ladders = stairs
abaft = towards the rear, or stern
abeam = at right angles to the keel, across the width
able-bodied [seaman] = experienced, but not necessarily entirely physically capable
forward = towards the front, or prow
starboard = right side, when facing forward
port = left side, when facing forward
larboard = obsolete term for 'port'
pitch = to rock back to front or vice versa, along the axis of the keel
roll = to rock sideways, at right angles (more or less) to the keel
heave = to rock up and down
yaw = slide down [a wave] in a diagonal direction