How do I access digital sub-channels on my Samsung TV?

To select a digital sub-channel, press the main channel number, then press the dash (-) button, followed by the sub-channel number. For example, to select channel 54-3, press '54', then '-', then '3'. This allows access to additional digital channels broadcast by the same digital station. (Page 1)

From the official Samsung Smart Remote manual, page 1

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