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You may be looking for the Rigellans.

Rigelians were a humanoid species on good terms with the Time Lords. They got the loan of K9 from the Time Lords when the Rigelian Seventh Fleet disappeared. K9 liaised with a male Rigelian fleet commander, who sternly focused K9 on the task of discovering why the Seventh Fleet had been subjected to vanishment. (PROSE: K9 and the Time Trap)

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