Princess Anne was mentioned as Her Majesty's informant of death in the National Records of Scotland document released Thursday.
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Elizabeth died at 3:10 p.m., the certificate said. Sept. 8.
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Three hours later, the royal family tweeted, "The Queen died quietly at Balmoral today." The King and Queen Consort will return to London tomorrow.
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Buckingham Palace said she was under "medical monitoring" over health worries. Before she died, family rushed to her side.
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King Charles, 73, called her passing "a moment of tremendous sadness."
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"We mourn a beloved Sovereign and Mother." I know her death will be felt around the country, the Realms, and the Commonwealth,” he said.
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Elizabeth II was Britain's longest-reigning monarch at 70 years. Several unorthodox moves helped her gain popularity across the Commonwealth.
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The Queen opened up royal life to the public. Her coronation on June 2, 1953, at age 25 after her father's death, was the first to be shown live on television in full.
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During her 1970 visit of Australia and New Zealand with Prince Philip and daughter Anne, the queen violated centuries of royal precedent by greeting people in person rather than waving from a distance.
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On July 29, 1981, 750 million people in 74 countries watched her son King Charles' wedding to Princess Diana.