The 66 - 150 metre wide asteroid 2002 RP137 will make a close pass (63.2 lunar distances, 0.1624 AU), travelling at 7.31 km/second, to the Earth-Moon system on the 16th September, 2012 @ 06:53 UT ±00:01.
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The Lunar Distance (LD), the distance between Earth and the Moon, equals 384,401 km, (or 0.00256 AU).
