Ryan Malloy
5252d1d73c
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.
125 lines
25 KiB (Stored with Git LFS)
XML
125 lines
25 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="37.1 48.006 58.114004 63.56 70.56 77.56 83.776 90.776 95.438 102.438 109.438 116.438 123.438 128.884 132.384 142.492 148.70801 155.70801 161.92401 168.92401 175.92401 179.42401 183.31601 190.31601 193.81601 202.37001 209.37001 219.47801 224.14002 231.92401 238.92401 249.03202 255.24802 259.91 263.41 274.302 281.302 288.302 294.518">•Asynchronous wakeup in Low-Power modes</tspan><tspan y="27.85" x="37.10003 48.00603 55.79003 59.682035 66.68204 70.18204 74.074039 81.074039 84.966037 91.18204 95.84404 100.50604 107.50604 114.50604 118.39804 121.89804 125.79004 131.23604 134.73604 139.39804 146.39804 153.39804 159.61405 163.50605 167.39804 174.39804 181.39804 187.61405 191.50605 195.00605 198.89804 205.89804 209.39804 215.61405 219.50605 223.39804 226.89804 233.89804 237.79004 244.79004 248.68204 252.57404 258.79005 262.68205 266.18205 273.96604 277.85804 284.85804 288.35804 300.80406 307.80406 314.80406 318.69606 325.69606 332.69606 336.19606 347.08805 354.08805 361.08805 367.30406">•Pin interrupt is functional in all digital Pin Muxing modes</tspan><tspan y="43.85" x="13.103998 23.995999 31.779999 38.78 43.441999 47.334 50.834 57.05 64.05 71.05 74.942 79.604007 86.604007">•Port control</tspan><tspan y="59.85" x="37.1 48.006 52.668 59.668 66.668 70.56 77.56 81.451999 88.451999 95.451999 101.668 105.56 109.06 116.06 123.06 126.951999 130.844 134.344 140.56 147.56 154.56 158.452 163.114 170.114 174.006 177.506 182.168 186.06 192.276 196.168 203.168 208.614 212.114 222.222 226.114 230.006 237.006 240.506 247.506 254.506 258.398 262.29 269.29 276.29 279.79 283.29 290.29 297.29 301.182 305.074 312.074 319.074 329.182 336.182 339.682 343.182 349.398 356.398 363.398 366.898 373.898 380.898 384.79 388.682 393.344 400.344 404.236 409.682 415.898 422.898 426.79 433.006 438.45204 445.45204 452.45204 459.45204 466.45204 471.114 475.006 478.506 485.506">•Individual pull control fields with pullup, pulldown, and pull-disablesupport on</tspan><tspan y="75.85" x="48.00599 53.45199 59.667989 63.55999 69.77599 75.992 79.883998 86.1 93.1 96.6 103.6 107.492 114.492">selected pins</tspan><tspan y="91.85" x="37.09999 48.005994 52.66799 59.66799 66.66799 70.55999 77.55999 81.45199 88.45199 95.45199 101.66799 105.55999 109.05999 116.05999 120.72199 124.61399 131.61399 137.82999 141.32999 146.77599 150.66799 155.32999 161.54599 168.54599 175.54599 179.43799 186.43799 189.93799 194.59999 198.49199 204.708 208.59999 215.59999 219.09999 224.54599 231.54599 238.54599 245.54599 252.54599 257.20799 261.09999 264.99198 271.99198 278.99198 282.49198 289.49198 293.38398 300.38398 307.38398 310.88398 317.09999 324.09999 331.09999 334.59999 338.49198 345.49198 355.59999 359.09999 366.09999 370.76197 374.65397 381.65397 387.86997 391.36997 396.81599 400.70799 405.36997 411.58598 418.58598 425.58598 429.47798 436.47798 439.97798 446.97798 453.97798 457.47798 462.92399 469.13999 473.03199 479.248 485.464 489.356 495.572">•Individual drive strength field supporting high and low drive strength on selected</tspan><tspan y="107.85" x="48.00596 55.00596 58.89796 65.897968">pins</tspan><tspan y="123.85" x="37.09995 48.00595 52.66795 59.66795 66.66795 70.55995 77.55995 81.45195 88.45195 95.45195 101.66795 105.55995 109.05995 114.50595 118.39795 124.61395 134.72196 138.22196 142.88396 149.09996 152.99196 159.20796 162.70796 167.36997 171.26197 177.47797 181.36997 188.36997 191.86997 197.31597 204.31597 211.31597 218.31597 225.31597 229.97797 233.86997 237.76197 244.76197 251.76197 255.26197 259.92396 266.13996 271.58598 275.47798 278.97798 285.19398 292.19398 299.19398 302.69398 308.13999 312.03199 319.03199 329.13999 332.63999 338.086 341.978 348.194 358.302 361.802 366.464 372.68 376.572 382.788 388.234 391.734 398.734 405.734 409.234 414.68003 420.89604 424.78804 431.00404 437.22004 441.11204 447.32804 454.32804 457.82804 464.82804 468.72004 475.72004">•Individual slew rate field supporting fast and slow slew rates on selected pins</tspan><tspan y="139.85" x="37.099969 48.00597 52.66797 59.66797 66.66797 70.55997 77.55997 81.451969 88.451969 95.451969 101.66797 105.55997 109.05997 112.951969 119.951969 126.951969 133.95197 137.84397 141.34397 148.34397 154.55997 160.00597 165.45197 169.34397 176.34397 182.55997 186.05997 190.72197 194.61397 198.50597 202.39797 208.61397 213.27597 216.77597 221.43798 225.32997 231.54598 235.43798 242.43798 245.93798 251.38397 258.38398 265.38398 272.38398 279.38398 284.04597 287.93797 291.82997 298.82997 305.82997 309.32997 315.54597 322.54597 328.76197 335.76197 339.65397 345.86997 349.36997 355.58598 362.58598 369.58598 373.08598 380.08598 383.97798 389.42399 395.63999 402.63999 406.53199 412.748 416.248 423.248 427.90998 431.40998 435.30198 442.30198">•Individual input passive filter field supporting enable and disable of the</tspan><tspan y="155.85" x="48.00599 51.89799 58.89799 65.897998 69.78999 76.78999 80.68199 87.68199 94.68199 100.897998 104.78999 108.28999 112.18199 119.18199 126.18199 133.18199 137.07399 140.57399 147.57399 153.79 159.236 164.68199 168.57399 175.57399 181.79 185.29 189.952 193.844 197.736 201.62799 207.844 212.506 216.006 223.006 230.006 233.506 238.952 245.168 249.06 255.276 261.492 265.384 271.6 278.6 282.1 289.1 292.992 299.992">individual input passive filter on selected pins</tspan><tspan y="171.85" x="37.1 48.006 52.668 59.668 66.668 70.56 77.56 81.451999 88.451999 95.451999 101.668 105.56 109.06 116.06 123.06 129.276 136.276 139.776 146.776 151.438 157.654 161.546 168.546 172.046 176.70801 180.6 186.81601 190.70801 197.70801 201.20801 206.654 213.654 220.654 227.654 234.654 239.31601 243.20801 247.1 254.1 261.1 264.6 270.816 277.816 284.032 291.032 294.924 301.14 304.64 310.85603 317.85603 324.85603 328.35603 335.35603 339.24803 344.69404 350.91004 357.91004 361.80204 368.01805 371.51805 378.51805 383.18003 386.68003 390.57203 397.57203 403.78804 407.28804 411.18003 418.18003 425.18003 429.07203 436.07203 439.96403 446.96403 453.96403 460.18003 464.07203 467.57203 474.57203 481.57203 487.78804">•Individual open drain field supporting enable and disable of the individual open</tspan><tspan y="187.85" x="48.00604 55.00604 59.668039 65.88404 69.77604 76.77604 80.27604 87.27604 94.27604 98.16804 105.16804 112.16804 116.060039 119.560039 126.560039 133.56003 137.06003 142.50603 148.72203 152.61403 158.83003 165.04604 168.93804 175.15404 182.15404 185.65404 192.65404 196.54604 203.54604">drain output on selected pins</tspan><tspan y="203.85" x="37.100019 48.00602 52.66802 59.66802 66.668018 70.56001 77.56001 81.45201 88.45201 95.45201 101.668018 105.56001 109.06001 119.95201 126.95201 133.95201 137.45201 143.66802 150.66802 157.66802 161.56002 166.22202 173.22202 177.11402 180.61402 185.27602 189.16802 195.38402 199.27602 206.27602 209.77602 215.22202 222.22202 229.22202 236.22202 243.22202 247.88402 251.77602 255.66802 262.66804 269.66804 273.16804 279.38404 286.38404 292.60005 296.49205 303.49205 310.49205 313.99205 320.99205 325.65403 329.15403 336.15403 340.04603 347.04603 350.54603 357.54603 361.43803 366.88404 373.10005 380.10005 383.99205 390.20805 397.20805 400.70805 404.20805 414.31605 422.10005 426.76203 436.87004 440.37004 443.87004 450.08604 457.08604 464.08604 467.58604 474.58604 481.58604 485.08604 488.97804">•Individual mux control field supporting analog or pin disabled, GPIO, and up to</tspan><tspan y="219.85" x="48.00601 53.452009 57.34401 64.34401 67.84401 74.06001 81.06001 84.95201 91.95201 96.61401 102.06001 109.06001 115.27602 121.49202 125.38402 130.04602 133.93802 140.15402 143.65402 150.65402 154.54602 161.54602 165.43802 169.33002 175.54602 179.43802 182.93802 187.60002 194.60002 201.60002 207.81603 211.70803 215.60002 222.60002 229.60002">six chip-specific digital functions</tspan><tspan y="235.85" x="37.100008 48.00601 55.79001 62.00601 69.00601 72.50601 78.722019 85.722019 92.722019 97.38402 101.27602 108.27602 115.27602 119.93802 126.15402 130.04602 133.93802 140.93802 147.93802 151.43802 156.10002 159.99202 166.20803 170.10002 177.10002 182.54602 186.04602 192.26203 196.92403 203.14003 206.64003 211.30204 218.30204 225.30204 231.51804 235.41004 239.30204 246.30204 253.30204 259.51805 263.41004 266.91004 270.80204 277.80204 281.30204 287.51805 291.41004 295.30204 298.80204 305.80204 309.69404 316.69404 320.58604 324.47804 330.69404 334.58604 338.08604 345.87004 349.76203 356.76203 360.26203 372.70805 379.70805 386.70805 390.60005 397.60005 404.60005 408.10005 418.99205 425.99205 432.99205 439.20805">•Pad configuration fields are functional in all digital Pin Muxing modes</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 333)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00197 8.894031 17.790032 22.238032 31.134034 35.582036">11.2.2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 333)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00197 13.326031 23.102032 32.878034 41.774034 50.670034 55.118036 64.894039 70.22204 74.67004 84.44604 94.22204 103.11804 109.34204 118.238048 123.56605 128.01406 137.79006">Modes of operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 383)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 8.336021 16.676022 20.846022 29.186024 33.356027 41.696027 45.866029">11.2.2.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 383)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 10.826021 19.99102 29.156022 33.326025 46.661027 55.826028 64.99103">Run mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="365.25" x="-.00098 4.6610205 11.66102 15.16102 24.499022 31.499022 38.499025 41.999025 52.891027 59.891027 66.89102 73.107028 76.607028 80.107028 83.99902 90.99902 97.21503 100.71503 108.49903 118.60703 127.94504 136.49904 139.99904 146.99904 153.99904 160.21504 164.87705 171.09305 174.98505 181.20105 186.64705 190.14705 197.14705 204.14705 208.80905 219.70105 225.91706 229.80905 233.70105 240.70105">In Run mode, the PORT operates normally.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 459.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".001 8.3410019 16.681004 20.851004 29.191006 33.361009 41.701009 45.87101">11.2.2.2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 459.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00099 14.160991 22.500992 26.670992 31.665993 35.835996 49.170999 58.336 67.501">Wait mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="442.05" x=".00299 4.66499 11.664989 15.164989 28.38099 34.59699 38.48899 42.380994 45.880994 56.772996 63.772996 70.772998 76.989 80.489 83.989 91.773 101.881008 111.21901 119.77301 123.27301 129.48902 136.48902 143.48902 147.38101 151.27301 158.27301 165.27301 171.48902 176.93502 180.43502 184.32701 191.32701 194.82701 201.82701 208.82701 215.04302 219.70502 225.92102 229.81302 236.02902 239.52902 246.52902 253.52902 258.191 269.083 275.299 279.191 283.083 290.083 293.583 299.799 306.799 313.799 317.299 328.191 334.407 341.407 344.907 351.907 358.12303 361.62303 367.83903 374.83903 381.83903 386.501 390.393 397.393 404.393 409.055 415.271 422.271 425.771 429.663 436.663 440.163 446.379 453.379 457.271 461.163 464.663 468.555 475.555">In Wait mode, PORT continues to operate normally and may be configured to exit the</tspan><tspan y="458.05" x=".0030099999 8.55701 15.55701 25.66501 30.327012 38.11101 45.11101 55.219015 61.435014 66.097019 69.597019 80.48901 87.48901 94.48901 100.70502 104.20502 108.097019 112.75902 116.25902 122.47502 129.47502 132.97502 139.19103 146.19103 152.40703 159.40703 163.29903 169.51503 176.51503 180.01503 183.90703 190.90703 194.79903 201.01503 205.67704 210.33904 217.33904 224.33904 228.23104 231.73104 235.62303 241.06903 244.56903 251.56903 257.78504 261.67704 267.89305 274.10905 278.00105 284.21705 291.21705 294.71705 298.21705 308.32505 320.77107 330.87907 334.37907 339.04106 345.25706 352.25706 359.25706 365.47306 370.91908 374.81108 380.25709 383.75709 389.97309 394.63508 400.85108 404.35108 409.7971 413.6891 417.5811 421.47309 425.36509 428.86509 435.86509 442.0811 449.0811 455.2971 459.95909 466.17509 470.06709 476.28309">Low-Power mode if an enabled interrupt is detected. DMA requests are still generated</tspan><tspan y="474.05" x=".0030099999 7.00301 14.00301 18.66501 22.55701 29.55701 36.55701 40.05701 43.949014 50.949014 57.165014 60.665014 73.88101 80.097019 83.98901 87.88101 91.38101 102.27301 109.27301 116.27301 122.48901 125.98901 129.48902 136.48902 143.48902 147.38101 150.88101 157.88101 164.88101 168.38101 175.38101 182.38101 186.27301 189.77301 195.98902 202.20502 209.20502 214.65102 220.86702 224.36702 230.58303 237.58303 241.08303 247.29903 254.29903 258.19105 262.08305 265.58305 270.24504 274.907 281.907 292.799 296.299 300.191 307.191 313.407 316.907 325.461 332.461 342.569 347.231 355.01499 362.01499 372.123 378.339 383.00099 386.50099 397.39299 404.39299 411.39299 417.60899">during the Wait mode, but do not cause an exit from the Low-Power mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 568.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.001 8.339001 16.679 20.849 29.189003 33.359006 41.699007 45.869009">11.2.2.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 568.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.001 10.004001 14.999001 24.164002 33.329004 37.499006 50.834009 59.99901 69.16401">Stop mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="550.85" x="0 4.662 11.662001 15.162001 22.946002 26.838002 33.838 40.838 44.338 55.230005 62.230005 69.23 75.44601 78.94601 82.44601 86.338008 93.338008 99.55401 103.05401 110.83801 120.946018 130.28401 138.83802 142.33802 148.55402 154.77002 161.77002 165.27002 172.27002 178.48603 181.98603 188.20203 195.20203 202.20203 206.86403 210.75603 217.75603 224.75603 229.41803 235.63404 242.63404 246.13404 250.02603 257.02604 260.52604 266.74205 273.74205 277.63404 281.52604 285.02604 288.91804 295.91804 302.13404 305.63404 314.18803 321.18803 331.29603 335.958 343.742 350.742 360.85 367.066 371.728 375.228 386.12 393.12 400.12 406.336 409.836 416.836 420.728 426.944 430.444 436.66">In Stop mode, the PORT can be configured to exit the Low-Power mode via an</tspan><tspan y="566.85" x=".00003 6.2160308 11.662031 18.662032 25.662032 31.878033 38.878034 43.54003 50.54003 57.54003 64.54003 71.54003 76.98603 80.48603 90.59403 96.810039 103.810039 110.02604 117.02604 124.02604 127.52604 132.97205 136.86405 143.86405 150.86405 157.08005 160.97205 164.47205 168.36405 173.02605 176.52605 182.74205 189.74205 193.24205 199.45806 206.45806 212.67406 219.67406 223.56606 229.78206 236.78206 240.28206 244.17406 251.17406 255.06606 261.28205 265.94404 270.60603 277.60603 284.60603 288.49803 291.99803 295.89 301.33604 304.83604 311.83604 318.05204 321.94404 328.16004 334.37605 338.26805 344.48405 351.48405">asynchronous wakeup signal if an enabled interrupt is detected.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 661.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00598 8.334022 16.674023 20.844023 29.184025 33.354028 41.694028 45.86403">11.2.2.4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 661.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00598 10.824021 19.164023 28.329022 37.494024 46.659025 50.829027 64.164028 73.329029 82.494029">Debug mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="643.65" x=".00202 4.66402 11.664021 15.164021 25.272023 31.488022 38.48802 45.48802 52.48802 55.98802 66.88002 73.88002 80.88002 87.09602 90.59602 94.09602 101.88003 111.98803 121.326038 129.88004 133.38004 140.38004 147.38004 153.59604 158.25804 164.47405 168.36605 174.58205 180.02805 183.52805 190.52805 197.52805 202.19005 213.08205 219.29805 223.19005 227.08205 234.08205">In Debug mode, PORT operates normally.</tspan></text>
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<g clip-path="url(#clip_1)">
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<path transform="matrix(1,0,0,1,54,24.56929)" d="M16-6.4 536.8 0V16H-6.4L16-6.4Z" fill="#666666"/>
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<path transform="matrix(1,0,0,1,54,24.56929)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#666666" d="M16-6.4 536.8 0V16H-6.4L16-6.4Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.0020005 12.0060009 17.010003 20.511002 25.515004 28.017004 33.021005">Overview</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01299 137.23299 142.79299 148.35298 151.13298 157.80298 163.91298 170.02298 173.35298 179.46298 185.02298 193.91298 196.69298 199.47298 205.03298 207.81298 215.03298 220.59297 223.92298 229.48297 233.37297 238.93297 245.04297 250.60297 256.16297 258.94297 267.27296 272.83296 278.94294 285.05293 290.6129 293.3929 296.1729 298.9529 306.1729 311.7329 317.2929 320.0729 322.8529 328.4129 331.1929 336.7529 342.86289 348.97288 351.75288 357.31288 362.87287 368.43287">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.002 5.002001 10.006001">270</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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