Copyright (c) 1998-2016, Mike Jarvis
All rights reserved.

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. 

This software is based in part upon work supported by the 
National Aeronautics and Space Administration (NASA) under Grant No 
NAG5-10924, a Keck Foundation grant, and the University of Pennsylvania. 
Any opinions, findings and conclusions or recommendations expressed in this 
material are those of the author(s) and do not necessarily reflect the views 
of NASA, the Keck Foundation, or the University of Pennsylvania.
This software is made available to you on an ``as is'' basis with no 
representations or warranties, express or implied, including but not 
limited to any warranty of performance, merchantability, fitness for a 
particular purpose, commercial utility, non-infringement or title.  
Neither the author nor the organizations providing the support under 
which the work was developed will be liable to you or any third party 
with respect to any claim arising from your further development of the 
software or any products related to or derived from the software, or for 
lost profits, business interruption, or indirect special or consequential 
damages of any kind. 


