Pelayaran kedua HMS Beagle , dari 27 Desember 1831 sampai 2 Oktober 1836, adalah ekspedisi survei kedua dari HMS Beagle . Pelayaran tersebut dinaungi oleh kapten Robert FitzRoy yang mengambil alih komando kapal tersebut pada pelayaran pertamanya setelah kapten sebelumnya bunuh diri.
Beagle berlabuh di Tierra del Fuego pda 1832; lukisan karya Conrad Martens
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