I am going to start off with a little history
EARL OF PEMBROKE
Ship 370-T
Built 1764 By Thomas Fisher Whitby
Owner Thomas Milner Whitby
Purchased by the Government from Mr Milner for Capt. Cook's first voyage to South Seas, and re-named "Endeavour" She sailed in July, 1768. The vessel had a crew of 84 men, and was armed with 10 carriage and 12 swivels guns.
Ref : Ancient Port Of Whitby, Richard Weatherill 1908.