c.200BC – Three versions of Polybius on the Phoenicians/Carthaginians & the birth of the Roman navy. The original keleustes is translated as boatswain, flugelman &c:

“21. Now, however, those to whom the construction of the ships was committed were busy in getting them ready, and those who had collected the crews were teaching them to row on shore in the following fashion. Making the men sit on rowers-benches on dry land, in the same order as on the benches of the ships themselves, and stationing the fugle-man in the middle, they accustomed them to fall back all at once bringing their hands up to them, and again to come forward stretching out their hands, and to begin and finish these movements at the word of command of the fugle-man. When the crews had been trained, they launched the ships as soon as they were completed, and having practised for a brief time actual rowing at sea, they sailed* along the coast of Italy as their commander had ordered.

*It is often necessary to use the word "sail." but it should be borne in mind that the ships were propelled chiefly by oars.”
[The Histories of Polybius, Vol.I, Paton ed., 1922, p.57]