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The Endeavour River mouth is near where James Cook's ship The Endeavour ran aground on the Great Barrier Reef. After striking the reef and nearly sinking in June 1770, The Endeavourmanaged to stay afloat for another week whilst the crew sought desperately for land, eventually sighting the harbour formed by the Endeavour River. After the ship was landed, Cook spent almost two months repairing it, thus giving rise to the fledgling township of Cooktown.

The harbour was originally named the Charco, but Cook renamed it Endeavour when he departed on 4 August 1770. At that stage, the town had developed into nothing more than a tent village. The spot where Cook beached his damaged ship is marked by a stone monolith, called Cook's Pillar, on the banks of the Endeavour River.

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