Areas of the Site featured in the show include Charlestown, Gunwalloe, Porthgwarra, Bodmin Moor, Botallack to Levant, Padstow, St.
The people of Padstow, it appeared, were blithely unaware of the fuss, or didn't care.
Lifeboats from Rock and Padstow, coastguard rescue teams, and search-and-rescue helicopters were all called to help the group.
However, there were no anxious crowds bidding farewell to the brave seamen as they slipped out of Padstow.
It will be moored at Padstow's harbour for its visit, which will also include an appearance by the Royal Marine Band.
Rick Stein, chef and television celebrity, has created a little empire of fish restaurants, hotels and a cookery school in Padstow.
ECONOMIST: They want to emulate the boom in the rest of the south-west
Adding Padstow to the list of parishes where, because more than quarter of homes are second homes, 50% affordable housing is required.
BBC: The council wants to increase affordable homes in Padstow
Mr Stein already owns the Seafood Restaurant in Padstow, which he has run for 26 years as well as a number of other businesses in the town.
BBC: NEWS | UK | England | Cornwall | Stein's hotel plans go on show
Areas like Padstow, where a quarter of houses are second homes, will have the most stringent rules with 50% of homes on new estates having to be affordable.
BBC: The council wants to increase affordable homes in Padstow
Insp Mansell also highlighted the rescues of two men who were rescued when their yacht capsized off Padstow and four groups of kayakers in trouble off Ilfracombe.
BBC: RNLI blames 'tricky' weather for SW lifeboat launch rise
However, the 10 most expensive seaside towns remain in the south west of England, with property in Sandbanks in Dorset being the most expensive, followed by Padstow in Cornwall.
In a statement he said he was very depressed about the situation and felt that he was letting people down but that he had to consolidate his existing businesses in Padstow.
BBC: NEWS | UK | England | Cornwall | Stein halts Newquay hotel scheme
They attempted to anchor at Stepper Point in the Camel estuary but a gearbox failure meant they were quickly driven onto rocks just outside Padstow and forced to issue a mayday call at about 04.45 BST.
He and wife Paula, who were waiting for a ferry across the Camel estuary to Padstow, said second homeowners spent more money locally than other holidaymakers because they did not have to fork out for rent.
He and South African shark expert Craig Ferreira have teamed up with the crew of a Padstow fishing boat to search for a great white shark - the creature made infamous by the Hollywood blockbuster Jaws.
It closed as a commercial waterway in 1925 but since 1971 it has been restored as a country park and forms part of the West Country Way cycle route which runs from Padstow in Cornwall to Bristol.
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