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First install ndiswrapper

yum install ndiswrapper kmod-ndiswrapper

If that also upgraded kernels you will have to reboot at this point to use the new kernel that matches the version of the ndiswrapper kenrel module installed.

Now download the driver files needed from the link below.

Untar it then install the driver with ndiswrapper.

tar zxvf Netgear-WNA3100.tar.gz
cd Netgear
ndiswrapper -i bcmwlhigh5.inf

Now load the kernel module.

modprobe ndiswrapper

At this point NetworkManager should see the wireless card. You should be able to click on your Wireless icon and select a network to connect to.

To make it permanent setup the module to be loaded on bootup.

echo ndiswrapper >> /etc/modules.conf