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Grayson, Lee, Yates, Finningan, and Allsop all scored for Cheltenham, with Duff missing Cheltenham's 4th penalty.
On the last shot of the game with Cheltenham leading 5-4 Hartlepool's Humphreys final penalty hit the bar, and was not given.
Cheltenham fans now face another long queue for tickets, for the trip to Cardiff, but a place in division 2 awaits the winners.