The Altus Metrum System

An Owner's Manual for TeleMetrum and TeleDongle Devices

Bdale Garbee

Keith Packard

Bob Finch

Anthony Towns

+The Altus Metrum System

The Altus Metrum System

An Owner's Manual for TeleMetrum and TeleDongle Devices

Bdale Garbee

Keith Packard

Bob Finch

Anthony Towns

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History
Revision 0.8	24 November 2010
Updated for software version 0.8

Acknowledgements

Revision History
Revision 0.8	24 November 2010
Updated for software version 0.8

Acknowledgements

Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing "The Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter @@ -31,7 +31,7 @@ Keith NAR #88757, TRA #12200

Chapter 1. Introduction and Overview

Welcome to the Altus Metrum community! Our circuits and software reflect our passion for both hobby rocketry and Free Software. We hope their capabilities and performance will delight you in every way, but by @@ -54,7 +54,7 @@ NAR More products will be added to the Altus Metrum family over time, and we currently envision that this will be a single, comprehensive manual for the entire product family. -

Chapter 2. Getting Started

Table of Contents

FAQ

Chapter 2. Getting Started

Table of Contents

FAQ

The first thing to do after you check the inventory of parts in your "starter kit" is to charge the battery by plugging it into the corresponding socket of the TeleMetrum and then using the USB A to @@ -203,7 +203,7 @@ NAR the Log and Device menus. It has a wonderful display of the incoming flight data and I am sure you will enjoy what it has to say to you once you enable the voice output! -

FAQ

The altimeter (TeleMetrum) seems to shut off when disconnected from the computer. Make sure the battery is adequately charged. Remember the unit will pull more power than the USB port can deliver before the @@ -248,7 +248,7 @@ NAR data after physically retrieving your TeleMetrum. Make sure to save the on-board data after each flight, as the current firmware will over-write any previous flight data during a new flight. -

Chapter 3. Specifications

Recording altimeter for model rocketry.
Supports dual deployment (can fire 2 ejection charges). @@ -272,7 +272,7 @@ NAR battery if needed.
2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube. -

Chapter 4. Handling Precautions

TeleMetrum is a sophisticated electronic device. When handled gently and properly installed in an airframe, it will deliver impressive results. However, like all electronic devices, there are some precautions you @@ -304,7 +304,7 @@ NAR

As with all other rocketry electronics, TeleMetrum must be protected from exposure to corrosive motor exhaust and ejection charge gasses. -

Chapter 5. Hardware Overview

TeleMetrum is a 1 inch by 2.75 inch circuit board. It was designed to fit inside coupler for 29mm airframe tubing, but using it in a tube that small in diameter may require some creativity in mounting and wiring @@ -356,7 +356,7 @@ NAR TeleMetrum with an SMA connector for the UHF antenna connection, and you can unplug the integrated GPS antenna and select an appropriate off-board GPS antenna with cable terminating in a U.FL connector. -

Chapter 6. System Operation

Table of Contents

Configurable Parameters

Radio Channel
Apogee Delay
Main Deployment Altitude

Calibration

Radio Frequency
Accelerometer

Updating Device Firmware

Updating TeleMetrum Firmware
Updating TeleDongle Firmware

Firmware Modes

Chapter 6. System Operation

Table of Contents

Configurable Parameters

Radio Channel
Apogee Delay
Main Deployment Altitude

Calibration

Radio Frequency
Accelerometer

Updating Device Firmware

Updating TeleMetrum Firmware
Updating TeleDongle Firmware

Firmware Modes

The AltOS firmware build for TeleMetrum has two fundamental modes, "idle" and "flight". Which of these modes the firmware operates in is determined by the orientation of the rocket (well, actually the @@ -404,7 +404,7 @@ NAR rickety step-ladder or hanging off the side of a launch tower with a screw-driver trying to turn on your avionics before installing igniters! -

GPS

TeleMetrum includes a complete GPS receiver. See a later section for a brief explanation of how GPS works that will help you understand the information in the telemetry stream. The bottom line is that @@ -423,7 +423,7 @@ NAR is turned back on, the GPS system should lock very quickly, typically long before igniter installation and return to the flight line are complete. -

Ground Testing

An important aspect of preparing a rocket using electronic deployment for flight is ground testing the recovery system. Thanks to the bi-directional RF link central to the Altus Metrum system, @@ -446,7 +446,7 @@ NAR the board from firing a charge. The command to fire the apogee drogue charge is 'i DoIt drogue' and the command to fire the main charge is 'i DoIt main'. -

Radio Link

The chip our boards are based on incorporates an RF transceiver, but it's not a full duplex system... each end can only be transmitting or receiving at any given moment. So we had to decide how to manage the @@ -477,13 +477,13 @@ NAR the ground. We hope to fly boards to higher altitudes soon, and would of course appreciate customer feedback on performance in higher altitude flights! -

Configurable Parameters

Configuring a TeleMetrum board for flight is very simple. Because we have both acceleration and pressure sensors, there is no need to set a "mach delay", for example. The few configurable parameters can all be set using a simple terminal program over the USB port or RF link via TeleDongle. -

Radio Channel

Our firmware supports 10 channels. The default channel 0 corresponds to a center frequency of 434.550 Mhz, and channels are spaced every 100 khz. Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz. @@ -497,7 +497,7 @@ NAR As with all 'c' sub-commands, follow this with a 'c w' to write the change to the parameter block in the on-board DataFlash chip on your TeleMetrum board if you want the change to stay in place across reboots. -

Apogee Delay

Apogee delay is the number of seconds after TeleMetrum detects flight apogee that the drogue charge should be fired. In most cases, this should be left at the default of 0. However, if you are flying @@ -517,7 +517,7 @@ NAR seconds later to avoid any chance of both charges firing simultaneously. We've flown several airframes this way quite happily, including Keith's successful L3 cert. -

Main Deployment Altitude

By default, TeleMetrum will fire the main deployment charge at an elevation of 250 meters (about 820 feet) above ground. We think this is a good elevation for most airframes, but feel free to change this @@ -530,10 +530,10 @@ NAR To set the main deployment altitude, use the 'c m' command. As with all 'c' sub-commands, follow this with a 'c w' to write the change to the parameter block in the on-board DataFlash chip. -

Calibration

There are only two calibrations required for a TeleMetrum board, and only one for TeleDongle. -

Radio Frequency

The radio frequency is synthesized from a clock based on the 48 Mhz crystal on the board. The actual frequency of this oscillator must be measured to generate a calibration constant. While our GFSK modulation @@ -557,7 +557,7 @@ NAR within a few tens of Hertz of the intended frequency. As with all 'c' sub-commands, follow this with a 'c w' to write the change to the parameter block in the on-board DataFlash chip. -

Accelerometer

The accelerometer we use has its own 5 volt power supply and the output must be passed through a resistive voltage divider to match the input of our 3.3 volt ADC. This means that unlike the barometric @@ -596,7 +596,7 @@ NAR and use a small screwdriver or similar to short the two pins closest to the index post on the 4-pin end of the programming cable, and power up the board. It should come up in 'idle mode' (two beeps). -

Updating Device Firmware

The big conceptual thing to realize is that you have to use a TeleDongle as a programmer to update a TeleMetrum, and vice versa. Due to limited memory resources in the cc1111, we don't support @@ -611,7 +611,7 @@ NAR version from http://www.altusmetrum.org/AltOS/.

We recommend updating TeleMetrum first, before updating TeleDongle. -

Updating TeleMetrum Firmware

+
Updating TeleMetrum Firmware
1. Find the 'programming cable' that you got as part of the starter kit, that has a red 8-pin MicroMaTch connector on one end and a red 4-pin MicroMaTch connector on the other end. @@ -654,7 +654,7 @@ NAR the version, etc.
2. If something goes wrong, give it another try. -
Updating TeleDongle Firmware
+

Updating TeleDongle Firmware

Updating TeleDongle's firmware is just like updating TeleMetrum firmware, but you switch which board is the programmer and which is the programming target. @@ -715,7 +715,7 @@ NAR slightly to extract the connector. We used a locking connector on TeleMetrum to help ensure that the cabling to companion boards used in a rocket don't ever come loose accidentally in flight. -

Chapter 7. AltosUI

The AltosUI program provides a graphical user interface for interacting with the Altus Metrum product family, including TeleMetrum and TeleDongle. AltosUI can monitor telemetry data, @@ -724,8 +724,8 @@ NAR buttons, one for each major activity in the system. This manual is split into chapters, each of which documents one of the tasks provided from the top-level toolbar. -

Packet Command Mode

Controlling TeleMetrum Over The Radio Link

- One of the unique features of the Altos Metrum environment is +

Packet Command Mode

Controlling TeleMetrum Over The Radio Link

+ One of the unique features of the Altus Metrum environment is the ability to create a two way command link between TeleDongle and TeleMetrum using the digital radio transceivers built into each device. This allows you to interact with TeleMetrum from @@ -783,7 +783,7 @@ NAR TeleMetrum transmit a packet while the green LED will light up on TeleDongle while it is waiting to receive a packet from TeleMetrum. -

Monitor Flight

Receive, Record and Display Telemetry Data

Monitor Flight

Receive, Record and Display Telemetry Data

Selecting this item brings up a dialog box listing all of the connected TeleDongle devices. When you choose one of these, AltosUI will create a window to display telemetry data as @@ -824,7 +824,7 @@ NAR data relevant to the current state of the flight. You can select other tabs at any time. The final 'table' tab contains all of the telemetry data in one place. -

Launch Pad

The 'Launch Pad' tab shows information used to decide when the rocket is ready for flight. The first elements include red/green indicators, if any of these is red, you'll want to evaluate @@ -861,7 +861,7 @@ NAR and altitude, averaging many reported positions to improve the accuracy of the fix.

Ascent

This tab is shown during Boost, Fast and Coast phases. The information displayed here helps monitor the rocket as it heads towards apogee. @@ -880,7 +880,7 @@ NAR Finally, the current igniter voltages are reported as in the Launch Pad tab. This can help diagnose deployment failures caused by wiring which comes loose under high acceleration. -

Descent

Once the rocket has reached apogee and (we hope) activated the apogee charge, attention switches to tracking the rocket on the way back to the ground, and for dual-deploy flights, @@ -901,7 +901,7 @@ NAR Finally, the igniter voltages are reported in this tab as well, both to monitor the main charge as well as to see what the status of the apogee charge is. -

Landed

Once the rocket is on the ground, attention switches to recovery. While the radio signal is generally lost once the rocket is on the ground, the last reported GPS position is @@ -916,7 +916,7 @@ NAR

Finally, the maximum height, speed and acceleration reported during the flight are displayed for your admiring observers. -

Site Map

When the rocket gets a GPS fix, the Site Map tab will map the rocket's position to make it easier for you to locate the rocket, both while it is in the air, and when it has landed. The @@ -932,7 +932,7 @@ NAR and are cached for reuse. If map images cannot be downloaded, the rocket's path will be traced on a dark grey background instead. -

Save Flight Data

TeleMetrum records flight data to its internal flash memory. This data is recorded at a much higher rate than the telemetry system can handle, and is not subject to radio drop-outs. As @@ -951,7 +951,7 @@ NAR The filename for the data is computed automatically from the recorded flight date, TeleMetrum serial number and flight number information. -

Replay Flight

Select this button and you are prompted to select a flight record file, either a .telem file recording telemetry data or a .eeprom file containing flight data saved from the TeleMetrum @@ -960,7 +960,7 @@ NAR Once a flight record is selected, the flight monitor interface is displayed and the flight is re-enacted in real time. Check the Monitor Flight chapter above to learn how this window operates. -

Graph Data

Select this button and you are prompted to select a flight record file, either a .telem file recording telemetry data or a .eeprom file containing flight data saved from the TeleMetrum @@ -982,7 +982,7 @@ NAR and will also often have significant amounts of data received while the rocket was waiting on the pad. Use saved flight data for graphing where possible. -

Export Data

This tool takes the raw data files and makes them available for external analysis. When you select this button, you are prompted to select a flight data file (either .eeprom or .telem will do, remember that @@ -990,7 +990,7 @@ NAR data). Next, a second dialog appears which is used to select where to write the resulting file. It has a selector to choose between CSV and KML file formats. -

Comma Separated Value Format

This is a text file containing the data in a form suitable for import into a spreadsheet or other external data analysis tool. The first few lines of the file contain the version and @@ -1004,12 +1004,12 @@ NAR the sensor values are converted to standard units, with the barometric data reported in both pressure, altitude and height above pad units. -

Keyhole Markup Language (for Google Earth)

This is the format used by Googleearth to provide an overlay within that application. With this, you can use Googleearth to see the whole flight path in 3D. -

Configure TeleMetrum

Select this button and then select either a TeleMetrum or TeleDongle Device from the list provided. Selecting a TeleDongle device will use Packet Comamnd Mode to configure remote @@ -1038,14 +1038,14 @@ NAR lost.

The rest of the dialog contains the parameters to be configured. -

Main Deploy Altitude

This sets the altitude (above the recorded pad altitude) at which the 'main' igniter will fire. The drop-down menu shows some common values, but you can edit the text directly and choose whatever you like. If the apogee charge fires below this altitude, then the main charge will fire two seconds after the apogee charge fires. -

Apogee Delay

When flying redundant electronics, it's often important to ensure that multiple apogee charges don't fire at precisely the same time as that can overpressurize the apogee deployment @@ -1053,24 +1053,24 @@ NAR Delay parameter tells the flight computer to fire the apogee charge a certain number of seconds after apogee has been detected. -

Radio Channel

This configures which of the 10 radio channels to use for both telemetry and packet command mode. Note that if you set this value via packet command mode, you will have to reconfigure the TeleDongle channel before you will be able to use packet command mode again. -

Radio Calibration

The radios in every Altus Metrum device are calibrated at the factory to ensure that they transmit and receive on the specified frequency for each channel. You can adjust that calibration by changing this value. To change the TeleDongle's calibration, you must reprogram the unit completely. -

Callsign

This sets the callsign included in each telemetry packet. Set this as needed to conform to your local radio regulations. -

Configure AltosUI

This button presents a dialog so that you can configure the AltosUI global settings. -

Voice Settings

AltosUI provides voice annoucements during flight so that you can keep your eyes on the sky and still get information about the current flight status. However, sometimes you don't want @@ -1079,7 +1079,7 @@ NAR Test Voice—Plays a short message allowing you to verify that the audio systme is working and the volume settings are reasonable -

Log Directory

AltosUI logs all telemetry data and saves all TeleMetrum flash data to this directory. This directory is also used as the staring point when selecting data files for display or export. @@ -1087,14 +1087,14 @@ NAR Click on the directory name to bring up a directory choosing dialog, select a new directory and click 'Select Directory' to change where AltosUI reads and writes data files. -

Callsign

This value is used in command packet mode and is transmitted in each packet sent from TeleDongle and received from TeleMetrum. It is not used in telemetry mode as that transmits packets only from TeleMetrum to TeleDongle. Configure this with the AltosUI operators callsign as needed to comply with your local radio regulations. -

Flash Image

Chapter 8. Using Altus Metrum Products

Table of Contents

Being Legal
In the Rocket
On the Ground
Data Analysis
Future Plans

Being Legal

First off, in the US, you need an amateur radio license or other authorization to legally operate the radio transmitters that are part of our products. -

In the Rocket

In the rocket itself, you just need a TeleMetrum board and a LiPo rechargeable battery. An 860mAh battery weighs less than a 9V alkaline battery, and will run a TeleMetrum for hours. @@ -1158,7 +1158,7 @@ NAR which is opaque to RF signals, you may choose to have an SMA connector installed so that you can run a coaxial cable to an antenna mounted elsewhere in the rocket. -

On the Ground

To receive the data stream from the rocket, you need an antenna and short feedline connected to one of our TeleDongle units. The TeleDongle in turn plugs directly into the USB port on a notebook @@ -1209,7 +1209,7 @@ NAR The 440-3 and 440-5 are both good choices for finding a TeleMetrum-equipped rocket when used with a suitable 70cm HT. -

Data Analysis

Our software makes it easy to log the data from each flight, both the telemetry received over the RF link during the flight itself, and the more complete data log recorded in the DataFlash memory on the TeleMetrum @@ -1224,7 +1224,7 @@ NAR Our ultimate goal is to emit a set of files for each flight that can be published as a web page per flight, or just viewed on your local disk with a web browser. -

Future Plans

In the future, we intend to offer "companion boards" for the rocket that will plug in to TeleMetrum to collect additional data, provide more pyro channels, and so forth. A reference design for a companion board will be documented diff --git a/AltOS/doc/altusmetrum.pdf b/AltOS/doc/altusmetrum.pdf index 01b41d3ad54be472271b2f7cd3e500ba7f5af773..2eb1ff1214963f41e299c81668a444739ebb4559 100644 GIT binary patch delta 2181 zcmV;02zvL+fCtNf2ar|=IWaUeFf}-_T}TWHIaDz;Iy5jkH8``c3{L?HIaDz;Iy5jk zH8`^f4!@g!19P=PQ0h<+9Us}mN9h9yXY-4^$vx{qRH%12BAZFbyqksJzu*ZMg84Pt z(vCyNRgCo8uLhA*<21}f3ZTn{(h)-Yw5U+yNcJVDBZZ!4<17j=%1~s>j%?9Et)R(z z%Qj^qo>{*@z=ph{ZG3Nwt(iPTQm-k0##K_CA|;W&=NBEmPyB3xa(mES z!baM*z>N?P?c_kFTm7uLGo3q_;YKGNNiCa10`E6l%j!1@+GG+VkIf^(5l&|zTNrXrnP16e-gwR$knzyC1`E$EcYhQ!&=0Ld%r~w{PNLq5Hfv3&u2r(g zT4kT;wv3_Uu+wP~#8=N|9jB)1qmI#315x&W=`2cxiB?;QQTr^suGdvx9AorkSjQVw z#|Kfzz2RM?VO7V{FZY!+4@K|H+ZL3e6|(KwN`lI@(#?6AK(X7V;C6LGXGC_Uc~vw% zFDOhIb$(fZj)=JF5e8b)l}0|MpkeKFARnPX(J3@*ZkxTzD|4j052NT#iLQ8&tR32a z-ilI9ovn6}s*#Y|sY-#SWUbVEq76I9L#_6Eg@bbrnA#z7Q_d|~a)Fd^ry0_hP6UPN z*bo==8bPxLE?wT$SXCm8i9{%T#e{EKm?WtzZE_zN0cUUvg3~kr$#gVU2Do#C17k3n zA#S`LU?0&L6%4%Z*|GC1yhY(2{%~-AG1EXmup^Ijy!J4*27;(CrAL2@FsRQob&X5| z;-QdtO{mbVfYrI89knXhXikx$^PXiy-69laYd?FeZG|C4D@Ywr5oFt`XIP7a6r#bQ zYD2z$!1A70^Wd^{l$ypdQYxx5a(0%wdXpGxLnZKOY{0PDfFuq;37Ne*F=9k>EPB*gDzt+*B~r&kAAnI5`qF+PgKnYdBq2y9K^CkW?E5jr&qBv2z`Dc>k``2>!wJ#!kH|EfB zZ{CrG2o~jM+HiX|hGt!_wlwa4y9$^%(1wgueqO8!Mtd4J8a|)AJ1e8G5N4|Lmv^>% z?JX`nZ^Zdrw^p_jR$H7+Mg}jD6F*YVP{83qiY^aSv)v&&{NH*^qmWt-^07pi*!FhECn*7zoo zVa!1Nm{X9e`Z`0Zzt`(m*2w3{1`xm<{n#O0fB+=U!e$c|?L?mbHy;3PGwE(8P*cI1wEC92PS%F}ZF6c2u78S@8&b5fm z@SV-1CZUNS6%C)JbS@CBK0E_?Go;{V6QsExX?ix?JBfB~%uT$|MBDmrO|nEpeU(K~ z{bCy3zxJM)44TAYDHRrr_V6g`Ih|&iKkukMO2RjU>L(XfsSn(LJc2Qiq(pB#y8}ow za9|$EgUxDa#^ht^TO4u%QJwXue;Q3)NDHn*s(vP&5IGy#oyNoV2vP^-AL5V^g|o zlsrX7!PgZ|=$oj2JeUvxLCLlV@rGhqhN2Ox>%{%o5zEdUt-K;OQLH355u?MyO3fz4 zuH@(UkhAI_;bek1;ZK=n?GVtr&dMVJYRTjMLCn=hRU>`uu1ktg{w_d%D+Jf_5C+#R z7DR3faQqb)44{vd0Do2*bt>_(vVM)F96j9aQ3JnBJhDH3C*nO7k?Y~IT~@D3bF`jE zG19vAU1UCcUh%ndo@8Me$94HkflMnCd3@A)41lVUnjIY8h5;A_2Ec8208pn909~`T zr`O);w+^bCRrn%#aMzhlC;-s39ssi~0svpoSpW2l<XZB&abdI8Q0@C{rWP~@*_8ynk6HsRcrBWsYd~8IuH-~X3-@9w zlcGRu*XW}jki%75Rw1>GTz6ag)5>}+4v(g0*5mzphI00_*2EgpsSpe#D41g|V zX*#3sSDD)5F@U)%s&Dp-6)3MVWEfj~v(OWx3f;b!gy>CE2UpS-!Ik{w=Xa2_@uKKM zPv#B+;7jmIFKnQDxzHEx71cI+N%r;Q^kA;pSByYHd!ehUxmy>LPkb7IWjppMl&%&MmIJ% zFgG_jIWRavGDbo~MK?4>J|H|aMn*U}GC4U$GciI&H#RshH#a#sFgQXoMnXhIH#9|; HF2DgD!@L3m delta 2181 zcmV;02zvL+fCtNf2ar|=I5ILcF*P%>T}TWHI8-t+Iy5mlH8ZoX3{L?HI8-t+Iy5ml zH8Zma4!@g!vnDizpwyutIzFKs8H{4L^hL4{C|0IYtkgIKZO3>QgS?*1qhqY{J5|9cYW>N?MwQ1dvM@GJp$JZ}E zc^H%Xp5D4R_bjz^6F(ojZ(QyKsu9Fx5(-`T3mZ<_*&(j_m~UK@oJ749ZPuDlU8`h~ zwaPxxZ5czyVW-m~h_9Z_I!;a1M;)W72BPeL(^-@X6RoxqqxM;NU9YRYIL7G7u#PvV zjt`=ad&9d(!>W#@U+ybu9*W+Xw=F0`D`eZVl?0V*rJM6Kfnv8!!R_jX&WP+x^Qvfk zUQn1a>in_*9T9QUBMh{pD~)_iLBrbVKt4i&qEl$r+%|iaSLR50A4bug5?%2kSv$0U zy%nXJI$P}`RU;v_QqRHhg$9T3J2#LFttPErkq=}^hz&@fgDj0a*vt#F3c#Fb4{Ndn#Vy1zBU`HP5cKd5_ z#6uzPnoyxz0jqOGJ8D(1(VQYh=RM1axLL&>Ff=1cr(R)$GlL~){a^Uoy7_pjydYhOh8Zp@+M z-n=6V5iH8jwBhz_49&V;ZE4(pcNH*kpbZ(R{JdBdjP^8cG<-gJcUDGWAv0+f3MfCtdY-?4IqF!`msa000Bsxh0P``+KD{0BUMeRu})W=O%!CP;HX()4V&cM|Q~n45T^iMI9Mnq-NH`YMZ} z`o%Q5f9*Xp88nH*QYtJK?cq_>b2`m3f8J4jl!R{x)lV*}QXjZ~c?4r3Nr~Qgb_bAV z;J`eR2bWIoA+?;vNXzKPpvuEcN6b9a;odi5 zmjoazxtNWM=?goE*>em8VM7aW(0sop7pkQYHw6rUplAXVdj}ZkIcaHo>y^aA$EI}G zD0zyEg0Cx_&^J+kc`zXYf|6|!;tj>J3`HYW*NOYFBbJ>zT6slmqF70AB1VUYm6}b8 zUCGbyA!pS=!pQ`2!k;qD+99BKos~xd)RM>hgP5z2sz&Qv%mW&IjUIeNI;qXvGNcw~QnPQ-gEBG&v zPp`exZyi)OtMEng;I1>9PynE5Jpg7~1OUFEvHs~9%cTWUy6xDshHG_ArX6l2jYKOY zJ4it4mSrV>xIWvi)F=5l;=*RFq1yM^Of6^*vMULCAGHQt@LDuM*MPPbT*--&7VgDV zCPjhRuF*$5Acw2AtU_uVx$d^~ruReo zzZnaamHom5Tpz$l0DxP?0Z=#808){r3ndsZegPMMBd%O1aRS`r4S?CNvjEiR7ywA_sHuNZ-Z_Ci-xb%9g`4v{JB|0Hpo%qRI2 zZa+nTn@^L?ww64f>@x=(_8U&|DOQpUu+d?#zDAh+HCzfVO48L%>xX&^5c`NqQ39hq zMe2R^H!ej|g_Y=a>P>U#_Sjs%z3{`9BFn;DRP1v5VasPFwf+__@9HM^E8RObpL+c} zi&b9G;H?*Z@E4;00R;bMrwV0mWOHmy>LN+r+Hbg}=MnpqJI6_52 zL`E|6zGB!b% HF2DgD5V8kK -- 2.30.2