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    <periodOfReport>2021-03-31</periodOfReport>

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    <issuer>
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        <issuerName>FIVE PRIME THERAPEUTICS, INC.</issuerName>
        <issuerTradingSymbol>FPRX</issuerTradingSymbol>
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            <rptOwnerName>Collins Helen Louise</rptOwnerName>
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        <reportingOwnerAddress>
            <rptOwnerStreet1>111 OYSTER POINT BOULEVARD</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>SOUTH SAN FRANCISCO</rptOwnerCity>
            <rptOwnerState>CA</rptOwnerState>
            <rptOwnerZipCode>94080</rptOwnerZipCode>
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            <isOfficer>1</isOfficer>
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            <officerTitle>EVP and Chief Medical Officer</officerTitle>
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    <footnotes>
        <footnote id="F1">Represents shares of performance-based restricted Common Stock (as defined below) granted to the reporting person on June 24, 2019 (the &quot;Performance Award&quot;). The performance conditions associated with the Performance Award have not yet occurred. Pursuant to the Merger Agreement (as defined below), immediately prior to the effective time of the Merger (as defined below), the Performance Award was deemed to have vested and each share of Common Stock underlying the Performance Award was converted into the right to receive the Offer Price (as defined below) in cash, without interest, minus any applicable withholding taxes.</footnote>
        <footnote id="F2">Pursuant to the Agreement and Plan of Merger, dated March 4, 2021 (the &quot;Merger Agreement&quot;), by and among the Five Prime Therapeutics, Inc. (the &quot;Company&quot;), Amgen Inc. (&quot;Parent&quot;) and Franklin Acquisition Sub, Inc., a wholly owned subsidiary of Parent (&quot;Purchaser&quot;), Purchaser merged with and into the Company, with the Company surviving as a wholly owned subsidiary of Parent (the &quot;Merger&quot;), effective as of April 16, 2021. Pursuant to the Merger Agreement, each issued and outstanding share of common stock of the Company, par value $0.001 per share (&quot;Common Stock&quot;), was converted into the right to receive $38.00 per share (the &quot;Offer Price&quot;) in cash, without interest, minus any applicable withholding taxes.</footnote>
        <footnote id="F3">Pursuant to the Merger Agreement, immediately prior to the effective time of the Merger, each option to purchase shares of Common Stock granted by the Company that was then outstanding and unexercised was cancelled and converted into the right to receive an amount in cash equal to the product of (x) the total number of shares of Common Stock subject to such option multiplied by (y) the excess, if any, of (A) the Offer Price minus (B) the exercise price payable per share under such option.</footnote>
        <footnote id="F4">Not applicable.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Francis Sarena, Attorney-in-fact</signatureName>
        <signatureDate>2021-04-19</signatureDate>
    </ownerSignature>
</ownershipDocument>
