During two months I sailed aboard the Nao Victoria, from Saint Agustine FL to Fort Myers and then Tampa in the west coast of Florida.

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The Nao Victoria leaving Fort Myers, Fl

A whipstaff, sometimes called a whip or kolder-stok, is a device used in 16th- and 17th-century Europe to control the movement of a large sailing ship. Its development preceded the invention of the more-complex ship´s wheel and followed the simple use of a tiller to control the steering of a ship underway.

Via Wikipedia.