Battle of Tauron
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With at least three basestars in orbit, the Cylons sent ground forces and Raiders onto the planet's surface. Colonial military ground forces engaged in urban warfare with Centurions amidst bombed out buildings, trapping civilians (such as Helena Cain's family in the city of Hypatia) in the crossfire.
It was during this operation that the Cylons finalized an armistice with the Colonies, and instigated an immediate retreat from the surface of Tauron, as well as Colonial space (TRS: "Razor", extended version).