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He didn't.

After leaving Tahiti and the scientific observations of the transit of Venus, Lieutenant James Cook (later Captain) was issued secret orders to continue west and explore any new lands he came across. After leaving New Zealand, Cook continued west to the continent of Australia, where he only charted the eastern coastline.

It was Matthew Flinders who first travelled completely around the Australian continent, doing so over thirty years after Cook claimed the eastern seaboard for Great Britain.

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