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Perceiving in example sentence

Sancho perceiving it his master's final resolve, and how little his tears, counsels, and entreaties prevailed with him, determined to have recourse to his own ingenuity and compel him, if he could, to wait till daylight; and so, while tightening the girths of the horse, he quietly and without being felt, with his ass' halter tied both Rocinante's legs, so that when Don Quixote strove to go he was unable as the horse could only move by jumps.
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