The 370 - 840 metre wide asteroid 2002 XH4 will make a close pass (72.0 lunar distances, 0.1851 AU), travelling at 7.76 km/second, to the Earth-Moon system on the 7th July, 2012 @ 00:05 UT ±00:01.
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The Lunar Distance (LD), the distance between Earth and the Moon, equals 384,401 km, (or 0.00256 AU).