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Leading Seaman Timmy MacColl, from Gosport, went missing in May during a port visit to Dubai by HMS Westminster.
BBC: Timmy MacColl case: Missing sailor's family to go to Dubai
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Leading Seaman MacColl, originally from Killin, in Stirlingshire, was last seen in the early hours of 27 May while on shore leave.
BBC: Timmy MacColl case: Missing sailor's family to go to Dubai
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The only woman in the group, Leading Seaman Faye Turney, believed for at least four days that she was the only one still being held.
BBC: NEWS | UK | Released sailors tell of ordeal
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"It was like a floating village, " said the 54-year-old, who worked on HMS Sheffield, HMS Southampton, HMS Manchester and HMS Newcastle as a leading seaman and a petty officer.
BBC: HMS Edinburgh returns to Portsmouth from final deployment
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Leading Seaman Mark Ray is one of the watchkeepers.
BBC: Seeking Somali pirates, from the air