The three-year-old whippet called Samba was discovered at Old Harry Rocks, near Swanage, just before 1500 GMT on Sunday by passers-by.

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The Maritime and Coastguard Agency (MCA) said the vessel had stopped near Old Harry Rocks to allow a funeral party to scatter ashes and Mr Wilkinson had left the wheelhouse to check on the progress of the ceremony.

BBC: RNLI rescue boat