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Watched it recently and it was good. The atmospheric effects on Venus were great, and very close to what it may look like. The view from Saturn's Rings was also stunning. My only minor niggle is that it was a bit too over dramatic, as something always seemed to go wrong on every planet they landed on (out came the spooky horror music on cue), but this may be because the Beeb needed to appeal to a wider audience.
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