The wreck of a Royal Navy ship which sank in 1682 while carrying the future king James Stuart has been found.

After a four-year search, the wreck of the ship was found in 2007, by two brothers and their father, along with two friends.

Due to the time taken to confirm its identity and the need to protect an "at risk" site, it is only now that its discovery can be made public.

The wreck of HMS Gloucester off Yarmouth, 6 May 1682, by Monamy Swaine (c1750-c1800).

The wreck of HMS Gloucester off Yarmouth, 6 May 1682, by Monamy Swaine (c1750-c1800). Illustration: National Maritime Museum

During the Anglo- Spanish war of 1654 to 1660 and the second and third Anglo-Dutch war, the HMS Gloucester was used.

Up to 250 people died when the ship hit a sandbar in 1682. James Stuart survived the wreck and became King James II of England and Ireland and King James VII of Scotland. He had argued with the pilot about navigating the dangerous area and waiting until the last minute to abandon the ship, which would have killed many people.

He blamed the pilot, James Ayres, and wished for his death, even though Ayres was court-martialled and imprisoned.

The wreck of the Mary Rose could be the most significant historic maritime discovery since it was raised in 1982.

The remains of the ship's hull were found submerged under the sea bed.

Clothes and shoes have been recovered from the wreck, as well as the ship's bell which proved to be a key clue in the confirmation of the wreck.

Lincoln Barnwell said that the group were starting to think that they wouldn't be able to find the ship after they discovered the wreck.

Brothers Julian and Lincoln Barnwell with with a bell from the wreck of the HMS Gloucester, that they located off the Norfolk coast.

Brothers Julian and Lincoln Barnwell with with a bell from the wreck of the HMS Gloucester, that they located off the Norfolk coast. Photograph: UEA/PA

Barnwell spotted a large cannon laying on white sand while diving into the sea.

He said it was so exciting to be there.

We were the only ones who knew where the wreck was. That was special and I will always remember it.

The Mary Rose was a navy ship that was used by the English Tudor navy. It was restored after it was discovered and is now on display.

The discovery of theHMS Gloucester wreck would change the understanding of 17th-century social, maritime and political history according to Jowitt.

She said that it is an outstanding example of underwater cultural heritage.

A tragedy of considerable proportions in terms of loss of life, both privileged and ordinary, the full story of the Gloucester's last voyage and the impact of its aftermath needs to be told.

The identities of a fraction of the victims are currently known and we will try to establish who else died.

An exhibition about the wreck will be held at the museum and art gallery in the spring of23.