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Carlton Palmer has been in temporary charge of the Stags in his absence, which has seen the side slip down the table.
A club statement said: "The football club recognises that this has been an unnerving time for supporters, and we thank them for their patience in this time.
"We hope that now we can put this unfortunate incident behind us and start looking to the future. A replacement manager will be sought at the earliest convenience, Carlton Palmer will be continuing to look after the club's footballing interests in the role of caretaker manager.
"We would like to wish Keith Curle the best of luck for the future, and hope he can get his career back on track as soon as possible."