Doctor Who: The Infinite Quest (2007)
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Synopsis: The Doctor and Martha Jones trek through space and time in a race against the galaxy’s greatest despot, Baltazar, to follow a complex trail of clues to discover the location of the legendary lost spaceship, the Infinite, which, according to myth, can grant anybody their hearts desire.
Director: Gary Russell
Writer: Alan Barnes
Stars: David Tennant, Freema Agyeman, Anthony Head
More info: IMDB, Wikipedia