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The events were open to male and female competitors with the host nation's Noel Robins, Jamie Funross and Graeme Martin taking the first Sonar gold and Heiko Kroger claiming the first 2.4mR gold.
Both events remained through Athens 2004 and Beijing 2008 before the introduction of a two-person keelboat for Beijing 2008. The SKUD18 was the chosen equipment and the first gold medal went to America's Nick Scandone and Maureen McKinnon-Tucker.
All three events will be on show in Marina da Gloria for the Rio 2016 Paralympic Sailing Competition.
Visit the Official Paralympic Sailing Competition website here.