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Train from Madrid to El Escorial

Going to Madrid in a few weeks, need some help on the train from Madrid Atocha to El Escorial ... I see it is the C3A commuter line but can't figure out their timetable ... looks like it takes a little over an hour to get there and I want to get there before it opens (10am?), so I'm looking for a departure between 8am-9am ... return sometime around 5pm ... anyone have experience or knowledge of the schedules? ... thanks.