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Doc update

François-René Rideau requested to merge doc-update into master

I'm slowly proofreading the code of ASDF and adding more comments and docstrings. That will take a few weeks to complete. Here is what I have so far. You may merge at any point. This branch ought to not modify any code as such, only comments, docstrings, manual sections, and other non-code-generating parts of the repository.

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