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The History of Cairns. Captain James Cook journeyed up the North Queensland coast on his first Voyage of Discovery in 1770, aboard the HM Bark Endeavour, arriving on Trinity Sunday and naming the area Trinity Bay. The journey was not a pleasant one as the Great Barrier Reef is one of the most difficult waterways to navigate in the world.
Gladstone and Rockhampton are the two major cities in the Central Queensland region. In the sister city program, Gladstone is twinned with the Japanese port of Saiki.n May 1770, the HM Bark Endeavour, under the command of James Cook, sailed by the entrance to Gladstone Harbour under the cover of darkness. Matthew Flinders, during his 1801â1803 circumnavigation of Australia, became the first recorded European to sight the harbour in August 1802.