A cracking day, when, as was the case here, the weather is behaving and the ground is dry underfoot.
Parked at Belstone, I visited, in route order: The Cliff and Ivy Tor, in Belstone Cleave, and then up onto the side of Cosdon Hill to reach Ottery Tor. Then, instead of climbing to the beacon, I explored the mid levels of Cosdon Hill and White Hill to Small Brook Ford. Now an ascent of Metheral Hill and down to Steeperton Brook. From the brook, across Taw Marsh and along a good path back to Belstone.