Wired has a brief but excellent article on the voyage of the Beagle.
Its goal was to survey the South American coastline. The captain invited along a young man named Charles Darwin, whose father thought the voyage would just be another excuse for him to slack off. The trip ended up taking five years.
This article would be a wonderful addition to our work on exploration of the Americas next time it comes around; however, it’ll also be a neat little footnote because we’ll be delving into evolution next cycle.
Wikipedia’s entry on the ship produced this wonderful cross-section. I particularly like the sketches of people and casks showing the use of of different cabins and spaces.