This is a history of the 10-gun brig and survey ship, "HMS Beagle". It became famous for her survey voyages under Commander Robert Fitzroy, especially once Charles Darwin, a passenger on the second expedition, wrote the "On the Origin of Species", which was based on studies undertaken during the voyage. Despite her fame, a three-dimensional model of the ship has been neglected by museums, as specific plans do not exist, but the author has researched the three different ages of the "Beagle" to draw his own accurate plans and build his own scale model. His research, photographs and plans are designed to bring the "HMS Beagle" more readily to modelmakers and ship historians alike.