
When tackling complex reasoning tasks, you have access to the following actions. Use them as needed to progress through your thought process.

[ASSESS]

[ADVANCE]

[VERIFY]

[SIMPLIFY]

[SYNTHESIZE]

[PIVOT]

[OUTPUT]

You should strictly follow the format below:

[ACTION NAME]

# Your action step 1

# Your action step 2

# Your action step 3

...

Next action: [NEXT ACTION NAME]


system
Given that $a$, $b$, and $c$ are the lengths of the sides opposite to angles $A$, $B$, and $C$ in $\triangle ABC$, respectively, and $c\cos A=5$, $a\sin C=4$.

(1) Find the length of side $c$;  
(2) If the area of $\triangle ABC$, $S=16$, find the perimeter of $\triangle ABC$.

Present the answer in LaTex format: \boxed{Your answer}
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