The Voyage of the Beagle is a title commonly given to the book written by Charles Darwin published in 1839 as his Journal and Remarks, which brought him considerable fame and respect. The title refers to the second survey expedition of the ship HMS Beagle, which set sail from Plymouth Sound on 27 December 1831 under the command of captain Robert FitzRoy. While the expedition was originally planned to last two years, it lasted almost five-the Beagle did not return until 2 October 1836. Darwin spent most of this time exploring on land (three years and three months on land; 18 months at sea).