Two Years Before the Mast by Richard Henry Dana,Jr is a classic, autobiographical novel about life on a 19th century sailing vessel.
Based on his first hand experience, Dana wrote the remarkable book, The Seaman's Friend- A Treatise on Practical Seamanship.
This book contains just about anything anyone would want to know about sailing ships, their crews, and the actual sailing of these ships. It includes a dictionary of sea terms, and pictures illustrating the parts of ships, knots, etc. It's available from Dover Publications, and I can't recommend it highly enough.