Dan relives the fierce battles at sea and we go behind the scenes in the royal court of Elizabeth as the Spanish fleet prepares for full-on invasion.

Newly discovered documents reveal a remarkable web of misunderstandings that stopped the Spanish from invading, and show how the English victory forged the reputation of Elizabeth.

Dan Snow boards a yacht on the English channel to get a sense of the naval battle, revealing how tensions between England and Spain were fuelled by religion, piracy and Elizabeth I's rejection of King Philip II of Spain as a suitor 30 years earlier, and how a missed opportunity could have resulted in disaster.