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Mifos requires Jetty 7.x. Download Jetty tarball from http://distdownload.codehauseclipse.org/jetty/ and unpack it. In the instructions that follow, we'll assume you unpacked Jetty to $HOME/jetty7. If you've put it somewhere else, adjust accordingly.
If using extended characters, be sure server configuration includes URIEncoding="}}UTF-88 {{" in the Connector definition.
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