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HMAS Kiara (formerly Penelope) was a channel patrol boat operated by the Royal Australian Navy (RAN) as a boom defence vessel during the Second World War. She was one of thirteen similar vessels, known to Sydneysiders as the 'Hollywood Fleet'.

Prior to the War, she was a private vessel built by Lars Halvorsen & Sons and launched in 1938.

She was requisitioned on 21 February 1941. On 9 May 1941, the Naval Board dealt with a dilemma. A ship by the name, HMS Penelope had already been commissioned into the Royal Navy. To avoid confusion, the Board determined the requisitioned Penelope would be named HMAS Kiara, meaning White Cockatoo. She was commissioned by the RAN on 26 May 1941 under the command of Lieutenant Hugh C Brown RANVR. Kiara was armed with a single .303 Vickers machine gun.

On 29 June 1941, HMAS Kiara, departed Sydney for Darwin, accompanied by the stores ship, HMAS Southern Cross. On 1 July with one engine broken down, she was taken in tow by Southern Cross steaming dead slow in a short heavy sea. As the weather moderated, Kiara proceeded under her own power and both vessels reached Brisbane the following day. Repairs were completed and both vessels proceeded north through the Barrier Reef. Kiara again developed engine problems and was taken in tow to Townsville. Following further repairs, both vessels sailed again and arrived in Cairns on 16 July. Repairs were completed on the gearbox and both vessels sailed from Cairns on 21 July and arrived at Cooktown the following day. Both vessels continued their journey and arrived at Thursday Island on 26 July. Kiara was refueled and departed for Darwin the following day. En-route, both vessels anchored at Elcho Island and Popham Bay before arriving in Darwin on the evening of 1 August 1941.

On 21 October 1941 whilst undertaking survey duties, she struck a rock and was holed. She was beached and later bought into harbour for repairs. In December she commenced her main duties as a Boom Patrol Vessel which she continued throughout her remaining time at Darwin. In addition, she assisted with searches for ‘downed’ planes, including a missing Hudson bomber in the Clarence Strait area. She participated in defence duties during the bombing of Darwin during the first and later air raids on the port and city. At times she was stationed for air observation duties to provide fore-warning of enemy attacks and was stationed for air sea rescue duties during bombing raids.

For the later period of 1943, she was out of action awaiting repairs to her engines. She was ‘re-commissioned’ for a return to service on 26 March 1944, and in mid 1944 she was joined by other Hollywood Fleet vessels, HMAS Sea Mist and HMAS Steady Hour which had arrived on 22 May 1944. With the war moving north away from Darwin and with no further need of the boom net, HMAS Kiara was ‘paid off’ on 27 September 1944.

HMAS Kiara was awarded the ‘Darwin 1942-43’ Battle Honour for her duties during the Japanese bombing raids. Her actions were also recognised on a memorial plaque in Darwin, unveiled in 1992.

Nothing more is known of her activities after the war.