At episode 287 in Dragon Ball Z series.
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Goku is a full saiyan but Gohan, Goten, Trunks, are Half Saiyans
In Dbz it is goten, but in the dbz movie history of future trunks its gohan cause since goku got sick goten was never born and gohan was trunks' mentor!
by there dads goku and vegeta
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goku and then piccolo continues to teach them after goku runs out of time on earth and has to go back to the other world.