How about stealing ideas from Gene Rodenberry? I think that the orignal Star Trek could have many good ideas for sea explorers, if you take away the phasers and photon torpedo's. Swap the following bits and the rest should be fairly easy;
Starships = Triremes (or whatever)
Galaxies/Deep Space = Oceans
Planets = New lands
Admittedly most of the adventures happened after they had arrived places but there was enough things during the journeys that could be used.
Adrian
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