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In page Global surface temperature:

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On longer time scales, sediment cores show that the cycles of glacials and interglacials are part of a deepening phase within a prolonged ice age that began with the glaciation of Antarctica approximately 40 million years ago. This deepening phase, and the accompanying cycles, largely began approximately 3 million years ago with the growth of continental ice sheets in the Northern Hemisphere. Gradual changes in Earth's climate of this kind have been frequent during the existence of planet Earth. Some of them are attributed to changes in the configuration of continents and oceans due to continental drift.[citation needed]