Ship on which Darwin served as naturalist?

Charles Darwin served as the naturalist on HMS Beagle during its famous voyage from 1831 to 1836. The ship's mission was to conduct surveying and mapping of the coasts of South America, but it became a pivotal journey for Darwin, allowing him to observe diverse geological formations and a wide variety of species. His observations and collections during this expedition significantly influenced his later work on the theory of evolution. The voyage ultimately led to the publication of his seminal work, "On the Origin of Species."