We present a comprehensive analysis of strong-lensing, weak-lensing shear and magnification data for a sample of 16 X-ray-regular and 4 high-magnification galaxy clusters selected from the CLASH survey. Our analysis combines constraints from 16-band HST observations and wide-field multi-color imaging taken primarily with Subaru/Suprime-Cam. We reconstruct surface mass density profiles of individual clusters from a joint analysis of the full lensing constraints, and determine masses and concentrations for all clusters. We find internal consistency of the ensemble mass calibration to be $le 5% pm 6%$ by comparison with the CLASH weak-lensing-only measurements of Umetsu et al. For the X-ray-selected subsample, we examine the concentration-mass relation and its intrinsic scatter using a Bayesian regression approach. Our model yields a mean concentration of $c|_{z=0.34} = 3.95 pm 0.35$ at $M_{200c} simeq 14times 10^{14}M_odot$ and an intrinsic scatter of $sigma(ln c_{200c}) = 0.13 pm 0.06$, in excellent agreement with LCDM predictions when the CLASH selection function based on X-ray morphological regularity and the projection effects are taken into account. We also derive an ensemble-averaged surface mass density profile for the X-ray-selected subsample by stacking their individual profiles. The stacked mass profile is well described by a family of density profiles predicted for cuspy dark-matter-dominated halos, namely, the NFW, Einasto, and DARKexp models, whereas the single power-law, cored isothermal and Burkert density profiles are disfavored by the data. We show that cuspy halo models that include the two-halo term provide improved agreement with the data. For the NFW halo model, we measure a mean concentration of $c_{200c} = 3.79^{+0.30}_{-0.28}$ at $M_{200c} = 14.1^{+1.0}_{-1.0}times 10^{14}M_odot$, demonstrating consistency between complementary analysis methods.
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