Discovery

There's no argument about Discovery being the answer to this question, but bad luck to anyone who answered Endeavour (which matches two of the three clues given in the question).

Captain Cook was never in direct command of the Discovery. On his first voyage (1768) he commanded the Endeavour; on his second and third (1772–5 and 1776) he commanded the Resolution. Discovery was the 'escort' or 'consort' ship on his third voyage, when it was commanded by Captain Charles Clerke. Following Cook's death, Clerke took command of the Resolution, passing command of the Discovery to Captain John Gore. (On Cook's second voyage, the escort ship was the Adventure.)

Captain Scott took a different Discovery on his first expedition to Antarctica (1901–4), and the Terra Nova on his ill–fated second expedition (1911–12).

Discovery was the name given to the third of the five operational space shuttles. It flew 39 missions between 1984 and 2011 – more than any other spacecraft to date.

Endeavour was the fifth and last space shuttle to be built. It flew 25 missions between 1992 and 2011.