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The first round of the 2016 Australian Open ended Tuesday, and one of the best players in the world went home early.

Rafael Nadal, a 14-time Grand Slam champion, was upset in five sets by Fernando Verdasco. It's only the second time Nadal has been upset in Round 1 of a major tournament.

There were no other significant upsets Tuesday. All four semifinalists from last year -- Novak Djokovic, Andy Murray, Tomas Berdych and Stan Wawrinka -- won their first round matchups. Other notable stars such as Roger Federer and David Ferrer also are through to the next round.

Here are the scores from Tuesday's matches. Round 2 begins Wednesday.

Men's Bracket
F. Verdasco def. R. Nadal (5): 7-6, 4-6, 3-6, 7-6, 6-2
L. Hewitt def. J. Duckworth: 7-6, 6-2, 6-4
A. Murray (2) def. A. Zverev: 6-1, 6-2, 6-3
S. Wawrinka (4) def. D. Tursunov: 7-6, 6-3
S. Groth def. A. Mannarino: 7-6, 6-4, 3-6, 6-3
B. Tomic (16) def. D Istomin: 6-7, 6-4, 6-4, 6-4
M. Raonic (13) def. L. Pouille: 6-1, 6-4, 6-4
J. Isner (10) def. J. Janowicz: 6-3, 7-6, 6-3
V. Troicki (21) def. D. Munoz de la Nava: 4-6, 4-6, 6-1, 7-6, 6-3
R. Ram def. K. Anderson (11): 7-6, 6-7, 6-3, 3-0
D. Ferrer (8) def. P. Gojowczyk: 6-4, 6-4, 6-2
S. Giraldo def. D. Young: 6-1, 1-6, 6-3, 6-2
N. Mahut def. M. Cecchinato: 4-6, 6-2, 6-2, 6-2
J. Millman def. D. Schwartzman: 3-6, 5-7, 7-6, 5-0
G. Monfils (23) def. Y. Sugita: 6-1, 6-3, 6-2
M. Granoliers def. M. Ebden: 6-2, 4-6, 6-1, 6-4
T. Bellucci def. J. Thompson: 6-2, 6-3, 6-2
J. Sock def. T. Fritz: 6-4, 3-6, 0-6, 6-3, 6-4
G. Muller def. F. Fognini: 7-6, 7-6, 6-7, 7-6
L. Rosol def. T. Daniel: 7-6, 7-5, 5-7, 6-7, 6-1
G. Pella def. S. Darcis: 2-6, 3-6, 6-3, 7-5, 6-1
S. Bolleli def. B. Baker: 7-6, 7-6, 6-7, 7-6
F. Lopez (18) def. D. Evans: 6-1, 6-0, 6-4
S. Johnson (31) def. A. Bedene: 6-3, 6-4, 7-6
T. Robredo def. M. Jaziri: 7-5, 3-6, 4-6, 7-6, 8-6
J. Sousa def. M. Kukushkin: 6-3, 6-4, 6-3
D. Sela def. B. Becker: 6-1, 6-3, 2-6, 6-2
J. Chardy (30) def. E. Gulbis: 7-5, 2-6, 6-7, 6-3, 13-11
S. Robert def. B. Fratangelo: 6-2, 6-2, 6-2
R. Stepanek def. T. Ito: 6-4, 6-3, 6-7, 6-2
A. Kuznetsov def. R. Harrison: 7-5, 6-4, 6-4
T. Smyczek def. D. Gimeno-Traver: 6-1, 3-6, 6-3, 6-2

Thumbnail photo via Geoff Burke/USA TODAY Sports Images