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A TARDIS Instruction Manual was, as the name suggested, a book that instructed in the piloting of a TARDIS. The Doctor's TARDIS had an instruction manual, but the Doctor rarely looked at it. When he did, he would disagree heavily with it, at one point even ripping out one of it's pages. (DW: The Pirate Planet)
Eventually, he took to using it as a doorstop. (DW: Vengeance on Varos)
During his seventh incarnation, one of the segments of the Key to Time took on the form of the TARDIS Instruction Manual that at the time belonged to the First Doctor. (DWM: Time & Time Again)
At some point, he disagreed with the manual so greatly that he threw it into a supernova. (DW: Amy's Choice)