Subtle differences between two seemingly interchangeable expressions.

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29
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Usage of すみません (sumimasen) versus ごめんなさい (gomen'nasai)

There are several situations in which one of these words (phrases?) should be used but there's not usually a 1:1 mapping between any two languages. Get somebody's permission. English: "excuse me", ...
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4answers
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What is the correct usage of 承知しました, 了解です and かしこまりました, the more formal forms of 分かる?

At work, it is wrong to simply say 分かる to say that you understand something. In what situation should I opt to use one of the previously mentioned forms?