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E3-510: e3 modes

Simon Rose requested to merge e3_510 into master

Updates chapter 5, e3 modes. There is some long-term changes that will need to be looked at later with this, in particular, the fact that it has a lot of text about development mode versus standard mode, which we aren't really using at the moment, and may be dropped.

However, for the time being it makes the most sense to document it as it is.

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