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When compared to the 3DS, that's actually quite good when looking at the grand scheme of things.

Consider how the DS and PSP brands were doing before each respective console released. The DS brand was/is absolutely huge, it was still selling well (20M+ Year) and the PSP was swiftly "dying" in the Western market.

For the Vita to open up so close to the 3DS opening numbers, it's really quite good.