The Infinite Quest ( TV story ) The Infinite Quest was a special animated " Doctor Who " serial , featuring the Tenth Doctor and Martha Jones , which was produced for " Totally Doctor Who " . The show ' s live - action stars voiced their animated counterparts in this , the first made - for - television animated " Doctor Who " adventure . The serial was initially broadcast in twelve instalments of approximately three and a half minutes each ; the thirteenth and concluding chapter , however , was not broadcast individually , but was incorporated into a re - edited omnibus version that incorporated the preceding twelve parts . The total running time of the serial was approximately that of a regular live - action episode . Although produced by the BBC using the show ' s actors , and clearly set within the Series Three timeframe , " The Infinite Quest " is not considered an episode of the third series . Synopsis . The Tenth Doctor and Martha must find the legendary lost starship , the " Infinite " , before the evil Baltazar , scourge of the Galaxy , gets it . Plot . Part 1 . Baltazar is aboard his spaceship looking upon a digital display of the Earth . Caw is with him , in a spherical cage . Baltazar gives the order for the plasma cannons to prepare to fire upon the Earth . The TARDIS materialises aboard Baltazar ' s ship . The Tenth Doctor and Martha Jones step out , and the Doctor tells Martha of Baltazar ' s title as scourge of the galaxy . Baltazar reveals that his plan is to consume the earth in a field of plasma fire that will compress all carbon - based life forms and reduce them to diamond s . The Doctor reveals his plan to stop Baltazar using a spoon he produces from his pocket — which Baltazar chops in half , causing it to fall upon the deck . The Doctor explains that the spoon was made on a planet that specialised in hydroxide fungus , which causes the deck of the ship to rust quickly . Baltazar falls through the rusting floor . At Martha ' s prompting the Doctor frees Caw from his cage with his sonic screwdriver before flying off in the TARDIS . The Doctor predicts the most likely planet for Baltazar to be put in prison would be Volag - Noc . The Doctor asks Martha to give him three random numbers for the destination settings — which take them to Copacabana Beach . As they fly off , Baltazar ' s ship falls apart with the rust but Baltazar escapes riding on Caw , vowing to get back at the Doctor . Part 2 . The Doctor is flying the TARDIS at high speeds , when Caw catches it in flight , and takes it to his home planet of Pheros . He gives Martha a brooch , a present for saving him , then tells the Doctor that Baltazar has been released from jail — and that he fears that Baltazar will come after him as he sold him out . Caw goes on to say that Baltazar is looking for the " Infinite " — an object that will give him his heart ' s desire . The Doctor believes this to be just a legend , but Caw tells him that Baltazar knows how to find it . He coughs out a data chip — which Baltazar has given him for safe keeping — and tells the Doctor that you need to use each chip to find another one — then that will lead you to the " Infinite " . The Doctor goes to break the data chip to keep the " Infinite " lost , but Caw stops him , saying that Baltazar has a copy . The Doctor decides to go on the quest to prevent to " Infinite " fall into Baltazar ' s hands . As he leaves in the TARDIS , Baltazar is revealed behind it . Caw confirms that the " tracker " is in place — and Baltazar boasts that the Doctor will lead him to his heart ' s desire — and he will have his revenge . Part 3 . The Doctor and Martha land on the first planet — called Boukon , a world heated by artificial suns and where Oil Corporation is taking the last of the oil to fuel the empire , because they ran out on Earth . The rigs begin to move towards the travellers when a ship comes up from the sand and uses ropes to attach itself to one of the rigs . In the process , the TARDIS falls off the edge onto the sand . The captain introduces herself as Captain Kaliko , and explains that they are destroying the rigs to help " fuel the poor " because prices have become too high . She then accuses the travellers of being Oil Corp spies , and orders her ( literal ) skeleton crew to kill the travellers . Part 4 . As they march on the Doctor and Martha , one of the skeletons , the first mate called Swabb , fires his gun to stop them , and suggests that they dispose of the bodies in the rigs they have destroyed to make it look like an accident . However , he whispers to the Doctor that they will be all right , making the Doctor think he is an Oil Corp spy . The captain makes them walk the plank , but the Doctor threatens to use his sonic screwdriver to destroy the ship . At that point , Swabb confirms the Doctor ' s suspicions by revealing that he is an Oil Corp spy , and asks the rest of the crew to help turn on the captain , promising them new bodies . The Doctor explains they are not with Oil Corp , but Swabb says it doesn ' t matter and orders the rigs to attack the ship . Part 5 . The oil rigs are not very good shots , but eventually they hit the ship , and it crashes into the sand . Martha is threatened by Swabb — who says that he will take Martha ' s body as his new one , but he doesn ' t notice the Captain sneaking up behind him . Before she shoots , the Doctor comes up with his head in the steering wheel , knocking Swabb onto the plank . Kaliko withdraws the plank , causing Swabb to fall onto the sand , though he survives . The travellers then turn to the Captain , asking her about her earring . She guesses that they are looking for the " Infinite " — and takes off in her escape pod . The Doctor and Martha go looking for her , and find the wreckage of the ship — with the captain dead . They take the data chip and move on to the planet of Myarr . They arrive in a city — which Martha notices is missing lights . Suddenly , they are faced with bugs which swarm around them . Part 6 . As the bugs continue to swarm , the travellers are saved by Ulysees Meregrass — a toad like creature — who explains that he has an understanding with the bugs — which are called Mantasphid s . He explains that they are at war , and that he is providing arms for their Queen . As they talk , they hear the sirens of ships approaching . The ships attack the area , and hit a tower — which falls towards Martha . Martha wakes up , and the Doctor explains that the tower was actually made of Dung . He then talks to the Queen about the humans , but she says that she already has an adviser in Meregrass , though the Doctor says he is an arms dealer . As they talk the bugs reveal that they have caught a pilot of one of the ships . The Doctor asks to see what they are fighting , and a strange creature comes in . He goes towards the Doctor with his arms stretched out to attack him . Part 7 . Martha spots that the creature is actually just scared , and the Doctor removes the mask to reveal a human — who introduces himself as Pilot Kelvin . He explains that it is actually the bugs who are attacking the humans — saying that the bugs have destroyed his home and killed his parents . The Doctor demands to know why , and the queen explains that the planet has lots of Dung . Meregrass then asks for his money for delivering the weapons , but the queen refuses , saying that they do not make deals with fleshy bipeds . However , they hear the sirens of ships attacking again — and Meregrass leaves the queen saying that he only helped because he thought he would be paid , meaning he doesn ' t give them the code to activate the weapons . The Doctor notes that they can ' t let him get too far as he had the data chip . He then asks Kelvin what the ships will do , and Kelvin says that they will burn the whole area . As the Doctor ponders this , the ships get closer to the bugs . Part 8 . The Doctor asks Kelvin to order the ships to stop — saying that the bugs can surrender , because they have a right to live . Kelvin says that there is no protocol for dealing with bugs , so Martha says that they should surrender for them . Kelvin opens a communication to the commanders , and the Doctor ( in a pirate voice ) surrenders for the bugs , claiming he is " Doctor Vile " and was holding their Queen hostage . He then asks the bugs to provide light for the humans to help combat the oil shortage , and leaves to avoid being captured . As they go down a tunnel , they find Meregrass Dead , and note the similarity to Kaliko earlier . However they have to move on and find the next chip — which is on Volag - Noc . They arrive on the planet — which is the coldest place in the galaxy . Martha asks where the prison is , when the Doctor is suddenly caught in a circle of lasers , and taken below the surface . Part 9 . However , he has simply been taken into the prison , along with Martha . They are met by a robot , which confiscates the Doctor ' s screwdriver , and then scans them for convictions . Martha has none , but the Doctor has several and is sent to prison cell 8447 . The bot then takes Martha to the Governor of the prison . The Doctor arrives in the cell , where he introduces himself to his android roommate . He then starts to help the android — who is suffering from a pain . Martha meets the Governor , and demands that the Doctor be released — but notices the safe which contains the data chip . The governor reveals the Doctor ' s charges — and says that this earns him 2 billion years in prison . In the cell , the Doctor realises that the android has been inhibited , and the android helps him escape . The Governor is informed of the breakout in the cell , and accidentally reveals that he is not the real governor . Suddenly , a mysterious force starts cutting through a door at the side . Part 10 . The door bursts open , and the Doctor is revealed with the real governor , who is attacked by the other security bots . The Doctor uses the Psychic paper to find out that the fake governor is actually Constantine Ethelred Gurney who have broken back into prison because of the governor . Meregrass sold him a program meaning the warders saw him as Governor Locke . Locke orders that all prisoners be killed because they are beyond rehabilitation . Gurney shoots the android once , and escapes in the lift — chased by Martha . The Doctor manages to stop the cells from being sterilised , and then heads out to help Martha . Martha chases after Gurney , but he threatens to shoot her — when suddenly Baltazar flies in on Caw , proclaiming his revenge . Part 11 . Gurney shoots Caw , forcing him to crash , though Baltazar goes after Gurney — Martha goes over to Caw as he is dying , and Caw explains that he was promised Gold for helping Baltazar . The Doctor arrives — but cannot help . Baltazar comes over and explains that he needed the Doctor ' s help to get the data chips — and says that he killed both Meregrass and Kaliko to help their quest and now has Gurney ' s chip . He forces them in the TARDIS , and explains that he has tracked them using the brooch that Caw gave Martha . He knew that only the Doctor could read the chips as they are older than recorded history . He then forces the Doctor to use the chips to find where the " Infinite " is , and then makes him set the controls for , saying he will kill Martha if he doesn ' t help . Once the Doctor has set the controls , he shoots the Doctor because he doesn ' t need him any more . Part 12 . The Doctor wakes up on the snowy surface , which is deserted . In the TARDIS , Baltazar and Martha reach the " Infinite " — and he forced Martha to look for the hold of the ship . She walks along , and is met by the Doctor , who hugs her . At the same time , the Doctor arrives on Squawk — who has difficulty landing . Baltazar tries to turn Squawk , but the Doctor throws a rock at Baltazar to shut him up — he then demands to know where Martha is . Martha , still in the hold — asks the Doctor about the treasure — to which the Doctor replies " the heart ' s desire " . She realises that this is not actually the Doctor , but her Heart ' s desire . The fake Doctor then glows white inside — ready to attack Martha . Part 13 . The real Doctor arrives , and explains that Martha has to get rid of the illusion , which she manages by saying that she doesn ' t believe it . The ship then tries to find the Doctor ' s desire — but fails . The Doctor explains to Martha how he arrived after three years on Volag - Noc — he has grown Squawk by feeding him gold , and then he upgraded his fusion chamber to make it travel faster than light so that he can catch up the two and three quarter years . He says the ship once had one of the Great Old One s , but by now it is dead and there is only an echo left , enough to show your heart ' s desire . As he talks , Baltazar arrives and sees lots of gold , with which he plans to make a fleet and destroy the Doctor , Earth and Volag - Noc . Martha and The Doctor try to convince him that this is just an echo of its power , but he doesn ' t listen . The Doctor uses his sonic screwdriver to destroy the ship , and they head to the TARDIS . The Doctor stops Baltazar from entering , and they take off . The Doctor explains that he has left Squawk to take Baltazar , who is returned to Volag - Noc and imprisoned . The Doctor then asks Martha for more destination settings as they go on their way . Story notes . Ratings . " to be added " Production errors . " to be added "