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Actually the 03's and on have a closed loop oxygen system. No commander is needed with the slip on. Your bike will be paying close attention to things at all times.
The dealer has a better map than stock they can load up when you put on the can, but it's not needed. Some people like a K&N thrown in as well.
The closed loop thing is pretty cool. It's fun to smugly listen to our Japanese riding peers complain about the problems that arise from a PC!
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