The Princess Royal spent around two hours touring the fascinating museum and its faithful recreation of an 18th Century port.
She spoke to staff and volunteers and signed the visitors book on HMS Trincomalee, the oldest floating warship in Britain.
The museum was closed to the public during the visit but get a flavour by scrolling through the following photos.
The museum was closed to the public during the visit but get a flavour by scrolling through the following photos.
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