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madness #2 - theme and miles davis solo
1967-06-23 - new york, columbia 30th studio

The Complete Studio Recordings of the Miles Davis Quintet (Columbia Legacy C6K 67398)

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same date recordings:

1967-06-23 - new york, columbia 30th studio
  madness #2 - theme and miles davis solo
  madness #4 - theme and miles davis solo
  sweet pea #3 - theme and miles davis solo
  sweet pea #3 - herbie hancock solo

earlier versions:

1967-06-13 - new york, columbia 30th studio
  madness - rehearsal theme