CXS
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Conlang Extended X-SAMPA
The collective modification of X-SAMPA which is preferred on the Conlang mailing list. It includes some alternative codings for greater clarity, notably & for [æ], &\ for [ɶ], i\ for [ɨ], and u\ for [ʉ].
A thorough description and automatic CXS<->Unicode IPA converter can be found at http://www.theiling.de/ipa/