H.M.S. Surprise is the third in the Aubrey/Maturin series. As with the first two, it is a very realistic (mostly) but fictional story of life in the Royal Navy during the Napoleonic era, focusing on the two companions: Capt. Jack Aubrey and Dr. Stephen Maturin.
At the novel's start, Jack's captures from the end of Post Captain are ruled to not be prizes, putting Jack back in debt. Jack's love with Sophie continues while Stephen's romance with Diana flounders. After Jack ends up in debtor's prison, the only escape is a long trip on the Surprise to the Indian Ocean.
Although this is one of a series of novels, it is not essential to encounter them in order (at least, not for the first three; I haven't gone past this one yet). The novels combine to make a full story arc, but each one is its own self-contained story.
Warning about H.M.S. Surprise, and most of O'Brian's Aubrey/Maturin series: There is a great deal of nautical lingo from the age of sail with absolutely no translation for land-lubbers. If you don't know what a taffrail is, or how to tell a topsail from a t'gallant sail, a translation may be needed. Wikipedia can be your friend.
Patrick Tull's reading is very good; Audible has versions of this book read by Tull and Simon Vance. I feel that Tull is a superior story-teller who brings the book to life; his gravelly voice and (south England?) accent give the book a very nautical flair. But his strong regional accent and the older production quality might make it harder to hear. (Listen to the sample.)
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