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enter image description hereThe RL10 is a expander cycle engine so the pipe can’t be for a gas generator.

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I can't find a single source that definitely states it, but I'm pretty sure it's a hydrogen vent collector manifold.

This document predates the Common Centaur shown in the video, but it mentions the hydrogen vent collector manifold on page 5.9 Succeeding pages show that these (earlier) versions of the engines vented from 25 - 9 lbm/min of hydrogen during operation.

enter image description here

(image from same document, blue arrow annotation mine)

This frame from the video linked in the comment shows that before separation the pipe is connected to a longer pipe that goes down into the first stage.

enter image description here

This frame is from immediately after stage separation

enter image description here

There are some reddit posts about this that say it is a vent, but they are poorly sourced.

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