 Second voyage of HMS Beagle

The second voyage of HMS "Beagle", from 27 December 1831 to 2 October 1836, was the second survey expedition of HMS "Beagle", under captain Robert FitzRoy who had taken over command of the ship on its first voyage after the previous captain committed suicide.FitzRoy had already thought of the advantages of having an expert in geology on board, and sought a gentleman naturalist to accompany them as a supernumerary.