He was greatly influenced by reading Charles Lyell's Principles of Geology during the voyage. At the age of 22, the graduate Charles Darwin hoped to see the tropics before becoming a parson and accepted the opportunity. FitzRoy had thought of the advantages of having someone onboard who could investigate geology, and sought a naturalist to accompany them as a supernumerary. 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, Pringle Stokes, committed suicide. Research leading to Darwin's theory of evolution Beagle at Ponsonby Sound in the Beagle Channel, Tierra del Fuego, in March 1834 painting by the ship's draughtsman Conrad Martens
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