ADB issues on Galaxy S3 and Windows 7 - installed but not working?

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I'm trying to develop for my Galaxy S3 using my Lenovo U510 Ultrabook with Windows 7 64 bit. I have tried the following tutorials and then some:

http://www.dkszone.net/setup-install-adb-android-debug-bridge-windows-7 windows 7 adb driver Samsung galaxy S3

My phone is being listed as an ADB device in the Device Manager: Seems to be installed

but when I run "adb devices" from the command prompt, I get the following: unauthorized!

And nothing shows up in my AVD Manager: enter image description here

I've tried this same thing with several different drivers and cables, and get the same results. Any ideas as to what's going on?

Thanks for any pushes in the right direction.

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