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Sea cliffs best climbed in the warm weather--late spring and early fall, as it can get hot and sweaty in the summer, but there is always dawn and dusk and great swimming in between. The rocks are off the beaten path. . . on the far north of the beach, accessed by a trail off the road behind the cliff-- there's a pull-out for parking). Keep left on the trail and after about 15-20 mnutes, you'll see a steep path down.
Hagampo is accessible by public transport (busses from Taean, Chungcheongnam Province) but a car helps. In summer, there are busses from Cheonan. By car: from Taean (W of Seosan on route32) head N on 603, branching left on 634, following the signs to the beach (pretty much the end of the line, about 22k N of Taean)