The vessel was located west of the Smalls lighthouse
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A lifeboat crew were out all night battling gale force winds to rescue six people on a fishing boat.
The St David's crew were called out at 2335 GMT on Thursday after the 80ft Western Belle suffered engine failure.
The RNLI said "horrendous" conditions meant it took two-and-a-half hours to reach the boat and the line being used to tow the vessel snapped twice.
Coastguards said they towed the six onboard back to Milford Haven docks safe and well on Friday.
Milford Haven coastguard co-ordinated the rescue effort to reach the fishing boat, which was around 14 miles (23km) off the Smalls Lighthouse, near St David's peninsular.
Jim Phillips, of St David's RNLI lifeboat station, said the boat had suffered total engine failure which resulted in loss of power and electrics.
The line being used to tow the fishing boat snapped twice
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The Western Belle is an Irish registered fishing boat.
"At that particular time (2335 GMT) there were quite horrendous conditions, it was at least a gale force eight and the lifeboat didn't reach the casualty until 0205 GMT."
The lifeboat got alongside the boat and managed to get a tow line to it, but the weather conditions caused more problems on the 25-mile (40km) journey back.
Mr Phillips added: "The tow line has snapped twice which means that they've had extra conditions, terrible conditions to deal with in putting a new tow line to it."
He said the stretch of water entering Milford Haven off St Anne's head was "very rough."
Coastguards said the 24-hour industrial action had not affected their ability to coordinate the rescue.
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