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please help with tutorial on hyperbola, multilateration and errors (pdf attached)

I got this tutorial from the website below;
http://www.ee.nmt.edu/~rison/ee389_spr08/ 
I am having difficulty with the questions on the last page.
I have downloaded all the files from the website. I am new to Matlab. Can import the toa_data.dat file.

also which are the linear equations and which are the non linear equations?
toa.pdf
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jtiernan2008
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jtiernan2008
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jtiernan2008Author Commented:
this is in the wrong zone
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