Speaking to the Bay Post in a ship-to-shore call at about 1.15pm, the Endeavour's master, Captain John Dikkenberg, said the ship was under sail off Ulladulla.

Captain Dikkenberg said the ship - regarded to be the finest square-rigged replica in the world - had been becalmed overnight and had to turn on its engines, a far cry from the strong southerlies that kept it in berth at its home at the Australian National Maritime Museum in Sydney on Monday night.

"[But] the sails are now up and the crew are out working; they're loving it," Captain Dikkenberg said.

Aboard the replica of Lieutenant James Cook's legendary vessel is wildlife officer and co-ordinator of marine fauna programs for the NSW National Parks and Wildlife Service, Geoff Ross.

Captain Dikkenberg said Mr Ross - who is conducting a whale count for the Australian Antarctic Division's national database - was "out on deck with his binoculars". 

"We spotted a pod of about 4-5 humpback whales this morning - mainly adults, perhaps one juvenile - as well as some seals," Captain Dikkenberg said.    

Captain Dikkenberg said he would try to bring the Endeavour in as close to Batemans Bay as possible, depending on the winds, but without putting the ship and its crew at risk.

The Endeavour will arrive in Eden on Friday ahead of this weekend's Eden Whale Festival.

The public will be able to go on board the Endeavour on Friday and Saturday.