In an epic voyage of discovery lasting from 1801 to 1803, Matthew Flinders was the first to circumnavigate the island continent known as New Holland. On 18 July 1801, Flinders sailed from Portsmouth in HMS (His Majesty's Ship) 'Investigator' to explore the continent's 'unknown coast', sighting Cape Leeuwin, Western Australia, on 6 December. The English were aware that the French had sent out an expedition to the southern continent nine months earlier, and were suspicious of their motives, particularly as the two countries were at war.

By 27 January 1802, the 'Investigator' was near the head of the Great Australian Bight. From February to March 1802, the British crew surveyed Spencer's Gulf, explored Kangaroo Island, and charted St Vincent Gulf. In April the 'Investigator' revisited Kangaroo Island, and on April 8 and 9, unexpectedly met the French expedition under the command of Nicolas Baudin at the location which became known as Encounter Bay. Despite their countries being at war, the captains exchanged information in a spirit of cooperation.

Flinders continued to journey eastwards, leaving present day South Australian waters on 19 April, and reaching Port Jackson in May 1802. He stopped his survey of the north Australian coastline at Wessel Islands. The 'Investigator' then continued on around the western and southern coasts of New Holland, arriving back in Port Jackson [Sydney] in June 1803, thereby completing the circumnavigation.

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