The ship listed heavily as it was towed off

It was being guided by the crane vessel Grey Mammoth and the Maritime and Coastguard Agency's towing vessel, Far Sky.

A plane tracked its progress, watching for any leak from fuel remaining on board.

Robin Middleton, Secretary of State's representative for Maritime Salvage, said: "This has been a particularly sensitive incident, given the nature of the area in which the MV Willy found herself."

The vessel ran aground in the Plymouth Sound and Estuaries Special Area of Conservation (SAC) and Special Protection Area (SPA).

Both are of international importance for a number of marine species.

Tough inspection

On arrival at Falmouth, the ship was due to be met by representatives of the coastguard agency and Falmouth Harbour Authority.

It was faced with a rigorous inspection before being allowed to enter the port.

Tanker timeline

Tuesday 1 January, 2245 GMT: MV Willy drags anchors and hits rocks. Crew wade ashore. Police set up no-go zone. Wednesday 2 January, 0515 GMT: Kingsand homes are evacuated amid fears of explosion. Wednesday 2 January, lunchtime: a safety crew opens holds to clear petrol vapour. Wednesday 2 January, evening: many villagers go home. Thursday 3 January, evening: Kingsand 're-opens' as danger fades. Saturday 5 January: a floating crane loads salvage gear. Friday 11 January: vessel re-floated and escorted to Falmouth

The fuel tanks were filled with compressed air to force water out of the bottom of the vessel.

A full diving survey was needed to assess damage to the ship's bottom.

The rescue operation began shortly before low tide at 1000 GMT.

It was hoped the ship would reach Falmouth by Saturday morning.

The MV Willy was driven ashore while sheltering from a storm in Cawsand Bay on New Year's Day.

It led to 150 local people being moved out of their homes after fears that vapour-filled tanks could explode.

The 1981-built vessel had already discharged most of its cargo at Plymouth's Cattedown docks, but was still carrying 93 tonnes of intermediate fuel oil, 41 tonnes of gas oil and fives tonnes of lubricating oil.

Salvors began removing the remaining fuel last weekend.