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Magellan was part of a spacecraft crew that intended to harvest water from Charon. He was originally human, but an accident destroyed his body, and his mind was put into the body of a robot.
He was suspicious of the Second Doctor, Ben Jackson and Polly Wright's presence on Charon. He accidentally set the shadow creature free when he killed the aliens that were controlling it. The Doctor forced him to help contain the creature. (PROSE: Pluto)