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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_707.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

753 lines
63 KiB (Stored with Git LFS)
XML
Raw Blame History

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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="0 6.2160007 13.216001 20.216 23.716 27.608 34.608 40.824 44.324 52.108 59.892004 68.446 78.554 87.108 91.770008 101.878009 111.216 120.554 129.108 138.446 147.784 152.446 155.946 162.946 166.838 170.73 174.23 178.122 183.568 187.068 191.73 197.946 204.946 211.162 215.054 222.054 226.716 230.216 235.662 241.878 245.77 249.27 253.162 260.162 263.662 270.662 274.162 281.162 288.162 292.054 295.94599 299.83799 303.33799 309.554 313.054 317.71598 323.93199 329.378 335.594 339.486 342.986 349.986 354.64799 358.14799 362.03999 369.03999 375.25599 378.75599 383.41798 387.30998 393.52598 398.972 405.972 409.472 420.36399 426.58 437.472 444.472 449.13398 456.13398 459.63398 470.52598 477.52598 484.52598 491.52598 495.41798">and the FSTAT[ACCERR] bit is (again) set to 1 until a reset of the flash memory module</tspan><tspan y="27.85" x="0 10.892001 17.892003 24.892003 31.892003 35.784006 42.000005 45.500005 52.500005 58.716005 64.93201 71.93201 76.59401 82.04001 85.54001 89.04001 93.70201 98.36401 101.86401 105.75601 112.75601 118.972019 122.472019 128.68802 135.68802 139.58002 143.47202 148.13402 154.35002 157.85002 164.85002 169.51203 176.51203 183.51203 187.40402 193.62003 197.12003 204.12003 210.33603 217.33603 220.83603 224.72803 230.17403 233.67403 239.89003 243.78203 247.67403 251.17403 257.39 263.60603 268.268 275.268 280.71403 284.21403 291.21403 295.876 299.376 305.592 309.484 313.376 316.876 323.876 330.876 337.092 342.53804 346.03804 349.53804 353.43003 360.43003 366.64604 370.14604 380.25404 386.47004 391.13203 395.02403 399.686 406.686 410.186 419.52403 425.74003 431.95603 438.95603 445.95603 452.95603 459.95603">module occurs. If the entire 8-byte key is all zeros or all ones, the Verify Backdoor</tspan><tspan y="43.85" x="0 10.108001 16.324002 22.54 28.756 34.202 39.648 43.148 53.256 59.472 66.472 69.972 76.188 83.188 94.08 104.972 111.188 118.188 125.188 128.688 133.35 139.56601 143.45801 147.35 152.796 156.296 166.404 170.296 174.188 181.188 184.688 190.904 197.904 201.404 207.62001 213.83602 220.05202 226.26802 231.71402 237.16002 240.66002 246.87602 251.53803 256.2 263.2 267.862 271.362 274.862 283.416 290.416 296.632 300.132 309.47 318.808 323.47 331.254 334.754 339.416 343.30799 349.524 356.524 360.024 363.916 369.362 372.862 378.308 384.52403 388.41603 391.91603 398.13203 402.794 406.686 412.902 417.564 421.064 424.956 431.956 438.172 441.672 451.78 457.996 462.658 466.55 471.21199">Access Key command fails with an access error. The CCIF flag is set after the Verify</tspan><tspan y="59.85" x="0 9.338001 15.554002 21.770003 28.770003 35.770006 42.770006 49.770006 54.432004 57.932004 68.04 74.256008 80.47201 86.68801 92.13401 97.58001 101.08001 111.18801 117.404018 124.404018 127.904018 134.90402 141.90402 148.12003 152.78203 158.99803 162.89003 166.78203 173.78203 180.78203 184.28203 190.49803 197.49803 208.39003 215.39003 219.28203 225.49803 229.39003 235.60604 241.05204">Backdoor Access Key operation completes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 99 126.399997)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.30403 22.63603 29.308032 36.64003 39.97603 46.64803 49.98403 56.656034 63.328035 67.324039 73.99603 80.66803 93.00403 101.008029 107.68002 112.34802 115.68402 119.68002 126.35202 129.68802 138.35202 145.02402 151.69602 158.36801 165.70001 173.03202 180.36402 185.03202 188.36801 197.03202 203.70401 210.376 217.048 223.72 230.392 233.728 242.392 249.064 255.736 259.072 267.736 275.068 285.736 296.404 303.076 310.408 317.74 321.076 329.08 333.748 338.416 345.748 350.416 353.75199 362.416 369.08799 376.41999 383.75199 387.08799 390.42399 397.75599">Table 29-64.Verify Backdoor Access Key Command Error Handling</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 148.4)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 8.001 11.502001 15.003001 20.502 24.003 26.505002 33.003004 38.502004 44.001005 49.500005 52.002004 54.999006 57.501005 63.000005">Error Condition</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.5 148.4)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="43.245 49.248 52.749 56.25 61.749 65.25 67.752 74.25 76.752">Error Bit</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 164.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 39.519006 41.517007 46.521009 51.52501 54.027009 58.527009 63.53101 68.031009 70.533008 72.531009 77.031009 79.533008 84.537 86.535 88.533008 91.53001 96.534008 101.034008 103.536 108.54 111.537 114.039 119.043 121.041 123.039 126.036 131.535">The supplied key is all-0s or all-Fs</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 164.4)" 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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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 179.9)" 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 33.012006 36.009008 41.01301 45.51301 48.015008 50.517007 55.521009 60.52501 65.02501 69.52501 74.52901 79.533008 84.537 87.534008 90.036 94.536 99.54 104.04 106.542 108.54 113.04 115.542 120.042 125.046 130.05 135.054 137.052 139.05 144.054">An incorrect backdoor key is supplied</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 179.9)" 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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<path transform="matrix(1,0,0,1,54,193.15)" d="M.25 .25H377.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 195.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 20.007 25.011002 30.015004 35.019006 38.016008 40.518007 45.018007 50.022008 54.522008 57.024007 62.028009 66.52801 71.02801 76.032009 80.532009 85.032009 87.534008 92.538 97.542 102.042 104.544 109.548 114.551998 117.05399 119.55599 124.55999 129.564 134.568 139.57199 142.07399 147.07799 152.08199 157.08599 162.08998 164.08798 169.09198 174.09598 176.59798 179.59497 184.09497 189.09897 194.10297 196.60497 199.10697 204.11096 209.11496 211.61696 216.62096 221.62496 226.12496 230.62496 233.62195 235.61995 240.62395 243.12595 245.12395 250.12795 255.13195 257.63395 262.63795 265.13996 267.64198 270.14399 275.14799 280.15199 282.654 288.15299 294.15599 300.15898 306.65696 309.15898 312.15599 317.15998 322.16398 324.16197 328.66197 331.16398 336.16798 339.16499">Backdoor key access has not been enabled (see the description of the FSEC register)</tspan></text>
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<path transform="matrix(1,0,0,1,54,193.15)" d="M378.25 .25H503.75V15.25H378.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 195.4)" 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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<path transform="matrix(1,0,0,1,54,208.65)" d="M.25 .25H377.75V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 210.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.003 29.007 36.504 44.001005 49.005006 54.009008 59.01301 61.515008 63.51301 68.01301 70.51501 72.51301 77.517009 82.521 87.525 92.025 97.029 102.033 107.036998 109.538997 114.54299 119.54699 124.55099 127.052989 129.555 134.55899 139.56299 142.06499 147.06899 152.07299 156.57299 161.07299 166.07698 171.08098 176.08498 179.08197 181.58397 186.08397 191.08797 195.58797 198.08997 203.09397 208.09796 212.59796 215.09996 222.59696 224.59496 229.09496 236.59195 241.59595 244.09795 248.59795 253.60195 258.60597 263.60997 266.11198 270.61198 272.60997 277.61396 282.11396 287.11796 289.61997 292.12199 297.12599 302.12998 304.632 306.62998 311.63398 316.13398 318.636 321.138 326.142 331.146 337.64399 342.64799 345.645 348.147 353.151 358.155 364.65299">This command is launched and the backdoor key has mismatched since the last power down</tspan><tspan y="18.83789" x=".00004 2.99704 8.00104 12.50104 17.505042">reset</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 210.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" 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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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
<g clip-path="url(#clip_25)">
<path transform="matrix(1,0,0,1,54,177.65)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 15.6V-.1"/>
</g>
<g clip-path="url(#clip_26)">
<path transform="matrix(1,0,0,1,54,177.65)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504-.1V15.6"/>
</g>
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</g>
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<path transform="matrix(1,0,0,1,54,193.15)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M378-.35V15.85"/>
</g>
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</g>
<g clip-path="url(#clip_30)">
<path transform="matrix(1,0,0,1,54,193.15)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 15.6V-.1"/>
</g>
<g clip-path="url(#clip_31)">
<path transform="matrix(1,0,0,1,54,193.15)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504-.1V15.6"/>
</g>
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</g>
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</g>
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</g>
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</g>
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</g>
<g clip-path="url(#clip_37)">
<path transform="matrix(1,0,0,1,54,208.65)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 26.5H377.9"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 290.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006 50.040006 54.210008 62.550008">29.4.12.14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 139.06324 290.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 21.675004 30.015004 39.180006 43.350008 54.180009 63.34501 72.51001 77.50501 83.34001 92.50501 96.67501 100.84501 111.67501 120.84001 134.17502 147.51003 155.85002 165.01502">Swap Control Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="272.65" x=".006 8.559999 15.559999 21.776001 25.276001 33.06 43.168004 49.384004 56.384004 59.884004 69.222 76.222 83.222 87.114 91.776 98.776 102.668 106.168 112.384 119.384 130.276 141.168 147.384 154.384 161.384 164.884 171.884 178.1 185.1 192.1 195.992 202.20801 207.654 211.154 216.6 223.6 229.81601 236.03202 239.92401 244.58602 248.47801 254.69402 258.19404 264.41004 270.62605 274.51805 278.41004 285.41004 289.30204 293.19404 297.08604 303.30204 308.74806 312.24806 318.46406 323.91007 329.35609 336.35609 342.57209 346.46409 352.68009 356.57209 362.7881 369.7881 373.2881 383.3961 387.2881 391.18009 398.18009 401.68009 407.1261 417.2341 423.4501 430.4501 437.4501 441.3421 448.3421 455.3421 458.8421 462.7341 469.7341 475.9501 479.4501 483.3421 493.4501">The Swap Control command handles specific activities associated with swapping the two</tspan><tspan y="288.65" x=".00601 3.8980106 10.89801 17.89801 21.79001 28.006012 34.22201 38.114015 41.614015 48.614015 53.276014 60.276014 67.27602 71.93802 78.15402 89.04602 92.54602 97.20802 101.10002 107.316028 112.762027 119.762027 123.262027 134.15402 140.37003 151.26203 158.26203 162.92403 169.92403 173.42403 180.42403 184.31603 191.31603 197.53203 204.53203 209.97803 213.47803 223.58603 227.47803 231.37003 238.37003 242.26203 249.26203 252.76203 256.65403 263.65403 269.87004 273.37004 284.26203 290.47804 301.37004 308.37004 313.032 320.032 323.532 334.424 340.64 347.64">logical program flash memory blocks within the memory map.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122 355.19999)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.29607 22.62807 29.300072 36.632074 39.96807 46.64007 49.976076 56.648077 63.320077 67.31608 73.98808 80.66008 92.99608 101.00008 110.336078 117.00807 124.34007 127.67607 136.34008 143.67208 151.00408 155.00008 159.66808 167.00008 170.33608 173.67208 182.33608 189.66808 200.33608 211.00408 217.67607 225.00807 232.34008 235.67607 243.00807 251.67208 260.33607 269.67207 278.33607 281.67207 290.33607 297.00807 304.34007 311.67207 315.00807 319.67607 326.34806 337.01606 343.68806 351.02006 355.01606">Table 29-65.Swap Control Command FCCOB Requirements</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 376.69999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="27.252 32.751 39.249 45.747 52.749 59.247 61.749 68.247 73.746 81.747 87.246 92.25">FCCOB Number</tspan></text>
<g clip-path="url(#clip_39)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 392.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="58.248">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 392.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="159.498 164.502 169.002 174.006 179.01 181.512 184.50899 190.512 199.008 205.011 211.014">0x46 (SWAP)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 439.19999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="145.359 150.85799 152.85599 157.85999 162.35999 167.36399 169.86598 174.86998 179.87398 184.87798 187.87497 192.87897 197.37897 201.87897 204.38097 206.88297 211.88697 214.38896 219.39296 221.89496">Flash address [7:0] </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="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 54 734.93869)" 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 54 751.756)" 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 1 220.32 751.756)" 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="151.308 156.312 161.316">707</tspan></text>
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