birdcage/docs/K60-refman-vectors/K60-reference-manual_page_691.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

1042 lines
86 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 293.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.648">6</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 293.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="154.341 160.839 165.843 170.847 175.851 178.84799 183.85199 186.35399 193.85099 198.85498 201.85198 206.85597 208.85398 213.85797 216.35997 222.85797 227.86197 232.86597 234.86397 239.36397">Read-1 Margin Choice</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 324.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 324.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 22.005003 27.009003 32.013006 34.515005 39.519006 44.523008 47.520009 52.52401 57.02401 62.02801 64.530017 69.53401 71.53201 73.530017 78.53401 83.53801 88.54201 93.546009 96.048007 99.045009 104.54401 106.54201 111.546009 116.046009 121.05 123.552 128.556 133.56 138.564 141.56099 146.56499 151.06499 155.56499 158.06699 160.56899 165.57299 168.07498 173.07898 175.58098 178.08298 183.33898 185.84098 190.84497 195.84897 200.85297 203.84996">Must be phrase aligned (Flash address [2:0] = 000).</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="303.15" x=".00602 10.11402 17.114022 24.114022 31.114022 34.61402 40.83002 44.722024 50.938024 57.154024 61.81602 65.70802 72.70802 79.70802 83.20802 92.54602 101.88402 106.54602 114.330028 117.830028 121.72202 128.72202 132.22202 136.11402 142.33002 149.33002 156.33002 162.54602 169.54602 173.04602 176.93802 183.93802 190.15402 193.65402 202.99202 209.20803 215.42403 222.42403 225.92403 232.92403 238.37003 241.87003 249.65402 255.87003 262.08604 265.97804 269.87004 276.87004 283.87004 287.37004 293.58604 300.58604 311.47804 322.37004 328.58604 335.58604 342.58604 346.08604 349.58604 353.47804 360.47804 366.69404 370.19404 374.85603 378.74803 384.96403 390.41004 397.41004 400.91004 411.80204 418.01805 428.91004 435.91004 440.57203 447.57203 451.07203 461.96403 468.96403 475.96403 482.96403 486.85603">Upon clearing CCIF to launch the Read 1s Section command, the flash memory module</tspan><tspan y="319.15" x=".00602 5.4520208 11.668021 15.560021 21.006022 24.506022 28.398022 35.39802 41.61402 45.11402 49.77602 55.99202 62.20802 69.20802 72.70802 83.60002 89.816028 94.47803 101.47803 105.370029 112.370029 115.870029 120.53203 127.53203 132.19403 135.69403 142.69403 148.14003 151.64003 157.85604 164.07204 170.28804 177.28804 181.95005 188.95005 192.84204 199.84204 206.84204 210.34204 214.23404 221.23404">sets the read margin for 1s according to </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="319.15" x="224.73403 233.28803 239.50403 246.50403 250.39603 256.61204 260.11204 267.11204 274.11204 278.77403 285.77403">Table 29-38</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="319.15" x="292.77406 296.27406 302.49006 309.49006 316.49006 319.99006 323.88206 330.88206 337.09806 344.09806 347.59806 352.26005 358.47605 364.69206 371.69206 377.13807 380.63807 386.85408 390.74607 394.63807 398.13807 402.03007 409.03007 415.24607 421.46208 425.35408 429.24607 436.24607 443.24607 448.69209 452.19209 462.30009 466.19209 470.08409 477.08409 480.97608"> and then reads all locations within</tspan><tspan y="335.15" x=".0060424807 3.898043 10.898043 17.114045 20.614045 26.060046 33.060045 39.276044 45.492044 49.384046 54.046045 57.938047 64.154048 71.154048 74.654048 80.100048 86.31605 92.53205 96.42405 100.31605 107.31605 114.31605 117.81605 124.81605 129.47805 132.97805 137.64005 141.53205 147.74805 153.19405 160.19405 163.69405 174.58605 180.80205 191.69405 198.69405 203.35605 210.35605 213.85605 217.35605 222.01805 226.68006 230.18006 234.07205 241.07205 247.28806 250.78806 255.45006 259.34208 265.55809 271.0041 278.0041 281.5041 292.3961 298.6121 309.5041 316.5041 321.16609 328.16609 331.66609 342.55809 349.55809 356.55809 363.55809 367.45008 373.66609 377.16609 381.82807 388.04408 391.93608 395.82807 401.27409 404.77409 408.66609 415.66609 419.16609 423.82807 430.04408 436.26008 443.26008 446.76008 452.97608 456.86808 460.76008 464.26008 471.26008 476.7061 480.2061 484.86808 488.76008 492.26008 498.47608">the specified section of flash memory. If the flash memory module fails to read all 1s (i.e.</tspan><tspan y="351.15" x=".0060424807 3.898043 10.898043 17.114045 20.614045 25.276045 29.168045 35.384046 40.830045 47.830045 51.330045 56.776044 62.992044 69.208049 73.100048 76.99204 83.99204 90.99204 94.49204 98.38404 103.83004 107.33004 114.33004 121.33004 125.22204 128.72205 134.93805 139.60005 145.81606 151.26206 157.47806 164.47806 169.14006 172.64006 176.14006 180.03206 187.03206 193.24806 196.74806 204.53206 212.31606 220.87006 230.97806 239.53206 244.19406 256.64009 266.74809 274.53208 283.08607 293.19407 301.74806 308.74806 313.41004 316.91004 323.91004 327.80204 331.69404 335.19404 339.08604 344.53205 348.03205 353.47807 359.69407 363.58607 367.08607 370.58607 379.14006 386.14006 392.35606 395.85606 405.19407 414.53208 419.19407 426.97807 430.47807 435.14006 439.03205 445.24806 452.24806 455.74806 461.19407 467.41007 471.30207">the flash section is not erased), the FSTAT[MGSTAT0] bit is set. The CCIF flag sets</tspan><tspan y="367.15" x=".0060424807 6.222043 10.884043 14.776043 20.992043 25.654044 29.154044 33.046045 40.046045 46.262044 49.762044 59.100046 65.31605 71.53205 78.53205 82.03205 89.03205 94.47805 97.97805 105.762058 111.97806 118.19406 122.08606 125.97806 132.97806 139.97806 143.47806 150.47806 157.47806 163.69406 168.35607 174.57207 178.46407 182.35607 189.35607 196.35607 199.85607 206.07207 213.07207 223.96407 230.96407 234.85607 241.07207 244.96407 251.18007 256.62608">after the Read 1s Section operation completes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 136 433.69996)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.30207 22.63407 29.30607 36.63807 39.974069 46.64607 49.98207 56.65407 63.326074 67.322078 73.99408 80.66608 93.002079 102.99808 109.670078 114.33807 121.670078 125.00607 132.33808 135.67407 143.00608 149.67807 156.35007 163.02207 166.35807 169.69406 178.35807 185.69007 193.02207 196.35807 203.03006 209.70206 216.37406 219.71006 223.70606 231.03806 235.70606 239.04206 247.70606 254.37805 261.05006 268.38206 271.71806 278.39006 285.06205 288.39805 296.40205 303.07405 309.74604 313.74205 317.07804 324.41004">Table 29-38.Margin Level Choices for Read 1s Section</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 455.69996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="5.643 12.141001 17.145 22.149003 27.648003 30.150004 37.647005 42.651006 46.152006 51.651006 54.153005 59.652006 62.154005 68.652 74.151 79.65 82.152 87.156">Read Margin Choice</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 455.69996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="146.583 154.07999 159.08399 162.58499 168.08399 170.58599 176.08498 178.58698 184.08597 189.08997 194.09397 199.09796 201.59996 204.10196 210.59996 215.60396 220.60796 225.61196 229.11296 231.61496 237.11396 240.11095 242.61295 248.11194">Margin Level Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 471.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="133.857 140.355 144.855 149.859 152.361 154.86299 159.86699 164.87099 167.37299 169.09198 174.09598 179.09998 182.09697 189.59397 194.59796 196.59597 198.31496 200.81696 203.81395 208.81795 213.82195 218.82595 221.32794 223.32595 228.32994 232.82994 237.83394 239.83194 242.33394 244.83594 249.83994 252.83693 255.33893 260.34294">Use the 'normal' read level for 1s</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 487.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="100.845 106.848 111.852 116.855998 118.854 123.354 125.855998 128.358 133.362 138.366 140.868 142.58699 149.08499 153.58499 158.58899 161.58599 163.30498 165.80698 173.30397 178.30797 181.30496 186.30896 188.30696 193.31096 195.81296 198.31496 203.31896 205.82096 208.32295 213.32695 218.33095 220.83295 225.83695 230.84095 233.83794 241.33493 246.33893 248.33693 250.83893 253.83592 258.83995 263.84394 268.84794 271.84495 276.84895 279.35096 281.34895 286.35295 290.85295 295.85694">Apply the 'User' margin to the normal read-1 level</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 502.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="95.346 101.349 106.353 111.356998 113.354999 117.854999 120.356998 122.85899 127.86299 132.86699 135.36899 137.08798 142.58698 147.59098 152.09098 154.59297 159.59697 162.59397 167.09397 168.81296 171.31496 178.81195 183.81595 186.81295 191.81694 193.81494 198.81894 201.32094 203.82294 208.82694 211.32894 213.83094 218.83493 223.83893 226.34093 231.34493 236.34893 239.34592 246.84291 251.84691 253.84491 256.34693 259.34394 264.34794 269.35194 274.35594 277.35295 282.35694 284.85896 286.85694 291.86094 296.36094 301.36494">Apply the 'Factory' margin to the normal read-1 level</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.5 543.19998)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.3 22.632 29.304 36.636 39.972 46.644 49.980005 56.652006 63.324007 67.32001 73.992008 80.664 93 101.664 108.336 115.007999 122.34 125.675998 132.34799 139.01999 142.35599 150.35999 157.03199 163.70398 167.69998 171.03598 178.36798 185.69998 189.03598 197.69998 205.03199 215.69998 226.36798 233.03998 240.37198 247.70398 251.03998 259.04399 263.71199 268.37998 275.71199 280.37998 283.71598 292.37998 299.05198 306.38398 313.71598 317.05198 320.38798 327.71998">Table 29-39.Read 1s Section Command Error Handling</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 581.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 18.999 26.496003 31.500004 36.504007 41.508008 44.010007 49.014009 54.01801 56.520009 59.022008 64.02601 68.52601 73.53001 75.52801 77.52601 82.53001 87.534008 89.532009 94.536 97.038 99.036 104.04 106.542 111.042 116.046 119.043 122.04 127.044 132.048 134.55 137.052 144.549 149.553 154.55699 159.56099 162.06299 166.56299 171.56699 176.06699 181.07099 184.06798 186.06598 188.56798">Command not available in current mode/security</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 581.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 596.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 15.507001 20.511002 25.011002 30.015004 32.013006 34.011007 39.015008 41.517007 49.014009 54.01801 57.01501 62.019014 64.01701 69.02101 71.52301 76.02301 81.02701 86.031009 91.035 93.537 95.535 100.035 102.537 107.037 112.041 117.045 122.048999 124.047 126.045 131.049">An invalid margin code is supplied</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 596.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 612.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 15.507001 20.511002 25.011002 30.015004 32.013006 34.011007 39.015008 41.517007 44.019006 46.017007 51.021009 55.521009 60.52501 63.027009 68.031009 73.035 78.039 81.036 86.04 90.54 95.04 97.542 99.54 104.04 106.542 111.042 116.046 121.049999 126.05399 128.05199 130.04999 135.05399">An invalid flash address is supplied</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 612.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 627.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 29.511002 34.515005 39.519006 42.516008 47.520009 52.020009 56.520009 59.022008 61.020009 65.520008 68.022 73.026 78.03 80.532 83.034 88.037998 93.04199 96.038997 101.04299 105.54299 110.54699 113.04899 118.052989 120.05099 122.04899 127.052989 132.05699 137.06099">Flash address is not phrase aligned</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 627.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 643.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 21.006 26.010003 31.014004 36.018007 41.022008 45.522008 48.024007 53.028009 58.03201 60.534009 65.03401 70.03801 74.53801 77.04001 79.03801 84.04201 89.046009 91.548007 96.048007 99.045009 104.049 108.549 113.049 118.053 122.553 125.055 130.059 132.561 138.06 140.058 145.062 149.562 154.566 157.068 162.07199 164.06999 169.07399 173.57399 178.07399 180.57599 185.57999 190.58399 195.58798 200.59198 205.59598 210.59998 213.59697">The requested section crosses a Flash block boundary</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 643.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 658.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 21.006 26.010003 31.014004 36.018007 41.022008 45.522008 48.024007 53.028009 58.03201 60.534009 65.53801 70.54201 78.03901 83.04301 88.047008 91.04401 93.546009 98.55 101.052 103.554 108.558 113.562 116.559 121.562999 126.062999 131.067 135.567 138.069 140.067 144.567 147.069 151.569 156.573 159.56999">The requested number of phrases is zero</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 658.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 674.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.507002 29.511002 34.011 36.513 39.015 44.019 46.017004 48.015005">Read-1s fails</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 674.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="22.743 28.242 34.245004 39.744005 45.747 51.246004 53.748 61.245004 68.247 74.25 79.749 85.752 91.251 96.255">FSTAT[MGSTAT0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="329.97599 336.47398 341.97297 346.97697 352.47596 355.47297 360.47697 363.97798 366.47999 371.48399 376.48799 378.99 384.48899 386.991 391.995 396.999 402.498 405 412.497 417.501 425.502 431.001 434.502 439.506 442.00804 449.50505 455.00404 460.50303 466.002 468.50404 473.50804 476.01005 479.00706 484.50605 490.00505 495.50404 501.00303">Chapter 29 Flash Memory Module (FTFL)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9386)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.7559)" 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 1 391.68 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">691</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.7559)" 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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