Under the leadership of Edmund Hillary, Kirkwood landed the New Zealand section of the Commonwealth Trans-Antarctic Expedition along with the material needed to construct Scott Base.
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On 17 March 1958, at the end of the Expedition, Kirkwood was waiting for Vivian Fuchs, Sir Edmund Hillary and the rest of the Expedition with the Endeavour to transport them back to Wellington.
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He was "loaned" from the Royal Navy to command the HMNZS Endeavour (1956) on the Commonwealth Trans-Antarctic Expedition.
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