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The quake prompted a tsunami warning that was later lifted.
The earthquake occurred 18 miles (29 kilometres) below the surface and its epicenter was about 63 miles (102 kilometers) east of Petropavlovsk-Kamchatsky, the US Geological Survey said.
Petropavlovsk-Kamchatsky is a port city of more than 181,000 people surrounded by volcanoes and sits across a bay from an important Russian submarine base.
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The centre said minor sea level fluctuations could occur in some coastal areas near the earthquake site for several hours. (AP)