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Guy Oliver was a friend of Edward Grainger.
When Linda Grainger was eleven, her grandfather took her to visit Commander Oliver's submarine. While they were visiting, Oliver had to answer a call to investigate a crashed ship in the sea. Oliver asked for Edward's help during the mission, in which they ended up defeating an alien invasion by the Slarvians. (PROSE: Childhood Living)
Guy later met the Sixth Doctor and Mel in 1986 when they were trying to defeat the Rainbow. By this point, he was confined to a wheelchair due to chronic osteoporosis. (PROSE: Old Boys)