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Copyright (c) 2002-2011, California Institute of Technology.
All rights reserved. Based on Government Sponsored Research under contracts
NAS7-1407 and/or NAS7-03001.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the California Institute of Technology (Caltech),
its operating division the Jet Propulsion Laboratory (JPL), the National
Aeronautics and Space Administration (NASA), nor the names of its
contributors may be used to endorse or promote products derived from
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