The following are a list of typos which appear in the print version. I will correct them in the online version.
  1. (Thanks to John Ousterhout, Sep 3rd '08): On page 202, equation (7.8) gets rearranged to produce an unnumbered equation:

    F(i) >= F(i+1)(i/(i+1)) + b

    The inequalities after the sentence, "Re-arranging equation 7.8", till the end of page 202, have the signs reversed. They should be "<="