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From The Collaborative International Dictionary of English v.0.48:
Keelhaul \Keel"haul`\, v. i. [imp. & p. p. Keelhauled; p. pr. & vb. n. Keelhauling.] [3d keel + haul: cf. LG. & D. kielhalen, G. kielholen. ] [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. --Totten. [1913 Webster]