The Mauritius Command tells the story of an historical Royal Navy campaign, set in the "Aubrey/Maturin" universe.
At story's open, Jack is grounded on half-pay, living with his wife, their twin daughters and his mother-in-law. Jack longs to return to sea, and he gets his chance as the Commodore of a squadron of ships sent to disrupt the French bases and privateering in the Indian Ocean. Stephen Maturin accompanies as both medical man and intelligence agent. In addition to the actual effort of stopping the French, Jack and Stephen must finesse their relationships with the other officers and men in the squad.
This is almost a purely nautical and military adventure. Jack's domestic life is pretty settled, and Stephen's on-again-off-again romantic life is not referenced, so "home life" isn't a major theme in the story.
Patrick Tull's narrative style is lively and has a very "nautical" feel. However, his regional accent, gravelly voice and early-1990's production may be hard on American (and other) ears. There is a second version narrated by Simon Vance; I happen to prefer Tull's version.
1. Loads of nautical talk, no translation provided. Wikipedia can be a helpful reference (it was for me).
2. Although this is fourth in the Aubrey/Maturin series, you can appreciate this one without being familiar with the previous ones.
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