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From memory camps 3, 4 & 5 are in the aboriginal lands so not allowed to go to them.
I was up that way July 2012 as well, we took the Madigan to camp 2 then detoured off to Geo-survey Hill and the Geographical Centre.
That was a challenging trip as most of it was without tracks.
We had a permit for camp 5,
Did you get camp 1? It was on top of a dune We found no wheel tracks around that one
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The Madigan line is the path the first white men to cross the Simpson desert took on camel, there are 25 camps between old andado and birdsville , Cecil Madigan was the leader and named the desert after the bloke paying the bills in Adelaide, the radio operator was also a Simpson. The path used to be xcountry between the camp gps points but the track is now getting defined, still able to break a hilux though !