Matthew Gilbert’s notes on Tuesday night’s TV offerings, including “Happy Endings” at 9 p.m. on Channel 5; “The Mindy Project” at 9:30 p.m. on Channel 25; “Doomsday Preppers Bugged Out” at 8 p.m. on National Geographic; “Mankind: The Story of All of Us” at 9 p.m. on History Channel; and “New Girl” at 9 p.m. on Channel 25.
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