It appeared to depart further to the North, possibly to Townsville.
UPDATE! Late on Wednesday 23 January, presumably a Royal Australian Navy (RAN) MRH-90 was noted completing a missed approach at Gladstone Airport. It appears that Royal Australian Navy (RAN) Canberra-class landing helicopter dock (LHD) ship HMAS Adelaide (III) (L01) is currently in waters of the Capricorn Coast.
UPDATE! On Friday 25 January, A40-006 "Vigilance 84" was noted flying over inland parts while on a flight back to Oakey from Townsville. It is unclear if it landed anywhere such as Emerald Airport.
Photo taken by Dave ©