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This paper proposes a method for extracting the fingering configurations automatically from a recorded guitar performance. 330 different fingering configurations are considered, corresponding to different versions of the major, minor, major 7th, and minor 7th chords played on the guitar fretboard. The method is formulated as a hidden Markov model, where the hidden states correspond to the different fingering configurations and the observed acoustic features are obtained from a multiple fundamental frequency estimator that measures the salience of a range of candidate note pitches within individual time frames. Transitions between consecutive fingerings are constrained by a musical model trained on a database of chord sequences, and a heuristic cost function that measures the physical difficulty of moving from one configuration of finger positions to another. The method was evaluated on recordings from the acoustic, electric, and the Spanish guitar and clearly outperformed a non-guitar-specific reference chord transcription method despite the fact that the number of chords considered here is significantly larger.