According to Hudhayfah, the Prophet Muhammad (peace be upon him) used to say 'Rabbi ighfir li' (My Lord, forgive me) between the two prostrations. This is narrated by An-Nasa'i.
Ibn Abbas narrated that the Prophet Muhammad (peace be upon him) would say 'Allahumma ighfir li warhamni wahdini wa 'afini warzuqni' (O Allah, forgive me, have mercy on me, guide me, grant me well-being, and provide for me) between the two prostrations. This longer supplication is mentioned as permissible.
Yes, the transcript indicates that Hudhayfah's account of the Prophet saying 'Rabbi ighfir li' was during night prayers. During these prayers, the Prophet (peace be upon him) would also prolong the sitting between the two prostrations, similar to his prolonged bowing, prostration, and standing after bowing.
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