HMS Endeavour, also known as HM Bark Endeavour, was a British Royal Navy research vessel that Lieutenant James Cook commanded on his first voyage of discovery, to Australia and New Zealand, from 1769 to 1771.She was launched in 1764 as the collier Earl of Pembroke, and the navy purchased her in 1768 for a scientific mission to the Pacific Ocean and to explore the seas for the surmised Terra Australis Incognita or "unknown southern land".