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**
**     Copyright (c) 2019-2020, California Institute of Technology.
**    All rights reserved.  Based on Government Sponsored Research under
**    contracts NNN12AA01C, 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 this software
**         without specific prior written permission.
**
**    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
**    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
**    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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**    INSTITUTE OF TECHNOLOGY BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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**    TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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**
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