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So if I got the numbers right

DS: 200k
3DS: 1240k
Wii:  450k
Wii U: 390k

They missed their already reduced forecasts on everything except the DS.  Though the Wii was just a hair shy.

Software was slightly better, only missing for the Wii U and 3DS.  The 3DS miss only by 390k.  Granted that's 23.4 million shy of their original forecast.