<Tr> <Td> Tegan Jovanka </Td> <Td> Janet Fielding </Td> <Td> 19--21 </Td> <Td> Castrovalva </Td> <Td> Resurrection of the Daleks </Td> </Tr> <Tr> <Td> Vislor Turlough </Td> <Td> Mark Strickson </Td> <Td> 20--21 </Td> <Td> Mawdryn Undead </Td> <Td> Planet of Fire </Td> </Tr> <Tr> <Td> Kamelion </Td> <Td> Gerald Flood (voice) </Td> <Td> 20, 21 </Td> <Td> The King's Demons </Td> <Td> Planet of Fire </Td> </Tr> <Tr> <Td> Peri Brown </Td> <Td> Nicola Bryant </Td> <Td> 21 </Td> <Td> Planet of Fire </Td> <Td> The Caves of Androzani </Td> </Tr>

Who was the longest running doctor who companion