The Walton Coastguard Rescue Team, the Harwich RNLI lifeboat, the harbour launch boat, the search and rescue helicopter from RAF Wattisham were sent to the scene, along with a number of other nearby vessels and tugs that went to assist.
At 2.45pm the ferry was brought alongside at Harwich International Port and all of the passengers on board disembarked.
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A milder night ahead with some cloud low enough to be misty in places.