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Written Unlock instructions for iOS 5.1 and lower using SAM can be found here:

Jailbreaks:
5.1 iPhone 4,3Gs,iPod Touch 4,3 & iPad:
5.0.1 iPhone 4S, iPad 2 Untethered:
5.0.1 Untethered iPhone 4,3Gs,iPod Touch 4,3 & iPad:…