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Sublimation is the phase transition of a substance directly from the solid to the gas phase without passing through the intermediate liquid phase. Sublimation is an endothermic process that occurs at temperatures and pressures below a substance's triple point in its phase diagram.
In fact, there is a second order transition between the supercooled liquid state and the glass state, so a distinction can still be drawn. The transition is not as dramatic as the phase change that takes you from liquid to crystalline solids. There is no discontinuous change of density and no latent heat of fusion.