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Whisk the buttermilk with the mustard, rosemary and garlic. Place the chicken in a large ziptop bag and pour in the buttermilk mixture. Place in the refrigerator to marinate for at least 4 hours or up to 24 hours.
Remove the chicken from the marinade and shake off excess; discard remaining marinade. Sprinkle the salt and pepper all over the chicken.
Select the "Poultry" program and press "OK". Lightly grease the cooking plates with cooking spray. Once the purple indicator light has stopped flashing, place the chicken on the grill and close the lid.
Cook until the indicator light has changed to the colour red.
Tips: Serve with a tossed green salad and roasted potatoes. If you don’t have buttermilk on hand, you can use low-fat, plain yogurt in the marinade instead.