He was first officer on HMS "Beagle" during its second survey mission, in 1831--1836, which included the young naturalist Charles Darwin, and became the subject of his book, "The Voyage of the Beagle".
He was first officer on HMS "Beagle" during its second survey mission, 1831--1836, under captain Robert FitzRoy. The young naturalist and geologist Charles Darwin, was a supernumerary on the ship, and his journal was published as "The Voyage of the Beagle".