The crew on many of the early exploration ships were indentured. Many of them were debtors, prisoners, etc. They were more often than not poorly treated.
Before they discovered that things like cabbage, prevented scurvy...many were lost to that horribly painful death.
Punishment was swift and cruel..living conditions were horrible. forget personal hygiene...the ship had to stink to high heavens.
I think 5 ? members of Magellens Voyage returned alive?
Drake would be one of the characters, that I'd like to meet. He raided the spanish stole their gold, their ships, and more importantly their pilots while he looked for the North passage.....
They would probably marvel at ..just being able to take a hot shower..
and have fresh food keep under refrigeration..