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en.wikipedia.org/wiki/ROKS_Cheonan

ROKS Cheonan (PCC-772) was a Pohang-class corvette of the Republic of Korea Navy .... The CHT-02D torpedo manufactured by North Korea utilizes acoustic/wake homing and passive acoustic tracking methods. However, an expert at a ...

nationalinterest.org/blog/the-buzz/how-dangerous-north-koreas-navy-20258

Apr 19, 2017 ... The Pohang-class corvette was sunk by a North Korean mini-submarine armed with CHT-02D wake-homing torpedoes on March 26, 2010 in ...

www.popularmechanics.com/military/a5825/midget-sub-attacks

May 24, 2010 ... A civilian ship hired to dredge the area of the attack found remains of what the government labeled a CHT-02D torpedo, made in North Korea.