Best editions of the Voyage?

Does anyone know of any complete and annotated editions of The Voyage of the Beagle? My wife owns E.O. Smith's Darwin collection, which has the complete text and introductions but no annotations, and there is an annotated Penguin Classics version, which is abridged, but I have been unable to turn up any unabridged and annotated editions of the Voyage.

Thanks!

Looks like this might be one: http://searchworks.stanford.edu/view/1610373

Hm, and of course that one is super-old! But I'm guessing that nothing's going to rest at the intersection of complete, annotated, and recent... Thanks!

I went for it, and I started reading it today. Perfect-- it has an excellent introduction.