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You will need to apply to the court to set aside the judgment and advise the bailiffs you have done so.
To apply to set aside you will need to prepare your application form N244 and your Defence and Counterclaim. It is not enough just to show why you missed the deadline you also have to show you have a defence to the claim.
You can obtain precedents from the web
You will need to file the same in court and pay the fee for both the application and the counterclaim fee. This varies depending on the amount claimed in the counterclaim but the court can advise on the exact amount.
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How much is the debt for?