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After leaving Sedgwick in Wales, Darwin spent a week with student friends at Barmouth, then returned home on 29 August to find a letter from Henslow proposing him as a suitable (if unfinished) naturalist for a self-funded supernumerary place on  with captain Robert FitzRoy, emphasising that this was a position for a gentleman rather than "a mere collector". The ship was to leave in four weeks on an expedition to chart the coastline of South America. Robert Darwin objected to his son's planned two-year voyage, regarding it as a waste of time, but was persuaded by his brother-in-law, Josiah Wedgwood II, to agree to (and fund) his son's participation. Darwin took care to remain in a private capacity to retain control over his collection, intending it for a major scientific institution.

After leaving Sedgwick in Wales, Darwin spent a week with student friends at Barmouth, then returned home on 29 August to find a letter from Henslow proposing him as a suitable (if unfinished) naturalist for a self-funded supernumerary place on  with captain Robert FitzRoy, emphasising that this was a position for a gentleman rather than "a mere collector". The ship was to leave in four weeks on an expedition to chart the coastline of South America. Robert Darwin objected to his son's planned two-year voyage, regarding it as a waste of time, but was persuaded by his brother-in-law, Josiah Wedgwood II, to agree to (and fund) his son's participation. Darwin took care to remain in a private capacity to retain control over his collection, intending it for a major scientific institution.

离开威尔士的塞奇威克后，达尔文在巴茅斯与学生朋友呆了一个星期，然后于8月29日返回家乡，找到了汉斯洛的来信。信中汉斯洛建议他适当考虑一下做个博物学家，与船长罗伯·菲茨罗伊Robert FitzRoy一起为HMS Beagle猎犬号自筹资金，这样或许可以得到一个编外名额登船。汉斯洛特地强调这是一个绅士的职位，而不是“单纯的收集者”。该船将在四周内离开，以绘制南美海岸线图。该船将于四周内启航，绘制南美海岸线图。罗伯特·达尔文反对儿子未来的两年航程，因为他认为这是在浪费时间，但他的姐夫约西亚·韦奇伍德二世Josiah Wedgwood II说服了他同意并资助儿子的计划。后来达尔文小心翼翼地以私人身份保留着对藏品的控制权，他打算将其用于大型科学机构。

在离开威尔士的塞奇威克后，达尔文在巴茅斯与学生朋友待了一个星期，于8月29日返回家乡，并收到了汉斯洛的来信。信中汉斯洛建议他考虑一下做个博物学家，并与船长罗伯·菲茨罗伊Robert FitzRoy一起为HMS Beagle猎犬号自筹资金，这样或许可以得到一个编外名额从而登船。汉斯洛特地强调这是一个绅士的职位，而不是“单纯的收集者”。该船将在四周内离开，以绘制南美海岸线图。该船将于四周内启航，绘制南美海岸线图。罗伯特·达尔文反对儿子未来的两年航程，他认为这是在浪费时间，但他的姐夫约西亚·韦奇伍德二世Josiah Wedgwood II说服了他同意并资助儿子的计划。后来达尔文小心翼翼地以私人身份保留着对藏品的控制权，他打算将其投入于大型科学机构。

After delays, the voyage began on 27 December 1831; it lasted almost five years. As FitzRoy had intended, Darwin spent most of that time on land investigating geology and making natural history collections, while HMS Beagle surveyed and charted coasts. He kept careful notes of his observations and theoretical speculations, and at intervals during the voyage his specimens were sent to Cambridge together with letters including a copy of his journal for his family. He had some expertise in geology, beetle collecting and dissecting marine invertebrates, but in all other areas was a novice and ably collected specimens for expert appraisal. Despite suffering badly from seasickness, Darwin wrote copious notes while on board the ship. Most of his zoology notes are about marine invertebrates, starting with plankton collected in a calm spell.

After delays, the voyage began on 27 December 1831; it lasted almost five years. As FitzRoy had intended, Darwin spent most of that time on land investigating geology and making natural history collections, while HMS Beagle surveyed and charted coasts. He kept careful notes of his observations and theoretical speculations, and at intervals during the voyage his specimens were sent to Cambridge together with letters including a copy of his journal for his family. He had some expertise in geology, beetle collecting and dissecting marine invertebrates, but in all other areas was a novice and ably collected specimens for expert appraisal. Despite suffering badly from seasickness, Darwin wrote copious notes while on board the ship. Most of his zoology notes are about marine invertebrates, starting with plankton collected in a calm spell.

航行后来延误到1831年12月27日启航，而且它持续了将近五年。正如菲茨罗伊所希望的那样，达尔文大部分时间都在土地上进行地质调查和自然历史采集，而HMS Beagle则在调查和绘制海岸图。他仔细记录了自己的观察和理论推测，并在航行中不定期将标本与信件一起寄到剑桥，其中包括他的家人日记。他在地质学，甲虫收集和解剖海洋无脊椎动物方面具有一定的专业知识，但在所有其他领域都是新手。不过他会妥善收集标本并供专家评估。尽管遭受晕船之苦，达尔文还是在船上写下了大量笔记。他的大部分动物学笔记都是关于海洋无脊椎动物的，自无风期的浮游生物开始。

航行后来延误到1831年12月27日启航，而且它持续了将近五年。正如菲茨罗伊所希望的那样，达尔文大部分时间都在土地上进行地质调查和自然历史采集，而HMS Beagle则在调查和绘制海岸图。他仔细记录了自己的观察和理论推测，并在航行中不定期将标本与信件一起寄到剑桥，其中包括他的家人日记。他在地质学、甲虫收集和解剖海洋无脊椎动物方面具有一定的专业知识，但在其它所有领域都是新手。不过他会妥善收集标本并供专家评估。尽管遭受晕船之苦，达尔文还是在船上写下了大量笔记。他的大部分动物学笔记都是关于海洋无脊椎动物的，自无风期的浮游生物开始。

On their first stop ashore at St Jago in Cape Verde, Darwin found that a white band high in the volcanic rock cliffs included seashells. FitzRoy had given him the first volume of Charles Lyell's Principles of Geology, which set out uniformitarian concepts of land slowly rising or falling over immense periods, and Darwin saw things Lyell's way, theorising and thinking of writing a book on geology. When they reached Brazil, Darwin was delighted by the tropical forest, but detested the sight of slavery, and disputed this issue with Fitzroy.

On their first stop ashore at St Jago in Cape Verde, Darwin found that a white band high in the volcanic rock cliffs included seashells. FitzRoy had given him the first volume of Charles Lyell's Principles of Geology, which set out uniformitarian concepts of land slowly rising or falling over immense periods, and Darwin saw things Lyell's way, theorising and thinking of writing a book on geology. When they reached Brazil, Darwin was delighted by the tropical forest, but detested the sight of slavery, and disputed this issue with Fitzroy.

达尔文在佛得角圣哈戈上岸的第一站中，发现火山岩峭壁中高处白色带中包含贝壳。菲茨罗伊为他提供了查尔斯·莱尔Charles Lyell的《'''<font color="#ff8000"> 地质学原理Principles of Geology </font>'''》的第一卷，其中阐述了土地在各个时期缓慢上升或下降的统一概念。当达尔文看到莱尔所作的一切，他也在思索着写地质学著作的想法。当他们到达巴西时，达尔文对热带森林感到惊喜好奇，但也因目睹奴隶制的景象而感到愤怒，并与菲茨罗伊产生了争执。

达尔文在佛得角圣哈戈上岸的第一站中，发现火山岩峭壁中高处白色带中包含贝壳。菲茨罗伊为他提供了查尔斯·莱尔Charles Lyell的《'''<font color="#ff8000"> 地质学原理Principles of Geology </font>'''》的第一卷，其中阐述了土地在各个时期缓慢上升或下降的统一概念。达尔文看到了莱尔所作的一切，他也在思索着写地质学著作的想法。当他们到达巴西时，达尔文对热带森林感到惊喜好奇，但也因目睹奴隶制的景象而感到愤怒，并与菲茨罗伊产生了争执。

The survey continued to the south in Patagonia. They stopped at Bahía Blanca, and in cliffs near Punta Alta Darwin made a major find of fossil bones of huge extinct mammals beside modern seashells, indicating recent extinction with no signs of change in climate or catastrophe. He identified the little-known Megatherium by a tooth and its association with bony armour, which had at first seemed to him to be like a giant version of the armour on local armadillos. The finds brought great interest when they reached England.

The survey continued to the south in Patagonia. They stopped at Bahía Blanca, and in cliffs near Punta Alta Darwin made a major find of fossil bones of huge extinct mammals beside modern seashells, indicating recent extinction with no signs of change in climate or catastrophe. He identified the little-known Megatherium by a tooth and its association with bony armour, which had at first seemed to him to be like a giant version of the armour on local armadillos. The finds brought great interest when they reached England.

Three Fuegians on board had been seized during the first Beagle voyage, then during a year in England were educated as missionaries. Darwin found them friendly and civilised, yet at Tierra del Fuego he met "miserable, degraded savages", as different as wild from domesticated animals. He remained convinced that, despite this diversity, all humans were interrelated with a shared origin and potential for improvement towards civilisation. Unlike his scientist friends, he now thought there was no unbridgeable gap between humans and animals. A year on, the mission had been abandoned. The Fuegian they had named Jemmy Button lived like the other natives, had a wife, and had no wish to return to England.

Three Fuegians on board had been seized during the first Beagle voyage, then during a year in England were educated as missionaries. Darwin found them friendly and civilised, yet at Tierra del Fuego he met "miserable, degraded savages", as different as wild from domesticated animals. He remained convinced that, despite this diversity, all humans were interrelated with a shared origin and potential for improvement towards civilisation. Unlike his scientist friends, he now thought there was no unbridgeable gap between humans and animals. A year on, the mission had been abandoned. The Fuegian they had named Jemmy Button lived like the other natives, had a wife, and had no wish to return to England.

On the geologically new Galápagos Islands, Darwin looked for evidence attaching wildlife to an older "centre of creation", and found mockingbirds allied to those in Chile but differing from island to island. He heard that slight variations in the shape of tortoise shells showed which island they came from, but failed to collect them, even after eating tortoises taken on board as food. In Australia, the marsupial rat-kangaroo and the platypus seemed so unusual that Darwin thought it was almost as though two distinct Creators had been at work. He found the Aborigines "good-humoured & pleasant", and noted their depletion by European settlement.

On the geologically new Galápagos Islands, Darwin looked for evidence attaching wildlife to an older "centre of creation", and found mockingbirds allied to those in Chile but differing from island to island. He heard that slight variations in the shape of tortoise shells showed which island they came from, but failed to collect them, even after eating tortoises taken on board as food. In Australia, the marsupial rat-kangaroo and the platypus seemed so unusual that Darwin thought it was almost as though two distinct Creators had been at work. He found the Aborigines "good-humoured & pleasant", and noted their depletion by European settlement.