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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_676.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

125 lines
30 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 154.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00598 8.345981 16.685982 20.855982 29.195984 33.365987 41.705987 45.875989">29.4.3.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 154.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00597 14.165971 20.00097 24.17097 29.16597 37.50597 41.675973 50.015974 59.180974 68.34597 77.51097 83.34597 91.685977 100.850978 109.19098 117.53098 121.70098 126.695987 135.86098 140.03098 149.19597 153.36597 161.70597 170.04596 180.87596 191.70597 204.20096 208.37096 213.36595 222.53095 228.36595 232.53595 242.54096 252.54596 262.55097 273.38096 285.05097">Write endurance to FlexRAM for EEPROM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="136.65001" x=".00399 13.219991 20.21999 26.43599 33.43599 36.93599 40.82799 47.82799 54.04399 57.54399 65.327999 69.21999 75.436 82.436 92.544 102.652 115.098 118.598 125.598 131.814 136.476 140.368 144.26 148.152 152.04399 159.04399 166.04399 169.54399 175.76 182.76 189.76 195.976 199.476 203.368 208.814 212.314 219.314 226.314 230.206 233.706 239.152 245.368 249.26 252.76 256.652 263.652 267.152 271.814 278.814 282.706 286.598 290.098 297.098 303.314 307.206 313.422 316.922 321.58399 325.47599 331.692 337.138 344.138 347.638 351.138 355.03 362.03 368.246 371.746 380.3 388.85398 396.63798 405.97599 416.08399 428.53 432.03 439.03 445.246 449.138 455.354 458.854 464.30003 470.51603 474.40803 477.90803 483.35404 487.24604 493.46205">When the FlexNVM partition code is not set to full data flash, the EEPROM data set size</tspan><tspan y="152.65001" x=".00404 6.2200405 12.436041 19.43604 22.93604 29.93604 36.152044 39.652044 45.09804 51.31404 55.206045 58.706045 62.598047 69.598049 73.098049 79.31405 86.31405 93.31405 96.81405 103.81405 108.47605 111.97605 117.42205 123.638057 130.63806 136.85407 141.51607 147.73207 151.62407 155.12407 162.12407 169.12407 176.12407 180.78607 187.00208 193.21808 197.88008 204.88008 208.38008 215.38008 221.59609 225.48809 232.48809 238.70409 244.15009">can be set to any of several non-zero values.</tspan><tspan y="177.05" x=".00404 8.55804 15.55804 21.77404 25.27404 32.27404 39.27404 43.166044 49.382043 54.82804 58.32804 65.32804 72.32804 76.22004 79.72004 85.93604 91.38204 96.82804 100.72004 107.72004 114.72004 120.93604 127.93604 131.43604 135.32804 142.32804 145.82804 152.82804 159.04404 162.93604 169.15204 172.65204 177.31404 181.20604 187.42205 192.86804 199.86804 203.36804 210.36804 214.26004 220.47605 223.97605 227.86804 234.86804 241.08405 244.58405 252.36804 256.26005 262.47605 269.47605 279.58406 289.69206 302.13807 305.63807 312.63807 318.85408 323.51606 327.40806 331.30006 335.19206 339.08406 346.08406 353.08406 356.58406 362.80006 369.80006 376.80006 383.01606 386.51606 392.73207 397.39405 403.61006 407.11006 414.11006 419.55607 425.77207 432.77207 436.27207 443.27207 450.27207 453.77207 457.66407 464.66407 470.88008 474.38008 479.04206 482.93406 489.15007 494.59608">The bytes not assigned to data flash via the FlexNVM partition code are used by the flash</tspan><tspan y="193.05" x=".00409 10.896091 17.112092 28.004094 35.004095 39.666093 46.666093 50.166093 61.058095 68.05809 75.05809 82.05809 85.95009 92.16609 95.66609 99.55809 106.55809 110.05809 117.05809 124.05809 127.95009 134.16609 138.05809 145.05809 148.55809 154.7741 161.7741 165.2741 171.4901 176.1521 180.8141 187.0301 193.24611 197.1381 201.0301 208.0301 214.24611 217.74611 223.96212 230.96212 237.96212 244.96212 249.62412 255.84012 262.84013 269.05613 275.27214 278.77214 282.66413 289.66413 295.88014 300.5421 306.75813 312.97413 318.42015 324.63615 328.13615 332.79814 339.79814 344.4601 347.9601 351.8521 358.8521 365.0681 368.5681 377.1221 385.6761 393.46009 402.7981 412.9061 425.3521 428.8521 435.8521 442.0681 445.9601 452.17613 455.67613 459.17613 467.7301 474.7301">memory module to obtain an effective endurance increase for the EEPROM data. The</tspan><tspan y="209.05" x=".00409 7.00409 14.004089 17.89609 21.78809 25.68009 30.34209 34.234094 41.234094 44.734094 53.288095 61.842096 69.6261 78.964099 89.0721 101.5181 105.0181 109.6801 115.8961 122.11211 129.1121 133.77411 140.77411 144.27411 155.1661 161.38211 168.38211 174.59812 181.59812 187.81412 198.70612 204.92212 211.92212 215.81412 219.31412 224.76012 231.76012 237.20612 241.09812 247.31412 258.20613 261.70613 266.3681 272.5841 276.4761 281.92213 288.13813 293.58415 297.08415 300.97615 307.97615 314.19215 317.69215 324.69215 331.69215 342.58415 349.58415 355.80015 360.46214 363.96214 370.96214 375.6241 379.1241 386.1241 390.7861 397.7861 404.7861 409.4481 415.6641 426.5561 430.4481 436.6641 441.32609 447.54209 452.9881 459.2041 462.7041 468.9201 475.9201 482.1361 486.0281 492.2441">built-in EEPROM record management system raises the number of program/erase cycles</tspan><tspan y="225.05" x=".00409 3.8960906 10.8960909 17.112092 21.004092 24.504092 30.720093 36.936094 43.936094 47.436094 54.436094 60.652093 64.15209 70.368099 74.26009 78.15209 84.368099 88.26009 95.26009 101.4761 108.4761 111.9761 118.9761 123.6381 127.5301 134.53009 139.1921 142.6921 146.58409 153.58409 157.08409 164.08409 170.3001 177.3001 181.1921 187.4081 193.6241 197.1241 207.2321 213.4481 219.66411 224.32611 228.98812 235.98812 242.98812 246.88011 250.38011 257.38014 264.38014 267.88014 274.09614 281.09614 287.31214 291.20414 295.09614 302.09614 309.09614 312.59614 316.48814 323.48814 329.70414 333.20414 341.75813 350.3121 358.0961 367.4341 377.5421 389.98814 393.48814 400.48814 406.70414 410.59614 416.81214 420.31214 424.20414 431.20414 435.86613 442.86613 449.86613 456.86613 463.86613 467.36613">that can be attained prior to device wear-out by cycling the EEPROM data through a</tspan><tspan y="241.05" x=".00409 3.8960906 10.112091 14.774092 21.774092 27.990094 32.652093 36.152093 44.706094 53.260095 61.044095 70.382099 80.4901 92.9361 96.4361 106.5441 116.6521 129.0981 132.5981 138.0441 141.9361 148.9361 153.5981 159.8141 166.8141 173.0301 176.5301 181.9761 188.9761 195.19211 201.40811 207.62412">larger EEPROM NVM storage space.</tspan><tspan y="265.44999" x=".00409 13.220091 20.22009 24.112092 28.004092 34.220094 37.720094 44.720094 48.612096 53.274095 57.936094 64.15209 68.814098 75.0301 82.0301 85.9221 89.4221 96.4221 102.6381 107.3001 111.1921 115.0841 118.9761 122.868099 129.8681 136.8681 142.3141 145.8141 152.8141 157.4761 160.9761 164.8681 171.8681 178.0841 181.5841 189.3681 193.2601 199.4761 206.4761 216.5841 226.69211 239.1381 242.6381 248.85411 253.51612 259.73213 263.23213 269.44813 276.44813 282.66413 286.55613 290.44813 296.66413 303.66413 307.55613 313.77214 317.27214 320.77214 324.66413 331.66413 337.88014 341.38014 345.27214 352.27214 356.16413 362.38014 369.38014 373.27214 377.16413 384.16413 391.16413 394.66413 398.55613 404.00215 407.50215 411.39414 418.39414 424.61015 428.50215 432.00215 438.21815 441.71815 447.16416 451.05616 458.05616 465.05616 468.94816">While different partitions of the FlexNVM are available, the intention is that a single</tspan><tspan y="281.44999" x=".00409 6.2200906 13.220091 20.22009 24.112092 30.32809 36.54409 40.04409 44.70609 51.70609 56.368089 59.868089 63.76009 70.760089 76.97609 80.47609 88.26009 92.15209 98.368099 105.368099 115.4761 125.5841 138.0301 141.5301 148.5301 154.74611 159.40811 163.30011 167.19211 171.0841 174.9761 181.9761 188.9761 192.4761 198.69211 205.69211 212.69211 218.90811 222.40811 228.62412 235.62412 242.62412 246.12412 254.67812 263.23213 271.0161 280.35414 290.46214 302.90815 306.40815 313.40815 319.62416 323.51615 329.73216 333.23216 338.67817 344.89418 348.78617 352.28617 357.73219 361.62419 367.84019 374.05619 377.55619 381.44819 386.8942 390.3942 397.3942 402.8402 409.0562 416.0562 419.5562 423.4482 430.4482 435.1102 442.1102 449.1102 456.1102 463.1102 470.1102 477.1102 481.0022 484.5022 488.3942 495.3942">choice for the FlexNVM partition code and EEPROM data set size is used throughout the</tspan><tspan y="297.44999" x=".00409 6.2200906 13.220091 17.112092 21.004092 25.666092 31.882092 35.38209 39.274095 43.166097 47.828096 54.044095 57.936098 61.8281 72.7201 78.936107 82.436107 89.436107 94.09811 97.59811 103.81411 107.31411 114.31411 118.20611 125.20611 131.4221 138.4221 141.9221 148.1381 155.1381 162.1381 166.0301 169.9221 176.1381 182.35411 186.24611 190.1381 197.1381 204.1381 207.6381 211.1381 219.69211 226.69211 232.90811 236.40811 244.96212 253.51612 261.3001 270.63813 280.74613 293.19215 296.69215 302.90815 309.90815 316.90815 323.90815 328.57014 334.78614 341.78614 348.00215 354.21815 357.71815 363.93415 370.93415 377.93415 384.15016 388.04216 391.93415 398.93415 405.93415 409.43415 415.65016 422.65016 429.65016 433.15016 440.15016 444.81214 451.02815 458.02815">entire lifetime of a given application. The EEPROM endurance equation and graph</tspan><tspan y="313.44999" x=".00409 5.4500906 12.45009 19.45009 29.55809 36.55809 40.05809 47.05809 53.27409 57.166093 64.16609 74.27409 77.77409 83.9901 89.4361 94.882099 101.882099 112.77409 118.9901 122.4901 126.382099 133.3821 139.5981 143.4901 146.9901 153.9901 160.9901 164.8821 171.8821 175.3821 182.3821 189.3821 195.5981 199.0981 205.3141 212.3141 219.3141 223.9761 227.8681 234.8681 241.8681 246.5301 252.74611 256.63813 260.53013 267.53013 274.53013 278.03013 281.92213 287.36814 290.86814 297.08415 304.08415 310.30015 314.96214 318.46214 325.46214 330.90815 337.12416 344.12416">shown below assume that only one configuration is ever used.</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="379.94227" x=".0058 10.113801 17.1138 23.3298 27.9918">where</tspan><tspan y="404.34226" x="13.0958 24.0018 37.2178 41.8798 45.7718 49.663805 55.879804 61.3258 68.325809 73.771808 80.771808 87.771808 93.217807 100.217807 105.6638 109.5558 115.771808 126.6638 130.1638 144.1638 147.6638 158.5558 162.4478 169.4478 173.3398 184.2318 191.2318 202.1238 205.6238 212.6238 219.6238 230.5158 237.5158 243.7318 248.3938 251.8938 258.8938 263.5558 267.0558 277.1638 281.82579 285.71778 289.60978 295.82579 301.2718 304.7718 308.6638 315.6638 319.1638 325.3798 331.5958 337.8118 344.8118 348.3118 356.0958 359.9878 366.2038 373.2038 382.5418 392.6498 405.09584 408.59584 412.48783 419.48783 425.70384 431.91984 435.81184 439.70384 446.70384 453.70384 457.20384 461.8658 468.8658">&#x2022;Writes_subsystem &#x2014; minimum number of writes to each FlexRAM location for</tspan><tspan y="420.34226" x="24.00181 29.447812 36.44781 43.44781 48.89381 55.89381 61.33981 65.23181 71.447818 82.33981 85.83981 90.501819 96.71782 102.93382 109.149829 116.149829 119.649829 125.095829 132.09583 139.09583 144.54183 151.54183 156.98783 160.87982 167.09583 177.98783 181.48783 187.70383 193.91983 200.91983 204.41983 211.41983 217.63584 224.63584 230.85184 234.35184 241.35184 245.24384 249.90584 254.56784 260.78385 265.44584 271.66184 278.66184 282.55384 286.05384 292.26985 299.26985 306.26985 313.26985 317.93183 324.14784 331.14784 337.36384 343.57984">subsystem (each subsystem can have different endurance)</tspan><tspan y="436.34226" x="13.0958 24.0018 32.5558 41.109804 48.893804 58.231805 68.339809 80.785808 84.285808 98.285808 101.785808 108.00181 111.89381 115.785808 122.785808 129.0018 135.2178 139.1098 145.3258 152.3258 155.8258 163.6098 167.5018 173.7178 180.7178 190.8258 200.9338 213.3798 216.8798 221.54181 228.54181 233.20381 236.70381 242.91982 249.13582 255.35182 262.3518 265.8518 274.4058 282.95979 290.74378 300.0818 310.1898 322.6358 326.1358 331.58183 338.58183 345.58183 351.02784 358.02784 363.47386 367.36585 373.58186 384.47386 387.97386 394.97386 401.18986 406.63587 412.85188 419.85188 423.35188 430.35188 437.35188 440.85188 450.95988 459.51387 467.29786 477.40586 486.74388 495.29786">&#x2022;EEPROM &#x2014; allocated FlexNVM for each EEPROM subsystem based on DEPART;</tspan><tspan y="452.34226" x="24.00181 30.217812 37.21781 41.109815 47.325815 51.987813 58.20381 65.20381 68.70381 78.81181 82.70381 86.59581 93.59581 97.09581 100.98781 107.98781 114.20381 117.70381 125.487819 130.14981 137.14981 144.14981 148.81182 155.02782 165.91982 169.41982 177.20381 183.41982 188.08182 191.97382 195.86582 199.75782 203.64981 210.64981 217.64981 221.14981 227.36582 234.36582 245.25782 256.1498 262.3658 269.3658">entered with the Program Partition command</tspan><tspan y="468.34226" x="13.09582 24.001822 32.55582 41.10982 49.663824 57.447824 65.23183 73.78583 78.44783 87.00183 90.50183 104.50183 108.00183 115.785839 119.67783 125.89384 132.89383 142.23183 152.33983 164.78583 168.28583 173.73183 180.73183 184.62383 188.51583 192.40782 195.90782 200.56983 206.78583 213.00183 216.89383 223.89383 228.55583 232.05583 236.71784 243.71784 248.37984 251.87984 257.32585 264.32585 271.32585 276.77186 283.77186 289.21788 293.10987 299.32588 310.21788 314.10987 317.60987 323.82588 330.82588 334.71788 340.93388 345.59587 351.81187 358.81187 362.31187 372.41987 376.31187 380.20387 387.20387 390.70387 394.59587 401.59587 407.81187 411.31187 419.09587 423.75785 430.75785 437.75785 442.41984 448.63584">&#x2022;EEESPLIT &#x2014; FlexRAM split factor for subsystem; entered with the Program</tspan><tspan y="484.34226" x="24.00184 31.785841 38.001844 42.66384 46.555845 50.447847 54.339849 58.23185 65.23185 72.23185 75.73185 81.94785 88.94785 99.83985 110.73185 116.94785 123.94785">Partition command</tspan><tspan y="500.34226" x="13.09584 24.001843 32.555845 41.109846 49.663846 57.447847 62.109846 70.66384 79.21784 82.71784 96.71784 100.21784 106.433849 110.32584 114.21784 121.21784 127.433849 133.64984 137.54184 143.75785 150.75785 154.25785 162.04184 165.93384 172.14984 179.14984 188.48784 198.59584 211.04184 214.54184 221.54184 227.75785 233.20384 239.41985 246.41985 249.91985 256.91987 263.91987 267.41987 277.52787 286.08186 293.86585 303.97386 313.31187 321.86585 325.75785 329.25785 335.47386 342.47386 346.36585 352.58186 357.24385 363.45985 370.45985 373.95985 384.06785 387.95985 391.85185 398.85185 402.35185 406.24385 413.24385 419.45985 422.95985 430.74385 435.40583 442.40583 449.40583 454.0678 460.2838">&#x2022;EEESIZE &#x2014; allocated FlexRAM based on DEPART; entered with the Program</tspan><tspan y="516.3422" x="24.00187 31.78587 38.00187 42.663869 46.55587 50.447874 54.339876 58.231878 65.23187 72.23187 75.73187 81.947879 88.947879 99.839878 110.73187 116.947879 123.947879">Partition command</tspan><tspan y="532.3422" x="13.09588 24.00188 37.21788 41.87988 45.77188 49.663885 55.879884 62.879884 69.09589 73.75789 78.41989 82.31189 88.52789 92.41989 98.635898 105.635898 111.8519 118.8519 122.3519">&#x2022;Write_efficiency &#x2014;</tspan><tspan y="548.3422" x="37.10589 47.99789 54.99789 58.49789 65.497898 72.497898 75.997898 80.6599 87.6599 92.3219 95.8219 102.8219 107.4839 114.4839 118.3759 122.2679 125.7679 135.8759 140.5379 144.4299 148.3219 154.5379 159.9839 163.4839 167.3759 174.3759 177.8759 185.6599 189.5519 195.7679 202.7679 212.1059 222.2139">&#x2022;0.25 for 8-bit writes to FlexRAM</tspan><tspan y="564.3422" x="37.10589 47.99789 54.99789 58.49789 65.497898 72.497898 75.997898 80.6599 87.6599 92.3219 95.8219 102.8219 109.8219 114.4839 121.4839 125.3759 129.2679 132.7679 139.7679 144.4299 147.9299 154.9299 161.9299 166.5919 173.5919 177.4839 181.3759 184.8759 194.9839 199.6459 203.5379 207.4299 213.6459 219.0919 222.5919 226.4839 233.4839 236.9839 244.7679 248.6599 254.8759 261.87593 271.21394 281.32194">&#x2022;0.50 for 16-bit or 32-bit writes to FlexRAM</tspan><tspan y="580.3422" x="13.095909 24.001912">&#x2022;n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="583.1422" x="31.00191 36.251909 41.501909 49.670907 54.332906 59.582906 64.2449">nvmcycd</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="580.3422" x="69.49491 72.99491 86.99491 90.49491 97.49491 103.710918 107.60291 113.81892 117.31892 121.98092 125.87292 132.08892 137.53491 144.53491 148.03491 154.25092 161.25092 167.46692 171.35892 175.25092 182.25092 189.25092 192.75092 198.96692 205.96692 212.96692 219.96692 224.62892 230.84493 237.84493 244.06093 250.27693 253.77693 258.43894 262.33094 269.33094 275.54695 279.04695 283.70893 290.70893 294.60093 298.49293 305.49293 315.60093 319.49293 326.49293 333.49293 336.99293 343.99293 348.6549 354.8709 361.8709 368.8709 372.3709 378.5869 384.03294 389.47895 396.47895 407.37095 413.58695 419.03297 422.53297 429.53297 436.53297 440.03297 447.03297 454.03297"> &#x2014; data flash cycling endurance (the following graph assumes 10,000</tspan><tspan y="596.3422" x="23.99493 30.21093 37.21093 43.42693 47.31893 53.53493 58.98093">cycles)</tspan></text>
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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 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</tspan></text>
<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="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00102 5.0029809 10.006981">676</tspan></text>
<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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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