LONDON, England (CNN) -- From ancient Phoenician galleys to 21st century super yachts, a lot has changed about the way people travel the high seas over the centuries.





The Mirabella V, built in 2003, is the world's biggest single-masted sailing yacht, with a mast that is nearly 300 ft tall.





Whether it's one intrepid "micro-yachtsman" navigating the Atlantic in a boat the size of a bathtub, or an elite racing team shattering world records in a state-of-the-art catamaran, these voyages all have one thing in common: they have altered the way mankind looks at the world.





MainSail takes a look at the ships, and the revolutionaries they carried on their way.





Voyage of the Beagle





When: 1831 Who: Naturalist Charles Darwin Where: Galapagos Islands The boat: The HMS Beagle was a 90 ft, 10-gun former British Navy warship built in 1820. The ship was repurposed and commissioned for civilian exploration voyages in 1825. How long: Five years Legacy: Aboard the HMS Beagle, Darwin collected specimens and began to develop his theories of evolution, which would later crystallize in "The Origin of Species."





Columbus discovers the New World





When: 1492 Who: Italian explorer Christopher Columbus Where: From Spain to the Caribbean The boats: The Santa Maria was a 70 ft, three-masted ship built from pine and oak, that could carry 40 men. The Nina and the Pinta were both smaller, nimbler boats with triangle-shaped masts better for navigating tricky waterways. The square-sail Santa Maria ran aground in modern-day Haiti on Christmas Day 1492. Legacy: Searching for a new way into the East Indies spice route, it was aboard these three ships that Columbus unintentionally discovered the Caribbean.





'Micro-yachtsman' crosses the Atlantic in miniature boat





When: 1993 Who: American Hugo Vihlen Where: Across the North Atlantic, from Newfoundland to Cornwall, England The boat: The Father's Day, the world's tiniest sailboat at a length of 5 ft 4 in, was so small that Vihlen had to roll up into a ball to sleep, and couldn't stand up without opening the hatch and risk taking on water. Likened to a space shuttle, the boat is made from fiberglass-enclosed Airex foam and was fitted with GPS, a water maker, VHF radio and SSB/Ham radio. Legacy: Aboard the Father's Day, Vihlen became the world's first "micro-yachtsman," but it wasn't all smooth sailing -- the boat was surrounded by whales, nearly capsized, and caught the tail end of a hurricane during its 105-day voyage. What world-changing voyages would you add to our list? Sound Off below





Magellan navigates Cape Horn





When: 1519 Who: Portuguese explorer Ferdinand Magellan Where: Around the world bypassing Cape Horn, South America via a narrow strait The boat: Given to Magellan by King Charles I of Spain, The Victoria was the only one of five ships to complete the trip successfully. Only 18 of its original 237 crew members survived and the ship was so badly damaged it was only kept afloat by the crew continuously pumping water out of the hull. How long: Three years Legacy: During the first ever circumnavigation of the world Magellan discovered a shortcut through a waterway in the southern tip of Chile, which helped sailors to avoid the almost continuous ocean storms off Cape Horn. The voyage also established the need for an international date line -- as the explorers found upon return that their calendars were one day off.





Pilgrims sail to Plymouth Rock





When: 1620 Who: The Pilgrims Where: From England to Plymouth Rock The boat: Primarily used as a cargo ship, in this instance the Mayflower, which was estimated to be between 90 and 110 ft, was used to transport 102 English separatists. How long: Two months Legacy: Half the Pilgrims died during the first winter on the Mayflower, but, in America, the ship continues to be a symbol of the bold English separatists who would encounter great hardships while they explored, and established colonies the modern-day
Who crossed the Atlantic in a micro yacht? Who made evolutionary discoveries? What happened in 1620? When did Darwin make his discoveries? Where did the Pilgrim's voyage to? When was the Beagle voyage? When was the Mayflower voyage?
Hugo Vihlen Naturalist Charles Darwin Pilgrims sail to Plymouth Rock 1831 Plymouth Rock 1831 1620
question: Who crossed the Atlantic in a micro yacht?, answer: Hugo Vihlen | question: Who made evolutionary discoveries?, answer: Naturalist Charles Darwin | question: What happened in 1620?, answer: Pilgrims sail to Plymouth Rock | question: When did Darwin make his discoveries?, answer: 1831 | question: Where did the Pilgrim's voyage to?, answer: Plymouth Rock | question: When was the Beagle voyage?, answer: 1831 | question: When was the Mayflower voyage?, answer: 1620