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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_166.svg
Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint,
3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep.

NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference
manual. Cortex-M4 96MHz MCU running the G2 firmware.

Reyax RYS352A GPS module: datasheet and PAIR command guide.
GPS receiver on the G2 board (used for auto-location/satellite lookup).

All extracted as markdown + page images + vector SVGs for LLM context.
Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00

1277 lines
95 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 383.3614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 29.190003 33.360006 41.700006 45.870008">3.10.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 383.3614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 33.33 42.495004 50.835004 56.670003 60.840005 70.005008 75.00001 79.170009 83.340007 92.505008 101.670009 110.83501 115.83001">Number of inputs</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="365.6114" x=".00401 8.55801 15.55801 19.45001 24.896012 28.396012 35.39601 41.61201 48.61201 52.504014 58.720014 64.93601 68.43601 72.32801 79.32801 85.544017 89.43601 96.43601 103.43601 109.652019 115.098018 118.598018 125.598018 132.59803 138.81403 142.31403 150.86803 158.65203 163.31403 166.81403 177.70603 184.70603 191.70603 198.70603 202.59803 208.81403 212.31403 218.53003 225.53003 232.53003 236.42203 242.63803 246.53003 253.53003 257.42204 264.42204 271.42204 274.92204 281.92204 288.92204 292.42204 296.31404 303.31404 310.31404 317.31404 321.20603 326.65205 330.15205 333.65205 338.31404 345.31404 348.81404 352.70603 359.70603 369.81404 374.476 381.476 388.476 398.584 404.80003 409.462 412.962 423.854 430.854 437.854 444.07 449.51603 453.01603 456.51603 463.51603 470.51603">This device includes one TSI module containing 16 inputs. In low-power modes, one</tspan><tspan y="381.6114" x=".0039999999 5.450001 11.666001 15.5580019 21.774003 27.990002 31.882002 38.098005 45.098005 48.990007 55.206007 58.706007 65.70601 69.59801 76.59801 80.09801 83.990009 89.436008 92.936008 99.15201 105.36801 109.26001 113.15201 120.15201 126.36801">selectable pin is active.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 476.16139)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00201 8.337991 12.507992 20.847992 29.187993 33.357995 41.697996 45.867998">3.10.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 476.16139)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00201 9.16299 19.167992 23.337992 27.507992 40.842996 50.007997 59.172998 68.338 72.507999 80.848 85.018 90.013 99.178 108.343 116.68301 121.67801 125.84801 135.013 144.178 152.51799 156.68799 160.85799 165.85298 174.19298 178.36298 182.53298 191.69797 195.86797 208.36296 219.19297 230.02297 234.19297 243.35796 252.52295 260.86296 266.69795 275.03794 280.03294 284.20295 293.36796 302.53297 306.70298 320.03797 329.20298 338.36799 346.70799">TSI module functionality in MCU operation modes</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 117 494.16139)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 92.328 100.332 103.668 107.004 117.672 125.004 132.336 139.668 143.004 149.676 153.012 157.008 164.34 171.672 178.344 182.34 185.676 193.008 200.34 207.012 210.34799 213.68399 217.68 224.35199 227.68799 231.02399 238.35599 241.69199 251.68799 260.352 269.016 272.352 279.684 287.016 293.688 298.356 305.02799 309.024 312.36 319.692 327.024 330.36 341.02799 348.36 355.692 362.36399">Table 3-78.TSI module functionality in MCU operation modes</tspan></text>
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<path transform="matrix(1,0,0,1,54,513.1614)" d="M.5 .5H100.3V37.5H.5Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 515.6614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="3.645 11.142 17.640002 24.138003 26.640004 32.139005 37.638006 42.642007 46.143007 51.147008 54.14401 56.646009 62.145009 67.644008 70.146 78.147 83.646 89.145008">MCU operation mode</tspan></text>
<g clip-path="url(#clip_66)">
<path transform="matrix(1,0,0,1,54,513.1614)" d="M101.3 .5H201.1V37.5H101.3Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 515.6614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="10.629 16.128 22.131 24.633002 27.135003 32.139005 34.641004 40.140005 45.144006 50.148008 52.650007 57.654008 63.153009 68.65201 72.15301 77.157009 82.161">TSI clock sources</tspan></text>
<g clip-path="url(#clip_67)">
<path transform="matrix(1,0,0,1,54,513.1614)" d="M202.1 .5H301.90003V37.5H202.1Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 515.6614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="6.894 12.393 18.396 20.898 23.400002 28.899003 34.398004 39.402006 42.903005 47.907007 50.904008 53.406007 58.905008 64.40401 66.906009 74.907009 80.406009 85.90501">TSI operation mode</tspan><tspan y="18.83789" x="3.897 10.899 16.398 21.402 26.901001 29.403002 36.405004 42.408006 48.906007 55.404008 61.407007 64.40401 69.90301 75.906009 78.408008 84.411 90.909008">when GENCS[TSIEN]</tspan><tspan y="29.83789" x="41.391 43.892999 48.897 51.399">is 1</tspan></text>
<g clip-path="url(#clip_68)">
<path transform="matrix(1,0,0,1,54,513.1614)" d="M302.90003 .5H402.7V37.5H302.90003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.90003 515.6614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="4.887 10.386 15.885 21.384 26.388 29.385 31.887001 37.386 42.885004 47.889005 50.391004 52.893 57.897005 60.399003 65.403 70.407 73.404 76.905 82.404 87.903">Functional electrode</tspan><tspan y="18.83789" x="39.645 45.144 47.646 53.145">pins</tspan></text>
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<path transform="matrix(1,0,0,1,54,513.1614)" d="M403.7 .5H503.5V37.5H403.7Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.7 515.6614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="29.394 35.892 40.896 46.395 51.894 54.396 57.897 62.901">Required</tspan><tspan y="18.83789" x="6.390009 13.39201 19.39501 25.893012 32.39101 38.394014 41.391016 47.394014 52.893014 58.89601 64.89901 67.89601 70.39801 75.40201 78.39901 83.40301 86.40001">GENCS[STPE] state</tspan></text>
<g clip-path="url(#clip_70)">
<path transform="matrix(1,0,0,1,54,551.1614)" d="M.25 .5H100.55V26.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 553.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001">Run</tspan></text>
<g clip-path="url(#clip_71)">
<path transform="matrix(1,0,0,1,54,551.1614)" d="M101.05 .5H201.35V26.5H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 553.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 25.002003 30.006005 36.009004 38.511 41.013 48.510004 55.008005 62.010004 64.512 71.01 77.508 82.512 88.515">BUSCLK, MCGIRCLK,</tspan><tspan y="18.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_72)">
<path transform="matrix(1,0,0,1,54,551.1614)" d="M201.85 .5H302.15003V26.5H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 553.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_73)">
<path transform="matrix(1,0,0,1,54,551.1614)" d="M302.65003 .5H402.95V26.5H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 553.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_74)">
<path transform="matrix(1,0,0,1,54,551.1614)" d="M403.45 .5H503.75V26.5H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.45 553.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 21.006003 23.508004 28.008004 33.012006 36.009008">Don&#x2019;t care</tspan></text>
<g clip-path="url(#clip_75)">
<path transform="matrix(1,0,0,1,54,577.9114)" d="M.25 .25H100.55V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 580.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 15.498001">Wait</tspan></text>
<g clip-path="url(#clip_76)">
<path transform="matrix(1,0,0,1,54,577.9114)" d="M101.05 .25H201.35V26.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 580.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 25.002003 30.006005 36.009004 38.511 41.013 48.510004 55.008005 62.010004 64.512 71.01 77.508 82.512 88.515">BUSCLK, MCGIRCLK,</tspan><tspan y="18.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_77)">
<path transform="matrix(1,0,0,1,54,577.9114)" d="M201.85 .25H302.15003V26.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 580.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_78)">
<path transform="matrix(1,0,0,1,54,577.9114)" d="M302.65003 .25H402.95V26.25H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 580.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_79)">
<path transform="matrix(1,0,0,1,54,577.9114)" d="M403.45 .25H503.75V26.25H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.45 580.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 21.006003 23.508004 28.008004 33.012006 36.009008">Don&#x2019;t care</tspan></text>
<g clip-path="url(#clip_80)">
<path transform="matrix(1,0,0,1,54,604.4114)" d="M.25 .25H100.55V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 606.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002">Stop</tspan></text>
<g clip-path="url(#clip_81)">
<path transform="matrix(1,0,0,1,54,604.4114)" d="M101.05 .25H201.35V26.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 606.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 13.995001 20.997002 23.499003 29.997004 36.495004 41.499006 47.502008">MCGIRCLK,</tspan><tspan y="18.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_82)">
<path transform="matrix(1,0,0,1,54,604.4114)" d="M201.85 .25H302.15003V26.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 606.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_83)">
<path transform="matrix(1,0,0,1,54,604.4114)" d="M302.65003 .25H402.95V26.25H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 606.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_84)">
<path transform="matrix(1,0,0,1,54,604.4114)" d="M403.45 .25H503.75V26.25H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.45 606.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">1</tspan></text>
<g clip-path="url(#clip_85)">
<path transform="matrix(1,0,0,1,54,630.9114)" d="M.25 .25H100.55V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 633.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 17.010003">VLPR</tspan></text>
<g clip-path="url(#clip_86)">
<path transform="matrix(1,0,0,1,54,630.9114)" d="M101.05 .25H201.35V26.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 633.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 25.002003 30.006005 36.009004 38.511 41.013 48.510004 55.008005 62.010004 64.512 71.01 77.508 82.512 88.515">BUSCLK, MCGIRCLK,</tspan><tspan y="18.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_87)">
<path transform="matrix(1,0,0,1,54,630.9114)" d="M201.85 .25H302.15003V26.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 633.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_88)">
<path transform="matrix(1,0,0,1,54,630.9114)" d="M302.65003 .25H402.95V26.25H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 633.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_89)">
<path transform="matrix(1,0,0,1,54,630.9114)" d="M403.45 .25H503.75V26.25H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.45 633.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 21.006003 23.508004 28.008004 33.012006 36.009008">Don&#x2019;t care</tspan></text>
<g clip-path="url(#clip_90)">
<path transform="matrix(1,0,0,1,54,657.4114)" d="M.25 .25H100.55V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 659.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 17.010003">VLPW</tspan></text>
<g clip-path="url(#clip_91)">
<path transform="matrix(1,0,0,1,54,657.4114)" d="M101.05 .25H201.35V26.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 659.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 25.002003 30.006005 36.009004 38.511 41.013 48.510004 55.008005 62.010004 64.512 71.01 77.508 82.512 88.515">BUSCLK, MCGIRCLK,</tspan><tspan y="18.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_92)">
<path transform="matrix(1,0,0,1,54,657.4114)" d="M201.85 .25H302.15003V26.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 659.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_93)">
<path transform="matrix(1,0,0,1,54,657.4114)" d="M302.65003 .25H402.95V26.25H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 659.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_94)">
<path transform="matrix(1,0,0,1,54,657.4114)" d="M403.45 .25H503.75V26.25H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 459.45 659.6614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 21.006003 23.508004 28.008004 33.012006 36.009008">Don&#x2019;t care</tspan></text>
<g clip-path="url(#clip_95)">
<path transform="matrix(1,0,0,1,54,683.9114)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 686.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 17.010003">VLPS</tspan></text>
<g clip-path="url(#clip_96)">
<path transform="matrix(1,0,0,1,54,683.9114)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 686.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.0020005 13.005001 19.503003 25.506003 32.004 38.502004 43.506006">OSCERCLK</tspan></text>
<g clip-path="url(#clip_97)">
<path transform="matrix(1,0,0,1,54,683.9114)" d="M201.85 .25H302.15003V15.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 686.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.003001 19.503003 24.507004 27.009005 34.506006 39.510007 44.514009">Active mode</tspan></text>
<g clip-path="url(#clip_98)">
<path transform="matrix(1,0,0,1,54,683.9114)" d="M302.65003 .25H402.95V15.25H302.65003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 358.65003 686.1614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001">All</tspan></text>
<g clip-path="url(#clip_99)">
<path transform="matrix(1,0,0,1,54,683.9114)" d="M403.45 .25H503.75V15.25H403.45Z" fill="#ffffff" fill-rule="evenodd"/>
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