Flamborough RNLI called to rescue stricken yacht
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Investigation underway as the man overboard tragedy wasn't reported for almost four hours
A lifeboat, two helicopters, an aircraft and two navy ships joined the search
An improvised exhaust and silencer system on the boat's generator may have caused the mother and daughter deaths
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The man overboard tragedy wasn't reported for almost four hours
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The yacht was fully equipped with a working radio and flares - yet no call was made
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Waves were breaking over the vessel as RNLI crews attended