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The main objective of the Mutual Impedance Probe (MIP), part of the Rosetta Plasma Consortium (RPC), is to measure the electron density and temperature of Comet 67P/ChuryumovGerasimenko's coma, in particular inside the contact surface. Furthermore, MIP will determine the bulk velocity of the ionised outflowing atmosphere, define the spectral distribution of natural plasma waves, and monitor dust and gas activities around the nucleus. The MIP instrumentation consists of an electronics board for signal processing in the 7 kHz to 3.5 MHz range and a sensor unit of two receiving and two transmitting electrodes mounted on a 1-m long bar. In addition, the Langmuir probe of the RPC/LAP instrument that is at about 4 m from the MIP sensor can be used as a transmitter (in place of the MIP ones) and MIP as a receiver in order to have access to the density and temperature of plasmas at higher Debye lengths than those for which the MIP is originally designed.