"The Voyage of the Beagle" is a title commonly given to the book written by Charles Darwin and published in 1839 as his "Journal and Remarks", bringing 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, R.N.. 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). The book, also known as Darwin's "Journal of Researches", is a vivid and exciting travel memoir as well as a detailed scientific field journal covering biology, geology, and anthropology that demonstrates Darwin's keen powers of observation, written at a time when Western Europeans were exploring and charting the whole world. Although Darwin revisited some areas during the expedition, for clarity the chapters of the book are ordered by reference to places and locations rather than by date. Darwin's notes made during the voyage include comments illustrating his changing views at a time when he was developing his theory of evolution by natural selection and includes some suggestions of his ideas, particularly in the second edition of 1845.