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The procession makes its way through the Old Royal Naval College at Greenwich towards the Queen's Steps before going on board the flotilla (picture by Alex McIlhiney).

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The view from Trinity College of Music in the Old Royal Naval College as the flotilla sets off up the Thames (picture by Tomas Gisby).

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Some 70 rowed and motor vessels accompany HMS Victory's cutter and the funeral barge (picture by Alex McIlhiney).

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The weather remains dry for the procession, despite gathering clouds (picture by Alex McIlhiney).

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Re-enactment participants in period costumes and naval uniforms (picture by Alex McIlhiney).

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The Jubilant carries out the role of Nelson's funeral barge (picture by Ben Shayler).

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The flotilla passes HMS Belfast (picture by Neil Hayes).

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HMS Belfast fires a salute (picture by Neil Heyes).

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A Royal Navy patrol boat among the flotilla (picture by Simon Everest).

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One of two replica 1829 gigs taking part, manned by national and international rowers, passes alongside the funeral barge (picture by Mark Buxton).

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Tower Bridge provides a spectacular backdrop (picture by Michael Parsons).