b..79a3575c3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 197 Supported Cars
+# 198 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -77,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/panda b/panda
index 7f6ef7cd0..89989abca 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7f6ef7cd00a31a3c50afd76804370e078f677ccc
+Subproject commit 89989abca5def32c73b8c9e66da804acb12be357
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 0bdb7d99f..4d181e382 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -54,7 +54,7 @@ class CarController:
 
     # These cars have significantly more torque than most HKG.  Limit to 70% of max.
     steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       steer = clip(steer, -0.7, 0.7)
     new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@@ -101,12 +101,12 @@ class CarController:
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
         elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
             self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
@@ -128,7 +128,7 @@ class CarController:
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
+                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                           CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                                                           CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 8afd851f0..f1428555a 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -40,6 +40,8 @@ class CarState(CarStateBase):
 
     ret = car.CarState.new_message()
 
+    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+
     ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                         cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
 
@@ -73,11 +75,11 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
       speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -110,11 +112,11 @@ class CarState(CarStateBase):
 
     if not self.CP.openpilotLongitudinalControl:
       if self.CP.carFingerprint in FEATURES["use_fca"]:
-        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
       else:
-        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -251,7 +253,7 @@ class CarState(CarStateBase):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -343,6 +345,31 @@ class CarState(CarStateBase):
       ("LKAS11", 100)
     ]
 
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      signals += [
+        ("MainMode_ACC", "SCC11"),
+        ("VSetDis", "SCC11"),
+        ("SCCInfoDisplay", "SCC11"),
+        ("ACC_ObjDist", "SCC11"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11"),
+          ("CF_VSM_Warn", "FCA11"),
+        ]
+        checks.append(("FCA11", 50))
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12"),
+          ("CF_VSM_Warn", "SCC12"),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 53499053e..8a5e33f11 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -18,8 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button):
+def create_clu11(packer, frame, clu11, button, car_fingerprint):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
-  return packer.make_can_msg("CLU11", 0, values)
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  return packer.make_can_msg("CLU11", bus, values)
 
 
 def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 969540ad9..892f62c42 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -115,9 +115,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
@@ -305,6 +305,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
 
+    if candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 797de06fb..3c7414500 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -54,6 +54,7 @@ class CAR:
   IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
+  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
   SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@@ -114,6 +115,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
@@ -249,6 +251,9 @@ FINGERPRINTS = {
   CAR.KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
+  CAR.KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
+  }],
   CAR.KIA_NIRO_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
@@ -978,6 +983,29 @@ FW_VERSIONS = {
       b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
     ],
   },
+  CAR.KONA_EV_2022: {
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
+      # TODO: these return from the MULTI request, above return from LONG
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
+    ],
+  },
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@@ -1250,16 +1278,19 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
 HDA2_CAR = {CAR.KIA_EV6, }
 
+# The camera does SCC on these cars, rather than the radar
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
+
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
@@ -1294,6 +1325,7 @@ DBC = {
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 626f2a987..7b6355d73 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -97,6 +97,7 @@ routes = [
   TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
   TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index d368b2c67..f7288ec73 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -28,6 +28,7 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019

From 5c2cb8fb9787584a1eb553968cb87e7e6782dac5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 3 Aug 2022 01:03:07 -0700
Subject: [PATCH 374/435] Hyundai: remove standard LKAS on some cars (#25341)

* https://www.phillongkia.com/2020-kia-telluride-configurations.htm

* LKA is standard: https://www.cars.com/research/hyundai-elantra_hev-2021/specs/418514/

LKA is standard: https://www.cars.com/research/hyundai-elantra_hev-2021/specs/418514/

* https://www.vanhyundai.com/hyundai-reviews/2020-kona.htm

* https://www.autotrader.com/car-reviews/2020-hyundai-ioniq-review-281474979984568#:~:text=The%202020%20Hyundai%20Ioniq%20Hybrid,in%20Electric%20and%20Limited%20trims.

* https://www.humblehyundai.com/2021-hyundai-tucson-trim-levels/

* https://www.irwinhyundai.com/hyundai-tucson-trim-comparison.html

* https://www.burnshyundai.com/2019-hyundai-veloster-trim-levels.htm

* https://www.palmenkia.com/blog/2019-kia-forte-fe-to-ex-trim-level-comparison/

* https://www.southlakekia.com/research-kia-seltos-trim-options/

* fix names

* Update docs
---
 docs/CARS.md                    | 18 +++++++++---------
 selfdrive/car/hyundai/values.py | 20 ++++++++++----------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 79a3575c3..eb0395ae9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -67,15 +67,15 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -87,15 +87,15 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -105,11 +105,11 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Telluride 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 3c7414500..88eaeaf76 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -104,7 +104,7 @@ class HyundaiCarInfo(CarInfo):
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
   CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.ELANTRA_GT_I30: None,  # dashcamOnly and same platform as CAR.ELANTRA
   CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
@@ -112,8 +112,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
   CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
@@ -124,20 +124,20 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
   CAR.TUCSON: [
-    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
-    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
     HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+    HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g),
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
@@ -154,8 +154,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"),  # TODO: info may be incorrect
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"),  # TODO: info may be incorrect
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),

From 4bfbd7ced822e3bb52fe7f6f446fad65bcb215f4 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Wed, 3 Aug 2022 18:52:12 -0400
Subject: [PATCH 375/435] GM: parse low and manumatic gears (#24764)

* Switch to ECMPRDNL2 for GM gear

* Removing manumatic gear #

* formatting

* update refs

* update refs

* line

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/gm/carstate.py             | 17 +++++++++++------
 selfdrive/car/gm/interface.py            |  5 ++++-
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index c28abc603..b174d0327 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -12,7 +12,7 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
+    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
   def update(self, pt_cp, loopback_cp):
@@ -30,7 +30,11 @@ class CarState(CarStateBase):
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+
+    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
+      ret.gearShifter = self.parse_gear_shifter("T")
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
     # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
     ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
@@ -97,7 +101,8 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("PRNDL", "ECMPRDNL"),
+      ("PRNDL2", "ECMPRDNL2"),
+      ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
@@ -108,7 +113,7 @@ class CarState(CarStateBase):
 
     checks = [
       ("BCMTurnSignals", 1),
-      ("ECMPRDNL", 10),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
@@ -135,9 +140,9 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). 
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
       #                             While active 50 Hz (every 20 ms) is normal
-      #                             EPS will tolerate around 200ms when active before faulting 
+      #                             EPS will tolerate around 200ms when active before faulting
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index bdb42f97e..ab6581201 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -9,6 +9,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
@@ -165,7 +166,9 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                         GearShifter.eco, GearShifter.manumatic],
+                                       pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d1c0ef985..0cf671172 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6d9bd0e80ccdf39827bded1883adbc922224bdf1
+82d3f0a3bfe07a76983e7e4603a0553d077ba15b
\ No newline at end of file

From b6910923d18af7332f781a7c83b2601fd7862e3f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 3 Aug 2022 21:03:53 -0700
Subject: [PATCH 376/435] vEgoCluster: fix starting from stop (#25350)

* we can't switch back and forth

* update translations
---
 selfdrive/car/interfaces.py              |  7 +++++--
 selfdrive/ui/qt/onroad.cc                |  8 +++++++-
 selfdrive/ui/qt/onroad.h                 |  1 +
 selfdrive/ui/translations/main_ja.ts     | 16 ++++++++--------
 selfdrive/ui/translations/main_ko.ts     | 16 ++++++++--------
 selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++--------
 selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++--------
 7 files changed, 45 insertions(+), 35 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 38a613b0e..1e55e72ac 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -61,6 +61,7 @@ class CarInterfaceBase(ABC):
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.silent_steer_warning = True
+    self.v_ego_cluster_seen = False
 
     self.CS = None
     self.can_parsers = []
@@ -162,8 +163,10 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
-    if ret.vEgoCluster == 0.0:
+    if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
       ret.vEgoCluster = ret.vEgo
+    else:
+      self.v_ego_cluster_seen = True
 
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
@@ -321,7 +324,7 @@ class CarStateBase(ABC):
   def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
     if gear is None:
       return GearShifter.unknown
-    
+
     d: Dict[str, car.CarState.GearShifter] = {
         'P': GearShifter.park, 'PARK': GearShifter.park,
         'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 0ab142402..4414e602e 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -193,7 +193,13 @@ void NvgWindow::updateState(const UIState &s) {
   }
 
   // Handle older routes where vEgoCluster is not set
-  float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
+  float v_ego;
+  if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
+    v_ego = sm["carState"].getCarState().getVEgo();
+  } else {
+    v_ego = sm["carState"].getCarState().getVEgoCluster();
+    v_ego_cluster_seen = true;
+  }
   float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 7f51a7351..25920ccc6 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -66,6 +66,7 @@ private:
   bool rightHandDM = false;
   bool has_us_speed_limit = false;
   bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
 
 protected:
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index be0611f49..555aa52fb 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>制限速度</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 626373a95..65762e09d 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 02bda8782..1e9173395 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0ea8e95f5..d8cebe286 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>

From 9fbbefbc94f8c672e0b1c79333e34366e19f96cf Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Wed, 3 Aug 2022 22:35:03 -0700
Subject: [PATCH 377/435] Update model replay commit for calib change (#25357)

* Update model replay commit for calib test

* more reliable baseline

* update docker login

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .github/workflows/prebuilt.yaml                       | 2 +-
 .github/workflows/selfdrive_tests.yaml                | 2 +-
 .github/workflows/tools_tests.yaml                    | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 system/hardware/tici/test_power_draw.py               | 3 +++
 5 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 99d9694f2..b659d4cee 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -9,7 +9,7 @@ env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 780032319..830458262 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -11,7 +11,7 @@ env:
   DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index b2433fba8..e93ce2bb3 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -7,7 +7,7 @@ env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 9f9b82269..8b9483419 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-df0ce74929dd6b5fa7a55224baefeff4bac6d785
+5c2cb8fb9787584a1eb553968cb87e7e6782dac5
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
index 4277bb927..4b380372b 100755
--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -37,6 +37,9 @@ class TestPowerDraw(unittest.TestCase):
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
 
+    # wait a bit for power save to disable
+    time.sleep(5)
+
   def tearDown(self):
     manager_cleanup()
 

From 57b1a43bf6fc241f1f274b4eb7688dbc8cf7db43 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 Aug 2022 00:02:08 -0700
Subject: [PATCH 378/435] Hyundai: add missing Palisade 2020 FW versions
 (#25360)

Add missing Palisade 2020 FW versions
---
 selfdrive/car/hyundai/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 88eaeaf76..59526fb8a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -742,6 +742,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -812,6 +813,7 @@ FW_VERSIONS = {
       b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
       b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
     ],
   },
   CAR.VELOSTER: {

From d73000587e7c857015d148fb27fd1cec050d0d85 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 Aug 2022 00:04:30 -0700
Subject: [PATCH 379/435] Update Kia Niro EV 2019 harness (#25359)

* h -> f -> c -> h??

* update docs
---
 docs/CARS.md                    | 5 +++--
 selfdrive/car/hyundai/values.py | 3 ++-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index eb0395ae9..d5167b673 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 198 Supported Cars
+# 199 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -97,7 +97,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2019|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 59526fb8a..cb21dbd4c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -141,7 +141,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],

From 00ee6da40a9b021077e07209ddb14d21aacd2565 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 4 Aug 2022 14:02:01 -0400
Subject: [PATCH 380/435] Chrysler: Add legacy FP for 2017 Jeep Grand Cherokee
 (#25362)

---
 selfdrive/car/chrysler/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 66c76bbcf..0066676e1 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -107,6 +107,10 @@ FINGERPRINTS = {
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  },
+    # Based on c88f65eeaee4003a|2022-08-04--15-37-16
+  {
+    257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
   CAR.JEEP_CHEROKEE_2019: [{
     # Jeep Grand Cherokee 2019, including most 2020 models

From 4fb318c5be93c2f26e2ad4149b053a6ee830ecc5 Mon Sep 17 00:00:00 2001
From: Nelson Chen <crazysim@gmail.com>
Date: Thu, 4 Aug 2022 15:06:36 -0700
Subject: [PATCH 381/435] Update replay README.md to be more clear that auth.py
 is in tools/lib (#25366)

and a little minor format fix
---
 tools/replay/README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index b705fb60d..2d0b702bd 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -6,7 +6,7 @@
 
 ```bash
 # Log in via browser to have access to non-public routes
-python lib/auth.py
+python tools/lib/auth.py
 
 # Start a replay
 tools/replay/replay <route-name>
@@ -24,6 +24,7 @@ python replay/ui.py
 ```
 
 ## usage
+
 ``` bash
 $ tools/replay/replay -h
 Usage: tools/replay/replay [options] route

From 689d1970a769e7c705ed397dd058eeb519bc5720 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 4 Aug 2022 23:22:10 -0700
Subject: [PATCH 382/435] jenkins: disable power draw test for now

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index b8ed52611..6b05e81d7 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -127,7 +127,7 @@ pipeline {
           steps {
             phone_steps("tici2", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              //["test power draw", "python system/hardware/tici/test_power_draw.py"],
               ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
               ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],

From 88e034a2a30cc0dfd46f41b85ddfe9497fb11d0e Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Fri, 5 Aug 2022 16:24:20 +1000
Subject: [PATCH 383/435] Toyota: Send ACC_HUD immediately on fcw (#25348)

* Send ACC_HUD immediately on fcw

* update refs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/toyota/carcontroller.py    | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 858a3815b..3326d7c96 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -129,7 +129,7 @@ class CarController:
                                          hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                          hud_control.rightLaneDepart, CC.enabled))
 
-    if self.frame % 100 == 0 and self.CP.enableDsu:
+    if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0cf671172..27bea5574 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-82d3f0a3bfe07a76983e7e4603a0553d077ba15b
\ No newline at end of file
+c556add24a92c9d8593d9d3ebbeed9434b751d66
\ No newline at end of file

From eaf21e53e2a3e3e988b661412c919a331b5cf2a9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 5 Aug 2022 14:49:21 -0700
Subject: [PATCH 384/435] Multilang: test for vanished translations (#25342)

* Test for vanished translations

* this isn't needed anymore

* comment

* remove more unnecessary code since the great pluralization
---
 selfdrive/ui/tests/test_translations.py    | 16 +++++++---------
 selfdrive/ui/translations/create_badges.py |  3 ---
 selfdrive/ui/update_translations.py        |  4 ----
 3 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index ae91dd6f8..526dde93e 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -32,9 +32,6 @@ class TestTranslations(unittest.TestCase):
   def test_missing_translation_files(self):
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
-        if not len(file):
-          self.skipTest(f"{name} translation has no defined file")
-
         self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
                         f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
 
@@ -43,9 +40,6 @@ class TestTranslations(unittest.TestCase):
 
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
-        if not len(file):
-          self.skipTest(f"{name} translation has no defined file")
-
         # caught by test_missing_translation_files
         if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")):
           self.skipTest(f"{name} missing translation file")
@@ -59,13 +53,17 @@ class TestTranslations(unittest.TestCase):
   def test_unfinished_translations(self):
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
-        if not len(file):
-          raise self.skipTest(f"{name} translation has no defined file")
-
         cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
         self.assertTrue(b"<translation type=\"unfinished\">" not in cur_translations,
                         f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
 
+  def test_vanished_translations(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        self.assertTrue(b"<translation type=\"vanished\">" not in cur_translations,
+                        f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 58b587462..d9e2d443b 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -17,9 +17,6 @@ if __name__ == "__main__":
 
   print("Copy into selfdrive/ui/translations/README.md:\n")
   for name, file in translation_files.items():
-    if not len(file):
-      continue
-
     with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f:
       tr_file = tr_f.read()
 
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 78c973c86..3a278b481 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -18,10 +18,6 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA
     translation_files = json.load(f)
 
   for name, file in translation_files.items():
-    if not len(file):
-      print(f"{name} has no translation file, skipping...")
-      continue
-
     tr_file = os.path.join(translations_dir, f"{file}.ts")
     args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
     if vanish:

From e1d38be92faa4639b95374323b7dcbc09107b595 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 5 Aug 2022 15:19:21 -0700
Subject: [PATCH 385/435] GM: add OBD-II harness to all GMs (#25356)

* Update/cleanup CarInfo

* Update footnote

* this will be on the website

* update docs

Co-authored-by: Jason Shuler <jshuler@gmail.com>
---
 docs/CARS.md                    | 117 ++++++++++++++++----------------
 selfdrive/car/gm/values.py      |  13 ++--
 selfdrive/car/hyundai/values.py |  11 +--
 3 files changed, 66 insertions(+), 75 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index d5167b673..522ad9976 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -111,19 +111,19 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -144,7 +144,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -153,86 +153,85 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Arteon R 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Atlas 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Atlas Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|CC 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Golf 2015-20[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Golf R 2015-19[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Jetta 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Jetta GLI 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat 2015-22[<sup>7,8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat Alltrack 2015-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Passat GTE 2015-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Polo 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Polo GTI 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Teramont X 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 
 <a id="footnotes"></a>
-<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
-<sup>4</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
-<sup>9</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
+<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 1cae6aa50..e4735524d 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -59,8 +59,7 @@ class CAR:
 
 class Footnote(Enum):
   OBD_II = CarFootnote(
-    'Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and ' +
-    '<a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
+    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
     '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
     Column.MODEL)
 
@@ -68,18 +67,18 @@ class Footnote(Enum):
 @dataclass
 class GMCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control"
-  harness: Enum = Harness.none
+  harness: Enum = Harness.obd_ii
   footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
 
 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
-  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom),
+  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0),
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
-  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
+  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),  # TODO: can probably just be ACC?
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
 }
 
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index cb21dbd4c..ec38123fa 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,11 +1,10 @@
-from enum import Enum
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness
 Ecu = car.CarParams.Ecu
 
 
@@ -88,12 +87,6 @@ class CAR:
   GENESIS_G90 = "GENESIS G90 2017"
 
 
-class Footnote(Enum):
-  CANFD = CarFootnote(
-    "Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a>",
-    Column.MODEL)
-
-
 @dataclass
 class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
@@ -163,7 +156,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),

From 088719c86c050c9a73f45f5a472a88af5e539db1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 5 Aug 2022 15:23:22 -0700
Subject: [PATCH 386/435] Fix static analysis

---
 selfdrive/ui/update_translations.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 3a278b481..e509168ad 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -17,7 +17,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
-  for name, file in translation_files.items():
+  for file in translation_files.values():
     tr_file = os.path.join(translations_dir, f"{file}.ts")
     args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
     if vanish:

From 80cbcafb5f10f474efd86a085032705c994bab15 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 5 Aug 2022 16:12:32 -0700
Subject: [PATCH 387/435] test onroad: more robust CPU usage test (#25375)

* test onroad: more robust CPU usage test

* fix linter

* remove debug print

* Revert "remove debug print"

This reverts commit 172cb655fe3558abeb0ec6432ff24b90c0aab183.

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/test/test_onroad.py | 39 +++++++++++++++++++++--------------
 1 file changed, 24 insertions(+), 15 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8007afb84..31651706c 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -5,7 +5,7 @@ import subprocess
 import time
 import numpy as np
 import unittest
-from collections import Counter
+from collections import Counter, defaultdict
 from pathlib import Path
 
 from cereal import car
@@ -70,32 +70,40 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
-def check_cpu_usage(first_proc, last_proc):
+def check_cpu_usage(proclogs):
   result = "\n"
   result += "------------------------------------------------\n"
   result += "------------------ CPU Usage -------------------\n"
   result += "------------------------------------------------\n"
 
+  plogs_by_proc = defaultdict(list)
+  for pl in proclogs:
+    for x in pl.procLog.procs:
+      if len(x.cmdline) > 0:
+        n = list(x.cmdline)[0]
+        plogs_by_proc[n].append(x)
+
+  print(plogs_by_proc.keys())
+
   r = True
-  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
-  for proc_name, normal_cpu_usage in PROCS.items():
+  dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9
+  for proc_name, expected_cpu in PROCS.items():
     err = ""
-    first, last = None, None
-    try:
-      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
-      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
-      cpu_time = cputime_total(last) - cputime_total(first)
+    cpu_usage = 0.
+    x = plogs_by_proc[proc_name]
+    if len(x) > 2:
+      cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
       cpu_usage = cpu_time / dt * 100.
-      if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0):
+      if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
         # cpu usage is high while playing sounds
         if not (proc_name == "./_soundd" and cpu_usage < 65.):
           err = "using more CPU than normal"
-      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
+      elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
         err = "using less CPU than normal"
-    except IndexError:
-      err = f"NO METRICS FOUND {first=} {last=}\n"
+    else:
+      err = "NO METRICS FOUND"
 
-    result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({normal_cpu_usage:5.2f}%) {err}\n"
+    result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
     if len(err) > 0:
       r = False
 
@@ -111,6 +119,7 @@ class TestOnroad(unittest.TestCase):
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
+      print(segs[-1])
       cls.lr = list(LogReader(os.path.join(segs[-1], "rlog")))
       return
 
@@ -180,7 +189,7 @@ class TestOnroad(unittest.TestCase):
   def test_cpu_usage(self):
     proclogs = [m for m in self.lr if m.which() == 'procLog']
     self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
-    cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1])
+    cpu_ok = check_cpu_usage(proclogs)
     self.assertTrue(cpu_ok)
 
   def test_camera_processing_time(self):

From e05cfd21000d6a8a14ec26deddefde7e89528c84 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 5 Aug 2022 16:29:59 -0700
Subject: [PATCH 388/435] Ram 1500: add harness (#25376)

Add Ram harness!
---
 selfdrive/car/chrysler/values.py  | 2 +-
 selfdrive/car/docs_definitions.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 0066676e1..6ded3834f 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -56,7 +56,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.none),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
 }
 
 # Unique CAN messages:
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 21df85030..46222d100 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -188,6 +188,7 @@ class Harness(Enum):
   toyota = "Toyota"
   subaru = "Subaru"
   fca = "FCA"
+  ram = "Ram"
   vw = "VW"
   j533 = "J533"
   hyundai_a = "Hyundai A"

From 55bf9385047ec876643cdebc197fba4f05cc4695 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 5 Aug 2022 17:28:15 -0700
Subject: [PATCH 389/435] New model: minor fixes (#25368)

* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
---
 selfdrive/modeld/models/supercombo.dlc                | 4 ++--
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/modeld/thneed/optimizer.cc                  | 8 ++++----
 selfdrive/test/process_replay/model_replay.py         | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 23f6d904f..422c43ed5 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
-size 76725611
+oid sha256:a9bf6166c9473b7c28935f8e5746f5c398dfa16b179c73d76d5d35f50cab981e
+size 127889531
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9023c18dd..cbb8c137e 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
-size 77472267
+oid sha256:cb0aef7f5fc3125b44bbd1cab6cde3b8f742ca2e06646477867d3040b62a3087
+size 128751773
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 03d20ff38..39737d3d7 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-static int is_same_size_image(cl_mem a, cl_mem b) {
+/*static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) {
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}
+}*/
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }
+      }*/
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 8b41d6df1..12f3583ee 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
 
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
-MAX_FRAMES = 20 if PC else 1300
+MAX_FRAMES = 10 if PC else 1300
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 8b9483419..e893855d2 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5c2cb8fb9787584a1eb553968cb87e7e6782dac5
+4d4276525c18c8955011eb10ace9ceb3d9d73307

From ef78641b6f9dcd203f493cbeab89639e5cc8e63e Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Sat, 6 Aug 2022 18:16:32 -0400
Subject: [PATCH 390/435] Chrysler: Correct ECU label for DASM (#25379)

Chrysler: Correct ECU label for 0x753
---
 selfdrive/car/chrysler/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 6ded3834f..c45a81a0a 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -142,7 +142,7 @@ FW_VERSIONS = {
       b'68535469AB',
       b'68438454AC',
     ],
-    (Ecu.fwdCamera, 0x753, None): [
+    (Ecu.fwdRadar, 0x753, None): [
       b'68320950AL',
       b'68320950AJ',
       b'68454268AB',

From ec7a05c9a120393bf4d806b1c1d06217eb5689ca Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Aug 2022 16:01:42 -0700
Subject: [PATCH 391/435] CI: don't run badges job on forks (#25381)

* CI: don't run badges job on forks

* Apply suggestions from code review
---
 .github/workflows/badges.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 68a13398f..223c73486 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -17,7 +17,8 @@ env:
 jobs:
   badges:
     name: create badges
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
       with:

From 49044b5399710511cb2541faadb17109ceb66485 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Aug 2022 17:10:14 -0700
Subject: [PATCH 392/435] remove old tools script

---
 tools/sim/lib/replay.sh | 6 ------
 1 file changed, 6 deletions(-)
 delete mode 100755 tools/sim/lib/replay.sh

diff --git a/tools/sim/lib/replay.sh b/tools/sim/lib/replay.sh
deleted file mode 100755
index e65a4b69a..000000000
--- a/tools/sim/lib/replay.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-
-cd ~/openpilot/tools/nui
-
-# vision, boardd, sensorsd
-ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocationExternal ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"

From 2cff05be43f06a79f66c73cb5fb0fba4dbe6649e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 Aug 2022 18:41:54 -0700
Subject: [PATCH 393/435] UI: exit gracefully (#25388)

* UI: exit gracefully

* cleanup

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/manager/test/test_manager.py | 27 +++++++++++++-------------
 selfdrive/ui/qt/util.cc                |  9 +++++++++
 2 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index a84ff264d..f2e5319e8 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -7,7 +7,7 @@ import unittest
 import selfdrive.manager.manager as manager
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
-from system.hardware import AGNOS, HARDWARE
+from system.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
@@ -35,8 +35,10 @@ class TestManager(unittest.TestCase):
       t = time.monotonic() - start
       assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
 
-  # ensure all processes exit cleanly
   def test_clean_exit(self):
+    """
+      Ensure all processes exit cleanly when stopped.
+    """
     HARDWARE.set_power_save(False)
     manager.manager_prepare()
     for p in ALL_PROCESSES:
@@ -45,19 +47,18 @@ class TestManager(unittest.TestCase):
     time.sleep(10)
 
     for p in reversed(ALL_PROCESSES):
-      state = managed_processes[p].get_process_state_msg()
-      self.assertTrue(state.running, f"{p} not running")
+      with self.subTest(proc=p):
+        state = managed_processes[p].get_process_state_msg()
+        self.assertTrue(state.running, f"{p} not running")
+        exit_code = managed_processes[p].stop(retry=False)
 
-      exit_code = managed_processes[p].stop(retry=False)
-      if (AGNOS and p in ['ui',]):
-        # TODO: make Qt UI exit gracefully
-        continue
+        self.assertTrue(exit_code is not None, f"{p} failed to exit")
 
-      # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
-      exit_codes = [0, 1]
-      if managed_processes[p].sigkill:
-        exit_codes = [-signal.SIGKILL]
-      assert exit_code in exit_codes, f"{p} died with {exit_code}"
+        # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
+        exit_codes = [0, 1]
+        if managed_processes[p].sigkill:
+          exit_codes = [-signal.SIGKILL]
+        self.assertIn(exit_code, exit_codes, f"{p} died with {exit_code}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 381c06590..4be88aaf1 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -106,10 +106,19 @@ void setQtSurfaceFormat() {
   QSurfaceFormat::setDefaultFormat(fmt);
 }
 
+void sigTermHandler(int s) {
+  std::signal(s, SIG_DFL);
+  qApp->quit();
+}
+
 void initApp(int argc, char *argv[]) {
   Hardware::set_display_power(true);
   Hardware::set_brightness(65);
 
+  // setup signal handlers to exit gracefully
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
+
 #ifdef __APPLE__
   {
     // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering

From 3afe7464dfc6a356f8eed4b30e3c79a2c32a5cf0 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 8 Aug 2022 12:42:46 -0700
Subject: [PATCH 394/435] Model file too big: Revert "New model: minor fixes"
 (#25390)

Revert "New model: minor fixes (#25368)"

This reverts commit 55bf9385047ec876643cdebc197fba4f05cc4695.
---
 selfdrive/modeld/models/supercombo.dlc                | 4 ++--
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/modeld/thneed/optimizer.cc                  | 8 ++++----
 selfdrive/test/process_replay/model_replay.py         | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 422c43ed5..23f6d904f 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a9bf6166c9473b7c28935f8e5746f5c398dfa16b179c73d76d5d35f50cab981e
-size 127889531
+oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
+size 76725611
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index cbb8c137e..9023c18dd 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cb0aef7f5fc3125b44bbd1cab6cde3b8f742ca2e06646477867d3040b62a3087
-size 128751773
+oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
+size 77472267
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 39737d3d7..03d20ff38 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-/*static int is_same_size_image(cl_mem a, cl_mem b) {
+static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ extern map<cl_program, string> g_program_source;
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}*/
+}
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }*/
+      }
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 12f3583ee..8b41d6df1 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
 
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
-MAX_FRAMES = 10 if PC else 1300
+MAX_FRAMES = 20 if PC else 1300
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index e893855d2..8b9483419 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-4d4276525c18c8955011eb10ace9ceb3d9d73307
+5c2cb8fb9787584a1eb553968cb87e7e6782dac5

From 2a4020da60b9c383efa75a5ffb54df3bc10756a0 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Mon, 8 Aug 2022 14:55:40 -0600
Subject: [PATCH 395/435] GM: separate EV/ICE gas/brake lookup tables (#25354)

* GM: separate EV/ICE gas/brake lookup tables

* removed blank line

* V are the same

* comment

better ordering

comment

comment

* Add some delay for the laggy brakes

Add some delay for the laggy brakes

* move actuator to only acadia

* start braking at 0 m/s/s

* Revert "start braking at 0 m/s/s"

This reverts commit 55c1dee733aab3dc037fb1705c9bd0ace55c849f.

* add delay for escalade

* revert EV changes

* Update selfdrive/car/gm/carcontroller.py

* comment

* only ACADIA

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/gm/carcontroller.py | 10 +++++++---
 selfdrive/car/gm/interface.py     |  1 +
 selfdrive/car/gm/values.py        | 16 ++++++++++++----
 3 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 727c05efd..0e7406514 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -68,8 +68,12 @@ class CarController:
           self.apply_gas = self.params.MAX_ACC_REGEN
           self.apply_brake = 0
         else:
-          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          if self.CP.carFingerprint in EV_CAR:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          else:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
 
         idx = (self.frame // 4) % 4
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ab6581201..10ae670ac 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -118,6 +118,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
+      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     elif candidate == CAR.BUICK_REGAL:
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index e4735524d..016910a40 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -39,13 +39,17 @@ class CarControllerParams:
   ACCEL_MAX = 2.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
-  GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
+
+  # ICE has much less engine braking force compared to regen in EVs,
+  # lower threshold removes some braking deadzone
+  GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
+
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
-STEER_THRESHOLD = 1.0
-
 
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
@@ -57,6 +61,10 @@ class CAR:
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
 
 
+EV_CAR = {CAR.VOLT}
+STEER_THRESHOLD = 1.0
+
+
 class Footnote(Enum):
   OBD_II = CarFootnote(
     'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +

From ce1e40285bd9b772c827d0c5e28e2657c5adcb74 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Aug 2022 14:16:47 -0700
Subject: [PATCH 396/435] build_devel: check file sizes against GH limit
 (#25391)

* build_devel: check file sizes against GH limit

* pull lfs
---
 .github/workflows/selfdrive_tests.yaml | 2 ++
 release/build_devel.sh                 | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 830458262..7397e30f8 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -39,6 +39,8 @@ jobs:
       with:
         fetch-depth: 0
         submodules: true
+    - name: Pull LFS
+      run: git lfs pull
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 9d8b06451..f06e3102c 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -69,6 +69,15 @@ date: $DATETIME
 master commit: $GIT_HASH
 "
 
+# ensure files are within GitHub's limit
+BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
+if [ ! -z "$BIG_FILES" ]; then
+  printf '\n\n\n'
+  echo "Found files exceeding GitHub's 100MB limit:"
+  echo "$BIG_FILES"
+  exit 1
+fi
+
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
   git push -f origin master-ci:$BRANCH

From ac305dacef7b4267131543194e16c569488310fe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Aug 2022 15:07:44 -0700
Subject: [PATCH 397/435] nav: same icon size for active & inactive lanes
 (#25383)

* nav: same icon size for active & inactive lanes

* update translations
---
 selfdrive/ui/qt/maps/map.cc              |  3 +--
 selfdrive/ui/translations/main_ja.ts     | 10 +++++-----
 selfdrive/ui/translations/main_ko.ts     | 10 +++++-----
 selfdrive/ui/translations/main_zh-CHS.ts | 10 +++++-----
 selfdrive/ui/translations/main_zh-CHT.ts | 10 +++++-----
 5 files changed, 21 insertions(+), 22 deletions(-)

diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 3967416f7..f81c3dd8f 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -531,8 +531,7 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
     }
 
     auto icon = new QLabel;
-    int wh = active ? 125 : 75;
-    icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio));
+    icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio));
     icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
     lane_layout->addWidget(icon);
   }
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 555aa52fb..20f96b8f4 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -340,27 +340,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="622"/>
+        <location filename="../qt/maps/map.cc" line="621"/>
         <source>eta</source>
         <translation>予定到着時間</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="631"/>
         <source>min</source>
         <translation>分</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="636"/>
+        <location filename="../qt/maps/map.cc" line="635"/>
         <source>hr</source>
         <translation>時間</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="656"/>
+        <location filename="../qt/maps/map.cc" line="655"/>
         <source>km</source>
         <translation>ｷﾛﾒｰﾄﾙ</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="659"/>
+        <location filename="../qt/maps/map.cc" line="658"/>
         <source>mi</source>
         <translation>ﾏｲﾙ</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 65762e09d..cd9c73c34 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -340,27 +340,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="622"/>
+        <location filename="../qt/maps/map.cc" line="621"/>
         <source>eta</source>
         <translation>도착</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="631"/>
         <source>min</source>
         <translation>분</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="636"/>
+        <location filename="../qt/maps/map.cc" line="635"/>
         <source>hr</source>
         <translation>시간</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="656"/>
+        <location filename="../qt/maps/map.cc" line="655"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="659"/>
+        <location filename="../qt/maps/map.cc" line="658"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1e9173395..cb09e8c2e 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -340,27 +340,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="622"/>
+        <location filename="../qt/maps/map.cc" line="621"/>
         <source>eta</source>
         <translation>埃塔</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="631"/>
         <source>min</source>
         <translation>分钟</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="636"/>
+        <location filename="../qt/maps/map.cc" line="635"/>
         <source>hr</source>
         <translation>小时</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="656"/>
+        <location filename="../qt/maps/map.cc" line="655"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="659"/>
+        <location filename="../qt/maps/map.cc" line="658"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index d8cebe286..58e921b31 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -340,27 +340,27 @@
 <context>
     <name>MapETA</name>
     <message>
-        <location filename="../qt/maps/map.cc" line="622"/>
+        <location filename="../qt/maps/map.cc" line="621"/>
         <source>eta</source>
         <translation>抵達</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="631"/>
         <source>min</source>
         <translation>分鐘</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="636"/>
+        <location filename="../qt/maps/map.cc" line="635"/>
         <source>hr</source>
         <translation>小時</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="656"/>
+        <location filename="../qt/maps/map.cc" line="655"/>
         <source>km</source>
         <translation>km</translation>
     </message>
     <message>
-        <location filename="../qt/maps/map.cc" line="659"/>
+        <location filename="../qt/maps/map.cc" line="658"/>
         <source>mi</source>
         <translation>mi</translation>
     </message>

From cac960cb548a44cd3f9f6ad711da2d5579319d3e Mon Sep 17 00:00:00 2001
From: grekiki <96022003+GregorKikelj@users.noreply.github.com>
Date: Tue, 9 Aug 2022 00:10:31 +0200
Subject: [PATCH 398/435] plotjuggler: route name in window title (#25370)

* Route titles

* minimum version check

* use tuples

* minor clean up

* use check_output

* space

* belongs here

* add prompt

* no f string

* Update juggle.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 tools/plotjuggler/juggle.py | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 6f1038ec0..08d75cceb 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -23,6 +23,7 @@ DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
+MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
 
 
 def install():
@@ -46,6 +47,12 @@ def install():
       tar.extractall(path=INSTALL_DIR)
 
 
+def get_plotjuggler_version():
+  out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip()
+  version = out.split(" ")[1]
+  return tuple(map(int, version.split(".")))
+
+
 def load_segment(segment_name):
   if segment_name is None:
     return []
@@ -57,7 +64,7 @@ def load_segment(segment_name):
     return []
 
 
-def start_juggler(fn=None, dbc=None, layout=None):
+def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
   env = os.environ.copy()
   env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
@@ -69,6 +76,8 @@ def start_juggler(fn=None, dbc=None, layout=None):
     extra_args += f" -d {fn}"
   if layout is not None:
     extra_args += f" -l {layout}"
+  if route_or_segment_name is not None:
+    extra_args += f" --window_title \"{route_or_segment_name}\""
 
   cmd = f'{PLOTJUGGLER_BIN} --plugin_folders {INSTALL_DIR}{extra_args}'
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
@@ -129,7 +138,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
   with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
     save_log(tmp.name, all_data, compress=False)
     del all_data
-    start_juggler(tmp.name, dbc, layout)
+    start_juggler(tmp.name, dbc, layout, route_or_segment_name)
 
 
 if __name__ == "__main__":
@@ -159,6 +168,10 @@ if __name__ == "__main__":
   if not os.path.exists(PLOTJUGGLER_BIN):
     print("PlotJuggler is missing. Downloading...")
     install()
+  
+  if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
+    ans = input("PlotJuggler is out of date. Installing update...")
+    install()
 
   if args.stream:
     start_juggler(layout=args.layout)

From 887e53ff1b82db1beb0391f19c17750795639ee9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Aug 2022 19:08:43 -0700
Subject: [PATCH 399/435] bump opendbc

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 24acbb7c2..488568517 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 24acbb7c2b35de01ed89679e78f7c470f5f777ba
+Subproject commit 488568517162194fbb2aa45d3dba4c6af663a883

From d7409403470f01479737de5299e959c6b630f8e2 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Tue, 9 Aug 2022 15:57:03 -0400
Subject: [PATCH 400/435] Honda Civic 2022: forward fault bit from camera
 (#25280)

civic22_brakesystemlight

Rename and add comment

Try using camera's LKAS_PROBLEM value
---
 selfdrive/car/honda/carcontroller.py |  2 +-
 selfdrive/car/honda/carstate.py      | 22 ++++++++++++++--------
 selfdrive/car/honda/hondacan.py      | 12 +++++++-----
 3 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index a5f25e3a2..5fa475fe0 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -237,7 +237,7 @@ class CarController:
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5358ce249..4696bec82 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -275,11 +275,14 @@ class CarState(CarStateBase):
     else:
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
-    self.stock_hud = False
+    self.acc_hud = False
+    self.lkas_hud = False
     if self.CP.carFingerprint not in HONDA_BOSCH:
       ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
-      self.stock_hud = cp_cam.vl["ACC_HUD"]
+      self.acc_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
     if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
@@ -300,12 +303,15 @@ class CarState(CarStateBase):
       ("STEERING_CONTROL", 100),
     ]
 
-    if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl:
-      signals += [
-        ("CRUISE_SPEED", "ACC_HUD"),
-        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
-      ]
-      checks.append(("ACC_HUD", 10))
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
+      checks.append(("LKAS_HUD", 10))
+      if not CP.openpilotLongitudinalControl:
+        signals += [
+          ("CRUISE_SPEED", "ACC_HUD"),
+          ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+        ]
+        checks.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1f5f75426..87f8e6c5d 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -125,10 +125,10 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud
       acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
       acc_hud_values['PCM_GAS'] = hud.pcm_accel
       acc_hud_values['SET_ME_X01'] = 1
-      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
-      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
-      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
-      acc_hud_values['ICONS'] = stock_hud['ICONS']
+      acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
+      acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
+      acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
+      acc_hud_values['ICONS'] = acc_hud['ICONS']
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
@@ -141,6 +141,8 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     lkas_hud_values['LANE_LINES'] = 3
     lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
+    lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48

From 35751420711db541cc0392f8dd3a88eb255fb742 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Wed, 10 Aug 2022 12:22:41 +0200
Subject: [PATCH 401/435] don't wait to install plotjuggler

---
 tools/plotjuggler/juggle.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 08d75cceb..2e77f06ee 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -170,7 +170,7 @@ if __name__ == "__main__":
     install()
   
   if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
-    ans = input("PlotJuggler is out of date. Installing update...")
+    print("PlotJuggler is out of date. Installing update...")
     install()
 
   if args.stream:

From 463774f61c49a323f1ee96e517e4b77a857550a9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 10 Aug 2022 17:52:40 -0700
Subject: [PATCH 402/435] release: add signed H7 app fw (#25401)

---
 release/build_release.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/release/build_release.sh b/release/build_release.sh
index b5e15e05c..1000e607f 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -40,6 +40,7 @@ cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
 cd $BUILD_DIR
 
 rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
 
 VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
@@ -53,6 +54,7 @@ git branch --set-upstream-to=origin/$RELEASE_BRANCH
 pushd panda/
 CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
 mv board/obj/panda.bin.signed /tmp/panda.bin.signed
+mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
 popd
 
 # Build
@@ -81,6 +83,7 @@ rm selfdrive/modeld/models/supercombo.dlc
 # Move back signed panda fw
 mkdir -p panda/board/obj
 mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
+mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
 
 # Restore third_party
 git checkout third_party/

From 7f6464d97d615d850dafd7a0856884b57ab4d0e0 Mon Sep 17 00:00:00 2001
From: grekiki <96022003+GregorKikelj@users.noreply.github.com>
Date: Thu, 11 Aug 2022 05:02:45 +0200
Subject: [PATCH 403/435] plotjuggler: Longer max stream buffer size (#25399)

* longer streams

* more consistent

* reduce diff
---
 tools/plotjuggler/juggle.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 2e77f06ee..a25a5640d 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -24,7 +24,7 @@ RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
 MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
-
+MAX_STREAMING_BUFFER_SIZE = 1000
 
 def install():
   m = f"{platform.system()}-{platform.machine()}"
@@ -79,7 +79,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
   if route_or_segment_name is not None:
     extra_args += f" --window_title \"{route_or_segment_name}\""
 
-  cmd = f'{PLOTJUGGLER_BIN} --plugin_folders {INSTALL_DIR}{extra_args}'
+  cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 

From f01266c2e964f49ad617965cd12607235f49dd1b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 Aug 2022 21:44:03 -0700
Subject: [PATCH 404/435] compatibility docs: fix Sienna min ACC speed (#25400)

Sienna actually needs a SDSU (and pedal?) for sng
---
 docs/CARS.md                   | 2 +-
 selfdrive/car/toyota/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 522ad9976..7fe9441a8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -190,7 +190,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 7757c1b3c..9457eaf68 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -157,7 +157,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
   CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
-  CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
+  CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED),
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),

From 912db794f0c764d1fca9a53ca9d902b50b0b00eb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 11 Aug 2022 14:53:54 -0700
Subject: [PATCH 405/435] bump panda (#25407)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 89989abca..486af7950 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 89989abca5def32c73b8c9e66da804acb12be357
+Subproject commit 486af7950348530309778240f235fd75a30f1842

From ab227027c339f6169b20e17454ca40afe8b375fd Mon Sep 17 00:00:00 2001
From: realfast <jraycec@gmail.com>
Date: Thu, 11 Aug 2022 17:14:18 -0500
Subject: [PATCH 406/435] Ram 2500 + 3500 HD support (#25372)

* Ram HD Init

* Update selfdrive/car/torque_data/override.yaml

* Revert FW for 1500

* little cleanup plus test route

* bump panda

* revert 1500 changes

* bump panda

* same error max

* dashcam + cleanup

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 release/files_common                    |  1 +
 selfdrive/car/chrysler/interface.py     | 24 ++++++++---
 selfdrive/car/chrysler/values.py        | 55 +++++++++++++++++++++++--
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 5 files changed, 72 insertions(+), 10 deletions(-)

diff --git a/release/files_common b/release/files_common
index 0980f7929..192c6ec45 100644
--- a/release/files_common
+++ b/release/files_common
@@ -491,6 +491,7 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
+opendbc/chrysler_ram_hd_generated.dbc
 opendbc/chrysler_ram_dt_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 3c2bc3131..9bb22b607 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
 
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    ret.dashcamOnly = candidate in RAM_HD
 
-    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
+    ret.radarOffCan = DBC[candidate]['radar'] is None
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
+    # safety config
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+    if candidate in RAM_HD:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
+    elif candidate in RAM_DT:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
+
     ret.minSteerSpeed = 3.8  # m/s
     if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
@@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
     # Ram
     elif candidate == CAR.RAM_1500:
       ret.steerActuatorDelay = 0.2
-
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
       ret.minSteerSpeed = 14.5
       if car_fw is not None:
         for fw in car_fw:
           if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
             ret.minSteerSpeed = 0.
 
+    elif candidate == CAR.RAM_HD:
+      ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.785
+      ret.steerRatio = 15.61
+      ret.mass = 3405. + STD_CARGO_KG
+      ret.minSteerSpeed = 16
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index c45a81a0a..10478efa8 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -22,23 +22,30 @@ class CAR:
 
   # Ram
   RAM_1500 = "RAM 1500 5TH GEN"
+  RAM_HD = "RAM HD 5TH GEN"
 
 
 class CarControllerParams:
   def __init__(self, CP):
-    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
     self.STEER_ERROR_MAX = 80
-
-    if CP.carFingerprint in RAM_CARS:
+    if CP.carFingerprint in RAM_HD:
+      self.STEER_DELTA_UP = 14
+      self.STEER_DELTA_DOWN = 14
+      self.STEER_MAX = 361  # higher than this faults the EPS
+    elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
+      self.STEER_MAX = 261  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
+      self.STEER_MAX = 261  # higher than this faults the EPS
 
 STEER_THRESHOLD = 120
 
-RAM_CARS = {CAR.RAM_1500, }
+RAM_DT = {CAR.RAM_1500, }
+RAM_HD = {CAR.RAM_HD, }
+RAM_CARS = RAM_DT | RAM_HD
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
@@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_HD: [
+    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+  ],
 }
 
 # Unique CAN messages:
@@ -177,6 +188,41 @@ FW_VERSIONS = {
       b'68500483AB',
     ],
   },
+
+  CAR.RAM_HD: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68361606AH',
+      b'68492693AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68399794AC',
+      b'68428503AA',
+      b'68428505AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68334977AH',
+      b'68504022AB',
+      b'68530686AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672895AB',
+      b'56029827AG',
+      b'68484694AE',
+    ],
+    (Ecu.eps, 0x761, None): [
+      b'68421036AC',
+      b'68507906AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'52421132AF',
+      b'M2370131MB',
+      b'M2421132MB',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68488419AB',
+      b'68535476AB',
+    ],
+  },
 }
 
 DBC = {
@@ -188,4 +234,5 @@ DBC = {
   CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
+  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 7b6355d73..765be1ae3 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -39,6 +39,7 @@ routes = [
   TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
   TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
   TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
+  TestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 27a8c26fd..635743c11 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 
 # Dashcam or fallback configured as ideal car

From 5d699a578cd72ebbfcfb1fc8565a567af4facbf6 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 11 Aug 2022 18:24:23 -0400
Subject: [PATCH 407/435] Clean up timers on receipt of a non-0x78 UDS error
 (#25398)

* clean up timers on receipt of a non-0x78 UDS error

* Update selfdrive/car/isotp_parallel_query.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/isotp_parallel_query.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index bb96572c3..65122ab89 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -135,6 +135,7 @@ class IsoTpParallelQuery:
             if self.debug:
               cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
           else:
+            response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True
             cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 

From 96e8d5c9fe1a8084dfa5d97c78d4ea2037272420 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 11 Aug 2022 17:23:51 -0700
Subject: [PATCH 408/435] Subaru: new harness is on the shop (#25406)

* Subaru: new harness is on the shop

* subaru a
---
 selfdrive/car/docs_definitions.py | 3 ++-
 selfdrive/car/subaru/values.py    | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 46222d100..2567a5e19 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -186,7 +186,8 @@ class Harness(Enum):
   bosch_a = "Honda Bosch A"
   bosch_b = "Honda Bosch B"
   toyota = "Toyota"
-  subaru = "Subaru"
+  subaru_a = "Subaru A"
+  subaru_b = "Subaru B"
   fca = "FCA"
   ram = "Ram"
   vw = "VW"
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9465f75ed..62ddaa54b 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -46,12 +46,12 @@ class CAR:
 @dataclass
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight Driver Assistance"
-  harness: Enum = Harness.subaru
+  harness: Enum = Harness.subaru_a
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),

From 58fa5cab2cb1539d9364002c6b933e5f2f76477c Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Fri, 12 Aug 2022 12:02:30 +0900
Subject: [PATCH 409/435] Car docs: J533 alternative isn't available on all
 cars (#25250)

* Skoda unsupported connector footnote; note J533 alternative isn't available on all cars

* limit footnote to Karoq

* Update docs

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                       | 4 ++--
 selfdrive/car/volkswagen/values.py | 7 ++++---
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 7fe9441a8..653e52ed9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -145,7 +145,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -230,7 +230,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 <sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
 <sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 9f58d68f8..8b2c7e93c 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -106,8 +106,9 @@ class Footnote(Enum):
   VW_HARNESS = CarFootnote(
     "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
     "store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
-    "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
-    "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
+    "(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " +
+    "inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " +
+    "(Some newer models are also observed to not have a J533 connector.)",
     Column.MODEL)
   VW_VARIANT = CarFootnote(
     "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
@@ -177,7 +178,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]),
   CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),

From 41daea118cd2f84556499a231091c6d03b6449ba Mon Sep 17 00:00:00 2001
From: Kento Tokuhiro <res.circuit@gmail.com>
Date: Fri, 12 Aug 2022 12:22:42 +0900
Subject: [PATCH 410/435] Lexus: add FW for 2020 Lexus RX Hybrid (#25346)

add: fingerprint for lexus rxh h 2020
---
 selfdrive/car/toyota/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9457eaf68..171c0f255 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1823,15 +1823,18 @@ FW_VERSIONS = {
       b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152648831\x00\x00\x00\x00\x00\x00',
       b'F152648891\x00\x00\x00\x00\x00\x00',
       b'F152648D00\x00\x00\x00\x00\x00\x00',
       b'F152648D60\x00\x00\x00\x00\x00\x00',
+      b'F152648811\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48271\x00\x00\x00\x00\x00\x00',
+      b'8965B48261\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',

From 5f35c669a686f12f5079abc6d69b17fe2e65de94 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 11 Aug 2022 22:49:49 -0700
Subject: [PATCH 411/435] Hyundai: rename HDA2 platform to CANFD (#25411)

* Hyundai: rename HDA2 platform to CANFD

* bump panda

* bump panda

* cleanup panda safety config
---
 cereal                                        |  2 +-
 panda                                         |  2 +-
 selfdrive/car/hyundai/carcontroller.py        | 14 +++----
 selfdrive/car/hyundai/carstate.py             | 18 ++++----
 .../hyundai/{hda2can.py => hyundaicanfd.py}   |  0
 selfdrive/car/hyundai/interface.py            | 42 ++++++++++---------
 selfdrive/car/hyundai/values.py               |  4 +-
 7 files changed, 43 insertions(+), 39 deletions(-)
 rename selfdrive/car/hyundai/{hda2can.py => hyundaicanfd.py} (100%)

diff --git a/cereal b/cereal
index fbd45de6e..5ab197001 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit fbd45de6e6bc71b4561eaef65dd86fce952c5d55
+Subproject commit 5ab19700178f01c14f362735532ee2662ab755fc
diff --git a/panda b/panda
index 486af7950..06592b5c0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 486af7950348530309778240f235fd75a30f1842
+Subproject commit 06592b5c0e6f1aa83e4c8f95ecb1bf86b9277528
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4d181e382..60fb46340 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -4,8 +4,8 @@ from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai import hda2can, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
+from selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -69,23 +69,23 @@ class CarController:
 
     can_sends = []
 
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
 
       if self.frame % 5 == 0:
-        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
           for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
           self.last_button_frame = self.frame
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index f1428555a..9105f1278 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -35,8 +35,8 @@ class CarState(CarStateBase):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in HDA2_CAR:
-      return self.update_hda2(cp, cp_cam)
+    if self.CP.carFingerprint in CANFD_CAR:
+      return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
 
@@ -133,7 +133,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_hda2(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -183,8 +183,8 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
-      return CarState.get_can_parser_hda2(CP)
+    if CP.carFingerprint in CANFD_CAR:
+      return CarState.get_can_parser_canfd(CP)
 
     signals = [
       # signal_name, signal_address
@@ -318,7 +318,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
       checks = [("CAM_0x2a4", 20)]
       return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
@@ -373,7 +373,7 @@ class CarState(CarStateBase):
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod
-  def get_can_parser_hda2(CP):
+  def get_can_parser_canfd(CP):
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hyundaicanfd.py
similarity index 100%
rename from selfdrive/car/hyundai/hda2can.py
rename to selfdrive/car/hyundai/hyundaicanfd.py
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 892f62c42..3fad98da1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
@@ -238,8 +237,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2055 + STD_CARGO_KG
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -279,15 +276,28 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
-    # these cars require a special panda safety mode due to missing counters and checksums in the messages
-    if candidate in LEGACY_SAFETY_MODE_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-
-    # set appropriate safety param for gas signal
-    if candidate in HYBRID_CAR:
-      ret.safetyConfigs[0].safetyParam = 2
-    elif candidate in EV_CAR:
-      ret.safetyConfigs[0].safetyParam = 1
+    # panda safety config
+    if candidate in CANFD_CAR:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+    else:
+      if candidate in LEGACY_SAFETY_MODE_CAR:
+        # these cars require a special panda safety mode due to missing counters and checksums in the messages
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      else:
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+
+      # set appropriate safety param for gas signal
+      if candidate in HYBRID_CAR:
+        ret.safetyConfigs[0].safetyParam = 2
+      elif candidate in EV_CAR:
+        ret.safetyConfigs[0].safetyParam = 1
+
+      if ret.openpilotLongitudinalControl:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+
+      if candidate in CAMERA_SCC_CAR:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
     ret.centerToFront = ret.wheelbase * 0.4
 
@@ -302,12 +312,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.enableBsm = 0x58b in fingerprint[0]
 
-    if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-
-    if candidate in CAMERA_SCC_CAR:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ec38123fa..75fc7737d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -20,7 +20,7 @@ class CarControllerParams:
     self.STEER_DRIVER_FACTOR = 1
     self.STEER_THRESHOLD = 150
 
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       self.STEER_MAX = 270
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
@@ -1280,7 +1280,7 @@ FEATURES = {
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-HDA2_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, }
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

From 041458f632f197de3c954ed4a08650fbcb24690a Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 12 Aug 2022 00:47:59 -0700
Subject: [PATCH 412/435] Falcon Punch Model: turn cutting improvements
 (#25413)

* simplified change to mpc dynamics

* add jerk pts

* increase jerk cost

* increase jerk pts multipler to master value

* Add final commit

* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950

* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950

* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900

* Fix couple tests

* Update ref

* Unused for now

* Add lateral factor comment

* Unused variable

Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
---
 .../controls/lib/lateral_mpc_lib/lat_mpc.py   |  5 +++--
 selfdrive/controls/lib/lateral_planner.py     | 19 +++++++++++++------
 selfdrive/controls/plannerd.py                |  2 +-
 selfdrive/controls/tests/test_lateral_mpc.py  |  3 ++-
 selfdrive/modeld/models/supercombo.dlc        |  4 ++--
 selfdrive/modeld/models/supercombo.onnx       |  4 ++--
 selfdrive/modeld/thneed/optimizer.cc          |  8 ++++----
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../process_replay/model_replay_ref_commit    |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 10 files changed, 30 insertions(+), 21 deletions(-)

diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index a1037f040..c0e735816 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -89,7 +89,7 @@ def gen_lat_ocp():
   # TODO hacky weights to keep behavior the same
   ocp.model.cost_y_expr = vertcat(y_ego,
                                   ((v_ego +5.0) * psi_ego),
-                                  ((v_ego +5.0) * 4 * curv_rate))
+                                  ((v_ego + 5.0) * 4.0 * curv_rate))
   ocp.model.cost_y_expr_e = vertcat(y_ego,
                                     ((v_ego +5.0) * psi_ego))
 
@@ -147,7 +147,7 @@ class LateralMpc():
     #TODO hacky weights to keep behavior the same
     self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
 
-  def run(self, x0, p, y_pts, heading_pts):
+  def run(self, x0, p, y_pts, heading_pts, curv_rate_pts):
     x0_cp = np.copy(x0)
     p_cp = np.copy(p)
     self.solver.constraints_set(0, "lbx", x0_cp)
@@ -156,6 +156,7 @@ class LateralMpc():
     v_ego = p_cp[0]
     # rotation_radius = p_cp[1]
     self.yref[:,1] = heading_pts*(v_ego+5.0)
+    self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
       self.solver.set(i, "p", p_cp)
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 019a19fb1..dda4f18a4 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -3,7 +3,7 @@ from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
@@ -11,17 +11,21 @@ from cereal import log
 
 
 class LateralPlanner:
-  def __init__(self, use_lanelines=True, wide_camera=False):
+  def __init__(self, CP, use_lanelines=True, wide_camera=False):
     self.use_lanelines = use_lanelines
     self.LP = LanePlanner(wide_camera)
     self.DH = DesireHelper()
 
+    # Vehicle model parameters used to calculate lateral movement of car
+    self.factor1 = CP.wheelbase - CP.centerToFront
+    self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
     self.last_cloudlog_t = 0
     self.solution_invalid_cnt = 0
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
     self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3))
     self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
+    self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
     self.t_idxs = np.arange(TRAJECTORY_SIZE)
     self.y_pts = np.zeros(TRAJECTORY_SIZE)
 
@@ -42,7 +46,7 @@ class LateralPlanner:
     if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
       self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
       self.t_idxs = np.array(md.position.t)
-      self.plan_yaw = list(md.orientation.z)
+      self.plan_yaw = np.array(md.orientation.z)
     if len(md.position.xStd) == TRAJECTORY_SIZE:
       self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
 
@@ -67,16 +71,19 @@ class LateralPlanner:
 
     y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
     heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+    curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate)
     self.y_pts = y_pts
 
     assert len(y_pts) == LAT_MPC_N + 1
     assert len(heading_pts) == LAT_MPC_N + 1
-    # self.x0[4] = v_ego
-    p = np.array([v_ego, CAR_ROTATION_RADIUS])
+    assert len(curv_rate_pts) == LAT_MPC_N + 1
+    lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
+    p = np.array([v_ego, lateral_factor])
     self.lat_mpc.run(self.x0,
                      p,
                      y_pts,
-                     heading_pts)
+                     heading_pts,
+                     curv_rate_pts)
     # init state for next
     # mpc.u_sol is the desired curvature rate given x0 curv state.
     # with x0[3] = measured_curvature, this would be the actual desired rate.
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 9356a55d8..06807b2a5 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None):
   cloudlog.event("e2e mode", on=use_lanelines)
 
   longitudinal_planner = Planner(CP)
-  lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
     sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
index 4630e28a6..4864dbdc0 100644
--- a/selfdrive/controls/tests/test_lateral_mpc.py
+++ b/selfdrive/controls/tests/test_lateral_mpc.py
@@ -13,6 +13,7 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur
 
   y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
   heading_pts = np.zeros(LAT_MPC_N + 1)
+  curv_rate_pts = np.zeros(LAT_MPC_N + 1)
 
   x0 = np.array([x_init, y_init, psi_init, curvature_init])
   p = np.array([v_ref, CAR_ROTATION_RADIUS])
@@ -20,7 +21,7 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur
   # converge in no more than 10 iterations
   for _ in range(10):
     lat_mpc.run(x0, p,
-                y_pts, heading_pts)
+                y_pts, heading_pts, curv_rate_pts)
   return lat_mpc.x_sol
 
 
diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 23f6d904f..fe3ad5102 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
-size 76725611
+oid sha256:3c5c8d71a8a1434ef79073362e608b9fe02f22ce7478f11bc71c6806c1e00091
+size 94302331
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9023c18dd..39e874364 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
-size 77472267
+oid sha256:15d9eb01edd98998abceaa092d33fab149ff4a8942646b20a7c1403f999f4eca
+size 95165081
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 03d20ff38..39737d3d7 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-static int is_same_size_image(cl_mem a, cl_mem b) {
+/*static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) {
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}
+}*/
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }
+      }*/
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 8b41d6df1..12f3583ee 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
 
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
-MAX_FRAMES = 20 if PC else 1300
+MAX_FRAMES = 10 if PC else 1300
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 8b9483419..e5bbfa74c 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5c2cb8fb9787584a1eb553968cb87e7e6782dac5
+507241e0a41ee757cca4eb6ff12cff3f02c0b98a
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 27bea5574..8c8f5d10f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c556add24a92c9d8593d9d3ebbeed9434b751d66
\ No newline at end of file
+461333164e531e3ffdac05b63b529aa5dce1186f

From 4dbad71171df6ffbe54de2d16409abb707b23d09 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Aug 2022 01:58:49 -0700
Subject: [PATCH 413/435] Car docs: update Odyssey supported model years
 (#25410)

* Revert Odyssey MY

* update docs
---
 docs/CARS.md                  | 2 +-
 selfdrive/car/honda/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 653e52ed9..37ea5599b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -61,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 88e118cc3..ab1cc9a6c 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
   CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),

From 24645c92dadebaf69e1115d0ccd44edba4148b65 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 12 Aug 2022 11:30:19 +0200
Subject: [PATCH 414/435] Use steeringAngleDeg for angle control saturation
 warnings (#25404)

* use steeringAngleDeg for angle control cars

* update refs
---
 selfdrive/controls/controlsd.py          | 9 +++++++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2f7c85aa7..3b2307f04 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -626,8 +626,13 @@ class Controls:
       if len(dpath_points):
         # Check if we deviated from the path
         # TODO use desired vs actual curvature
-        left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
-        right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
+        if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+          steering_value = actuators.steeringAngleDeg
+        else:
+          steering_value = actuators.steer
+
+        left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+        right_deviation = steering_value < 0 and dpath_points[0] > 0.20
 
         if left_deviation or right_deviation:
           self.events.add(EventName.steerSaturated)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8c8f5d10f..260e917fb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-461333164e531e3ffdac05b63b529aa5dce1186f
+3c89454df9cf2f25a5759d523a8c595e69865505
\ No newline at end of file

From e68631f472027839a04e0ca23b33ed87db17b5a0 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Fri, 12 Aug 2022 13:51:04 +0200
Subject: [PATCH 415/435] Bump panda (#25416)

bump panda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 06592b5c0..508ee90f8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 06592b5c0e6f1aa83e4c8f95ecb1bf86b9277528
+Subproject commit 508ee90f8ecf1ce70fc9d002bbc14b47a50a459a

From 6e2584ef4b1016a4faf5b66b271acb1c29c2e753 Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Fri, 12 Aug 2022 14:50:52 -0400
Subject: [PATCH 416/435] Hyundai: Car Port for Ioniq 5 (HDA2) 2022 (#25308)

* Hyundai: Car Port for Ioniq 5 2022

* Add FW versions

* HDA2 and modified harness for now

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Attempt to block LFA

* BYTE7 blocks LFA

* Merge and bump opendbc, panda

* Update docs per request

* HDA2 -> Highway Driving Assist II

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Update RELEASES

* remove that

* generate docs

* ev6 matches

* fix panda bus

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 RELEASES.md                               |  1 +
 docs/CARS.md                              |  5 +++--
 selfdrive/car/hyundai/interface.py        |  6 ++++++
 selfdrive/car/hyundai/values.py           | 24 +++++++++++++++++++++--
 selfdrive/car/tests/routes.py             |  1 +
 selfdrive/car/tests/test_models.py        |  2 ++
 selfdrive/car/torque_data/substitute.yaml |  1 +
 7 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index e69d7461b..dd18b4b77 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
 
diff --git a/docs/CARS.md b/docs/CARS.md
index 37ea5599b..162d5e66f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 199 Supported Cars
+# 200 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -69,6 +69,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -93,7 +94,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 3fad98da1..d3dc1a2c6 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -239,6 +239,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.IONIQ_5:
+      ret.mass = 2012 + STD_CARGO_KG
+      ret.wheelbase = 3.0
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.65
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 75fc7737d..8879931b2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -65,6 +65,7 @@ class CAR:
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
+  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -126,6 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -156,7 +158,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
@@ -1263,6 +1265,23 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
     ],
   },
+  CAR.IONIQ_5: {
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1280,7 +1299,7 @@ FEATURES = {
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1335,4 +1354,5 @@ DBC = {
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.IONIQ_5: dbc_dict('kia_ev6', None),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 765be1ae3..2195befb2 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -90,6 +90,7 @@ routes = [
   TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  TestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
   TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
   TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 929c53984..8906942f2 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -219,6 +219,8 @@ class TestCarModelBase(unittest.TestCase):
     for can in self.can_msgs:
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
+        msg = list(msg)
+        msg[3] %= 4
         to_send = package_can_msg(msg)
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index f7288ec73..279e28ff5 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -29,6 +29,7 @@ HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ 5 2022: KIA EV6 2022
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019

From e4340e02606fccf66600119195ee704a78bc26cf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Aug 2022 12:31:55 -0700
Subject: [PATCH 417/435] Car docs: update RX supported model years (#25419)

Update RX supported model years
---
 docs/CARS.md                   | 2 +-
 selfdrive/car/toyota/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 162d5e66f..00022bfb8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -122,7 +122,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 171c0f255..b6181c1fd 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -170,7 +170,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
   CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
-  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
   CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),

From 4ffe9e68db8d752d9da45febccfe4c28a6e8a0f9 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Fri, 12 Aug 2022 19:10:34 -0400
Subject: [PATCH 418/435] GM: Bolt EUV 2022-23 port (#24875)

* Switch to ECMPRDNL2 for GM gear

* Removing manumatic gear #

* values.py almost complete

* Silverado and Bolt EUV val and CP

* GM controller updated

* Cam hrns supp done (in theory)

* cleanup for new cars

* Remove extra constant

* WS, etc cleanup

* removing the unused

* Fix kpBP typo

* Updated docs

* Skip's PIF tune

* Dropped LKA CAN error patch

* Add silverado sigmoid ff

* CAN Err & LKA latch patch

* Remove EPS fault fix (another PR)

* Remove Silverado (another PR)

* clean up some common params

* Remove Escalade FP

Remove Escalade FP

* comment

* Premier is just a trim

Premier is just a trim

Premier is just a trim

* no footnote: new Bolt is like most other cars, older GM were outliers not at the camera

* clean up

clean up

* bump panda

* bump panda

* bump panda

* bump panda

* bump panda

* remove comments

* try spamming buttons on bus 2

* bump panda

* bumping opendbc w btn rc

* not needed for this port

This reverts commit 6af1f0ba799e075f877d7acc8ca0f117d97da361.

* add button safety

* Send next rc when spamming btns

* forward other signals in message

* missing DriveModeButton

* fill cruiseState.speed

* see if resume works without counter

* try the whole message

* send immediately and at 10Hz

* no resume, back to just button signal

* even holding random buttons it cancels

* Use torque controller with base tune

* stock long GM don't auto-resume yet

* Testing GM zero min steer speed

* Revert latcontrol

* revert opendbc

* latActive is basically lkas_enabled

* Update Bolt torque params

* comment

* clean up

* Add to releases

* Add test route

* Don't specify segment

* bump panda

* bump panda

* no harness for Bolt just yet

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* We support all and 2023

* move safetyParam up to first cam check

* Bump panda and update docs

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 RELEASES.md                             |  1 +
 docs/CARS.md                            |  3 +-
 panda                                   |  2 +-
 selfdrive/car/docs_definitions.py       |  9 +++--
 selfdrive/car/gm/carcontroller.py       | 17 +++++++---
 selfdrive/car/gm/carstate.py            | 16 ++++++++-
 selfdrive/car/gm/gmcan.py               |  4 +++
 selfdrive/car/gm/interface.py           | 45 +++++++++++++++++--------
 selfdrive/car/gm/values.py              | 19 ++++++++---
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/tests/test_models.py      |  1 -
 selfdrive/car/torque_data/override.yaml |  1 +
 12 files changed, 90 insertions(+), 29 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index dd18b4b77..bcd6aa7aa 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
diff --git a/docs/CARS.md b/docs/CARS.md
index 00022bfb8..c3278d706 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 200 Supported Cars
+# 201 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Bolt EUV 2022-23|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/panda b/panda
index 508ee90f8..5e0dde7b4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 508ee90f8ecf1ce70fc9d002bbc14b47a50a459a
+Subproject commit 5e0dde7b480a930d3c3a164331c930541e905d71
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 2567a5e19..0605ec1f2 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -10,6 +10,10 @@ from common.conversions import Conversions as CV
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
+# Makes that lack auto-resume with stock long, and auto resume in any configuration
+NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
+NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
+
 
 class Tier(Enum):
   GOLD = 0
@@ -147,11 +151,11 @@ class CarInfo:
       else:
         alc = ""
 
-      # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+      # Exception for cars which do not auto-resume yet
       acc = ""
       if self.min_enable_speed > 0:
         acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+      elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
         acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
@@ -210,6 +214,7 @@ class Harness(Enum):
   hyundai_p = "Hyundai P"
   custom = "Developer"
   obd_ii = "OBD-II"
+  gm = "GM"
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 0e7406514..10e602797 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -19,6 +19,7 @@ class CarController:
     self.apply_gas = 0
     self.apply_brake = 0
     self.frame = 0
+    self.last_button_frame = 0
 
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
@@ -46,8 +47,7 @@ class CarController:
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (self.frame % self.params.STEER_STEP) == 0:
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
-      if lkas_enabled:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
@@ -58,7 +58,7 @@ class CarController:
       # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
       idx = (CS.lka_steering_cmd_counter + 1) % 4
 
-      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
@@ -107,6 +107,13 @@ class CarController:
       if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
+    else:
+      # Stock longitudinal, integrated at camera
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+        if CC.cruiseControl.cancel:
+          self.last_button_frame = self.frame
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
     # If not sent again, LKA icon disappears in about 5 seconds.
@@ -114,6 +121,8 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
+
+    # SW_GMLAN not yet on cam harness, no HUD alerts
     if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b174d0327..e89ece198 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,4 +1,5 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
@@ -6,6 +7,7 @@ from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarState(CarStateBase):
@@ -15,7 +17,7 @@ class CarState(CarStateBase):
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
-  def update(self, pt_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
@@ -77,9 +79,21 @@ class CarState(CarStateBase):
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      ret.cruiseState.speed = (cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] / 16) * CV.KPH_TO_MS
 
     return ret
 
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
+      checks.append(("ASCMActiveCruiseControlStatus", 25))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 47e6090a0..98265e8c6 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,5 +1,9 @@
 from selfdrive.car import make_can_msg
 
+def create_buttons(packer, bus, button):
+  values = {"ACCButtons": button}
+  return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   values = {
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 10ae670ac..f3f1e587c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
+from panda import Panda
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -48,29 +49,36 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
-    ret.radarOffCan = False  # For ASCM, radar exists
-    ret.transmissionType = TransmissionType.automatic
-    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
-    ret.networkLocation = NetworkLocation.gateway
+
+    if candidate in EV_CAR:
+      ret.transmissionType = TransmissionType.direct
+    else:
+      ret.transmissionType = TransmissionType.automatic
+
+    if candidate in CAMERA_ACC_CAR:
+      ret.openpilotLongitudinalControl = False
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarOffCan = True  # no radar
+      ret.pcmCruise = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+    else:  # ASCM, OBD-II harness
+      ret.openpilotLongitudinalControl = True
+      ret.networkLocation = NetworkLocation.gateway
+      ret.radarOffCan = False
+      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
 
-    # Presence of a camera on the object bus is ok.
-    # Have to go to read_only if ASCM is online (ACC-enabled cars),
-    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.openpilotLongitudinalControl = True
-    tire_stiffness_factor = 0.444  # not optimized yet
-
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+    tire_stiffness_factor = 0.444  # not optimized yet
 
     ret.longitudinalTuning.kpBP = [5., 35.]
     ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -84,7 +92,6 @@ class CarInterface(CarInterfaceBase):
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
 
     if candidate == CAR.VOLT:
-      ret.transmissionType = TransmissionType.direct
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
@@ -143,6 +150,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
+    elif candidate == CAR.BOLT_EUV:
+      ret.minEnableSpeed = -1
+      ret.mass = 1669. + STD_CARGO_KG
+      ret.wheelbase = 2.675
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -156,7 +173,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_loopback)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 016910a40..6d3409310 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -14,7 +14,6 @@ class CarControllerParams:
   STEER_STEP = 2  # Control frames per command (50hz)
   STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
-  MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
@@ -59,10 +58,7 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-
-
-EV_CAR = {CAR.VOLT}
-STEER_THRESHOLD = 1.0
+  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
 
 
 class Footnote(Enum):
@@ -87,6 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "All", footnotes=[], harness=Harness.gm),
 }
 
 
@@ -107,6 +104,7 @@ class AccState:
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1
+  CAMERA = 2
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
@@ -155,6 +153,17 @@ FINGERPRINTS = {
   {
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
+  CAR.BOLT_EUV: [
+  {
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+
+# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
+CAMERA_ACC_CAR = {CAR.BOLT_EUV}
+
+STEER_THRESHOLD = 1.0
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 2195befb2..0b1726b01 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -47,6 +47,7 @@ routes = [
   TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
+  TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 8906942f2..4a1f1a61e 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -58,7 +58,6 @@ class TestCarModelBase(unittest.TestCase):
       raise unittest.SkipTest
 
     if 'FILTER' in os.environ:
-      print(tuple(os.environ.get('FILTER').split(', ')))
       if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
         raise unittest.SkipTest
 
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 635743c11..0a958a9d0 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -24,6 +24,7 @@ KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

From f0214d5e83661cf6d7bada40a6ffef703609b4fe Mon Sep 17 00:00:00 2001
From: cydia2020 <12470297+cydia2020@users.noreply.github.com>
Date: Sat, 13 Aug 2022 09:26:50 +1000
Subject: [PATCH 419/435] Multilang: fill missing Japanese translations
 (#25418)

* japanese translations

* ENTER literally means enter

* This makes more sense

* finished

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/translations/main_ja.ts | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 20f96b8f4..111fe9184 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1025,23 +1025,23 @@ location set</source>
     <message>
         <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>Switch Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>ブランチの切り替え</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="253"/>
         <source>ENTER</source>
-        <translation type="unfinished"></translation>
+        <translation>切替</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="253"/>
         <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="unfinished"></translation>
+        <translation>updater を実行する時にブランチを切り替えます。</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="255"/>
         <source>Enter branch name</source>
-        <translation type="unfinished"></translation>
+        <translation>ブランチ名を入力</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="266"/>

From 7e6f4e74bfccead6e347329d09cee2317605f343 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 12 Aug 2022 16:46:33 -0700
Subject: [PATCH 420/435] body: add fw repo as submodule (#25420)

* body: add fw repo as submodule

* bump body

* file whitelist

* revert that for now
---
 .gitignore              |  1 -
 .gitmodules             | 23 +++++++++++++----------
 .pre-commit-config.yaml |  2 +-
 SConstruct              | 10 +++++++---
 body                    |  1 +
 release/files_common    | 13 +++++++++++++
 6 files changed, 35 insertions(+), 15 deletions(-)
 create mode 160000 body

diff --git a/.gitignore b/.gitignore
index 07626f4e2..6aee0ed8e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,7 +55,6 @@ selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
-/body/
 openpilot
 notebooks
 xx
diff --git a/.gitmodules b/.gitmodules
index 1e6110b7a..bc439b451 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,15 +1,18 @@
 [submodule "panda"]
-	path = panda
-	url = ../../commaai/panda.git
+  path = panda
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
-	path = opendbc
-	url = ../../commaai/opendbc.git
+  path = opendbc
+  url = ../../commaai/opendbc.git
 [submodule "laika_repo"]
-	path = laika_repo
-	url = ../../commaai/laika.git
+  path = laika_repo
+  url = ../../commaai/laika.git
 [submodule "cereal"]
-	path = cereal
-	url = ../../commaai/cereal.git
+  path = cereal
+  url = ../../commaai/cereal.git
 [submodule "rednose_repo"]
-	path = rednose_repo
-	url = ../../commaai/rednose.git
+  path = rednose_repo
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8b8bc1f1b..e273cd9ae 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -54,7 +54,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++
diff --git a/SConstruct b/SConstruct
index 940b2367f..49685b19b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -393,9 +393,13 @@ if arch != "Darwin":
 
 # Build openpilot
 
-SConscript(['cereal/SConscript'])
-SConscript(['panda/board/SConscript'])
-SConscript(['opendbc/can/SConscript'])
+# build submodules
+SConscript([
+  'cereal/SConscript',
+  'body/board/SConscript',
+  'panda/board/SConscript',
+  'opendbc/can/SConscript',
+])
 
 SConscript(['third_party/SConscript'])
 
diff --git a/body b/body
new file mode 160000
index 000000000..04aeb30ce
--- /dev/null
+++ b/body
@@ -0,0 +1 @@
+Subproject commit 04aeb30ce0bb14759989cd374158233877e1e151
diff --git a/release/files_common b/release/files_common
index 192c6ec45..8bf99f022 100644
--- a/release/files_common
+++ b/release/files_common
@@ -434,6 +434,19 @@ rednose/.gitignore
 rednose/**
 laika/**
 
+body/.gitignore
+body/board/SConscript
+body/board/*.h
+body/board/*.c
+body/board/*.s
+body/board/*.ld
+body/board/inc/**
+body/board/obj/
+body/board/bldc/**
+body/board/drivers/**
+body/certs/**
+body/crypto/**
+
 cereal/.gitignore
 cereal/__init__.py
 cereal/car.capnp

From 3e3f960342fb97f26d64648172970d65ade08fc4 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 12 Aug 2022 22:43:36 -0400
Subject: [PATCH 421/435] VW PQ: Cleanup and prep for upstream (#25351)

* VW MQB: Cleanup and abstractions

* regen CARS.md

* Update selfdrive/car/volkswagen/values.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* regen CARS.md

* now that's a refactor of a different sort

* move shifter value init/storage

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 docs/CARS.md                              |  2 +-
 selfdrive/car/volkswagen/carcontroller.py | 46 ++++++------
 selfdrive/car/volkswagen/carstate.py      | 28 +++----
 selfdrive/car/volkswagen/mqbcan.py        | 38 ++++++++++
 selfdrive/car/volkswagen/values.py        | 92 ++++++++++++-----------
 selfdrive/car/volkswagen/volkswagencan.py | 42 -----------
 6 files changed, 121 insertions(+), 127 deletions(-)
 create mode 100644 selfdrive/car/volkswagen/mqbcan.py
 delete mode 100644 selfdrive/car/volkswagen/volkswagencan.py

diff --git a/docs/CARS.md b/docs/CARS.md
index c3278d706..96d966ba9 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -231,7 +231,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 <sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
 <sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
 <sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 99a3ce55f..0923ac031 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
+from selfdrive.car.volkswagen import mqbcan
+from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -10,11 +10,12 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
+    self.CCP = CarControllerParams(CP)
+    self.CCS = mqbcan
+    self.packer_pt = CANPacker(dbc_name)
+
     self.apply_steer_last = 0
     self.frame = 0
-
-    self.packer_pt = CANPacker(DBC_FILES.mqb)
-
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
 
@@ -26,7 +27,7 @@ class CarController:
 
     # **** Steering Controls ************************************************ #
 
-    if self.frame % P.HCA_STEP == 0:
+    if self.frame % self.CCP.HCA_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -38,21 +39,21 @@ class CarController:
       # when exceeding ~1/3 the 360 second timer.
 
       if CC.latActive:
-        new_steer = int(round(actuators.steer * P.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
+        new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
+        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
         if apply_steer == 0:
           hcaEnabled = False
           self.hcaEnabledFrameCount = 0
         else:
           self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP):  # 118s
+          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP):  # 118s
             hcaEnabled = False
             self.hcaEnabledFrameCount = 0
           else:
             hcaEnabled = True
             if self.apply_steer_last == apply_steer:
               self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP):  # 1.9s
+              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP):  # 1.9s
                 apply_steer -= (1, -1)[apply_steer < 0]
                 self.hcaSameTorqueCount = 0
             else:
@@ -62,32 +63,29 @@ class CarController:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
-    if self.frame % P.LDW_STEP == 0:
+    if self.frame % self.CCP.LDW_STEP == 0:
+      hud_alert = 0
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
-        hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
-      else:
-        hud_alert = MQB_LDW_MESSAGES["none"]
+        hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
-                                                            CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
-                                                            hud_control.rightLaneVisible, CS.ldw_stock_values,
-                                                            hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
+                                                       CS.out.steeringPressed, hud_alert, hud_control))
 
-    # **** ACC Button Controls ********************************************** #
+    # **** Stock ACC Button Controls **************************************** #
 
-    if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
+    if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
       idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
       if CC.cruiseControl.cancel:
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
+        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
       elif CC.cruiseControl.resume:
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
+        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
 
     new_actuators = actuators.copy()
-    new_actuators.steer = self.apply_steer_last / P.STEER_MAX
+    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 052a1262e..65e3de169 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -3,20 +3,14 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams, MQB_BUTTONS
+from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, CarControllerParams
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.button_states = {button.event_type: False for button in MQB_BUTTONS}
-    can_define = CANDefine(DBC_FILES.mqb)
-    if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
-    elif CP.transmissionType == TransmissionType.direct:
-      self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
-    self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
+    self.CCP = CarControllerParams(CP)
+    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
@@ -37,11 +31,11 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
     ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
     ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
-    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
 
     # Verify EPS readiness to accept steering commands
-    hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
+    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
     ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
     ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
 
@@ -54,9 +48,9 @@ class CarState(CarStateBase):
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
     elif trans_type == TransmissionType.direct:
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
     elif trans_type == TransmissionType.manual:
       ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
       if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
@@ -120,7 +114,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
     self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
     buttonEvents = []
-    for button in MQB_BUTTONS:
+    for button in self.CCP.BUTTONS:
       state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
       if self.button_states[button.event_type] != state:
         event = car.CarState.ButtonEvent.new_message()
@@ -218,7 +212,7 @@ class CarState(CarStateBase):
         signals += MqbExtraSignals.bsm_radar_signals
         checks += MqbExtraSignals.bsm_radar_checks
 
-    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -246,7 +240,7 @@ class CarState(CarStateBase):
         signals += MqbExtraSignals.bsm_radar_signals
         checks += MqbExtraSignals.bsm_radar_checks
 
-    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
 
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
new file mode 100644
index 000000000..1a4ca339a
--- /dev/null
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -0,0 +1,38 @@
+def create_steering_control(packer, bus, apply_steer, lkas_enabled):
+  values = {
+    "SET_ME_0X3": 0x3,
+    "Assist_Torque": abs(apply_steer),
+    "Assist_Requested": lkas_enabled,
+    "Assist_VZ": 1 if apply_steer < 0 else 0,
+    "HCA_Available": 1,
+    "HCA_Standby": not lkas_enabled,
+    "HCA_Active": lkas_enabled,
+    "SET_ME_0XFE": 0xFE,
+    "SET_ME_0X07": 0x07,
+  }
+  return packer.make_can_msg("HCA_01", bus, values)
+
+
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+  values = ldw_stock_values.copy()
+
+  values.update({
+    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
+    "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
+    "LDW_Texte": hud_alert,
+  })
+  return packer.make_can_msg("LDW_02", bus, values)
+
+
+def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+  values = gra_stock_values.copy()
+
+  values.update({
+    "COUNTER": idx,
+    "GRA_Abbrechen": cancel,
+    "GRA_Tip_Wiederaufnahme": resume,
+  })
+
+  return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8b2c7e93c..af0139e7b 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
+from opendbc.can.can_define import CANDefine
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 
@@ -15,54 +16,56 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
-  HCA_STEP = 2                   # HCA_01 message frequency 50Hz
-  LDW_STEP = 10                  # LDW_02 message frequency 10Hz
-  GRA_ACC_STEP = 3               # GRA_ACC_01 message frequency 33Hz
+  HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
+  GRA_ACC_STEP = 3                        # GRA_ACC_01/GRA_Neu message frequency 33Hz
 
-  # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-  # Limiting rate-of-change based on real-world testing and Comma's safety
-  # requirements for minimum time to lane departure.
-  STEER_MAX = 300                # Max heading control assist torque 3.00 Nm
-  STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
-  STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
-  STEER_DRIVER_ALLOWANCE = 80
-  STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
-  STEER_DRIVER_FACTOR = 1        # from dbc
+  def __init__(self, CP):
+    # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+    # MQB vs PQ maximums are shared, but rate-of-change limited differently
+    # based on safety requirements driven by lateral accel testing.
+    self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
+    self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
+    self.STEER_DRIVER_FACTOR = 1          # from dbc
+  
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+  
+    if True:  # pylint: disable=using-constant-test
+      self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
+      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
+      self.STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
+      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
 
+      if CP.transmissionType == TransmissionType.automatic:
+        self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+      elif CP.transmissionType == TransmissionType.direct:
+        self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+      self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
 
-class CANBUS:
-  pt = 0
-  cam = 2
-
-
-class DBC_FILES:
-  mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
-
-
-DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
+      self.BUTTONS = [
+        Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+        Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+        Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+        Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+        Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+        Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
+      ]
 
+      self.LDW_MESSAGES = {
+        "none": 0,                            # Nothing to display
+        "laneAssistUnavailChime": 1,          # "Lane Assist currently not available." with chime
+        "laneAssistUnavailNoSensorChime": 3,  # "Lane Assist not available. No sensor view." with chime
+        "laneAssistTakeOverUrgent": 4,        # "Lane Assist: Please Take Over Steering" with urgent beep
+        "emergencyAssistUrgent": 6,           # "Emergency Assist: Please Take Over Steering" with urgent beep
+        "laneAssistTakeOverChime": 7,         # "Lane Assist: Please Take Over Steering" with chime
+        "laneAssistTakeOver": 8,              # "Lane Assist: Please Take Over Steering" silent
+        "emergencyAssistChangingLanes": 9,    # "Emergency Assist: Changing lanes..." with urgent beep
+        "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
+      }
 
-MQB_BUTTONS = [
-  Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
-  Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
-  Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
-  Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
-  Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
-  Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
-]
 
-
-MQB_LDW_MESSAGES = {
-  "none": 0,                            # Nothing to display
-  "laneAssistUnavailChime": 1,          # "Lane Assist currently not available." with chime
-  "laneAssistUnavailNoSensorChime": 3,  # "Lane Assist not available. No sensor view." with chime
-  "laneAssistTakeOverUrgent": 4,        # "Lane Assist: Please Take Over Steering" with urgent beep
-  "emergencyAssistUrgent": 6,           # "Emergency Assist: Please Take Over Steering" with urgent beep
-  "laneAssistTakeOverChime": 7,         # "Lane Assist: Please Take Over Steering" with chime
-  "laneAssistTakeOverSilent": 8,        # "Lane Assist: Please Take Over Steering" silent
-  "emergencyAssistChangingLanes": 9,    # "Emergency Assist: Changing lanes..." with urgent beep
-  "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
-}
+class CANBUS:
+  pt = 0
+  cam = 2
 
 
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
@@ -96,12 +99,15 @@ class CAR:
   SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
 
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
+
+
 class Footnote(Enum):
   KAMIQ = CarFootnote(
     "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
     Column.MODEL)
   PASSAT = CarFootnote(
-    "Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
+    "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
     Column.MODEL)
   VW_HARNESS = CarFootnote(
     "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
deleted file mode 100644
index f4c21eeed..000000000
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ /dev/null
@@ -1,42 +0,0 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
-# PQ35/PQ46/NMS, and any future MLB, to come later.
-
-def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
-  values = {
-    "SET_ME_0X3": 0x3,
-    "Assist_Torque": abs(apply_steer),
-    "Assist_Requested": lkas_enabled,
-    "Assist_VZ": 1 if apply_steer < 0 else 0,
-    "HCA_Available": 1,
-    "HCA_Standby": not lkas_enabled,
-    "HCA_Active": lkas_enabled,
-    "SET_ME_0XFE": 0xFE,
-    "SET_ME_0X07": 0x07,
-  }
-  return packer.make_can_msg("HCA_01", bus, values)
-
-def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
-                           ldw_stock_values, left_lane_depart, right_lane_depart):
-  # Lane color reference:
-  # 0 (LKAS disabled) - off
-  # 1 (LKAS enabled, no lane detected) - dark gray
-  # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit.  On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
-  # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
-  values = ldw_stock_values.copy()
-  values.update({
-    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
-    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
-    "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
-    "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
-    "LDW_Texte": hud_alert,
-  })
-  return packer.make_can_msg("LDW_02", bus, values)
-
-def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
-  values = gra_stock_values.copy()
-
-  values["COUNTER"] = idx
-  values["GRA_Abbrechen"] = cancel
-  values["GRA_Tip_Wiederaufnahme"] = resume
-
-  return packer.make_can_msg("GRA_ACC_01", bus, values)

From 5f5d944368ea933f634953f63fabde52d773ae3b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Aug 2022 19:53:44 -0700
Subject: [PATCH 422/435] Subaru: add missing Impreza 2017 FW versions (#25424)

* this is from hyundai query

* These are also from Hyundai

* Add missing FW versions from 5c3a4dc9bd0b2eaa|2022-08-12--18-01-46

* more FW
---
 selfdrive/car/subaru/values.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 62ddaa54b..691a4c915 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -99,7 +99,6 @@ FW_VERSIONS = {
       b'\x00\xfe\xf7\x00\x00',
       b'\001\xfe\xf9\000\000',
       b'\x01\xfe\xf7\x00\x00',
-      b'\xf1\x00\xa4\x10@',
     ],
   },
   CAR.IMPREZA: {
@@ -116,6 +115,7 @@ FW_VERSIONS = {
       b'z\x94\x08\x90\x00',
       b'z\x84\x19\x90\x00',
       b'\xf1\x00\xb2\x06\x04',
+      b'z\x94\x0c\x90\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x7a\xc0\x0c\x00',
@@ -139,6 +139,7 @@ FW_VERSIONS = {
       b'\x00\x00c\xf4\x00\x00\x00\x00',
       b'\x00\x00d\xdc\x00\x00\x00\x00',
       b'\x00\x00dd\x00\x00\x00\x00',
+      b'\x00\x00c\xf4\x1f@ \x07',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x61\x66\x73\x07',
@@ -148,7 +149,6 @@ FW_VERSIONS = {
       b'\xaa!`u\a',
       b'\xaa!dq\a',
       b'\xaa!dt\a',
-      b'\xf1\x00\xa2\x10\t',
       b'\xc5!ar\a',
       b'\xbe!as\a',
       b'\xc5!ds\a',
@@ -158,6 +158,7 @@ FW_VERSIONS = {
       b'\xaa\x00Bu\x07',
       b'\xc5!dr\x07',
       b'\xaa!aw\x07',
+      b'\xaa!av\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xe5\x46\x31\x00',
@@ -173,7 +174,6 @@ FW_VERSIONS = {
       b'\xe4\xf5\002\000\000',
       b'\xe3\xd0\x081\x00',
       b'\xe3\xf5\x06\x00\x00',
-      b'\xf1\x00\xa4\x10@',
     ],
   },
   CAR.IMPREZA_2020: {
@@ -202,7 +202,6 @@ FW_VERSIONS = {
       b'\xca!`0\a',
       b'\xcc\"f0\a',
       b'\xcc!fp\a',
-      b'\xf1\x00\xa2\x10\t',
       b'\xca!f@\x07',
       b'\xca!fp\x07',
     ],
@@ -247,7 +246,6 @@ FW_VERSIONS = {
       b'\x1a\xf6F`\x00',
       b'\032\xf6b`\000',
       b'\x1a\xf6B`\x00',
-      b'\xf1\x00\xa4\x10@',
       b'\x1a\xf6b0\x00',
     ],
   },
@@ -475,4 +473,4 @@ DBC = {
 }
 
 GLOBAL_GEN2 = (CAR.OUTBACK, )
-PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
\ No newline at end of file
+PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

From c2162420d24e8c4e43c63376cc5bc5576e467f58 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Aug 2022 20:56:26 -0700
Subject: [PATCH 423/435] Car docs: fix required package for Bolt EUV 2022-23
 (#25421)

* Need Adaptive Cruise Control

* no 2LT in configurator

* or redline
---
 docs/CARS.md               | 2 +-
 selfdrive/car/gm/values.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 96d966ba9..ff539f052 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Chevrolet|Bolt EUV 2022-23|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 6d3409310..75a5e96f9 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -83,7 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "All", footnotes=[], harness=Harness.gm),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", footnotes=[], harness=Harness.gm),
 }
 
 

From 3bb1315136cb2c19622159130bd9f0de947f1c66 Mon Sep 17 00:00:00 2001
From: kravatch <kravatch@gmail.com>
Date: Sat, 13 Aug 2022 01:31:57 -0400
Subject: [PATCH 424/435] Mazda: add missing CX5 FW versions (#25423)

2022 cx5 signature
---
 selfdrive/car/mazda/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 7db401e16..7e99cccec 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -67,6 +67,7 @@ FW_VERSIONS = {
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -80,6 +81,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {

From 45cfcfa3bba6ae75c89114e58de445eaef4c5627 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 12 Aug 2022 23:36:50 -0700
Subject: [PATCH 425/435] Revert "FPv2: fingerprint on all FW combinations"
 (#25417)

* Revert "FPv2: fingerprint on all FW combinations (#25204)"

This reverts commit ee081f278b090b5bd4a06f12749fffeb780c6162.

* Revert "Revert "FPv2: fingerprint on all FW combinations (#25204)""

This reverts commit bb68b7bc1c28ba8c67f3051b8f99fabc42e85771.

* For breaking, match only with current brand's FW

* Add comment for fuzzy matching

* fingerprint (online) only using FW from that brand

* test_fw_query_on_routes fingerprints like online

* extend match_fw_to_car to work for test_fw_query_on_routes

* Apply suggestions from code review
---
 selfdrive/car/fw_versions.py               | 19 +++++++++++--------
 selfdrive/debug/test_fw_query_on_routes.py |  7 +++----
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 0ed8cc542..9d2fd11b4 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -337,17 +337,21 @@ def match_fw_to_car_exact(fw_versions_dict):
   return set(candidates.keys()) - set(invalid)
 
 
-def match_fw_to_car(fw_versions, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   # Try exact matching first
-  exact_matches = [(True, match_fw_to_car_exact)]
+  exact_matches = []
+  if allow_exact:
+    exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
     exact_matches.append((False, match_fw_to_car_fuzzy))
 
+  brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
   for exact_match, match_func in exact_matches:
-    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
+    # For each brand, attempt to fingerprint using all FW returned from its queries
     matches = set()
-    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
-    matches |= match_func(fw_versions_dict)
+    for brand in brands:
+      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
     if len(matches):
       return exact_match, matches
@@ -416,9 +420,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-
-    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
-    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
+    # Try to match using FW returned from this brand only
+    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
     if len(matches) == 1:
       break
 
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 0cc674cfc..868813b0f 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -10,7 +10,7 @@ from tools.lib.logreader import LogReader
 from tools.lib.route import Route
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
-from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
+from selfdrive.car.fw_versions import match_fw_to_car
 
 
 NO_API = "NO_API" in os.environ
@@ -89,9 +89,8 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          fw_versions_dict = build_fw_dict(car_fw)
-          exact_matches = match_fw_to_car_exact(fw_versions_dict)
-          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+          _, exact_matches = match_fw_to_car(car_fw, allow_exact=True, allow_fuzzy=False)
+          _, fuzzy_matches = match_fw_to_car(car_fw, allow_exact=False, allow_fuzzy=True)
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1

From 1f0a435763d6a3aa3fa6b7307450f73379de1185 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Sat, 13 Aug 2022 14:45:23 -0400
Subject: [PATCH 426/435] VW: Additional PQ / long control prep (#25427)

* VW: Longitudinal support prep

* minimize diffs

* make common button events function

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/volkswagen/carcontroller.py |  1 -
 selfdrive/car/volkswagen/carstate.py      | 28 ++++++++++++++---------
 selfdrive/car/volkswagen/interface.py     | 23 ++++++++++++++++---
 selfdrive/car/volkswagen/values.py        |  4 ++--
 selfdrive/test/process_replay/ref_commit  |  2 +-
 5 files changed, 40 insertions(+), 18 deletions(-)

diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 0923ac031..2c5830f86 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -71,7 +71,6 @@ class CarController:
       hud_alert = 0
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-
       can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 65e3de169..50be6bf9a 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -3,7 +3,8 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+                                            CarControllerParams
 
 
 class CarState(CarStateBase):
@@ -12,6 +13,20 @@ class CarState(CarStateBase):
     self.CCP = CarControllerParams(CP)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
 
+  def create_button_events(self, pt_cp, buttons):
+    button_events = []
+
+    for button in buttons:
+      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+
+    return button_events
+
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
@@ -112,17 +127,8 @@ class CarState(CarStateBase):
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
+    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
-    buttonEvents = []
-    for button in self.CCP.BUTTONS:
-      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
-      if self.button_states[button.event_type] != state:
-        event = car.CarState.ButtonEvent.new_message()
-        event.type = button.event_type
-        event.pressed = state
-        buttonEvents.append(event)
-      self.button_states[button.event_type] = state
-    ret.buttonEvents = buttonEvents
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 8bab93d4a..dfa0a555e 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,7 +1,9 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
+                          gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+
 
 EventName = car.CarEvent.EventName
 
@@ -52,6 +54,13 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kpV = [0.6]
     ret.lateralTuning.pid.kiV = [0.2]
 
+    # Global longitudinal tuning defaults, can be overridden per-vehicle
+
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
+    ret.longitudinalTuning.kpV = [0.1]
+    ret.longitudinalTuning.kiV = [0.0]
+
     # Per-chassis tuning values, override tuning defaults here if desired
 
     if candidate == CAR.ARTEON_MK1:
@@ -160,7 +169,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
+    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
@@ -170,6 +180,13 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
+    if self.CS.CP.openpilotLongitudinalControl:
+      if ret.vEgo < self.CP.minEnableSpeed + 2.:
+        events.add(EventName.belowEngageSpeed)
+      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.speedTooLow)
+
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
     ret.events = events.to_msg()
 
     return ret
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index af0139e7b..785a70d2d 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -26,9 +26,9 @@ class CarControllerParams:
     self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
     self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1          # from dbc
-  
+
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-  
+
     if True:  # pylint: disable=using-constant-test
       self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 260e917fb..67838d292 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3c89454df9cf2f25a5759d523a8c595e69865505
\ No newline at end of file
+60aa8580527e513fe25100a348ee4c5971717960
\ No newline at end of file

From 65f230e6f607469d187da0f3d84a2759c48d3711 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Sat, 13 Aug 2022 21:53:45 -0400
Subject: [PATCH 427/435] ubuntu_setup.sh detect base ubuntu version for
 variant distros (#25433)

ubuntu_setup detect base version
---
 tools/ubuntu_setup.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 379df37ad..863b85371 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -108,7 +108,11 @@ if [ -f "/etc/os-release" ]; then
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then
         exit 1
       fi
-      install_ubuntu_focal_requirements
+      if [ "$UBUNTU_CODENAME" = "jammy" ]; then
+        install_ubuntu_jammy_requirements
+      else
+        install_ubuntu_focal_requirements
+      fi
   esac
 else
   echo "No /etc/os-release in the system"

From ee3d72a1e3be3247fcc2a853a29fdf951242b04d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 13 Aug 2022 23:28:44 -0700
Subject: [PATCH 428/435] Create SECURITY.md

---
 SECURITY.md | 5 +++++
 1 file changed, 5 insertions(+)
 create mode 100644 SECURITY.md

diff --git a/SECURITY.md b/SECURITY.md
new file mode 100644
index 000000000..8b66082bf
--- /dev/null
+++ b/SECURITY.md
@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

From f341df006a002a47034787673893f930caa81b53 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Aug 2022 02:13:09 -0700
Subject: [PATCH 429/435] GM: move set speed scaling to DBC (#25422)

* Move scaling into DBC for GM cruise setpoint

* bump opendbc

* no int

* Update refs

* Update ref_commit
---
 opendbc                                  | 2 +-
 selfdrive/car/gm/carstate.py             | 2 +-
 selfdrive/car/gm/gmcan.py                | 3 +--
 selfdrive/test/process_replay/ref_commit | 2 +-
 4 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/opendbc b/opendbc
index 488568517..c6665ed11 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 488568517162194fbb2aa45d3dba4c6af663a883
+Subproject commit c6665ed11b8d8c998e46f8dbee30e70a7d451e5e
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index e89ece198..0bda7edad 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -80,7 +80,7 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.cruiseState.speed = (cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] / 16) * CV.KPH_TO_MS
+      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
 
     return ret
 
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 98265e8c6..3a10c4d9d 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -63,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
-  # Not a bit shift, dash can round up based on low 4 bits.
-  target_speed = int(target_speed_kph * 16) & 0xfff
+  target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne" : 1,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 67838d292..8aa80d6b7 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-60aa8580527e513fe25100a348ee4c5971717960
\ No newline at end of file
+118d78e2040103c00b4bfcc875fcdcd6a15e2211

From 5b1ba4f1357ac7f385ee47c78b38cfb81bef42ab Mon Sep 17 00:00:00 2001
From: Chris Souers <csouers@gmail.com>
Date: Mon, 15 Aug 2022 14:37:24 -0400
Subject: [PATCH 430/435] Lateral planner: Don't prompt/initiate lane changes
 if lateral control is not active (#25436)

* Don't set lane change events if we're not able to steer.

* more specific variable name

* update process replay socket config

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/controls/lib/desire_helper.py         | 4 ++--
 selfdrive/controls/lib/lateral_planner.py       | 2 +-
 selfdrive/controls/plannerd.py                  | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 978c38653..19ab2da21 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -40,12 +40,12 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.LateralPlan.Desire.none
 
-  def update(self, carstate, active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index dda4f18a4..29dfc7711 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -52,7 +52,7 @@ class LateralPlanner:
 
     # Lane change logic
     lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
-    self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob)
+    self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
     # Turn off lanes during lane change
     if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 06807b2a5..ca7523f2e 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -25,7 +25,7 @@ def plannerd_thread(sm=None, pm=None):
   lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
+    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                              poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   if pm is None:
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 0c642cde1..32a3c2f3b 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -280,7 +280,7 @@ CONFIGS = [
     proc_name="plannerd",
     pub_sub={
       "modelV2": ["lateralPlan", "longitudinalPlan"],
-      "carState": [], "controlsState": [], "radarState": [],
+      "carControl": [], "carState": [], "controlsState": [], "radarState": [],
     },
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
     init_callback=get_car_params,

From 42e4efe706ab41958dc1877701fc947149baf053 Mon Sep 17 00:00:00 2001
From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 15 Aug 2022 16:14:29 -0300
Subject: [PATCH 431/435] Multilang: add Portuguese (Brazil) translation
 (#25287)

* Add Portuguese-Brazil translations

* Fixing some Japanese I used as a base.

* Add pt_BR translation

* Add QM file

* multilang: Fix typo and missing pt_BR translation

* fix typos in calibration translation

* pt_BR new translations

* fix translations

* update qm

* add Thai translation tkx tape#7233

* fix pt_BR translation

* improve pt_BR translation

* connect means connection not connected

* update

* plurals and typo

* fix unitTest error

* Add pt badge

* Add test for missing plural translations

* Make sure this doesn't test for translation completeness, we skip that test

* fix missing plurals

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/tests/test_translations.py  |   18 +
 selfdrive/ui/translations/README.md      |    1 +
 selfdrive/ui/translations/languages.json |    1 +
 selfdrive/ui/translations/main_pt.ts     | 1307 ++++++++++++++++++++++
 4 files changed, 1327 insertions(+)
 create mode 100644 selfdrive/ui/translations/main_pt.ts

diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 526dde93e..7da4ec0d6 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -3,6 +3,7 @@ import json
 import os
 import shutil
 import unittest
+import xml.etree.ElementTree as ET
 
 from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
 
@@ -64,6 +65,23 @@ class TestTranslations(unittest.TestCase):
         self.assertTrue(b"<translation type=\"vanished\">" not in cur_translations,
                         f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
 
+  def test_plural_translations(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"))
+
+        for context in tr_xml.getroot():
+          for message in context.iterfind("message"):
+            if message.get("numerus") == "yes":
+              translation = message.find("translation")
+              numerusform = translation.findall("numerusform")
+
+              # Do not assert finished translations
+              if translation.get("type") == "unfinished":
+                continue
+
+              self.assertNotIn(None, [x.text for x in numerusform], "Ensure all plural translation forms are completed.")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 07f1a4825..349b4847a 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -1,6 +1,7 @@
 # Multilanguage
 
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_pt.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_pt.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts)
 [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts)
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index f52a28ef9..2559b2d26 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,5 +1,6 @@
 {
   "English": "main_en",
+  "Português": "main_pt",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
   "한국어": "main_ko",
diff --git a/selfdrive/ui/translations/main_pt.ts b/selfdrive/ui/translations/main_pt.ts
new file mode 100644
index 000000000..4c05f973b
--- /dev/null
+++ b/selfdrive/ui/translations/main_pt.ts
@@ -0,0 +1,1307 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="pt_BR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>Fechar</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>Adiar Atualização</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>Reiniciar e Atualizar</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>Voltar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>Ativar Theter</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>Senha Thetering</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>EDITAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>Insira nova senha thetering</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP Endereço</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>Ativar Roaming</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN Config</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>Insira APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>deixe em branco para configuração automática</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Você precisa aceitar os Termos e Condições para utilizar openpilot.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>Voltar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>Rejeitar, desintalar %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>Driver Camera</source>
+        <translation>Câmera Motorista</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>PREVIEW</source>
+        <translation>PREVISUAL</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>Reset Calibration</source>
+        <translation>Limpar Calibragem</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>RESET</source>
+        <translation>RESET</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>Tem certeza que quer limpar calibragem?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review Training Guide</source>
+        <translation>Revisar o Treinamento</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>REVIEW</source>
+        <translation>REVISAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Revisar regras, features e limitações do openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>Tem certeza que quer rever o treinamento?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>Regulatory</source>
+        <translation>Regulatório</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>VIEW</source>
+        <translation>VER</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>Change Language</source>
+        <translation>Mudar Língua</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>CHANGE</source>
+        <translation>MUDAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
+        <source>Select a language</source>
+        <translation>Selecione uma linguagem</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <source>Power Off</source>
+        <translation>Desligar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, a redefinição raramente é necessária.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Seu dispositivo está montado %1° %2 e %3° %4.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>down</source>
+        <translation>baixo</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>up</source>
+        <translation>cima</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>left</source>
+        <translation>esquerda</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>right</source>
+        <translation>direita</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>Tem certeza que quer reiniciar?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
+        <source>Disengage to Reboot</source>
+        <translation>Desacione para Reiniciar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>Tem certeza que quer desligar?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
+        <source>Disengage to Power Off</source>
+        <translation>Desacione para Desligar</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>Dirigidas</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>Horas</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>TOTAL</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>SEMANA PASSADA</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>Milhas</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
+        <source>camera starting</source>
+        <translation>camera iniciando</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Necessita no mínimo %n caractere!</numerusform>
+            <numerusform>Necessita no mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>Instalando...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>Recebendo objetos: </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>Resolvendo deltas: </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>Atualizando arquivos: </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="621"/>
+        <source>eta</source>
+        <translation>eta</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="631"/>
+        <source>min</source>
+        <translation>min</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="635"/>
+        <source>hr</source>
+        <translation>hr</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="655"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="658"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> milha</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> pés</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>Destino Atual</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>LIMPAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>Destinos Recentes</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>Experimente a Navegação Beta</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>Obtenha instruções passo a passo exibidas e muito mais com 
+uma assinatura prime Increva-se agora：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>Sem local
+residência definido</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>Sem local
+trabalho definido</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>sem destinos recentes</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>Carregando Mapa</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>Esperando por GPS</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>Selecione</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>Avançado</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>Insira a senha</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>Senha incorreta</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="218"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="218"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
+        <source>SPEED</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
+        <source>LIMIT</source>
+        <translation>VELO</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>ATUALIZAÇÃO</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>Pareie seu dispositivo a sua conta comma</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>navegue até https://connect.comma.ai no seu telefone</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Clique &quot;add new device&quot; e escaneie o QR code a seguir</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Salve connect.comma.ai como sua página inicial para utilizar com um app</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
+        <source>Upgrade Now</source>
+        <translation>Atualizar Agora</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Torne-se um membro comma prime em connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME FEATURES:</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Remote access</source>
+        <translation>Acesso remoto</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>1 year of storage</source>
+        <translation>1 ano de armazenamento</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>Benefícios para desenvolvedor</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ INSCRITO</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>PONTOS COMMA</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>Sair</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>há %n minuto</numerusform>
+            <numerusform>há %n minutos</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>há %n hora</numerusform>
+            <numerusform>há %n horas</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>há %n dia</numerusform>
+            <numerusform>há %n dias</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Reset falhou. Reinicie para tentar novamente.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>Tem certeza que quer resetar seu dispositivo?</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>Resetando dispositivo...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>Resetar Sistema</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>Confirmar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo.</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>Ok</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
+        <source>Network</source>
+        <translation>Rede</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Navigation</source>
+        <translation>Navegação</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>ALERTA: Baixa Voltagem</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>Desligar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>Continuar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>Começando</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectar ao Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>Voltar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>Continuar sem Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>Esperando pela internet</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>Escolher Software para Instalar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>Sofware Customizado</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>Preencher URL</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>para o Software Customizado</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>Baixando...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>Download Falhou</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Garanta que a URL inserida é valida, e uma boa conexão à internet.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>Inicializar</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>Terminar Configuração</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
+        <source>Pair device</source>
+        <translation>Parear dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>CONEXÃO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>DESCONEC</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>CONECTADO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>ERRO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>ALTA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>BOA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>VEÍCULO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>SEM</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>PROCURA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Branch</source>
+        <translation>Ramo Git</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Git Commit</source>
+        <translation>Commit Git</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>OS Version</source>
+        <translation>Versão do Sistema</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Version</source>
+        <translation>Versão</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Last Update Check</source>
+        <translation>Verificação da última atualização</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <source>Check for Update</source>
+        <translation>Verifique atualizações</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <source>CHECKING</source>
+        <translation>VERIFICANDO</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>Switch Branch</source>
+        <translation>Trocar Ramo</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>ENTER</source>
+        <translation>INSERIR</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation>O novo ramo será aplicado na próxima execução do atualizador.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>Enter branch name</source>
+        <translation>Inserir o nome do ramo</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>UNINSTALL</source>
+        <translation>DESINSTALAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>Uninstall %1</source>
+        <translation>Desintalando %1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>Tem certeza que quer desinstalar?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
+        <source>failed to fetch update</source>
+        <translation>falha ao buscar atualização</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
+        <source>CHECK</source>
+        <translation>VERIFICAR</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>Chave SSH</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>ADICIONAR</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>Insira seu nome de usuário do GitHub</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>CARREGANDO</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>REMOVER</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Usuário &quot;%1” não possui chaves no GitHub</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>A solicitação expirou</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Usuário &apos;%1&apos; não existe no GitHub</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>Habilitar SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>Termos &amp; Condições</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>Declinar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>Role para aceitar</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>Concordo</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Enable openpilot</source>
+        <translation>Ativar openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Ativar Avisos de Saída de Faixa</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Use Metric System</source>
+        <translation>Usar Sistema Métrico</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Exibir velocidade em km/h invés de mph.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Gravar e Upload Câmera Motorista</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>Desacionar Com Pedal Do Acelerador</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <source>Show ETA in 24h format</source>
+        <translation>Mostrar ETA em formato 24h</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>Use o formato 24h em vez de am/pm</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>Exibir Mapa no Lado Esquerdo</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot Controle Longitudinal</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>Atualização Necessária</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conecte-se ao Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>Instalar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>Voltar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>Carregando...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>Falha na atualização</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>Procurando redes...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>CONECTANDO...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>ESQUECER</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Esquecer Rede Wi-Fi &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>

From 370f58b7d677ee85249122b60362f4c323a30e95 Mon Sep 17 00:00:00 2001
From: Achilles308 <85138080+Achilles308@users.noreply.github.com>
Date: Mon, 15 Aug 2022 16:49:43 -0400
Subject: [PATCH 432/435] UI: fix inconsistent capitalization in toggle title
 (#25441)

---
 selfdrive/ui/qt/offroad/settings.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index e6e21bd8d..5e0e87e64 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -62,7 +62,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",
-      tr("Show ETA in 24h format"),
+      tr("Show ETA in 24h Format"),
       tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
     },

From e24da95120aad859e8946c46ace7ee2e09b856e7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Aug 2022 15:12:46 -0700
Subject: [PATCH 433/435] Fix translations

---
 selfdrive/ui/translations/main_ja.ts     | 2 +-
 selfdrive/ui/translations/main_ko.ts     | 2 +-
 selfdrive/ui/translations/main_pt.ts     | 2 +-
 selfdrive/ui/translations/main_zh-CHS.ts | 2 +-
 selfdrive/ui/translations/main_zh-CHT.ts | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 111fe9184..b66bc4b80 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1204,7 +1204,7 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="65"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
         <translation>24時間表示</translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index cd9c73c34..a67b957e8 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1204,7 +1204,7 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="65"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
         <translation>24시간 형식으로 도착예정시간 표시</translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_pt.ts b/selfdrive/ui/translations/main_pt.ts
index 4c05f973b..912afa38a 100644
--- a/selfdrive/ui/translations/main_pt.ts
+++ b/selfdrive/ui/translations/main_pt.ts
@@ -1208,7 +1208,7 @@ trabalho definido</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="65"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
         <translation>Mostrar ETA em formato 24h</translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index cb09e8c2e..1ed96422b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1202,7 +1202,7 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="65"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
         <translation>以24小时格式显示预计到达时间</translation>
     </message>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 58e921b31..4f5c37764 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1204,7 +1204,7 @@ location set</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings.cc" line="65"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
         <translation>預計到達時間單位改用 24 小時制</translation>
     </message>
     <message>

From 07320fb8a83e9f7340b8db731be623fa6f8611b2 Mon Sep 17 00:00:00 2001
From: MadBrad <526878+MadBrad@users.noreply.github.com>
Date: Mon, 15 Aug 2022 18:29:46 -0400
Subject: [PATCH 434/435] Car docs: add video link for 2022 Chevy Bolt EUV
 (#25443)

* Car docs: Add video link for 2022 Chevy Bolt EUV

* New video added
---
 selfdrive/car/gm/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 75a5e96f9..cb9aff172 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -83,7 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", footnotes=[], harness=Harness.gm),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
 }
 
 

From 574021a0acd7f632b902efe858a22cb7b66b67e6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Aug 2022 21:44:15 -0700
Subject: [PATCH 435/435] Car docs: test for missing harnesses (#25444)

* All cars must have a harness

* except body

* skip test

* Q for IoniQ
---
 selfdrive/car/docs_definitions.py |  3 +--
 selfdrive/car/hyundai/values.py   |  2 +-
 selfdrive/car/tests/test_docs.py  | 10 +++++++++-
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 0605ec1f2..65dbe4c62 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -92,8 +92,6 @@ class CarInfo:
     else:
       self.min_steer_speed = CP.minSteerSpeed
 
-    assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
-
     # TODO: set all the min enable speeds in carParams correctly and remove this
     if self.min_enable_speed is None:
       self.min_enable_speed = CP.minEnableSpeed
@@ -212,6 +210,7 @@ class Harness(Enum):
   hyundai_n = "Hyundai N"
   hyundai_o = "Hyundai O"
   hyundai_p = "Hyundai P"
+  hyundai_q = "Hyundai Q"
   custom = "Developer"
   obd_ii = "OBD-II"
   gm = "GM"
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8879931b2..625b2630f 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -127,7 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
-  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
+  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
 
   # Kia
   CAR.KIA_FORTE: [
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index e31ad0d5c..84c6b6e52 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -4,7 +4,7 @@ import unittest
 
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
-from selfdrive.car.docs_definitions import Column, Star
+from selfdrive.car.docs_definitions import Column, Harness, Star
 from selfdrive.car.honda.values import CAR as HONDA
 
 
@@ -56,6 +56,14 @@ class TestCarDocs(unittest.TestCase):
       with self.subTest(car=car):
         self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}")
 
+  def test_harnesses(self):
+    for car in self.all_cars:
+      with self.subTest(car=car):
+        if car.name == "comma body":
+          raise unittest.SkipTest
+
+        self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}")
+
 
 if __name__ == "__main__":
   unittest.main()