Traherne

 was a captain of the SS Ferdinand Magellan. She thought Steven Taylor was the reason the terraforming robots were malfunctioning and were from a rival colony ship. She managed to make contact with Vicki Pallister and agreed to a partial terraform to save Vicki and the First Doctor. The Samsara told her that the humans that settled there changed themselves to into the animals rather than terraform. (AUDIO: An Ideal World)