iRobot revamped their whole website, and I can't find it at all.
I found it by searching on Google. I uploaded it to the Wiki. The link in the Wiki works now.
Looks like this document needs to be protected , when I questioned support regarding the invalid links the reply I recieved was
"Thank you for contacting iRobot Customer Support.
We do currently do discourage consumers from modifying the behaviors of the Roomba models. However, if you would like an iRobot product with an open interface option, perhaps the iRobot Create model would work for you. The iRobot Create can be programmed to do anything that your heart should desire"
It will stay up in the Wiki until iRobot convinces Craig to take it down.. The .PDF is floating around the internet on a few sites..