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In page 4 Vesta:
"In the early 1990s, NASA initiated the Discovery Program, which was intended to be a series of low-cost scientific missions. In 1996, the program's study team recommended a mission to explore the asteroid belt using a spacecraft with an ion engine as a high priority. Funding for this program remained problematic for several years, but by 2004 the Dawn vehicle had passed its critical design review[2] and construction proceeded.[citation needed]
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