Oh, dude, that's just a buildup of vaginal discharge mixed with your typical bodily secretions. It's totally normal, like a natural phenomenon happening down there. Nothing to be alarmed about, just toss those undies in the wash and carry on with your day.
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Don't jump to conclusions as it is quite common for women to have this and it is vaginal discharge. Some women wear pantyliners daily to prevent having this in their underwear.