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The Glovers, who had deservedly equalized in a thrilling first half, were punished for poor marking at free-kicks as reshaped Mansfield secured they third win in four games.
The Stags, featuring four changes from the team beaten two days earlier, got off to the perfect start with an eighth-minute breakthrough. Colin Larkin broke clear down the right wing and crossed to the near post for Derek Asamoah to poke in his second goal for the club.
In the 16th minute the home side wasted three chances to double their lead. Keeper Chris Weale dropped Wayne Corden's in-swinging free-kick, but recovered to help block Alex Baptiste's follow-up.
With Yeovil struggling to clear, Alex Neil's low drive was then acrobatically tipped way for a corner by the flying Weale and from the resulting flag-kick Corden's 25-yard volley flew narrowly wide.
A superb save by Kevin Pilkington denied Kevin Gall an equaliser midway through the half. The midfielder sprinted clear of the defence to reach Darren Way's raking pass, only for the keeper's fingertips to defect the ball narrowly wide through the post.
There was no escape for the home defence in the 24th minute when Terry Skiverton rose highest to majestically head in a Lee Johnson centre.
Another vital save by Pilkington foiled Phil Jevons on the half hour. The striker seeing his fierce drive tipped over for corner after a clever pass from Skiverton.
In an end-to-end first half Larkin squandered three chances on the break and in the first-half injury-time Neil Mackenzie's free-kick brushed the outside of the post.
Less than 60 seconds into the second half. Larkin again wasted a one-on-one chance, this time keeper Weale's outstretched leg denying him a goal.
On the hour Mansfield squandered two more clear chances as Neil's cross-shot was defected wide and from the flag-kick the unmarked David Artell headed onto the roof of the net.
However, the Stags and Artell were eventually rewarded for their persistence in the 67th minute when the big central defender headed in a Mackenzie free-kick.
Two minutes later Yeovil again failed to clear a Mackenzie free-kick and this time Larkin glanced his header beyond the stranded keeper.
Within two minutes the game was over when Larkin broke clear yet again, passed to Asamoah and his low cross was drilled in at the far post by the unmarked Corden.