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In a large skillet, cook and crumble beef with pepper and onion over medium-high heat until no longer pink, 5-7 minutes. Stir in tomato sauce, olives, raisins and vinegar; bring to a boil. Reduce heat; simmer, uncovered, until raisins are softened, 5-6 minutes., Serve with rice. If desired, top with fresh cilantro to serve.