1. Departure from Monte Video; 2. Enter the Strait of Magalhaens (or Magellan); 3. Prepare the Beagle for surveying the Strait; 4. Eagle Bay - Gabriel Channel; 5. Loss of the Saxe Coburg sealer; 6. Patagonians; 7. Leave Rio de Janeiro; 8. Humming-birds, Fuegians, whales; 9. Winter setting in, scurvy; 10. Account of the Beagle's cruise; 11. Bad weather, perilous situation; 12. Adventure sails from Rio de Janeiro to the River Plata; 13. Beagle and Adelaide anchor in Possession Bay; 14. Frost and snow; 15. Extracts from the journals of Lieutenants Skyring and Graves; 16. Province and islands of Chiloe; 17. Beagle sails to sea coast of Tierra del Fuego; 18. Adelaide's last cruise; 19. Termination of the Andes, zoological remarks; 20. Beagle sails from San Carlos; 21. Cape Desolation; 22. Mr Murray discovers the Beagle Channel; 23. Glaciers, mountains, tides; 24. A few nautical remarks upon the passage round Cape Horn; Appendix; Index.
Published in 1839, this three-volume work describes both a surveying voyage of the South American coastline and Darwin's voyage of discovery.