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The subject and body of the e-mail can be empty. Within minutes you will receive an automated e-mail response asking you to click on a radio button to subscribe. The group's managers will then receive a notification and will add you.
Important: if you don't receive the first automated response please contact Brendan.P.Crill@jpl.nasa.gov. While not common, this is a failure we have seen with some e-mail addresses.