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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_605.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

590 lines
54 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 181.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">26.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 181.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 11.339001 20.791 26.452 35.904 42.517 52.904 62.356 67.082 71.808 84.082 90.695 100.147 109.59901 115.26001 124.71201 129.43802 134.16402 138.89002 143.61602 155.89002 165.34201 174.794 185.181 195.568 205.01999 210.68099 221.06798 227.68099 232.40699 244.68099 255.06798 265.455 275.84199 285.29399 294.74598 300.40699 305.133 315.52 325.90699">External Crystal / Resonator Connections</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="165.05" x=".00301 8.55701 15.55701 21.77301 25.27301 31.48901 38.48901 45.48901 52.48901 58.70501 64.92101 68.81301 72.70501 79.70501 86.70501 92.15101 95.65101 100.31301 107.31301 111.97501 115.47501 121.69102 125.19102 131.40702 136.06902 143.06902 148.51502 152.40702 158.62302 162.51502 166.40702 171.06902 177.28502 182.73102 189.73102 196.73102 202.94702 206.83902 213.83902 218.50102 222.00102 226.66303 231.32503 237.54103 244.54103 251.54103 257.75703 264.75703 270.97303 277.97303 281.47303 286.135 292.351 297.013 303.229 307.891 314.107 321.107 327.323 333.539 337.039 343.255 347.917 354.133 357.633 363.079 370.079 377.079 387.187 394.187 397.687 401.579 408.579 412.079 415.971 422.971 429.187 432.687 437.349 444.349 448.241 452.133 459.133 469.241 473.133 480.133">The connections for a crystal/resonator frequency reference are shown in the following</tspan><tspan y="181.05" x=".00306 4.66506 8.55706 15.55706 22.55706 27.21906 33.435064 38.88106 42.38106 45.88106 59.09706 66.09706 72.313068 79.313068 82.813068 89.813068 95.25906 99.15106 106.15106 113.15106 116.65106 120.54306 127.54306 137.65106 142.31307 146.97507 151.63707 157.85308 164.85308 171.85308 178.06908 185.06908 191.28508 198.28508 201.78508 205.28508 209.17708 216.17708 226.28508 230.94709 237.94709 244.94709 255.05509 261.2711 265.93309 269.43309 280.32508 287.32508 294.32508 300.54109 304.04109 307.54109 311.43309 318.43309 324.64909 328.14909 335.14909 342.14909 346.04109 353.04109 356.54109 362.75709 369.75709 373.64909 379.86509 384.52708 391.52708 397.74308 401.63508 405.13508 411.35108 418.35108 429.24308 436.24308 443.24308 450.24308 456.45909 463.45909 467.35108 470.85108 474.74308 480.1891 483.6891 487.5811 494.5811">figures. When using low-frequency, low-power mode, the only external component is the</tspan><tspan y="197.05" x=".00306 6.2190606 10.881061 17.881062 23.327063 27.219063 33.435064 37.327066 40.827066 47.827066 52.489065 55.989065 62.205064 68.42107 73.08307 79.29907 90.19107 94.08307 100.29907 103.79907 108.461078 114.67708 120.12308 127.12308 134.12308 140.33908 144.23108 151.23108 155.89308 159.39308 163.28508 167.17708 172.62308 178.83908 182.73108 187.39308 190.89308 194.39308 199.05509 206.05509 209.55509 213.44709 220.44709 226.66309 230.16309 237.16309 241.05509 248.05509 254.27109 258.93309 262.43309 269.43309 274.8791 281.0951 284.9871 288.8791 292.7711 298.9871 302.8791 309.8791 314.54109 318.04109 328.93309 335.93309 342.93309 349.14909 354.5951 358.0951 361.5951 365.4871 372.4871 378.7031 385.7031 389.2031 395.4191 401.6351 408.6351 414.8511 421.0671 424.9591 428.8511 435.8511 440.5131 445.9591 449.4591 454.1211">crystal or ceramic resonator itself. In the other oscillator modes, load capacitors (C</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="199.85" x="463.45906">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="197.05" x="468.70906 472.20906 475.70906">, C</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="199.85" x="485.04707">y</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="197.05" x="490.29707">)</tspan><tspan y="213.05" x=".0030517579 6.2190525 13.219052 20.219052 23.719052 28.381052 34.597055 40.813055 47.813055 54.813055 61.029054 67.245059 74.245059 77.745059 82.40706 88.62306 94.06906 97.96106 103.40706 107.29906 114.29906 118.96106 122.46106 127.12306">and feedback resistor (R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="215.85" x="136.46106">F</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="213.05" x="142.29906 146.96106 150.46106 156.67707 161.33907 167.55507 171.05507 175.71707 181.93308 188.93308 195.93308 199.82508 204.48708 210.70308 217.70308 221.20308 224.70308 233.25708 240.25708 246.47309 249.97309 254.63509 261.63508 265.52708 269.41908 276.41908 286.52708 290.41908 297.41908 304.41908 307.91908 311.81108 318.02708 325.02708 328.91908 335.13508 338.63508 344.0811 351.0811 358.0811 368.1891 373.6351 377.1351 383.3511 387.2431 391.1351 394.6351 401.6351 408.6351 414.08113 419.52714 423.41914 430.41914 434.31114">) are required. The following table shows all possible</tspan><tspan y="229.05" x=".0030670167 6.2190678 13.219068 20.219067 27.219067 33.435068 39.651067 43.543069 47.43507 54.43507 61.43507 66.88107">connections.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 143.5 295.59999)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.96906 21.30106 27.97306 35.30506 38.64106 45.31306 48.649065 55.321065 61.993066 65.98907 72.66107 84.99707 93.00107 99.673069 103.66907 110.341068 115.00906 122.341068 129.01306 132.34906 135.68506 144.34906 151.02106 157.69306 164.36505 168.36106 175.03305 178.36905 181.70505 190.36905 197.04105 203.71305 211.04505 218.37705 225.04904 229.04505 236.37705 241.04505 244.38105 253.04505 260.37705 267.70906 275.04106 281.71305 288.38505 292.38105 295.71705 303.04905 310.38105">Table 26-2.External Caystal/Resonator Connections</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 317.59999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="141.138 148.14 153.144 158.148 160.65 163.152 165.65399 170.65799 173.65499 179.15398 182.65499 185.15699 192.65398 198.15297 203.65196">Oscillator Mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 409.3 317.59999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="46.845 53.343004 58.842004 64.341 69.840007 74.844 79.848 82.845 85.347 90.846 96.345">Connections</tspan></text>
<g clip-path="url(#clip_36)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 333.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="103.383 108.387 113.391 119.889 122.886 125.388 128.385 133.38899 138.39299 143.39699 148.40099 153.40499 157.90499 162.40499 164.90699 167.90398 172.90798 177.91197 180.41397 184.91397 191.41197 195.91197 198.90897 201.41097 203.91297 205.91097 210.91497 217.41297 220.40996 225.41396 230.41796 236.91596 241.91996">Low-frequency (32 kHz), low-power</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.05 333.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="46.836 53.334 58.338 63.342004 68.346 73.35 77.85 80.352 82.35 87.354 92.357997 94.85999">Connection 1</tspan></text>
<g clip-path="url(#clip_38)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 349.09999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="105.381 110.384998 115.38899 121.88699 124.883998 127.385997 130.383 135.387 140.39099 145.39499 150.39899 155.40299 159.90299 164.40299 166.90499 169.90198 174.90598 179.90998 182.41197 186.91197 193.40998 197.90998 200.90697 203.40897 205.91097 210.91497 212.91297 217.91696 222.92096 225.91796 230.92195 235.92595 237.92395">Low-frequency (32 kHz), high-gain</tspan></text>
<g clip-path="url(#clip_39)">
<path transform="matrix(1,0,0,1,54,346.84999)" d="M353.05 .25H503.75V15.25H353.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.05 349.09999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.199 23.697 28.701 33.705 38.709005 43.713006 48.213006 50.715005 52.713006 57.717008 62.72101 65.22301 70.227008 72.729007 79.227008 84.231 89.235 94.239 99.243 103.743 106.244998 108.243 113.246997 118.25099 120.75299">Connection 2/Connection 3</tspan></text>
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<g clip-path="url(#clip_40)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 364.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="95.75999 102.25799 104.25599 109.25999 114.263988 117.26099 119.762989 122.75999 127.763988 132.76799 137.77199 142.77599 147.77999 152.27999 156.77999 159.28199 162.26998 167.28298 172.53897 177.54297 182.54697 185.04897 192.54596 199.04396 203.54396 206.54096 209.04296 211.54496 213.54296 218.54695 225.04496 228.04195 233.04595 238.04994 244.54795 249.55194">High-frequency (3~32 MHz), low-power</tspan></text>
<g clip-path="url(#clip_41)">
<path transform="matrix(1,0,0,1,54,362.34999)" d="M353.05 .25H503.75V15.25H353.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.05 364.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="14.382 20.880002 25.884003 30.888005 35.892007 40.896009 45.396009 47.898008 49.896009 54.90001 59.90401 62.40601 67.41001 69.91201 76.41001 81.41401 86.41801 91.422008 96.426 100.926 103.428 105.426 110.43 115.434 117.936">Connection 1/Connection 3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 409.05 364.59999)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="126.69074">,</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 409.05 364.59999)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="128.56723">2</tspan></text>
<g clip-path="url(#clip_42)">
<path transform="matrix(1,0,0,1,54,377.84999)" d="M.25 .25H352.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 380.09999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="97.74899 104.246997 106.244998 111.24899 116.25299 119.24999 121.75199 124.74899 129.75299 134.75699 139.76099 144.76499 149.76898 154.26898 158.76898 161.27098 164.26798 169.27198 174.52797 179.53197 184.53597 187.03797 194.53496 201.03296 205.53296 208.52996 211.03195 213.53395 218.53795 220.53595 225.53995 230.54395 233.54094 238.54494 243.54894 245.54694">High-frequency (3~32 MHz), high-gain</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.05 380.09999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.199 23.697 28.701 33.705 38.709005 43.713006 48.213006 50.715005 52.713006 57.717008 62.72101 65.22301 70.227008 72.729007 79.227008 84.231 89.235 94.239 99.243 103.743 106.244998 108.243 113.246997 118.25099 120.75299">Connection 2/Connection 3</tspan></text>
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</g>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 410.59999)" 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 69.12 410.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 28.512005 33.516008 38.520009 41.022008 43.020009 48.02401 53.02801 58.032014 60.53401 65.03401 70.03801 75.04201 80.046009 84.546009 86.54401 89.046009 94.05 97.047008 101.547008 104.049 107.046009 113.54401 118.04401 120.546009 123.048007 129.546 134.046 137.043 139.545 144.549 147.54599 152.54999 155.05199 160.05599 163.05298 168.05698 173.06098 175.56298 180.56697 183.56397 186.06597 188.56797 193.57196 198.57596 203.57996 206.08196 211.08596 216.08995 218.59195 223.59595 229.09494 231.59694 234.09894 239.10294 243.60294 248.60694 251.10894 257.60694 262.61094 267.61494 272.61894 277.62294 282.12294 284.62495 286.62294 291.62693 296.63093 299.13294 304.13694">When the load capacitors (Cx, Cy) are greater than 30 pF, use Connection 3.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 421.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">2.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 421.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 10.494 12.996 18 20.502 23.004002 28.008004 33.012006 35.514005 37.512006 42.516008 49.014009 52.01101 57.01501 62.019014 68.51701 73.52101 76.51801 79.02001 86.51701 91.52101 96.52501 101.52901 104.031009 106.533008 109.035 114.039 119.043 121.545 126.548999 131.049 135.549 137.547 139.545 141.543 146.547 149.049 154.053 157.04999 159.55199 164.55599 169.55998 174.05998 176.56198 179.06398 184.06798 189.07198 191.57398 193.57198 198.57598 201.07798 206.08197 209.07897 214.08296 219.08696 221.08496 223.58696 226.08896 231.09296 236.09696 241.10095 246.10495 251.10895 255.60895 260.10896 262.61097 265.60798 270.61198 275.11198 277.10997 281.60997 284.11198 289.11598 292.11299 294.615">With the low-power mode, the oscillator has the internal feedback resistor R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 421.59999)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="9.63789" x="301.113">F</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 421.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.8378899" x="305.23725 307.73927 310.24128 315.74028 320.74427 325.74827 328.74528 333.74928 336.25129 341.25529 344.2523 349.2563 351.7583 354.2603 356.76234 361.76634 366.77033 369.27235 371.77436 376.77836 381.78236 386.78636 391.79035 396.79435 401.29435 405.79435 408.29637 411.29338 416.29737 420.79737 422.79536 427.29536 429.79737 434.80137 437.79838 440.30039 447.7974 452.8014 457.3014 459.8034 462.30543 467.30943 472.31343 474.81544 477.31745 482.32145">. Therefore, the feedback resistor must not be</tspan><tspan y="18.83789" x=".0022888184 5.0062897 9.5062899 12.008289 17.012291 20.00929 25.01329 30.017292 32.015295 34.013296 38.513296 41.015295 47.513296 49.511297 52.013296 57.017297 59.519296 62.021295 67.02529 72.02929 74.53129 81.02929 86.03329 91.037288 96.04128 101.04528 105.54528 108.04728 110.04528 115.04928 120.053279 122.555278 127.55927">externally with the Connection 3.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 3.3549195 232.88332)" font-size="12" font-family="TimesLTStd"><tspan y="254.09961" x="286.65599 295.31999 301.99198">OSC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 3.3549195 232.88332)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="331.713" x="264.61854 270.3801 273.08534 277.07533 281.0653 283.28376 287.72065 289.50016 291.7186 296.1555 298.81285 301.03129 306.8567 311.29359 315.28358 319.72843 324.22117 328.66603 330.88447 335.32136">Crystal or Resonator</tspan><tspan y="277.24443" x="294.35206">V</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="531.0851" x="58.29406 65.62606 68.96206 76.29406 83.62606 88.29406 94.966068 98.30206 104.97406 111.64606 115.64206 122.31406 125.650058 128.98606 137.65006 142.31806 148.99005 155.66205 159.65805 166.33005 169.66605 173.00205 181.66605 188.33805 193.00605 199.67804 210.34604 213.68204 220.35404 223.69004 232.35404 239.02603 245.69803 253.03003 260.36204 267.03404 271.03004 278.36204 283.03004 286.36604 295.03004 302.36204 309.69404 317.02604 323.69804 330.37004 334.36604 337.70204 345.03404 352.36604 359.03804 362.37403 366.37004 369.70603 378.37004 385.70204 393.03404 400.36604 407.03804 413.71003 417.70603 421.04203 428.37403 435.70603 439.04203">Figure 26-2. Crystal/Ceramic Resonator Connections - Connection 1</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="26.01035" x="385.47 391.968 397.46699 402.47099 407.96998 410.96699 415.97099 419.472 421.974 426.978 431.982 434.484 441.48603 446.49003 451.49403 453.99604 456.49806 459.00007 464.00407 467.00108 472.50007 476.00108 478.50309 481.5001 488.5021 494.5051 501.00309">Chapter 26 Oscillator (OSC)</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">605</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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