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9Chapter 1
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13Chapter 2
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25Chapter 3
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28Chapter 4
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37Chapter 5
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49Appendix A Specifications
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53Appendix A
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58Appendix B
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59Appendix B
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60Appendix B
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61Appendix B
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62Appendix B
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63Appendix B
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64Appendix B
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65Appendix B
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66Appendix B
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68Appendix C Removing the NI