The original rotation of about 2,500 marines was postponed in March due to the coronavirus pandemic. Defence Minister Linda Reynolds gave approval for the reduced contingent in May.
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The 9,500 who are leaving will be reassigned elsewhere in Europe, redeployed to the Indo-Pacific region, or sent back to bases in the U.S.
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But the government says it will still meet a pledge to invest $8bn in northern Australia over 10 years.
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The deployment will culminate in exercise Koolendong in September with Australian Defence Force units.
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“At the end of the day all it did was delay the deployment a little bit and force us to take a little harder look at how we were going to implement the necessary health protective measures,”