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The designer of the stamp made a mistake in the ship for the set of discovery vessel to the Antarctic, the intention was to use the NIMROD, but instead he used a photo of the MORNING, later a new stamp was issued by the Australian Antarctic Territory also 15c which depict the right vessel.
The easy ways to find out which vessel is depict:
MORNING is a bow view of the ship.
NIMROD is a stern view.

The MORNING was built as a wooden whaler at TONSBERG, Norway for the well known Svend Foyn at that port.
Launched under the name MORGENEN.
Tonnage 437 gross, 297 net, dim. 140.0 x 31.4 x 16.5ft.
Powered by a compound steam engine, 93 nhp., manufactured by Nylands Vaerkstad, Xania.
Barque rigged.
1871 Completed, and registered at TONSBERG.

She was used for whaling in the northern waters.
1901 Sir Clements Markham President of the Royal Geographical Society, purchased the vessel for £3.880 to use her as supply ship for the British National Antarctic Expedition under Scott.
September 1901 she sailed from Norway to England.

She was refitted and overhauled by Messrs. Greens at Poplar on the River Thames, and her name was altered in MORNING, her Norwegian name translated in English.
She was not built to force a way through heavy pack-ice

09 July 1902 she left London under command of Capt. William Colbeck and a crew of 28 men, and via Madeira she sailed for New Zealand via Cape of Good Hope, arrived Lyttelton 16 November 1902.

06 December 1902 she sailed again from this port for her first relief voyage to the Antarctic, on Christmas Day they crossed the Antarctic Circle and sighted two small uncharted islands. These are now known as Scott Island and Haggitt’s Pilar. On both islands a landing was made, and the islands were claimed for the British Empire.
08 January 1903 they landed at Cape Adare, where a message was found telling them that the DISCOVERY safe had arrived there.
14 January Franklin Islands were visited before she sailed for Cape Crozier, which due to ice and the weather a landing made impossible till 18 January. At shore they found the tin cans with a message that the DISCOVERY had proceed inside the McMurdo Sound, and instructions to follow.
The MORNING proceeded westwards.
23 January she arrived in the vicinity of the DISCOVERY, and were they sighted by the men from the DISCOVERY, and the next day contact was made. The MORNING could not near the DISCOVERY which was still frozen in.
13 February it was decided to commence discharging of the stores, landed on the ice and than via the ice by sledge transported to the DISCOVERY a distance of around 8 miles.
02 March the MORNING sailed away for New Zealand, taken with her the mail and the last information on the Expedition’s progress, also 8 men who want to leave the DISCOVERY were taken and Ernest Shackleton suffering from scurvy.

In the middle of December the MORNING in company with the TERRA NOVA sailed from Hobart, Tasmania bound for the Antarctic and arrived off Hut Point 05 January 1904, where they found that the DISCOVERY still was frozen in.
They had instruction when the DISCOVERY did not got free of the ice, she had to be abandoned, and the crew and men of the expedition brought back by the MORNING and TERRA NOVA.
16 February the DISCOVERY came free.
After taken over some supply from the TERRA NOVA she could make some steam.
21 February the MORNING sailed away and on 20 March she rendezvoused again with the two other vessels at Ross Harbour.
01 April 1904 the three ships arrived at Lyttelton, New Zealand.
08 June she left Lyttelton together with the DISCOVERY bound for England via Cape Horn. The two ships parted soon after sailing, when she arrived in the UK I can not find.

1905 After arrival was she sold to the well-know whaling firm R. Kinnes at Dundee, Scotland, and used as a whaler.
06 July 1907 she rescued the crew of the whaler WINDWARD off Greenland.
In 1910 Captain Adams had a remarkable piece of luck, when his mate persuaded Adams to venture into Jones Sound as a last attempt to avoid to coming home without any whale.
Four days after entering the sound he steamed out again his deck encumbered with 7 large whales.

1913 Only two whalers sailed from Dundee the MORNING and BALAENA both returned home without any whale.
When the First World War broke out the remaining whalers were taken up by the British Government, and placed in the management of the Hudson Bay Company.
The Hudson Bay Company loaded the vessels with war material for North Russia, but these ships were not suitable to carry heavy cargo, and in the first gale on the voyage to the White Sea, they strained so badly that her seams opened and she gradually filled and sank.
The MORNING went down off the Faroes on 24 December 1915, and only two men were saved, Captain Smith and his second mate. They managed to stay alive in a stove-in whaleboat, which only was kept above water by her tanks, for four days in the dead of the winter, and were then picked up by one of the cruisers of the Northern Squadron.

Australia Antarctic Territory 1979 15c sg 41

Sources: Watercraft Philately March April 1982 page 62. http://en.wikipedia.org/wiki/SY_Morning
Scott’s voyage of the Discovery. The Arctic Whalers by Basil Lubbock.