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Cook's best known ship was the ' Endeavour ', which departed Plymouth, England, on 26 August 1768 on Cook's expedition to observe the transit of Venus from the vantage point of Tahiti. It was on this journey that Cook circumnavigated New Zealand and the eastern coast of Australia.On Cook's second and third journeys, he commanded the ' Resolution ' and the ' Adventure '. On his third journey, Cook also had a consort ship, the Discovery, which was commanded by Charles Clerke, not by Cook himself.aptain James Cook's major exploration was arguably his first expedition. On Cook's first journey, departing in 1768, his mission was to chart the transit of Venus. Commanding â¦ the 'Endeavour', Cook went on to search for Terra Australis Incognita, the great continent which some believed to extend round the pole.
The routes of Captain James Cook's voyages. The first voyage is shown in red, second voyage in green, and third voyage in blue. The route of Cook's crew following his death is shown as a dashed blue line.ook joined the British merchant navy as a teenager and joined the Royal Navy in 1755. He saw action in the Seven Years' War, and subsequently surveyed and mapped much of the entrance to the Saint Lawrence River during the siege of Quebec. This helped bring Cook to the attention of the Admiralty and Royal Society.