At the Battle of Santa Cruz de Tenerife (a complete disaster)
Nelson's ship was HMS Thesus
Battle of the Nile-HMS Vanguard
Battle of Copenhagen-HMS Elephant
Battle of Trafalgar (his famous last battle)-HMS Victory
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The last battleship to serve with the Royal Navy was HMS
Vanguard. She was armed with 8 x 15" guns taken from the
battlecruisers Glorious and Courageous when those 2 ships were
converted to aircraft carriers.
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HMS Duke of York HMS King George V
HMS Ruler
HMS Speaker
HMS Newfoundland
HMS Whelp
HMS Wizard
HMS Wager
HMS Terpsichore
HMS Tenacious
HMS Teazer
HMS Quality
HMS Derg
HMS Crane
HMS Whimbrel
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I don't believe there has ever been a member of the monarchy who
has served or sailed on HMS submarines, however there have been a
number of occasions that members of the Royal Family have visited
and been onboard a sub. The most prominent figure was princess
Diana who went to the naming ceremony of HMS Vanguard.