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The first fossils classified as Sauroposeidon were four neck vertebrae discovered in rural Oklahoma, not far from the Texas border, in a claystone outcrop that dates the fossils to about 110 million years ago (mya). This falls within the Early Cretaceous Period, specifically between the Aptian and Albian epochs. These vertebrae were discovered in May 1994 at the Antlers Formation in Atoka County, Oklahoma by dog trainer Bobby Cross and secured by Dr. Richard Cifelli and a team from the Oklahoma Museum of Natural History in May 1994 and August 1994. Initially the fossils were believed to be simply too large to be the remains of an animal, and due to the state of preservation, believed to be tree trunks. In fact, they are the longest such bones known in dinosaurs. Thus, the vertebrae were stored until 1999, when Dr. Cifelli gave them to a graduate student, Matt Wedel, to analyze as part of a project. Upon their realization of the find's significance, they issued a press release in October 1999, followed by official publication of their findings in the Journal of Vertebrate Paleontology in March 2000. The new species was named S. proteles, and the holotype is OMNH 53062.

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