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[xubuntu] Xubuntu 9.1 wont WPA authenticate 5100 AGN wireless

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http://ubuntuforums.org – I am pretty new to Linux and from everything i've read Ubuntu was pretty user friendly so someone who isnt too experienced with Linux. I installed Xubuntu 9.10 and I have a Intel(R) 5100 AGN wireless card. The problem i'm having is that I can't get my wireless card to authenticate (WPA/WPA2 personal) to my router. I can connect to unsecure networks fine but can't connect to any WPA connections.. any and all help will be greatly appreciated... (HowTos)