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Acknowledgements.
We thank our colleagues for their help with observations, editing and suggestions, especially the following: P.G.Murdin, for ``flight testing'' and editing, G.T.Rixon, for supplying figures 1.5 and 1.9, C.J.Mayer, for checking and correcting the software information, R.Wood for help with the document preparation system, and K.J.Leech, for ``flight testing'' and suggestions.