The voyage that Darwin sailed on was the second voyage of HMS Beagle. The Wikipedia article on “Voyage of the Beagle” lists the 22 stops made in the 5 year circumnavigation. Basically that started from England, sailed down the east coast of South America, passed through the Straits of Magellan, up the west coast of South America, to the Galapagos Islands, Tahiti, New Zealand, Australia, Keeling Island, Mauritius and home via the Cape of Good Hope. Dates 1831–36.