From TARDIS Index File, the free Doctor Who reference.

Major Daly was a retired officer in the British Army and the father of Claire Daly. In 1926, they took passage on the SS Bernice, which was removed from space and time and placed in a Miniscope which eventually came into Vorg's possession. Major Daly, along with the rest of the passengers and crew of the Bernice, was returned to Earth by the Doctor. (DW: Carnival of Monsters)