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What did HMS Beagle do during its third voyage to Australia?

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HMS Beagle on the Strait of Magellan, South America, originally published in an 1890 edition of Charles Darwin's Journal of Researches into the Geology and Natural History of the Various Countries Visited by H.M.S. Beagle. — Beagle HMS Beagle on the Strait of Magellan, South America, originally published in an 1890 edition of Charles Darwin's Journal of Researches into the Geology and Natural History of the Various Countries Visited by H.M.S. Beagle.

During its third voyage (1837–43), HMS Beagle conducted the first full surveys of the coasts of Australia. This included charting areas such as Port Darwin and the Fitzroy River.1