Beginning on the 27th of December, 1831, the voyage lasted almost five years and, as FitzRoy had intended, he spent most of that time on land investigating geology and making natural history collections, while others surveyed and charted coasts. He kept careful notes of his observations and theoretical speculations, and at intervals during the voyage his findings were sent to Cambrige together with letters including a copy of his journal for his family. He had expertise in geology, beetle collecting and dissecting marine invertebrates.While developing this intensive study of transmutation, he became mired in more work. Still rewriting his Journal, he took on editing and publishing the expert reports on his collections, and with Henslow's help obtained a Treasury grant to sponsor this multi-volume Zoology of the Voyage of H.M.S. Beagle, a sum equivalent of about $73,000. He stretched the funding to include his planned books on geology, and agreed to unrealistic dates with the publisher. He finished writing his Journal around 20 June 1837 just as Queen Victoria came to the throne, but then spent the rest of his days correcting the proofs.
