16th-century navigator Francis Drake,
Drake was Elizabeth’s “sea-dog” and beat the Spanish Armada in 1588...
He sailed into San Francisco Bay and charted it on his around the world voyage...
Francis Drake probably did not enter San Francisco Bay. It is believed that he landed at what is known today as Drake’s Bay in Marin County. San Francisco Bay was finally discovered not by mariners but by an expedition coming north from Mexico by land led by Gaspar de Portolà in 1769.