In a special run of the LHC with $\beta^\star = 2.5~$km, proton-proton elastic-scattering events were recorded at $\sqrt{s} = 13~$TeV with an integrated luminosity of $340~\mu \textrm{b}^{-1}$ using the ALFA subdetector of ATLAS in 2016. The elastic cross section was measured differentially in the Mandelstam $t$ variable in the range from $-t = 2.5 \cdot 10^{-4}~$GeV$^{2}$ to $-t = 0.46~$GeV$^{2}$ using 6.9 million elastic-scattering candidates. This paper presents measurements of the total cross section $\sigma_{\textrm{tot}}$, parameters of the nuclear slope, and the $\rho$-parameter defined as the ratio of the real part to the imaginary part of the elastic-scattering amplitude in the limit $t \rightarrow 0$. These parameters are determined from a fit to the differential elastic cross section using the optical theorem and different parameterizations of the $t$-dependence. The results for $\sigma_{\textrm{tot}}$ and $\rho$ are \begin{equation*} \sigma_{\textrm{tot}}(pp\rightarrow X) = \mbox{104.7} \pm 1.1 \; \mbox{mb} , \; \; \; \rho = \mbox{0.098} \pm 0.011 . \end{equation*} The uncertainty in $\sigma_{\textrm{tot}}$ is dominated by the luminosity measurement, and in $\rho$ by imperfect knowledge of the detector alignment and by modelling of the nuclear amplitude.
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