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I had that. The fuel gauge sending unit in the tank needs replacing. For me it was $100 bucks from mazda. Install it yourself in 15 minutes, just lift up the back carpet, unplug the fuel pump and sending unit, unscrew and remove the fuel tank unit and then with the unit out replace the sending unit. Installation is the reverse of removal. Or if you're cheap someone once told me you can rub pencil lead on the contacts of the old sending unit every so often ahaha.
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