From: Erik Andresen <erik@vontaene.de>
Date: Fri, 20 Jan 2017 18:37:53 +0000 (+0100)
Subject: updated motor pid values
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=5077968a53d2753a51d0d765275259468fa012b2

updated motor pid values
---

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index d6422f1..16c8b0c 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,7 +97,7 @@
  */
 
 
-#define KP 0.061
+#define KP 0.062
 #define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 426f9a4..ec2e8cc 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,696 +1,683 @@
 :100000000C94E6000C9403010C9403010C9403017E
 :100010000C9403010C9403010C9403010C94030150
-:100020000C9403010C9453040C9403010C940301ED
-:100030000C9403010C943E050C9403010C940301F1
+:100020000C9403010C9450040C9403010C940301F0
+:100030000C9403010C942B050C9403010C94030104
 :100040000C9403010C9403010C9403010C9405011E
-:100050000C940301ED02F702F002F702F302F7023B
-:10006000F502F70234043404340434043404340450
-:10007000F9021103FE021103030311030803110324
-:1000800034043404340434043404340434043404B0
-:10009000140319031E03230328032D03320337031C
-:1000A0003404340434043404340434043404340490
-:1000B0003C03410346034B03500355035A036003BB
-:1000C000650376037F0388038B03A003A9031C0445
-:1000D000B203BB03C403CD03D603DF03E803F1037C
-:1000E000FA0303040F041C043404340434043404F9
-:1000F0003404340434043404340434043404340440
-:10010000340434043404340434043404340434042F
-:10011000340434043404340434043404340434041F
-:10012000340434043404340434043404340434040F
-:1001300034043404340434043404340434043404FF
-:1001400034043404340434043404340434043404EF
-:1001500034043404340434043404340434043404DF
-:1001600034043404340434043404340434043404CF
-:1001700034043404340434043404340434043404BF
-:1001800034043404340434043404340434043404AF
-:1001900025042A042F0405A84CCDB2D44EB9383614
+:100050000C940301EA02F402ED02F402F002F4024D
+:10006000F202F40231043104310431043104310468
+:10007000F6020E03FB020E0300030E0305030E033C
+:1000800031043104310431043104310431043104C8
+:10009000110316031B03200325032A032F03340334
+:1000A00031043104310431043104310431043104A8
+:1000B00039033E03430348034D03520357035D03D3
+:1000C000620373037C03850388039D03A60319045D
+:1000D000AF03B803C103CA03D303DC03E503EE0394
+:1000E000F70300040C041904310431043104310411
+:1000F0003104310431043104310431043104310458
+:100100003104310431043104310431043104310447
+:100110003104310431043104310431043104310437
+:100120003104310431043104310431043104310427
+:100130003104310431043104310431043104310417
+:100140003104310431043104310431043104310407
+:1001500031043104310431043104310431043104F7
+:1001600031043104310431043104310431043104E7
+:1001700031043104310431043104310431043104D7
+:1001800031043104310431043104310431043104C7
+:10019000220427042C0405A84CCDB2D44EB938361D
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA
 :1001B0000000803F45464765666700202B2D2E30A6
 :1001C00031323334353637383968000011241FBED8
-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E2E4BE
-:1001E000FBE202C005900D92AA37B107D9F721E0D2
+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E7B5
+:1001E000FAE202C005900D92AA37B107D9F721E0D3
 :1001F000AAE7B0E001C01D92A037B207E1F70E9464
-:1002000034060C949F150C9400001F920F920FB6A9
+:1002000020060C943A150C9400001F920F920FB622
 :100210000F9211242F933F934F935F936F937F938C
 :100220008F939F93AF93BF93EF93FF9381B1887F99
-:10023000803881F040F4803609F01FC385EC86BF1A
-:100240001092F1001FC3883A09F4B9C1883B09F440
-:10025000B6C113C38091F1008A3209F44BC108F092
+:10023000803881F040F4803609F01CC385EC86BF1D
+:100240001092F1001CC3883A09F4B7C1883B09F445
+:10025000B4C110C38091F1008A3209F449C108F099
 :1002600047C0803209F402C138F5843009F4C1C0B6
 :1002700060F4813009F4FAC008F4A6C0823009F4B1
-:10028000ACC0833009F4F2C0F0C2863009F4BDC0BE
-:1002900008F4ECC0873009F4E9C0883009F0E5C201
+:10028000ACC0833009F4F2C0EDC2863009F4BDC0C1
+:1002900008F4ECC0873009F4E9C0883009F0E2C204
 :1002A00083B12091A80090E0922B9093E900809375
-:1002B000E8001092DC00D1C2853209F4CAC060F4B3
+:1002B000E8001092DC00CEC2853209F4CAC060F4B6
 :1002C000823209F4D3C008F4ACC0833209F4B6C05A
-:1002D000843209F4CBC0C9C2873209F4CBC008F418
-:1002E000C5C0883209F401C1893209F403C1BDC215
-:1002F000843509F416C1E8F58F3209F4C8C060F4FA
-:100300008C3209F4F2C008F4C2C08D3209F4F2C094
-:100310008E3209F4EFC0A9C2813509F4EBC020F494
-:10032000803509F4E2C0A1C2823509F4E3C0833507
-:1003300009F09BC223B18091A4009091A500A091E7
+:1002D000843209F4CBC0C6C2873209F4CBC008F41B
+:1002E000C5C0883209F4FFC0893209F401C1BAC21D
+:1002F000843509F414C1E8F58F3209F4C8C060F4FC
+:100300008C3209F4F0C008F4C2C08D3209F4F0C098
+:100310008E3209F4EDC0A6C2813509F4E9C020F49B
+:10032000803509F4E0C09EC2823509F4E1C083350E
+:1003300009F098C223B18091A4009091A500A091EA
 :10034000A600B091A700BA2FA92F982F8827822B3B
 :100350008093A4009093A500A093A600B093A7005B
 :100360008093F2009093F300A093F400B093F50013
-:1003700074C2813909F410C178F4863509F4D6C005
-:1003800008F4D4C0873509F4E8C0803909F06DC29B
-:1003900083B18093690061C2843909F405C150F4C6
-:1003A000823909F4FDC0833909F05FC283B18093BB
-:1003B000DA0053C2853909F4FBC08F3F09F055C2FA
-:1003C00083B18093F00051C283B18093F10080919A
-:1003D000F10081508093F10040C283B12091A800C8
+:1003700071C2813909F40EC178F4863509F4D4C00C
+:1003800008F4D2C0873509F4E6C0803909F06AC2A2
+:1003900083B1809369005EC2843909F403C150F4CB
+:1003A000823909F4FBC0833909F05CC283B18093C0
+:1003B000DA0050C2853909F4F9C08F3F09F052C202
+:1003C00083B18093F0004EC283B18093F10080919D
+:1003D000F10081508093F1003DC283B12091A800CB
 :1003E00090E0922B9093EF008093EE001092DF004C
-:1003F00034C283B12091A80090E0922B9093ED003D
-:100400008093EC001092DE0028C283B12091A800F6
+:1003F00031C283B12091A80090E0922B9093ED0040
+:100400008093EC001092DE0025C283B12091A800F9
 :1004100090E0922B9093EB008093EA001092DD0025
-:100420001CC283B12091A80090E0922B9093D90038
-:100430008093D80081E08093DF000FC283B12091C8
+:1004200019C283B12091A80090E0922B9093D9003B
+:100430008093D80081E08093DF000CC283B12091CB
 :10044000A80090E0922B9093D7008093D60081E093
-:1004500049C083B12091A80090E0922B9093D500E1
-:100460008093D40081E08093DD00F7C183B1809355
-:10047000A800F3C183B12091A80090E0922B909343
-:10048000D3008093D20081E08093DC00E6C123B1E9
+:1004500047C083B12091A80090E0922B9093D500E3
+:100460008093D40081E08093DD00F4C183B1809358
+:10047000A800F0C183B12091A80090E0922B909346
+:10048000D3008093D20081E08093DC00E3C123B1EC
 :100490008091A4009091A500A091A600B091A70022
-:1004A000BA2FA92F982F8827BC01CD01622B60930A
-:1004B000A4007093A5008093A6009093A70026E661
-:1004C00036E544EB55E40E94F7110E94CB1070937F
-:1004D000D9006093D8007093D7006093D60081E074
-:1004E0008093DF008093DE00B8C183B190E0A0E08C
-:1004F000B0E00EC023B18091A4009091A500A0911E
-:10050000A600B091A700BA2FA92F982F8827822B79
-:100510008093A4009093A500A093A600B093A70099
-:100520009CC183B190E0A0E0B0E00EC023B1809107
-:10053000A0009091A100A091A200B091A300BA2FB9
-:10054000A92F982F8827822B8093A0009093A10039
-:10055000A093A200B093A30080C123B18091A0001A
-:100560009091A100A091A200B091A300BA2FA92F51
-:10057000982F8827822B8093A0009093A100A093AE
-:10058000A200B093A3008093F6009093F700A0938D
-:10059000F800B093F9000FC083B1809368005DC18B
-:1005A00083B18093DB0059C183B18093AB0003C05A
-:1005B00083B18093AA0081E08093FA004EC1E0915C
-:1005C000F1008E2F90E0FC013297E13AF10508F03E
-:1005D0004BC1E65DFF4F0C94D4128AB59BB53CC16C
-:1005E00088B599B539C183B537C18CB735C113B852
-:1005F00034C18091E6009091E7000EC08091E40044
-:100600009091E50009C08091E2009091E30004C060
-:100610008091E0009091E10090939F0080939E0074
-:100620004DC080919E0018C18091D8009091D90052
-:1006300045C08091D8009091D9000EC18091D6001C
-:100640009091D7003BC08091D6009091D70004C113
-:100650008091D4009091D50031C08091D4009091C8
-:10066000D500FAC08091D2009091D30027C080912C
-:10067000D2009091D300F0C08091C7009091C80043
-:100680001DC08091C7009091C800E6C08091C50050
-:100690009091C60013C08091C5009091C600DCC047
-:1006A0008091C3009091C40009C08091C3009091D3
-:1006B000C400D2C08091C1009091C20093B9CDC056
-:1006C0008091C1009091C200C7C08091B10090910B
-:1006D000B200A091B300B091B4008093A4009093B5
-:1006E000A500A093A600B093A70025C08091A40008
-:1006F0009091A500A091A600B091A7008CC0809118
-:10070000A4009091A500A091A600B091A7008FC071
-:100710008091A400A1C08091AD009091AE00A09105
-:10072000AF00B091B0008093A0009093A100A0937F
-:10073000A200B093A3008B2F9927AA27BB278CC0B8
-:100740008091A0009091A100A091A200B091A3007F
-:1007500062C08091A0009091A100A091A200B091F0
-:10076000A30065C08091BD009091BE00A091BF0024
-:10077000B091C000E0CF8091BD009091BE00A091EB
-:10078000BF00B091C00047C08091BD009091BE00F5
-:10079000A091BF00B091C0004AC08091BD0090916F
-:1007A000BE00A091BF00B091C00056C08091B900BA
-:1007B0009091BA00A091BB00B091BC00BCCF8091D9
-:1007C000B9009091BA00A091BB00B091BC0023C0C9
-:1007D0008091B9009091BA00A091BB00B091BC008B
-:1007E00026C08091B9009091BA00A091BB00B09151
-:1007F000BC0032C08091B5009091B600A091B700C6
-:10080000B091B80098CF8091B5009091B600A091BA
-:10081000B700B091B800CD01AA27BB271DC08091B9
-:10082000B5009091B600A091B700B091B800892FA3
-:100830009A2FAB2FBB2710C08091B5009091B600C6
-:10084000A091B700B091B80007C084B78F7083B98A
-:1008500014BE03C08091A90083B985EC07C08091C4
-:10086000AC0083B985EC86BF13B885E886BF80915C
-:10087000F1008F5F8093F10005C086B78B7E86BF45
-:1008800085EC86BFFF91EF91BF91AF919F918F91C2
-:100890007F916F915F914F913F912F910F900FBE7C
-:1008A0000F901F9018951F920F920FB60F92112460
-:1008B0002F933F934F935F936F937F938F939F9368
-:1008C00089B380FF02C093E001C090E081FF02C0C5
-:1008D00081E0982780919D00891B80FF22C0909322
-:1008E0009D0020916900982F9270222351F0209151
-:1008F000E6003091E700892F90E00197820F931F67
-:100900000CC04091E6005091E70021E030E0B901D1
-:10091000691B7109CB01840F951F9093E7008093A9
-:10092000E60089B382958F7080FF02C093E001C01A
-:1009300090E081FF02C081E0982780919C00891B94
-:1009400080FF22C090939C0020916800982F9270A5
-:10095000222369F04091E4005091E50021E030E06D
-:10096000B901691B7109CB01840F951F09C0209142
-:10097000E4003091E500892F90E00197820F931FEA
-:100980009093E5008093E40089B38695869580FF77
-:1009900002C093E001C090E081FF02C081E098278F
-:1009A00080919B00891B80FF22C090939B00209127
-:1009B000DB00982F9270222369F04091E200509161
-:1009C000E30021E030E0B901691B7109CB01840F1C
-:1009D000951F09C02091E2003091E300892F90E03B
-:1009E0000197820F931F9093E3008093E20089B3F5
-:1009F000829586958695837080FF02C093E001C042
-:100A000090E0827011F081E0982780919A00891B14
-:100A100080FF22C090939A002091DA00982F927064
-:100A2000222351F02091E0003091E100892F90E0E5
-:100A30000197820F931F0CC04091E0005091E1009C
-:100A400021E030E0B901691B7109CB01840F951FCA
-:100A50009093E1008093E0008091C9008F5F8093C4
-:100A6000C9009F918F917F916F915F914F913F91BD
-:100A70002F910F900FBE0F901F9018951F920F92FD
-:100A80000FB60F9211248F939F93EF93FF935F9B69
-:100A900016C0E091FD00F091FE008CB1808381E0F2
-:100AA000E236F80730F43196F093FE00E093FD0053
-:100AB00006C08FEF90E09093FE008093FD00FF91C1
-:100AC000EF919F918F910F900FBE0F901F901895EF
-:100AD0009C018AB188618AB9579A80B5866080BDC9
-:100AE000C901A0E0B0E09C01AD0184E0220F331FFA
-:100AF000441F551F8A95D1F760E47BE48CE490E0B5
-:100B00000E94B512DA01C9010197A109B109892F23
-:100B10009A2FAB2FBB27A7FDBA9580BD215029B9CD
-:100B20008FEF90E09093FC008093FB009093FE0089
-:100B30008093FD0008955D9BFECFFC0180818CB900
-:100B40000895CF93DF931F92CDB7DEB78983CE018F
-:100B500001960E949B0580E090E00F90DF91CF917D
-:100B60000895CF93DF93EC01CE012196FC01208103
-:100B7000222319F00E949B05F7CFDF91CF910895B2
-:100B80005F9BFECF8CB190E008950C94C00565EC9E
-:100B900075E081EA95E00C943E13CF93DF93FC015E
-:100BA000E253FF4FA081B181EC01C453DF4F288194
-:100BB0003981A217B307A1F05D9B12C02C912CB90B
-:100BC00020813181AC0145535F4F2417350718F45C
-:100BD0002F5F3F4F03C09C0128593F4F3183208333
-:100BE000E091FB00F091FC002091FD003091FE00AF
-:100BF0002E173F07B1F1EC01CC59DF4FA881B98125
-:100C000020812C93688179819C012B523F4FD9011F
-:100C10003C91DB012C91321307C0AC014C525F4F69
-:100C2000DA012C912F5F2C939C012D593F4F6217B5
-:100C3000730728F4DB011196B983A88302C0998356
-:100C40008883B1E0E236FB0730F43196F093FC0084
-:100C5000E093FB0006C08FEF90E09093FC00809340
-:100C6000FB00DF91CF910895CF93DF93CDB7DEB72F
-:100C7000A0970FB6F894DEBF0FBECDBF88E087BB4C
-:100C80008CEF84BB8CEB81BB87E088BB80E482BBAC
-:100C90001092F00080E895E20E9468050E94C70566
-:100CA00080E582B986B78B7E86BF85EC86BF81E002
-:100CB0008FBD89E08EBD1BBC1ABC19BC18BC89E471
-:100CC00085BD13BC83BF1CBE80E790E00E94C113AA
-:100CD00085B78F7885BF84E089BF789422242A94D1
-:100CE000312C00E010E88091F1008F3F41F48091B9
-:100CF000F000853A21F4F894E0E0F8E1099580915C
-:100D0000FA00882309F4E1C0F8948090F2009090F2
-:100D1000F300A090F400B090F5006091F60070919F
-:100D2000F7008091F8009091F9001092FA00789401
-:100D300025E739E54CEC5EE30E94F71120E030E056
-:100D400040E05FE30E94F711A50194010E94E30FC8
-:100D50006B017C01A5019401C501B4010E94E30F60
-:100D6000A70196010E94E20F26E636E544EB55E422
-:100D70000E94F7114B015C0126E636E544EB55E491
-:100D8000C701B6010E94F7116B017C018091AA0096
-:100D90008823B9F18091AA0064E670E0681B7109AC
-:100DA000072E000C880B990B0E9403119B01AC01CC
-:100DB000C501B4010E94F71120E030E048EC52E494
-:100DC0000E9459100E94CB107093D9006093D800F4
-:100DD0008091AA0064E670E0681B7109072E000C80
-:100DE000880B990B0E9403119B01AC01C701B6014E
-:100DF0000E94F71120E030E048EC52E40E945910C4
-:100E00000AC0C501B4010E94CB107093D900609351
-:100E1000D800C701B6010E94CB107093D500609333
-:100E2000D4008091AB008823B9F18091AB0064E6D7
-:100E300070E0681B7109072E000C880B990B0E944B
-:100E400003119B01AC01C501B4010E94F71120E020
-:100E500030E048EC52E40E9459100E94CB1070938D
-:100E6000D7006093D6008091AB0064E670E0681B09
-:100E70007109072E000C880B990B0E9403119B012E
-:100E8000AC01C701B6010E94F71120E030E048EC48
-:100E900052E40E9459100AC0C501B4010E94CB104F
-:100EA0007093D7006093D600C701B6010E94CB10A3
-:100EB0007093D3006093D200F1E0F093DF00F093E1
-:100EC000DE00F093DD00F093DC008091C900833CEC
-:100ED00008F449C71092C900F8942091E6003091B7
-:100EE000E7003A8329834091E4005091E5005C8358
-:100EF0004B838091E2009091E3009E838D83E0918B
-:100F0000E000F091E100F887EF83789480919800F9
-:100F1000909199007901E81AF90A809196009091D0
-:100F200097006A01C81AD90A80919400909195009F
-:100F30006D807E80681A790A80919200909193006A
-:100F40002F01481A590AB7010F2C000C880B990B76
-:100F50000E9403112AE037ED43E25CE30E9459103E
-:100F60000E94CB106D877E878F87988BB6010D2CE2
-:100F7000000C880B990B0E9403112AE037ED43E225
-:100F80005CE30E9459100E94CB10698B7A8B8B8B8B
-:100F90009C8BB301072C000C880B990B0E9403114A
-:100FA0002AE037ED43E25CE30E9459100E94CB1027
-:100FB0006D8B7E8B8F8B988FB201052C000C880B6C
-:100FC000990B0E9403112AE037ED43E25CE30E9493
-:100FD00059100E94CB10698F7A8F8B8F9C8FB7012D
-:100FE0006C0D7D1D072E000C880B990B0E940311C0
-:100FF00026E636E544E356E40E9459104B015C01B5
-:10100000B301640D751D072E000C880B990B0E940F
-:10101000031126E636E544E356E40E9459102B01FD
-:101020003C01A50194010E94E20F25E739E54CEC53
-:101030005EE30E94591069877A878B879C8760914D
-:10104000B5007091B6008091B7009091B8002985E5
-:101050003A854B855C850E94E30F6B017C012BED8B
-:101060003FE049EC50E40E94F21118164CF42BEDCD
-:101070003FE049EC50E4C701B6010E94E20F12C004
-:101080002BED3FE049EC50ECC701B6010E944F1038
-:1010900087FF0AC02BED3FE049EC50E4C701B601E1
-:1010A0000E94E30F6B017C01A3019201C501B40111
-:1010B0000E94E30F20E030E040E05FE30E94F71180
-:1010C0004B015C014090BD005090BE006090BF009D
-:1010D0007090C000C701B6010E945410A501940190
-:1010E0000E94F7119B01AC01C301B2010E94E30F02
-:1010F0006D8F7E8F8F8F98A34090B9005090BA006B
-:101100006090BB007090BC00C701B6010E946412E1
-:10111000A50194010E94F7119B01AC01C301B2012A
-:101120000E94E30F2B013C012AE037ED43E25CE330
-:10113000C501B4010E9459104B015C012AE037ED52
-:1011400043E25CE369857A858B859C850E94591012
-:10115000F894C092B500D092B600E092B700F09239
-:10116000B8002D8D3E8D4F8D58A12093BD0030933A
-:10117000BE004093BF005093C0004092B90050920F
-:10118000BA006092BB007092BC004D855E855093A2
-:10119000C8004093C700E989FA89F093C600E0933C
-:1011A000C5002D893E893093C4002093C300498D2A
-:1011B0005A8D5093C2004093C1008092B10090922A
-:1011C000B200A092B300B092B4006093AD007093EF
-:1011D000AE008093AF009093B000789489819A819B
-:1011E0009093990080939800EB81FC81F093970095
-:1011F000E09396002D813E813093950020939400DA
-:101200004F815885509393004093920080918E00B7
-:1012100090918F00A0919000B0919100B7FF07C00E
-:10122000B095A095909581959F4FAF4FBF4F813E50
-:101230009242A240B105CCF08091C7009091C800C5
-:10124000892B99F41092EF001092EE001092DF00BB
-:101250008091A90080618093A90010928E00109265
-:101260008F00109290001092910080918A009091CE
-:101270008B00A0918C00B0918D00B7FF07C0B09596
-:10128000A095909581959F4FAF4FBF4F813E924261
-:10129000A240B105CCF08091C5009091C600892B89
-:1012A00099F41092ED001092EC001092DE00809103
-:1012B000A90080628093A90010928A0010928B008E
-:1012C00010928C0010928D00809186009091870082
-:1012D000A0918800B0918900B7FF07C0B095A09594
-:1012E000909581959F4FAF4FBF4F813E9242A24054
-:1012F000B105CCF08091C3009091C400892B99F482
-:101300001092EB001092EA001092DD008091A9008B
-:1013100080648093A900109286001092870010923A
-:101320008800109289008091820090918300A091A2
-:101330008400B0918500B7FF07C0B095A095909547
-:1013400081959F4FAF4FBF4F813E9242A240B10562
-:10135000CCF08091C1009091C200892B99F4109239
-:10136000E9001092E8001092DC008091A9008068EA
-:101370008093A90010928200109283001092840042
-:10138000109285008091DF00813009F0DBC0209150
-:10139000D8003091D9008091D0009091D1002817C9
-:1013A000390711F18091D8009091D9002091D00097
-:1013B0003091D100821B930B97FF03C091958195CB
-:1013C0009109853F914044F010928E0010928F0059
-:1013D00010929000109291008091D8009091D900C5
-:1013E0009093D1008093D0008091D8009091D90043
-:1013F000892B71F41092EF001092EE001092810090
-:10140000109280008091A9008F7E8093A9009AC0DD
-:10141000E090D800F090D9008091C7009091C8006A
-:10142000E81AF90AB7010F2C000C880B990B809071
-:101430008E0090908F00A0909000B0909100860E4A
-:10144000971EA81EB91E80928E0090928F00A092C7
-:101450009000B09291000E94031123E23BED49E716
-:101460005DE30E94F7112B013C01C501B4010E940C
-:10147000031121E539E44DE95AE30E94F7119B017C
-:10148000AC01C301B2010E94E30F4B015C018091EA
-:10149000800090918100B701681B790B072E000C2A
-:1014A000880B990B0E94031120E030E0A9010E94F3
-:1014B000F7119B01AC01C501B4010E94E30F0E942A
-:1014C000CB107093EF006093EE00F0928100E092F9
-:1014D00080008091EE009091EF001816190634F408
-:1014E0008091D8009091D90097FD0DC08091EE00B9
-:1014F0009091EF0097FF0CC08091D8009091D90097
-:10150000181619062CF41093EF000093EE001AC081
-:101510008091EE009091EF008F3F910531F02CF01B
-:101520003092EF002092EE000DC08091EE0090917D
-:10153000EF0081309F4F34F481E09FEF9093EF00F4
-:101540008093EE008091DE00813009F0DBC02091B5
-:10155000D6003091D7008091CE009091CF0028170F
-:10156000390711F18091D6009091D7002091CE00DB
-:101570003091CF00821B930B97FF03C0919581950B
-:101580009109853F914044F010928A0010928B009F
-:1015900010928C0010928D008091D6009091D7000F
-:1015A0009093CF008093CE008091D6009091D70089
-:1015B000892B71F41092ED001092EC0010927F00D4
-:1015C00010927E008091A9008F7D8093A9009AC01F
-:1015D000E090D600F090D7008091C5009091C600B1
-:1015E000E81AF90AB7010F2C000C880B990B8090B0
-:1015F0008A0090908B00A0908C00B0908D00860E99
-:10160000971EA81EB91E80928A0090928B00A0920D
-:101610008C00B0928D000E94031123E23BED49E75C
-:101620005DE30E94F7112B013C01C501B4010E944A
-:10163000031121E539E44DE95AE30E94F7119B01BA
-:10164000AC01C301B2010E94E30F4B015C01809128
-:101650007E0090917F00B701681B790B072E000C6C
-:10166000880B990B0E94031120E030E0A9010E9431
-:10167000F7119B01AC01C501B4010E94E30F0E9468
-:10168000CB107093ED006093EC00F0927F00E0923D
-:101690007E008091EC009091ED001816190634F44C
-:1016A0008091D6009091D70097FD0DC08091EC00FD
-:1016B0009091ED0097FF0CC08091D6009091D700DB
-:1016C000181619062CF41093ED000093EC001AC0C4
-:1016D0008091EC009091ED008F3F910531F02CF05E
-:1016E0003092ED002092EC000DC08091EC009091C2
-:1016F000ED0081309F4F34F421E03FEF3093ED0057
-:101700002093EC008091DD00813009F0DBC0209156
-:10171000D4003091D5008091CC009091CD00281755
-:10172000390711F18091D4009091D5002091CC001F
-:101730003091CD00821B930B97FF03C0919581954B
-:101740009109853F914044F01092860010928700E5
-:1017500010928800109289008091D4009091D50059
-:101760009093CD008093CC008091D4009091D500CF
-:10177000892B71F41092EB001092EA0010927D0018
-:1017800010927C008091A9008F7B8093A9009AC061
-:10179000E090D400F090D5008091C3009091C400F7
-:1017A000E81AF90AB7010F2C000C880B990B8090EE
-:1017B000860090908700A0908800B0908900860EE7
-:1017C000971EA81EB91E8092860090928700A09254
-:1017D0008800B09289000E94031123E23BED49E7A3
-:1017E0005DE30E94F7112B013C01C501B4010E9489
-:1017F000031121E539E44DE95AE30E94F7119B01F9
-:10180000AC01C301B2010E94E30F4B015C01809166
-:101810007C0090917D00B701681B790B072E000CAE
-:10182000880B990B0E94031120E030E0A9010E946F
-:10183000F7119B01AC01C501B4010E94E30F0E94A6
-:10184000CB107093EB006093EA00F0927D00E09281
-:101850007C008091EA009091EB001816190634F490
-:101860008091D4009091D50097FD0DC08091EA0041
-:101870009091EB0097FF0CC08091D4009091D5001F
-:10188000181619062CF41093EB000093EA001AC006
-:101890008091EA009091EB008F3F910531F02CF0A0
-:1018A0003092EB002092EA000DC08091EA00909106
-:1018B000EB0081309F4F34F481E09FEF9093EB0079
-:1018C0008093EA008091DC00813009F0DBC0209138
-:1018D000D2003091D3008091CA009091CB0028179C
-:1018E000390711F18091D2009091D3002091CA0064
-:1018F0003091CB00821B930B97FF03C0919581958C
-:101900009109853F914044F010928200109283002B
-:1019100010928400109285008091D2009091D300A3
-:101920009093CB008093CA008091D2009091D30015
-:10193000892B71F41092E9001092E80010927B005C
-:1019400010927A008091A9008F778093A9009AC0A5
-:10195000E090D200F090D3008091C1009091C2003D
-:10196000E81AF90AB7010F2C000C880B990B80902C
-:10197000820090908300A0908400B0908500860E35
-:10198000971EA81EB91E8092820090928300A0929A
-:101990008400B09285000E94031123E23BED49E7E9
-:1019A0005DE30E94F7112B013C01C501B4010E94C7
-:1019B000031121E539E44DE95AE30E94F7119B0137
-:1019C000AC01C301B2010E94E30F4B015C018091A5
-:1019D0007A0090917B00B701681B790B072E000CF1
-:1019E000880B990B0E94031120E030E0A9010E94AE
-:1019F000F7119B01AC01C501B4010E94E30F0E94E5
-:101A0000CB107093E9006093E800F0927B00E092C5
-:101A10007A008091E8009091E9001816190634F4D4
-:101A20008091D2009091D30097FD0DC08091E80085
-:101A30009091E90097FF0CC08091D2009091D30063
-:101A4000181619062CF41093E9000093E8001AC048
-:101A50008091E8009091E9008F3F910531F02CF0E2
-:101A60003092E9002092E8000DC08091E80090914A
-:101A7000E90081309F4F34F421E03FEF3093E900DB
-:101A80002093E8008091A900807F8093A90090B303
-:101A900026B33091A9009074892F90E043E095958A
-:101AA00087954A95E1F72770822B809590958F70E6
-:101AB0009927832B8093A9008091EE009091EF00ED
-:101AC00020916600309167002817390709F449C052
-:101AD0008091EE009091EF00892B31F485B3837FE4
-:101AE00085BB8FB58F7729C08091EE009091EF0074
-:101AF0008115904819F485B38C601CC080916900F1
-:101B0000811107C08091EE009091EF001816190620
-:101B100054F080916900882351F08091EE009091FB
-:101B2000EF0097FF04C085B3877F846003C085B34F
-:101B30008B7F886085BB8FB580688FBD8091EE00FC
-:101B40009091EF0090936700809366008091EE0083
-:101B50009091EF0097FF03C09195819591099BBDEE
-:101B60008ABD8091EC009091ED002091640030914D
-:101B700065002817390709F449C08091EC0090915D
-:101B8000ED00892B31F485B38F7C85BB8FB58F7DBC
-:101B900029C08091EC009091ED008115904819F4D6
-:101BA00085B380631CC080916800811107C080915B
-:101BB000EC009091ED001816190654F08091680021
-:101BC000882351F08091EC009091ED0097FF04C0C4
-:101BD00085B38F7D806103C085B38F7E806285BBB6
-:101BE0008FB580628FBD8091EC009091ED00909355
-:101BF0006500809364008091EC009091ED0097FF68
-:101C000003C091958195910999BD88BD8091EA00A5
-:101C10009091EB0020916200309163002817390702
-:101C200009F448C08091EA009091EB00892B31F4CF
-:101C300085B38F7385BB85B58F7D29C08091EA0000
-:101C40009091EB008115904819F485B3806C1CC00D
-:101C50008091DB00811107C08091EA009091EB0038
-:101C60001816190654F08091DB00882351F08091FA
-:101C7000EA009091EB0097FF04C085B38F778064F2
-:101C800003C085B38F7B806885BB85B5806285BDC9
-:101C90008091EA009091EB00909363008093620042
-:101CA0008091EA009091EB0097FF03C09195819598
-:101CB000910983BD8091E8009091E9002091600036
-:101CC000309161002817390709F448C08091E80075
-:101CD0009091E900892B31F482B3837F82BB83B773
-:101CE0008F7D29C08091E8009091E900811590488E
-:101CF00019F482B38C601CC08091DA00811107C096
-:101D00008091E8009091E9001816190654F080912E
-:101D1000DA00882351F08091E8009091E90097FF64
-:101D200004C082B3877F846003C082B38B7F8860E6
-:101D300082BB83B7806283BF8091E8009091E90005
-:101D400090936100809360008091E8009091E90099
-:101D500097FF03C09195819591098CBF8091AC004C
-:101D60008F5F8093AC0085B7806885BF889585B705
-:101D70008F7785BF0C947306ACE0B0E0E2ECFEE038
-:101D80000C94DE126C015B017A01FC011782168251
-:101D9000838181FF0EC1CE0101964C01F6010381C2
-:101DA000F50103FD159103FF11915F01112309F462
-:101DB000FCC0153249F403FD159103FF11915F0139
-:101DC000153211F020E01BC0B601812F90E00E9477
-:101DD000891337017301E2CF112309F4E6C0612FA3
-:101DE00070E08BEB91E02C870E9433132C85892BBC
-:101DF00049F0F50103FD159103FF11915F0127FFE4
-:101E0000EBCF09C0133229F01C3609F0D5C0206889
-:101E1000F0CF20E1EECF022F112309F4C6C0612FCD
-:101E200070E084EB91E02C870E9433132C85892B82
-:101E300041F03701F4E06F0E711CB6018FE390E0C2
-:101E400011C0133639F0133781F0133519F5022F0D
-:101E500001600BC0370182E0680E711CB601F7010A
-:101E6000808191810E948913B5CF3701F2E06F0E16
-:101E7000711CF701E080F180F70100FD859100FF02
-:101E800081917F01882309F4A5CFB60190E00E94DB
-:101E90008913F2CF143611F0193629F5370127FFCF
-:101EA00009C0F4E06F0E711CF701608171818281BD
-:101EB00093810AC0F2E06F0E711CF701608171819D
-:101EC000072E000C880B990B022F0F7E97FF08C07E
-:101ED00090958095709561957F4F8F4F9F4F0064CF
-:101EE0002AE030E033C0103799F040F41835B1F0F3
-:101EF0001F3609F05AC028E030E014C0153719F039
-:101F0000183741F052C0022F0F7E2AE030E00AC09D
-:101F1000022F0061046220E130E004C0022F04605F
-:101F200020E132E0370107FF09C0F4E06F0E711CB9
-:101F3000F701608171818281938108C0F2E06F0EA8
-:101F4000711CF7016081718180E090E0A4010E9422
-:101F5000F113182F181906FF05C0B6018DE290E0A5
-:101F60000E94891304FF15C0FE01E10FF11D80815D
-:101F7000803379F0B60180E390E00E94891302FF7C
-:101F800008C00072802F90E0B601885A9F4F0E94CF
-:101F900089131150F401E10FF11D8081B60190E029
-:101FA0000E9489131111F5CF15CFF6018681978113
-:101FB00005C08FEF9FEF02C0022F31CF2C96EEE0CD
-:101FC0000C94FA125058BB27AA270E94FA0F0C94BF
-:101FD000A4110E946B1138F00E94721120F039F4A4
-:101FE0009F3F19F426F40C9468110EF4E095E7FB7A
-:101FF0000C946211E92F0E94C91158F3BA176207B5
-:1020000073078407950720F079F4A6F50C94EB117B
-:102010000EF4E0950B2EBA2FA02D0B01B901900103
-:102020000C01CA01A0011124FF27591B99F0593F47
-:1020300050F4503E68F11A16F040A22F232F342F8F
-:102040004427585FF3CF469537952795A795F040DD
-:102050005395C9F77EF41F16BA0B620B730B840BF2
-:10206000BAF09150A1F0FF0FBB1F661F771F881FAA
-:10207000C2F70EC0BA0F621F731F841F48F4879502
-:1020800077956795B795F7959E3F08F0B0CF9395F4
-:10209000880F08F09927EE0F9795879508950E946D
-:1020A0003E1108F481E008950E947B11E3950C94A1
-:1020B000B5110E946D100C94A4110E94721158F079
-:1020C0000E946B1140F029F45F3F29F00C946211DB
-:1020D00051110C94EC110C9468110E94C91168F311
-:1020E0009923B1F3552391F3951B550BBB27AA27D1
+:1004A0006627782F892F9A2F622B6093A400709370
+:1004B000A5008093A6009093A70026E636E544EBBE
+:1004C00055E40E94E9110E94C9107093D90060930D
+:1004D000D8007093D7006093D60081E08093DF004E
+:1004E0008093DE00B7C183B190E0A0E0B0E00EC021
+:1004F00023B18091A4009091A500A091A600B09195
+:10050000A700BA2FA92F982F8827822B8093A400A9
+:100510009093A500A093A600B093A7009BC183B1C0
+:1005200090E0A0E0B0E00EC023B18091A0009091D7
+:10053000A100A091A200B091A300BA2FA92F982FDB
+:100540008827822B8093A0009093A100A093A20003
+:10055000B093A3007FC123B18091A0009091A1002E
+:10056000A091A200B091A300BA2FA92F982F88279D
+:10057000822B8093A0009093A100A093A200B0933F
+:10058000A3008093F6009093F700A093F800B09337
+:10059000F9000FC083B1809368005CC183B1809380
+:1005A000DB0058C183B18093AB0003C083B180935B
+:1005B000AA0081E08093FA004DC18091F10090E0A3
+:1005C000FC013297E13AF10508F04BC1E65DFF4FBF
+:1005D0000C94B5128AB59BB53CC188B599B539C1A3
+:1005E00083B537C18CB735C113B834C18091E600EB
+:1005F0009091E7000EC08091E4009091E50009C061
+:100600008091E2009091E30004C08091E00090911D
+:10061000E10090939F0080939E004DC080919E00CA
+:1006200018C18091D8009091D90045C08091D80020
+:100630009091D9000EC18091D6009091D7003BC017
+:100640008091D6009091D70004C18091D400909100
+:10065000D50031C08091D4009091D500FAC080912E
+:10066000D2009091D30027C08091D2009091D30006
+:10067000F0C08091C7009091C8001DC08091C70054
+:100680009091C800E6C08091C5009091C60013C04B
+:100690008091C5009091C600DCC08091C30090910C
+:1006A000C40009C08091C3009091C400D2C0809161
+:1006B000C1009091C20093B9CDC08091C1009091CA
+:1006C000C200C7C08091B1009091B200A091B30068
+:1006D000B091B4008093A4009093A500A093A600CD
+:1006E000B093A70025C08091A4009091A500A0918F
+:1006F000A600B091A7008CC08091A4009091A500A5
+:10070000A091A600B091A7008FC08091A400A1C0C5
+:100710008091AD009091AE00A091AF00B091B0007B
+:100720008093A0009093A100A093A200B093A30097
+:100730008B2F9927AA27BB278CC08091A00090916E
+:10074000A100A091A200B091A30062C08091A0007E
+:100750009091A100A091A200B091A30065C08091EA
+:10076000BD009091BE00A091BF00B091C000E0CF4D
+:100770008091BD009091BE00A091BF00B091C000DB
+:1007800047C08091BD009091BE00A091BF00B09184
+:10079000C0004AC08091BD009091BE00A091BF00F2
+:1007A000B091C00056C08091B9009091BA00A0915C
+:1007B000BB00B091BC00BCCF8091B9009091BA0051
+:1007C000A091BB00B091BC0023C08091B900909172
+:1007D000BA00A091BB00B091BC0026C08091B900C6
+:1007E0009091BA00A091BB00B091BC0032C0809142
+:1007F000B5009091B600A091B700B091B80098CF25
+:100800008091B5009091B600A091B700B091B8006A
+:10081000CD01AA27BB271DC08091B5009091B600DD
+:10082000A091B700B091B800892F9A2FAB2FBB27AA
+:1008300010C08091B5009091B600A091B700B09122
+:10084000B80007C084B78F7083B914BE03C080910D
+:10085000A90083B985EC07C08091AC0083B985EC11
+:1008600086BF13B885E886BF8091F1008F5F8093C3
+:10087000F10005C086B78B7E86BF85EC86BFFF91F1
+:10088000EF91BF91AF919F918F917F916F915F9108
+:100890004F913F912F910F900FBE0F901F90189581
+:1008A0001F920F920FB60F9211242F933F934F93E5
+:1008B0005F938F939F9399B390FD02C080E001C036
+:1008C00083E091FF02C091E0892720919D00281BC1
+:1008D00020FF1FC080939D0080916900422F4270CD
+:1008E000882349F08091E6009091E700242F30E0C2
+:1008F0002150310908C08091E6009091E70021E085
+:1009000030E0241B3109820F931F9093E7008093FE
+:10091000E60099B392959F7090FD02C080E001C0FF
+:1009200083E091FF02C091E0892720919C00281B61
+:1009300020FF1FC080939C00809168002270882354
+:1009400059F08091E4009091E50041E050E0421BB5
+:100950005109840F951F09C08091E4009091E50032
+:1009600030E021503109820F931F9093E50080936E
+:10097000E40099B39695969590FD02C080E001C081
+:1009800083E091FF02C091E0892720919B00281B02
+:1009900020FF1FC080939B008091DB002270882382
+:1009A00059F08091E2009091E30041E050E0421B59
+:1009B0005109840F951F09C08091E2009091E300D6
+:1009C00030E021503109820F931F9093E300809310
+:1009D000E20099B3929596959695937090FD02C01A
+:1009E00080E001C083E0927011F091E089272091AE
+:1009F0009A00281B20FF1FC080939A008091DA0084
+:100A0000422F4270882349F08091E0009091E100EC
+:100A1000242F30E02150310908C08091E0009091EE
+:100A2000E10021E030E0241B3109820F931F9093F5
+:100A3000E1008093E0008091C9008F5F8093C9003E
+:100A40009F918F915F914F913F912F910F900FBE8A
+:100A50000F901F9018951F920F920FB60F921124AE
+:100A60008F939F93EF93FF935F9B16C0E091FD00E0
+:100A7000F091FE008CB1808381E0E236F80730F41B
+:100A80003196F093FE00E093FD0006C08FEF90E0FA
+:100A90009093FE008093FD00FF91EF919F918F91C5
+:100AA0000F900FBE0F901F9018959C018AB188611E
+:100AB0008AB9579A80B5866080BD40E050E084E0F6
+:100AC000220F331F441F551F8A95D1F760E079E04C
+:100AD0008DE390E00E949612DA01C9010197A10905
+:100AE000B109892F9A2FAB2FBB27A7FDBA9580BDDF
+:100AF000215029B98FEF90E09093FC008093FB0088
+:100B00009093FE008093FD0008955D9BFECFFC0155
+:100B100080818CB90895CF93DF931F92CDB7DEB754
+:100B20008983CE0101960E94850580E090E00F90B8
+:100B3000DF91CF910895CF93DF93EC01CE01219601
+:100B4000FC012081222319F00E948505F7CFDF9157
+:100B5000CF9108955F9BFECF8CB190E008950C94E7
+:100B6000AA056FEA75E08BE895E00C94E812CF9344
+:100B7000DF93FC01E253FF4FA081B181EC01C4532C
+:100B8000DF4F28813981A217B307A1F05D9B12C006
+:100B90002C912CB920813181AC0145535F4F241732
+:100BA000350718F42F5F3F4F03C09C0128593F4F72
+:100BB00031832083E091FB00F091FC002091FD0047
+:100BC0003091FE002E173F07C1F1DC01AC59BF4F39
+:100BD000CD91DC911197208128836D917C911197A3
+:100BE0009C012B523F4FE9013881EB0128813213E0
+:100BF00007C09C012C523F4FE90148814F5F488359
+:100C00009C012D593F4F6217730728F4EB01219681
+:100C1000CD93DC9302C08D939C93D1E0E236FD0727
+:100C200030F43196F093FC00E093FB0006C08FEFA8
+:100C300090E09093FC008093FB00DF91CF910895AA
+:100C4000CF93DF93CDB7DEB7A0970FB6F894DEBF92
+:100C50000FBECDBF88E087BB8CEF84BB8CEB81BB24
+:100C600087E088BB80E482BB1092F00080E895E2C8
+:100C70000E9455050E94B10580E582B986B78B7E3A
+:100C800086BF85EC86BF81E08FBD89E08EBD1BBC31
+:100C90001ABC19BC18BC89E485BD13BC83BF1CBE3B
+:100CA00080E790E00E94651385B78F7885BF84E068
+:100CB00089BF789422242A94312C00E010E8809196
+:100CC000F1008F3F41F48091F000853A21F4F894CF
+:100CD000E0E0F8E109958091FA00882309F4E4C086
+:100CE000F8948090F2009090F300A090F400B090FF
+:100CF000F5006091F6007091F7008091F8009091F6
+:100D0000F9001092FA00789425E739E54CEC5EE39F
+:100D10000E94E91120E030E040E05FE30E94E91129
+:100D2000A50194010E94F60F6B017C01A5019401BD
+:100D3000C501B4010E94F60FA70196010E94F50FAC
+:100D400026E636E544EB55E40E94E9114B015C01CF
+:100D500026E636E544EB55E4C701B6010E94E911E9
+:100D60006B017C018091AA008823C9F18091AA00BF
+:100D700024E630E0281B3109B901882777FD8095EA
+:100D8000982F0E94FC109B01AC01C501B4010E9488
+:100D9000E91120E030E048EC52E40E9461100E942A
+:100DA000C9107093D9006093D8008091AA0044E6DE
+:100DB00050E0481B5109BA01882777FD8095982F8C
+:100DC0000E94FC109B01AC01C701B6010E94E91111
+:100DD00020E030E048EC52E40E9461100AC0C501F6
+:100DE000B4010E94C9107093D9006093D800C70164
+:100DF000B6010E94C9107093D5006093D400809111
+:100E0000AB008823C1F18091AB00E4E6F0E0E81B81
+:100E1000F109BF01882777FD8095982F0E94FC106B
+:100E20009B01AC01C501B4010E94E91120E030E052
+:100E300048EC52E40E9461100E94C9107093D700E0
+:100E40006093D6008091AB0064E670E0681B710986
+:100E5000882777FD8095982F0E94FC109B01AC019C
+:100E6000C701B6010E94E91120E030E048EC52E4ED
+:100E70000E9461100AC0C501B4010E94C91070939C
+:100E8000D7006093D600C701B6010E94C9107093C5
+:100E9000D3006093D200F1E0F093DF00F093DE0026
+:100EA000F093DD00F093DC008091C900833C08F4EE
+:100EB00046C71092C900F8942091E6003091E700EF
+:100EC0003A8329834091E4005091E5005C834B8391
+:100ED0008091E2009091E3009E838D83E091E00099
+:100EE000F091E100F887EF837894809198009091D9
+:100EF00099007901E81AF90A80919600909197007B
+:100F00006A01C81AD90A80919400909195006D8069
+:100F10007E80681A790A80919200909193002F0147
+:100F2000481A590AB701882777FD8095982F0E94A3
+:100F3000FC102AE037ED43E25CE30E9461100E945E
+:100F4000C9106D877E878F87988BB601882777FDBC
+:100F50008095982F0E94FC102AE037ED43E25CE375
+:100F60000E9461100E94C910698B7A8B8B8B9C8BBD
+:100F7000B301882777FD8095982F0E94FC102AE006
+:100F800037ED43E25CE30E9461100E94C9106D8B53
+:100F90007E8B8F8B988FB201882777FD8095982F55
+:100FA0000E94FC102AE037ED43E25CE30E946110EE
+:100FB0000E94C910698F7A8F8B8F9C8FB7016C0D3F
+:100FC0007D1D882777FD8095982F0E94FC1026E6CE
+:100FD00036E544E356E40E9461104B015C01B30125
+:100FE000640D751D882777FD8095982F0E94FC1051
+:100FF00026E636E544E356E40E9461102B013C01ED
+:10100000A50194010E94F50F25E739E54CEC5EE35C
+:101010000E94611069877A878B879C876091B500F1
+:101020007091B6008091B7009091B80029853A85FB
+:101030004B855C850E94F60F6B017C012BED3FE038
+:1010400049EC50E40E94E51118164CF42BED3FE0FA
+:1010500049EC50E4C701B6010E94F50F12C02BED18
+:101060003FE049EC50ECC701B6010E945A1087FFDF
+:101070000AC02BED3FE049EC50E4C701B6010E94E5
+:10108000F60F6B017C01A3019201C501B4010E941E
+:10109000F60F20E030E040E05FE30E94E9114B01F1
+:1010A0005C014090BD005090BE006090BF00709009
+:1010B000C000C701B6010E945E10A50194010E9404
+:1010C000E9119B01AC01C301B2010E94F60F6D8FC3
+:1010D0007E8F8F8F98A34090B9005090BA00609097
+:1010E000BB007090BC00C701B6010E944C12A50164
+:1010F00094010E94E9119B01AC01C301B2010E945D
+:10110000F60F2B013C012AE037ED43E25CE3C50119
+:10111000B4010E9461104B015C012AE037ED43E20B
+:101120005CE369857A858B859C850E946110F894C3
+:10113000C092B500D092B600E092B700F092B8002D
+:101140002D8D3E8D4F8D58A12093BD003093BE0054
+:101150004093BF005093C0004092B9005092BA0033
+:101160006092BB007092BC004D855E855093C800B4
+:101170004093C700E989FA89F093C600E093C5005F
+:101180002D893E893093C4002093C300498D5A8D28
+:101190005093C2004093C1008092B1009092B2007F
+:1011A000A092B300B092B4006093AD007093AE0013
+:1011B0008093AF009093B000789489819A81909346
+:1011C000990080939800EB81FC81F0939700E09365
+:1011D00096002D813E8130939500209394004F819D
+:1011E0005885509393004093920080918E00909187
+:1011F0008F00A0919000B0919100B7FF07C0B0950B
+:10120000A095909581959F4FAF4FBF4F813E9242E1
+:10121000A240B105CCF08091C7009091C800892B05
+:1012200099F41092EF001092EE001092DF0080917E
+:10123000A90080618093A90010928E0010928F0007
+:10124000109290001092910080918A0090918B00F2
+:10125000A0918C00B0918D00B7FF07C0B095A0950C
+:10126000909581959F4FAF4FBF4F813E9242A240D4
+:10127000B105CCF08091C5009091C600892B99F4FE
+:101280001092ED001092EC001092DE008091A90007
+:1012900080628093A90010928A0010928B001092B5
+:1012A0008C0010928D008091860090918700A09113
+:1012B0008800B0918900B7FF07C0B095A0959095C0
+:1012C00081959F4FAF4FBF4F813E9242A240B105E3
+:1012D000CCF08091C3009091C400892B99F41092B6
+:1012E000EB001092EA001092DD008091A90080646A
+:1012F0008093A900109286001092870010928800B7
+:10130000109289008091820090918300A0918400C6
+:10131000B0918500B7FF07C0B095A09590958195D5
+:101320009F4FAF4FBF4F813E9242A240B105CCF0DC
+:101330008091C1009091C200892B99F41092E9002C
+:101340001092E8001092DC008091A90080688093E0
+:10135000A9001092820010928300109284001092D3
+:1013600085008091DF00813009F0DBC02091D8003A
+:101370003091D9008091D0009091D1002817390781
+:1013800011F18091D8009091D9002091D000309136
+:10139000D100821B930B97FF03C091958195910912
+:1013A000853F914044F010928E0010928F00109271
+:1013B0009000109291008091D8009091D900909364
+:1013C000D1008093D0008091D8009091D900892BD2
+:1013D00071F41092EF001092EE00109281001092C2
+:1013E00080008091A9008F7E8093A9009AC0A09070
+:1013F000D800B090D9008091C7009091C800A81A79
+:10140000B90AB501882777FD8095982FC0908E0086
+:10141000D0908F00E0909000F0909100C60ED71E03
+:10142000E81EF91EC0928E00D0928F00E0929000CC
+:10143000F09291000E94FC1026EB33EF4DE75DE344
+:101440000E94E9112B013C01C701B6010E94FC106A
+:1014500021E539E44DE95AE30E94E9119B01AC0111
+:10146000C301B2010E94F60F6B017C0180918000E4
+:1014700090918100B501681B790B882777FD8095D5
+:10148000982F0E94FC1020E030E0A9010E94E91191
+:101490009B01AC01C701B6010E94F60F0E94C91062
+:1014A0007093EF006093EE00B0928100A0928000F4
+:1014B0008091EE009091EF001816190634F4809197
+:1014C000D8009091D90097FD0DC08091EE009091C9
+:1014D000EF0097FF0CC08091D8009091D9001816AA
+:1014E00019062CF41093EF000093EE001AC08091BF
+:1014F000EE009091EF008F3F910531F02CF030928B
+:10150000EF002092EE000DC08091EE009091EF0070
+:1015100081309F4F34F481E09FEF9093EF008093F0
+:10152000EE008091DE00813009F0DBC02091D60012
+:101530003091D7008091CE009091CF0028173907C5
+:1015400011F18091D6009091D7002091CE0030917A
+:10155000CF00821B930B97FF03C091958195910952
+:10156000853F914044F010928A0010928B001092B7
+:101570008C0010928D008091D6009091D7009093AE
+:10158000CF008093CE008091D6009091D700892B18
+:1015900071F41092ED001092EC0010927F00109206
+:1015A0007E008091A9008F7D8093A9009AC0A090B1
+:1015B000D600B090D7008091C5009091C600A81ABF
+:1015C000B90AB501882777FD8095982FC0908A00C9
+:1015D000D0908B00E0908C00F0908D00C60ED71E4E
+:1015E000E81EF91EC0928A00D0928B00E0928C0017
+:1015F000F0928D000E94FC1026EB33EF4DE75DE387
+:101600000E94E9112B013C01C701B6010E94FC10A8
+:1016100021E539E44DE95AE30E94E9119B01AC014F
+:10162000C301B2010E94F60F6B017C0180917E0024
+:1016300090917F00B501681B790B882777FD809515
+:10164000982F0E94FC1020E030E0A9010E94E911CF
+:101650009B01AC01C701B6010E94F60F0E94C910A0
+:101660007093ED006093EC00B0927F00A0927E003A
+:101670008091EC009091ED001816190634F48091D9
+:10168000D6009091D70097FD0DC08091EC0090910D
+:10169000ED0097FF0CC08091D6009091D7001816EE
+:1016A00019062CF41093ED000093EC001AC0809101
+:1016B000EC009091ED008F3F910531F02CF03092CD
+:1016C000ED002092EC000DC08091EC009091ED00B7
+:1016D00081309F4F34F421E03FEF3093ED002093B1
+:1016E000EC008091DD00813009F0DBC02091D40056
+:1016F0003091D5008091CC009091CD00281739070A
+:1017000011F18091D4009091D5002091CC003091BE
+:10171000CD00821B930B97FF03C091958195910992
+:10172000853F914044F010928600109287001092FD
+:101730008800109289008091D4009091D5009093F8
+:10174000CD008093CC008091D4009091D500892B5E
+:1017500071F41092EB001092EA0010927D0010924A
+:101760007C008091A9008F7B8093A9009AC0A090F3
+:10177000D400B090D5008091C3009091C400A81A05
+:10178000B90AB501882777FD8095982FC09086000B
+:10179000D0908700E0908800F0908900C60ED71E98
+:1017A000E81EF91EC0928600D0928700E092880061
+:1017B000F09289000E94FC1026EB33EF4DE75DE3C9
+:1017C0000E94E9112B013C01C701B6010E94FC10E7
+:1017D00021E539E44DE95AE30E94E9119B01AC018E
+:1017E000C301B2010E94F60F6B017C0180917C0065
+:1017F00090917D00B501681B790B882777FD809556
+:10180000982F0E94FC1020E030E0A9010E94E9110D
+:101810009B01AC01C701B6010E94F60F0E94C910DE
+:101820007093EB006093EA00B0927D00A0927C0080
+:101830008091EA009091EB001816190634F480911B
+:10184000D4009091D50097FD0DC08091EA00909151
+:10185000EB0097FF0CC08091D4009091D500181632
+:1018600019062CF41093EB000093EA001AC0809143
+:10187000EA009091EB008F3F910531F02CF030920F
+:10188000EB002092EA000DC08091EA009091EB00FD
+:1018900081309F4F34F481E09FEF9093EB00809371
+:1018A000EA008091DC00813009F0DBC02091D20099
+:1018B0003091D3008091CA009091CB00281739074E
+:1018C00011F18091D2009091D3002091CA00309103
+:1018D000CB00821B930B97FF03C0919581959109D3
+:1018E000853F914044F01092820010928300109244
+:1018F0008400109285008091D2009091D300909343
+:10190000CB008093CA008091D2009091D300892BA4
+:1019100071F41092E9001092E80010927B0010928E
+:101920007A008091A9008F778093A9009AC0A09037
+:10193000D200B090D3008091C1009091C200A81A4B
+:10194000B90AB501882777FD8095982FC09082004D
+:10195000D0908300E0908400F0908500C60ED71EE2
+:10196000E81EF91EC0928200D0928300E0928400AB
+:10197000F09285000E94FC1026EB33EF4DE75DE30B
+:101980000E94E9112B013C01C701B6010E94FC1025
+:1019900021E539E44DE95AE30E94E9119B01AC01CC
+:1019A000C301B2010E94F60F6B017C0180917A00A5
+:1019B00090917B00B501681B790B882777FD809596
+:1019C000982F0E94FC1020E030E0A9010E94E9114C
+:1019D0009B01AC01C701B6010E94F60F0E94C9101D
+:1019E0007093E9006093E800B0927B00A0927A00C7
+:1019F0008091E8009091E9001816190634F480915E
+:101A0000D2009091D30097FD0DC08091E800909195
+:101A1000E90097FF0CC08091D2009091D300181676
+:101A200019062CF41093E9000093E8001AC0809185
+:101A3000E8009091E9008F3F910531F02CF0309251
+:101A4000E9002092E8000DC08091E8009091E90043
+:101A500081309F4F34F421E03FEF3093E900209331
+:101A6000E8008091A900807F8093A9003091A900AF
+:101A700080B326B3807490E0A3E095958795AA95EE
+:101A8000E1F72770282B20952F70232B2093A90096
+:101A90008091EE009091EF002091660030916700F8
+:101AA0002817390709F449C08091EE009091EF00A2
+:101AB000892B31F485B3837F85BB8FB58F7729C0A0
+:101AC0008091EE009091EF008115904819F485B354
+:101AD0008C601CC080916900811107C08091EE006C
+:101AE0009091EF001816190654F080916900882330
+:101AF00051F08091EE009091EF0097FF04C085B304
+:101B0000877F846003C085B38B7F886085BB8FB57A
+:101B100080688FBD8091EE009091EF0090936700F8
+:101B2000809366008091EE009091EF0097FF03C0D4
+:101B30009195819591099BBD8ABD8091EC00909112
+:101B4000ED0020916400309165002817390709F4F1
+:101B500049C08091EC009091ED00892B31F485B360
+:101B60008F7C85BB8FB58F7D29C08091EC009091D3
+:101B7000ED008115904819F485B380631CC08091F5
+:101B80006800811107C08091EC009091ED0018165B
+:101B9000190654F080916800882351F08091EC0080
+:101BA0009091ED0097FF04C085B38F7D806103C0E5
+:101BB00085B38F7E806285BB8FB580628FBD80913B
+:101BC000EC009091ED00909365008093640080910B
+:101BD000EC009091ED0097FF03C0919581959109DC
+:101BE00099BD88BD8091EA009091EB002091620040
+:101BF000309163002817390709F448C08091EA0042
+:101C00009091EB00892B31F485B38F7385BB85B53B
+:101C10008F7D29C08091EA009091EB00811590485A
+:101C200019F485B3806C1CC08091DB00811107C062
+:101C30008091EA009091EB001816190654F08091FB
+:101C4000DB00882351F08091EA009091EB0097FF30
+:101C500004C085B38F77806403C085B38F7B8068B1
+:101C600085BB85B5806285BD8091EA009091EB00CF
+:101C700090936300809362008091EA009091EB0062
+:101C800097FF03C091958195910983BD8091E800EC
+:101C90009091E90020916000309161002817390788
+:101CA00009F448C08091E8009091E900892B31F453
+:101CB00082B3837F82BB83B78F7D29C08091E80088
+:101CC0009091E9008115904819F482B38C601CC092
+:101CD0008091DA00811107C08091E8009091E900BD
+:101CE0001816190654F08091DA00882351F080917B
+:101CF000E8009091E90097FF04C082B3877F846079
+:101D000003C082B38B7F886082BB83B7806283BF4E
+:101D10008091E8009091E9009093610080936000C9
+:101D20008091E8009091E90097FF03C0919581951B
+:101D300091098CBF8091AC008F5F8093AC0085B718
+:101D4000806885BF889585B78F7785BF0C945F06BF
+:101D50006F927F929F92AF92BF92CF92DF92EF925B
+:101D6000FF920F931F93CF93DF93CDB7DEB72C97DE
+:101D70000FB6F894DEBF0FBECDBF8C017B013A01D8
+:101D8000FC0117821682838181FF19C1CE01019661
+:101D90005C01F801D380F701D3FC2591D3FE21919A
+:101DA0007F01222309F407C1253249F4D3FC259190
+:101DB000D3FE21917F01253211F0912C1BC0B80177
+:101DC000822F90E00E94331363013601E2CF222379
+:101DD00009F4F1C0622F70E08BEB91E02C870E9438
+:101DE000DD122C85892B49F0F701D3FC2591D3FE18
+:101DF00021917F0197FEEBCF0CC0233221F4F92D06
+:101E0000F0619F2EF1CF2C3639F4292D2068922EC7
+:101E1000EBCF222309F4CFC0622F70E084EB91E076
+:101E20002C870E94DD122C85892B41F06301F4E0A0
+:101E3000CF0ED11CB8018FE390E012C0233641F0E1
+:101E4000233789F0233521F5F92DF1609F2E0BC042
+:101E5000630122E0C20ED11CB801F301808191819F
+:101E60000E943313B2CF630122E0C20ED11CF301F2
+:101E700060807180F30190FC859190FE81913F011B
+:101E8000882309F4A2CFB80190E00E943313F2CF67
+:101E9000243611F0293639F5630197FE09C0F4E0C4
+:101EA000CF0ED11CF30160817181828193810AC0C0
+:101EB000F2E0CF0ED11CF30160817181882777FD9C
+:101EC0008095982FF92DFF7E9F2E97FF09C0909542
+:101ED0008095709561957F4F8F4F9F4FF0649F2E37
+:101EE0002AE030E038C02037A1F040F42835D1F0A6
+:101EF0002F3609F060C028E030E019C0253719F00E
+:101F0000283751F058C0292D2F7E922E2AE030E03C
+:101F10000EC0892D8061982E992D9462992E20E112
+:101F200030E005C0E92DE4609E2E20E132E063013F
+:101F300097FE09C0F4E0CF0ED11CF30160817181DE
+:101F40008281938108C0F2E0CF0ED11CF301608141
+:101F5000718180E090E0A5010E949213782E7A189A
+:101F600096FE05C0B8018DE290E00E94331394FE06
+:101F700016C0FE01E70DF11D8081803381F0B801AC
+:101F800080E390E00E94331392FE09C0292D207255
+:101F9000822F90E0B801885A9F4F0E9433137A94A1
+:101FA000F501E70DF11D8081B80190E00E94331327
+:101FB0007110F5CF0ACFF8018681978102C08FEFAB
+:101FC0009FEF2C960FB6F894DEBF0FBECDBFDF910A
+:101FD000CF911F910F91FF90EF90DF90CF90BF9026
+:101FE000AF909F907F906F9008955058BB27AA277D
+:101FF0000ED0A0C169D130F06ED120F031F49F3FF6
+:1020000011F41EF45EC10EF4E095E7FB54C1E92F14
+:10201000B3D180F3BA17620773078407950718F0E6
+:1020200071F49EF5CBC10EF4E0950B2EBA2FA02DC6
+:102030000B01B90190010C01CA01A0011124FF2775
+:10204000591B99F0593F50F4503E68F11A16F04070
+:10205000A22F232F342F4427585FF3CF469537956F
+:102060002795A795F0405395C9F77EF41F16BA0B34
+:10207000620B730B840BBAF09150A1F0FF0FBB1FE2
+:10208000661F771F881FC2F70EC0BA0F621F731F2B
+:10209000841F48F4879577956795B795F7959E3F88
+:1020A00008F0B3CF9395880F08F09927EE0F979516
+:1020B00087950895DCD008F481E0089514D1E39564
+:1020C0004AC10CD037C107D140F0FED030F021F426
+:1020D0005F3F19F0F0C0511172C1F3C04DD198F3B8
+:1020E0009923C9F35523B1F3951B550BBB27AA2799
 :1020F00062177307840738F09F5F5F4F220F331F0B
-:10210000441FAA1FA9F335D00E2E3AF0E0E832D0D2
-:1021100091505040E695001CCAF72BD0FE2F29D0D5
+:10210000441FAA1FA9F333D00E2E3AF0E0E830D0D6
+:1021100091505040E695001CCAF729D0FE2F27D0D9
 :10212000660F771F881FBB1F261737074807AB07A7
 :10213000B0E809F0BB0B802DBF01FF2793585F4F1C
-:102140003AF09E3F510578F00C9462110C94EC111A
-:102150005F3FE4F3983ED4F3869577956795B795FE
-:10216000F7959F5FC9F7880F911D9695879597F909
-:102170000895E1E0660F771F881FBB1F6217730782
-:102180008407BA0720F0621B730B840BBA0BEE1F97
-:1021900088F7E09508950E94D2106894B1110C94CC
-:1021A000EC1108950E94D11188F09F5798F0B92F33
-:1021B0009927B751B0F0E1F0660F771F881F991F7C
-:1021C0001AF0BA95C9F714C0B13091F00E94EB1122
-:1021D000B1E008950C94EB11672F782F8827B85F32
-:1021E00039F0B93FCCF3869577956795B395D9F7D4
-:1021F0003EF490958095709561957F4F8F4F9F4FDE
-:102200000895E89409C097FB3EF4909580957095E9
-:1022100061957F4F8F4F9F4F9923A9F0F92F96E932
-:10222000BB279395F695879577956795B795F111A7
-:10223000F8CFFAF4BB0F11F460FF1BC06F5F7F4F44
-:102240008F4F9F4F16C0882311F096E911C0772356
-:1022500021F09EE8872F762F05C0662371F096E85F
-:10226000862F70E060E02AF09A95660F771F881F2E
-:10227000DAF7880F9695879597F90895990F0008D2
-:10228000550FAA0BE0E8FEEF16161706E807F90748
-:10229000C0F012161306E407F50798F0621B730BE3
-:1022A000840B950B39F40A2661F0232B242B252B64
-:1022B00021F408950A2609F4A140A6958FEF811D07
-:1022C000811D089597F99F6780E870E060E00895A8
-:1022D0009FEF80EC089500240A941616170618063E
-:1022E0000906089500240A9412161306140605061A
-:1022F00008950C9468110E94D111D8F3E894E0E09D
-:10230000BB279F57F0F02AED3FE049EC06C0EE0FE7
-:10231000BB0F661F771F881F28F0B23A620773074A
-:10232000840728F0B25A620B730B840BE3959A95DD
-:1023300072F7803830F49A95BB0F661F771F881F9D
-:10234000D2F790480C946E12092E0394000C11F4ED
-:10235000882352F0BB0F40F4BF2B11F460FF04C080
-:102360006F5F7F4F8F4F9F4F0895EF93E0FF07C040
-:10237000A2EA2AED3FE049EC5FEB0E94FA0F0E94CF
-:10238000A4110F90039401FC9058E6E9F1E00C943D
-:102390007A1257FD9058440F551F59F05F3F71F066
-:1023A0004795880F97FB991F61F09F3F79F08795BC
-:1023B0000895121613061406551FF2CF4695F1DF45
-:1023C00008C0161617061806991FF1CF86957105D5
-:1023D000610508940895E894BB2766277727CB0109
-:1023E00097F908950E943E1108F48FEF08950E9416
-:1023F0000A120C94A4110E946B1138F00E94721101
-:1024000020F0952311F00C9462110C9468111124A2
-:102410000C94EC110E94C91170F3959FC1F3950FB4
-:1024200050E0551F629FF001729FBB27F00DB11D58
-:10243000639FAA27F00DB11DAA1F649F6627B00DE8
-:10244000A11D661F829F2227B00DA11D621F739FD1
-:10245000B00DA11D621F839FA00D611D221F749FDF
-:102460003327A00D611D231F849F600D211D822F26
-:10247000762F6A2F11249F5750409AF0F1F088234D
-:102480004AF0EE0FFF1FBB1F661F771F881F91507A
-:102490005040A9F79E3F510580F00C9462110C94B6
-:1024A000EC115F3FE4F3983ED4F3869577956795FA
-:1024B000B795F795E7959F5FC1F7FE2B880F911DA4
-:1024C0009695879597F908959F930E947B110F9099
-:1024D00007FCEE5F0C94B5119F3F31F0915020F452
-:1024E000879577956795B795880F911D96958795F0
-:1024F00097F908959F938F937F936F93FF93EF9333
-:102500009B01AC010E94F711EF91FF910E948E1286
-:102510002F913F914F915F910C94F711DF93CF93DF
-:102520001F930F93FF92EF92DF927B018C016894CF
-:1025300006C0DA2EEF010E940A12FE01E894A5916E
-:102540002591359145915591A6F3EF010E94FA0F1F
-:10255000FE019701A801DA9469F7DF90EF90FF90F0
-:102560000F911F91CF91DF910895052E97FB1EF4D7
-:1025700000940E94CC1257FD07D00E94111307FC53
-:1025800003D04EF40C94CC12509540953095219583
-:102590003F4F4F4F5F4F089590958095709561958F
-:1025A0007F4F8F4F9F4F0895EE0FFF1F0590F491BF
-:1025B000E02D09942F923F924F925F926F927F92FB
-:1025C0008F929F92AF92BF92CF92DF92EF92FF9243
-:1025D0000F931F93CF93DF93CDB7DEB7CA1BDB0BEF
-:1025E0000FB6F894DEBF0FBECDBF09942A88398894
-:1025F00048885F846E847D848C849B84AA84B9849B
-:10260000C884DF80EE80FD800C811B81AA81B981A6
-:10261000CE0FD11D0FB6F894DEBF0FBECDBFED01BA
-:102620000895A1E21A2EAA1BBB1BFD010DC0AA1F13
-:10263000BB1FEE1FFF1FA217B307E407F50720F02B
-:10264000A21BB30BE40BF50B661F771F881F991FA6
-:102650001A9469F760957095809590959B01AC01EF
-:10266000BD01CF010895FC010590061621F0002060
-:10267000D9F7C00108953197CF0108950F931F93A3
-:10268000CF93DF93009731F46115710519F480E061
-:1026900090E03AC08B01EC016EE070E081E090E0E8
-:1026A0000E944F14FC01892B91F380E8838301156C
-:1026B000110571F01387028781E883838091660199
-:1026C00090916701892B21F4F0936701E0936601F3
-:1026D0002097C9F0D187C0878381826083838091EE
-:1026E000680190916901892B71F4F0936901E0937D
-:1026F000680180916A0190916B01892B21F4F0931C
-:102700006B01E0936A01CF01DF91CF911F910F918F
-:1027100008950F931F93CF93DF93FB01238121FD36
-:1027200003C08FEF9FEF28C022FF16C0468157815C
-:10273000248135814217530744F4A081B1819D0162
-:102740002F5F3F4F318320838C93268137812F5F0A
-:102750003F4F3783268310C0EB01092F182F0084C9
-:10276000F185E02D0995892BE1F68E819F810196F7
-:102770009F838E83812F902FDF91CF911F910F9197
-:1027800008950F931F93CF93DF93E0916801F09129
-:102790006901238121FF1BC08C01D0E0C0E0F8015A
-:1027A00081918F016091680170916901DB01189638
-:1027B000ED91FC911997882331F00995892B79F3D4
-:1027C000DFEFCFEFECCF8AE00995892B19F08FEF7F
-:1027D0009FEF02C08D2F9C2FDF91CF911F910F9102
-:1027E0000895FA01AA27283051F1203181F1E894A7
-:1027F0006F936E7F6E5F7F4F8F4F9F4FAF4FB1E0F4
-:102800003ED0B4E03CD0670F781F891F9A1FA11DEE
-:10281000680F791F8A1F911DA11D6A0F711D811DEF
-:10282000911DA11D20D009F468943F912AE0269FB4
-:1028300011243019305D3193DEF6CF010895462F13
-:102840004770405D4193B3E00FD0C9F7F6CF462FF4
-:102850004F70405D4A3318F0495D31FD405241935D
-:1028600002D0A9F7EACFB4E0A6959795879577951A
-:102870006795BA95C9F700976105710508959B01A1
-:10288000AC010A2E06945795479537952795BA952A
-:10289000C9F7620F731F841F951FA01D08950F9322
-:1028A0001F93CF93DF93869F8001879F100D969F84
-:1028B000100D1124C8010E946B14EC01009729F03F
-:1028C000A80160E070E00E949815CE01DF91CF91E1
-:1028D0001F910F910895CF93DF938230910510F4EB
-:1028E00082E090E0E0916E01F0916F0120E030E035
-:1028F000C0E0D0E0309711F140815181481759076D
-:10290000C0F04817590761F482819381209719F02C
-:102910009B838A832BC090936F0180936E0126C0A6
-:102920002115310519F04217530718F49A01BE0119
-:10293000DF01EF010280F381E02DDCCF21153105AD
-:1029400009F1281B390B2430310590F412968D9132
-:102950009C9113976115710521F0FB01938382838C
-:1029600004C090936F0180936E01FD01329644C0C4
-:10297000FD01E20FF31F81939193225031092D93B2
-:102980003C933AC020916C0130916D01232B41F4AE
-:1029900020916C0030916D0030936D0120936C019B
-:1029A00020916A0030916B002115310541F42DB75B
-:1029B0003EB740916E0050916F00241B350BE091A3
-:1029C0006C01F0916D01E217F307A0F42E1B3F0B91
-:1029D0002817390778F0AC014E5F5F4F2417350791
-:1029E00048F04E0F5F1F50936D0140936C0181932F
-:1029F000919302C0E0E0F0E0CF01DF91CF91089524
-:102A00000F931F93CF93DF93009709F48CC0FC01C1
-:102A100032971382128200916E0110916F0101159D
-:102A2000110581F420813181820F931F20916C0167
-:102A300030916D012817390779F5F0936D01E09316
-:102A40006C0171C0D80140E050E0AE17BF0750F4F0
-:102A500012962D913C911397AD012115310509F185
-:102A6000D901F3CF9D01DA01338322836081718123
-:102A7000860F971F8217930769F4EC01288139812B
-:102A8000260F371F2E5F3F4F318320838A819B8122
-:102A900093838283452B29F4F0936F01E0936E01B9
-:102AA00042C01396FC93EE931297ED014991599110
-:102AB0009E01240F351FE217F30771F48081918185
-:102AC000840F951F029611969C938E938281938119
-:102AD00013969C938E931297E0E0F0E0D801129643
-:102AE0008D919C911397009719F0F8018C01F6CF06
-:102AF0008D919C9198012E5F3F4F820F931F2091E3
-:102B00006C0130916D012817390769F4309729F469
-:102B100010926F0110926E0102C013821282109304
-:102B20006D0100936C01DF91CF911F910F9108957A
-:102B3000DC0101C06D9341505040E0F70895F894D6
-:022B4000FFCFC5
-:102B420000800080008000800101000070012000F0
-:0A2B52000D0A53746172740D000047
+:102140002AF09E3F510568F0B6C039C15F3FECF3FD
+:10215000983EDCF3869577956795B795F7959F5FE1
+:10216000C9F7880F911D9695879597F90895E1E035
+:10217000660F771F881FBB1F621773078407BA0794
+:1021800020F0621B730B840BBA0BEE1F88F7E095EF
+:10219000089504D06894B11112C10895F5D088F063
+:1021A0009F5790F0B92F9927B751A0F0D1F0660F43
+:1021B000771F881F991F1AF0BA95C9F712C0B1305E
+:1021C00081F0FCD0B1E00895F9C0672F782F8827FF
+:1021D000B85F39F0B93FCCF3869577956795B3959D
+:1021E000D9F73EF490958095709561957F4F8F4F0C
+:1021F0009F4F0895E89409C097FB3EF49095809511
+:10220000709561957F4F8F4F9F4F9923A9F0F92FBC
+:1022100096E9BB279395F695879577956795B7953A
+:10222000F111F8CFFAF4BB0F11F460FF1BC06F5F20
+:102230007F4F8F4F9F4F16C0882311F096E911C032
+:10224000772321F09EE8872F762F05C0662371F053
+:1022500096E8862F70E060E02AF09A95660F771F67
+:10226000881FDAF7880F9695879597F90895990F43
+:102270000008550FAA0BE0E8FEEF16161706E80750
+:10228000F907C0F012161306E407F50798F0621B71
+:10229000730B840B950B39F40A2661F0232B242B46
+:1022A000252B21F408950A2609F4A140A6958FEF65
+:1022B000811D811D089597F99F6780E870E060E0B7
+:1022C00008959FEF80EC089500240A9416161706CF
+:1022D00018060906089500240A9412161306140617
+:1022E00005060895EECF50D0E8F3E894E0E0BB2770
+:1022F0009F57F0F02AED3FE049EC06C0EE0FBB0F10
+:10230000661F771F881F28F0B23A62077307840799
+:1023100028F0B25A620B730B840BE3959A9572F70F
+:10232000803830F49A95BB0F661F771F881FD2F74D
+:102330009048BAC0092E0394000C11F4882352F07F
+:10234000BB0F40F4BF2B11F460FF04C06F5F7F4FE1
+:102350008F4F9F4F0895EF93E0FF06C0A2EA2AED4A
+:102360003FE049EC5FEB53DEE5DF0F90039401FCA7
+:102370009058E6E9F1E0A4C057FD9058440F551F6E
+:1023800059F05F3F71F04795880F97FB991F61F0F7
+:102390009F3F79F087950895121613061406551F6E
+:1023A000F2CF4695F1DF08C0161617061806991FDA
+:1023B000F1CF86957105610508940895E894BB27CF
+:1023C00066277727CB0197F9089551DF08F48FEF3F
+:1023D00008950BD0AFCF78DF28F07DDF18F095237C
+:1023E00009F069CF6ECF1124EACFC6DFA0F3959F25
+:1023F000D1F3950F50E0551F629FF001729FBB27EC
+:10240000F00DB11D639FAA27F00DB11DAA1F649F97
+:102410006627B00DA11D661F829F2227B00DA11D4A
+:10242000621F739FB00DA11D621F839FA00D611DD0
+:10243000221F749F3327A00D611D231F849F600DF1
+:10244000211D822F762F6A2F11249F5750408AF02A
+:10245000E1F088234AF0EE0FFF1FBB1F661F771FB6
+:10246000881F91505040A9F79E3F510570F023CF2F
+:10247000A6CF5F3FECF3983EDCF3869577956795A2
+:10248000B795F795E7959F5FC1F7FE2B880F911DD4
+:102490009695879597F908959F9325DF0F9007FCF0
+:1024A000EE5F59CF9F3F31F0915020F4879577959B
+:1024B0006795B795880F911D9695879597F908951B
+:1024C0009F938F937F936F93FF93EF939B01AC0147
+:1024D00080DFEF91FF9105D02F913F914F915F9158
+:1024E00078CFDF93CF931F930F93FF92EF92DF92FA
+:1024F0007B018C01689405C0DA2EEF0176DFFE01C6
+:10250000E894A5912591359145915591AEF3EF0150
+:102510007EDDFE019701A801DA9479F7DF90EF9054
+:10252000FF900F911F91CF91DF910895052E97FB9A
+:102530001EF400940E94AD1257FD07D00E94BB12FA
+:1025400007FC03D04EF40C94AD1250954095309595
+:1025500021953F4F4F4F5F4F08959095809570950F
+:1025600061957F4F8F4F9F4F0895EE0FFF1F05908E
+:10257000F491E02D0994A1E21A2EAA1BBB1BFD01C8
+:102580000DC0AA1FBB1FEE1FFF1FA217B307E40752
+:10259000F50720F0A21BB30BE40BF50B661F771FAA
+:1025A000881F991F1A9469F760957095809590958A
+:1025B0009B01AC01BD01CF010895FC0105900616F9
+:1025C00021F00020D9F7C00108953197CF01089577
+:1025D0000F931F93CF93DF93EC018B01009731F49E
+:1025E0006115710519F480E090E038C06EE070E08C
+:1025F00081E090E00E94F013FC010097A1F380E8D5
+:1026000083830115110571F01387028781E88383A5
+:102610008091660190916701892B21F4F093670105
+:10262000E09366012097C9F0D187C08783818260DB
+:1026300083838091680190916901892B71F4F093F3
+:102640006901E093680180916A0190916B01892B87
+:1026500021F4F0936B01E0936A01CF01DF91CF91F8
+:102660001F910F9108950F931F93CF93DF93182F0E
+:10267000092FEB018B8181FD03C08FEF9FEF20C0FD
+:1026800082FF10C04E815F812C813D81421753072C
+:102690007CF4E881F9819F012F5F3F4F39832883C4
+:1026A000108306C0E885F985812F0995892B29F7C4
+:1026B0002E813F812F5F3F4F3F832E83812F902FAD
+:1026C000DF91CF911F910F9108950F931F93CF9397
+:1026D000DF93E0916801F0916901238121FF1BC024
+:1026E000EC0100E010E0899160916801709169014E
+:1026F000DB011896ED91FC911997882331F009952B
+:10270000892B89F30FEF1FEFEECF8AE00995892B14
+:1027100011F4C80102C08FEF9FEFDF91CF911F919D
+:102720000F910895FA01AA27283051F1203181F143
+:10273000E8946F936E7F6E5F7F4F8F4F9F4FAF4FC9
+:10274000B1E03ED0B4E03CD0670F781F891F9A1FDC
+:10275000A11D680F791F8A1F911DA11D6A0F711D90
+:10276000811D911DA11D20D009F468943F912AE09C
+:10277000269F11243019305D3193DEF6CF01089584
+:10278000462F4770405D4193B3E00FD0C9F7F6CFB5
+:10279000462F4F70405D4A3318F0495D31FD40527D
+:1027A000419302D0A9F7EACFB4E0A6959795879513
+:1027B00077956795BA95C9F70097610571050895F2
+:1027C0009B01AC010A2E069457954795379527959E
+:1027D000BA95C9F7620F731F841F951FA01D089536
+:1027E0000F931F93CF93DF93869F8001879F100DD8
+:1027F000969F100D1124C8010E940C14EC01009743
+:1028000029F0A80160E070E00E943315CE01DF914D
+:10281000CF911F910F910895CF93DF93823091054F
+:1028200010F482E090E0E0916E01F0916F0120E001
+:1028300030E0A0E0B0E0309739F140815181481795
+:102840005907B8F04817590771F48281938110979E
+:1028500029F013969C938E9312972CC090936F013E
+:1028600080936E0127C02115310531F042175307BF
+:1028700018F0A901DB0101C0EF019A01BD01DF01E0
+:102880000280F381E02DD7CF21153105F9F0281B07
+:10289000390B2430310580F48A819B8161157105E3
+:1028A00021F0FB019383828304C090936F01809396
+:1028B0006E01FE01329644C0FE01E20FF31F8193C8
+:1028C000919322503109398328833AC020916C01B9
+:1028D00030916D01232B41F420916C0030916D00FB
+:1028E00030936D0120936C0120916A0030916B0050
+:1028F0002115310541F42DB73EB740916E0050913E
+:102900006F00241B350BE0916C01F0916D01E21713
+:10291000F307A0F42E1B3F0B2817390778F0AC0102
+:102920004E5F5F4F2417350748F04E0F5F1F5093DF
+:102930006D0140936C018193919302C0E0E0F0E05F
+:10294000CF01DF91CF910895CF93DF93009709F4E2
+:1029500087C0FC01329713821282C0916E01D09120
+:102960006F01209781F420813181280F391F8091D8
+:102970006C0190916D018217930779F5F0936D01C9
+:10298000E0936C016DC0DE0120E030E0AE17BF07C0
+:1029900050F412964D915C9113979D01411551058C
+:1029A00009F1DA01F3CFB383A28340815181840F0F
+:1029B000951F8A179B0771F48D919C911197840F35
+:1029C000951F02969183808312968D919C91139707
+:1029D000938382832115310529F4F0936F01E093ED
+:1029E0006E013EC0D9011396FC93EE9312974D9160
+:1029F0005D91A40FB51FEA17FB0779F480819181DF
+:102A0000840F951F0296D90111969C938E93828113
+:102A1000938113969C938E931297E0E0F0E08A8165
+:102A20009B81009719F0FE01EC01F9CFCE010296CF
+:102A300028813981820F931F20916C0130916D01A3
+:102A40002817390769F4309729F410926F01109212
+:102A50006E0102C013821282D0936D01C0936C018B
+:102A6000DF91CF910895DC0101C06D93415050403A
+:082A7000E0F70895F894FFCF90
+:102A780000800080008000800101000070012000BB
+:0A2A88000D0A53746172740D000012
 :00000001FF
diff --git a/config/razor.yaml b/config/razor.yaml
index 3186e94..c8a3611 100644
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [275.555, 42.7157, -390.911]
-magn_ellipsoid_transform: [[0.933345, -0.0570043, 0.0301076], [-0.0570043, 0.950937, 0.0283306], [0.0301076, 0.0283306, 0.965042]]
+magn_ellipsoid_center: [281.573, 61.3150, -400.087]
+magn_ellipsoid_transform: [[0.862755, 0.0531029, 0.0318686], [0.0531029, 0.944888, 0.0445345], [0.0318686, 0.0445345, 0.899048]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
diff --git a/msg/Sensor.msg b/msg/Sensor.msg
index c0204d6..6f58c7a 100644
--- a/msg/Sensor.msg
+++ b/msg/Sensor.msg
@@ -1,7 +1,7 @@
 Header header
-uint16 light
-float32 temp
-uint8 humidity
-float32 pressure
+uint16 light # lux
+float32 temp # degree celsius
+uint8 humidity # percent
+float32 pressure # kph
 uint16 co
 bool ventilate
diff --git a/scripts/pyshared b/scripts/pyshared
index f239712..c0beb26 160000
--- a/scripts/pyshared
+++ b/scripts/pyshared
@@ -1 +1 @@
-Subproject commit f23971240165455313729886360541bee726b42c
+Subproject commit c0beb2624233bf2737219cd8a222bece7a37dda7
diff --git a/scripts/sensor_board.py b/scripts/sensor_board.py
index bddfb58..8efeb16 100755
--- a/scripts/sensor_board.py
+++ b/scripts/sensor_board.py
@@ -11,7 +11,7 @@ from pyshared.humidity import *
 from wild_thumper.msg import Sensor
 
 # Board warming offset
-TEMP_ERROR = -2 # -5 # degree celsius
+TEMP_ERROR = -5 # degree celsius
 PRESSURE_ERROR = -4.5
 
 """
@@ -43,9 +43,13 @@ def get(addr=0x58):
 	pressure_kpa = P = (pressure_v/5 + 0.04) / 0.004 + PRESSURE_ERROR # datasheet
 
 	# fix temperature/humidity
-	temp_real = temp_mess + TEMP_ERROR 
-	humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
-	humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+	if TEMP_ERROR:
+		temp_real = temp_mess + TEMP_ERROR
+		humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
+		humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+	else:
+		temp_real = temp_mess
+		humidity_real = humidity_mess
 
 	return lux, temp_real, humidity_real, pressure_kpa, co