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Three adults and three children were attacked, including one adult who suffered nearly 300 bee stings.
The bees hit the Rancho El Dorado subdivision about 5pm and attacked people in a two-block-long area, the department said in a news release. People ran and screamed for help.
Two firefighters were also stung as they attempted to find the source of the hive.
It took the fire crews about two hours to find the hive in an opened water valve box at one of the homes. The bees were sprayed with foam, and the hive was contained and killed.
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It is not the first time that the bees have attacked Arizona in recent months, with the state being hit over the summer by an aggressive strain of Africanised honeybee – which are known for being prevalent in warmer states and becoming particularly aggressive if their hives are disrupted.