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What was the voyage of the HMS Beagle?

The second survey expedition of the HMS Beagle lasted from December 1831 to October 1836 and circumnavigated the globe. Commanded by Robert FitzRoy, the ship carried a young Charles Darwin as a supernumerary naturalist and geologist. Darwin's extensive land explorations and fossil discoveries during the nearly five-year voyage profoundly shaped his scientific theories.

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