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Very little. Most ships in the Ancient world followed Coastlines for trade and didn't venture into open waters. The Vikings and Chinese were early open water sailors, but this technology took time to reach Europe. With the crusaders coming home knowledge came with them and by the 1400's the moveable sail had been invented, keels were added, and the astrolabe had been invented. The early sailors thought there were sea monsters and that there were islands made of magnets that could pull nails out,of ships.

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