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Hobart Town, Tasmania from Darwin and the Beagle by Alan Moorhead, page 241.. HMS Beagle set off on its third voyage in 1837 to survey large parts of the coast of Australia under the command of Commander John Clements Wickham, with assistant surveyor Lieutenant John Lort Stokes, who had been a Midshipman on the first voyage of the Beagle. They started with the western coast between the Swan River (modern Perth, Australia) and the Fitzroy River, Western Australia, then surveyed both shores of the Bass Strait at the southeast corner of the continent. In May 1840, the Beagle left Sydney to cruise on the north coast. After a pleasant visit to Hobart, Tasmania the Beagle sailed to King George's Sound in south west Australia. The third voyage was completed in 1843.