When did the 21st Panzer Division launch its counterattack near Sword Beach?

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The 21st Panzer Division launched its counterattack near Sword Beach at 16:00 hours on June 6, 1944 (D-Day).1

This operation, which involved tank forces and mechanized infantry, represented the only significant German counterattack of the day. Elements of the division's 192nd Panzer Grenadier Regiment reached the beach area by 20:00 hours, but the advance was ultimately halted by Allied tanks, air strikes, and antitank weapons.1