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Discovery and designation
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| Discovered by | E. W. Elst |
| Discovery site | European Southern Observatory |
| Discovery date | April 8, 1991 |
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Designations
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| MPC designation | 20004 |
| Alternate name(s) | 1991 GS6 |
| Epoch May 14, 2008 | |
| Ap | 2.4795796 |
| Peri | 2.0439712 |
| Eccentricity | 0.0962979 |
| Orbital period | 1242.4320359 |
| Mean anomaly | 134.98448 |
| Inclination | 9.83792 |
| Longitude of ascending node | 23.53260 |
| Argument of peri | 44.62638 |
| Absolute magnitude (H) | 14.4 |
20004 Audrey-Lucienne (1991 GS6) is a main-belt asteroid discovered on April 8, 1991 by E. W. Elst at the European Southern Observatory.
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