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V5.1.1

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Learn about vigilant mode 
Merge pull request #31 from USNavalResearchLaboratory/working/nrl/ljt…

…/win64-time-fix

timeval cast for win64

v5.02

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initial commit (5.02)

v5.02c

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update to 5.02c

v5.02b

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update to 5.02b