Complex sentence: Using a combination of oars and hand hauling on the hawser, aided by the men on shore controlling the stern line from there, they managed to bring the "Nantasket" to the "Ulrica".
Split into simpler sentences: Using a combination of oars and hand hauling on the hawser and aided by men on shore controlling the stern line. They managed to bring the "Nantasket" to the "Ulrica".