We present a new algorithm to explore or count the numerical semigroups of a given genus which uses the unleaved version of the tree of numerical semigroups. In the unleaved tree there are no leaves rather than the ones at depth equal to the genus in consideration. For exloring the unleaved tree we present a new encoding system of a numerical semigroup given by the gcd of its left elements and its shrinking, that is, the semigroup generated by its left elements divided by their gcd. We show a method to determine the right generators and strong generators of a semigroup by means of the gcd and the shrinking encoding, as well as a method to encode a semigroup from the encoding of its parent or of its predecessor sibling. With the new algorithm we obtained $n_{76}=29028294421710227$.
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