Tyrus

 was one of the fanatics who worshipped Machina on Aoris. She knew of the Fourth Doctor and K9 Mark II. (AUDIO: The Paradox Planet)

After helped the Doctor escape with Romana II, she travelled back to Era 14 with the them. She knew the TARDIS as a holy temple. She stayed in Era 14 to spread the word of Machina. (AUDIO: Legacy of Death)