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Ursa Minor was a constellation visible from Earth, which included Polaris, the pole star. (PROSE: Byzantium!, TV: Legend of the Sea Devils) The Seventh Doctor once told Ace that Cafola VI had "the freshest seafood this side of Ursa Minor". (AUDIO: Critical Mass)
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Iris Wildthyme wrestled Queen Victoria for the right to rule Ursa Minor in a non-regulation singlet. (PROSE: Modern Love)
In 1807, when she discovered her compass wasn't working, Madam Ching tried to use the stars to navigate, pointing out Polaris and Ursa Minor, but this too soon proved unworkable due to the Sea Devils' disruptions to the planet's orbit and magnetism causing the stars to appear to shift around in the sky. (TV: Legend of the Sea Devils)