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The earlier mentioned company ship the Oranje exploded after being set on fire by another fire ship following many an attempt to block, board and enter the Charles; in which she was prevented first by the Mary under captain Jeremiah Smith (the Mary would lose 99 men of its crew), one of York's seconds, and later by the Royal Oak, the Essex and the Royal Katherine.
HMS Royal Charles and HMS Royal Katherine indeed were grounded but managed to get free in time, HMS Prince Royal got stuck however.