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From: Webster's Revised Unabridged Dictionary (1913)

 Keel·haul v. i. [imp. & p. p. Keelhauled p. pr. & vb. n. Keelhauling.]  [Written also keelhale.] Naut. To haul under the keel of a ship, by ropes attached to the yardarms on each side. It was formerly practiced as a punishment in the Dutch and English navies.