From Wikipedia:

Cape Tribulation was named by British navigator Lt. James Cook on the 10th of June 1770 (log date) after his ship hit a reef as it passed over it, north east of the cape, at 6pm. This made Cook pull away from the coast, looking for deeper water. At 10.30pm, the Endeavour hit a reef almost sinking Cook's ship, on what is now named Endeavour Reef. Cook recorded "...the north point [was named] Cape Tribulation because here began all our troubles".