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In page Instrument flight rules:

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Departures are described in an IFR clearance issued by ATC prior to takeoff. The departure clearance may contain an assigned heading, one or more waypoints, and an initial altitude to fly. The clearance can also specify a departure procedure (DP) or standard instrument departure (SID) that should be followed unless "NO DP" is specified in the notes section of the filed flight plan.[citation needed]