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Four stowaways threatened sailors and smeared windows with blood, faeces and urine after hiding on a container ship from Nigeria.
Their reign of terror was brought to an end after a mayday call was sent out as the Grande Tema was seven miles off the coast of Ramsgate and teams, reportedly including special forces commandos, boarded the vessel.
The boarding crew, which set off in rhibs and a helicopter from the Kent coast, detained the men before Essex Police arrested them when they reached Tilbury on Friday, December 21.
During the incident crew members locked themselves into a room for safety amid demands from the men that the ship be sailed close to the coast so they could jump off and swim.
Paul Kyprianou from the Grimaldi Lines, which owns the vessel, said at the time: "They are armed with iron bars and they have been threatening the crews this morning requesting they must get close to the shore.
"The crew members are locked on the bridge and are in direct contact with the UK authorities.
The migrants are thought to have been discovered on the ship four days before the outburst.
Mr Kyprianou added: "They were put in a cabin, and given accommodation, food and anything needed.
"Obviously they had to be guarded in order to avoid any reaction from their side, which unfortunately took place this morning."
Toheeb Popoola, 27, Joberto McGee, 20, Samuel Jolumi, 27, and Ishola Sunday, 27, have now been jailed for various offences. They were cleared of attempted hijack.
At the Central Criminal Court today Popoola received two years and seven months and McGee got two years and eight months after being found guilty of making threats to kill and affray.
Jolumi and Sunday were each jailed for a year and four months for affray.
The men had gained access to all areas of the ship, which was reaching the end of its 5,300-mile 20-day journey from Lagos, and three members of the crew were threatened during the incident.
They had attempted to gain entry to its bridge by striking windows and shouting at a crew of 23 people.
Negotiators eventually made contact with the group.
Chf Supt Andrew Mariner said: “This was a complex case that involved international victims and perpetrators who were on board a large ship within UK territorial waters. Fortunately, no one on board came to any harm.
“After carrying out a robust investigation and listening to and supporting overseas victims, we managed to bring theme Office case to the Central Criminal Court and today four men have been sentenced.
“I’d like to once again, extend my thanks to the crew for their support during this investigation.
“I’d also like to thank the shipping company, international freight shipping line Grimaldi Group.
“I hope today’s outcome offers some justice to them.
“I also want to extend my thanks to all of our partner agencies involved in this investigation for their support.”
The men's status within the UK will now be reviewed by the Home Office.
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