“…Of course one seeks 424 K. Petersen codes that are efficient, have limited error propagation, and can be easily implemented-or, more realistically, ones with a compromise among these competing attributes. See [2], [17], [11], [12], [16], [21], [26], [19] for some of the previous work on this sort of problem. A further restriction arises from attempts to control the power spectrum of the encoded signal.…”