The authors are deeply indebted to Austin Roach and Sanjit Biswas for lending equipment and much time to help us throughout this project. Phil Karn's free-software Reed Solomon library was very helpful, and we appreciate the assistance of Professor Hari Balakrishnan, Daniel Aguayo, John Barnett, Waseem Daher, Allie Brownell, Marissa Cheng, John Hawkinson, and the MIT Radio Society.