Back on board Parsifal III in Sardinia, Italy, Capt. Glenn is poised for his smoothest sail yet -- until he isn't; Daisy comes back ready to prove she knows what she's doing as a chief stew; chief engineer Colin is determined to avoid a boat romance.

Capt. Glenn is hopeful Colin's plan to fix the engine works; Chef Ileisha has problems at dinner; the guest blame Daisy for the lack of service.

Capt. Glenn finally wakes up to some good news; the entire crew is invited to join the guests for dinner and Chef Ileisha has to change her menu last minute.

Capt. Glenn insists a stew go on all excursions; Daisy is frustrated after learning she's a stew down while the deck team goofed off on the eFoils; chef Ileisha's perfectionism is thrown off when she faces her greatest fear in the galley.

Capt. Glenn Shephard and his crew set sail in a luxury sailing yacht to explore the crystal-clear blue waters of the Ionian Sea.

In an effort to turn the charter around, Capt. Glenn takes the guests on a sail; Lucy makes a mistake to a charter guest's garment; chef Ileisha continues to leave the guests waiting too long between courses; Capt. Glenn gives her honest feedback.

Another engine issue emerges, forcing Capt. Glenn to keep the returning guests entertained; Daisy and Colin make up after their fight as their relationship grows stronger; Daisy confronts Gary about Mads and claims he's playing his usual games.

After Chase confides in Gary about Alex's lackluster work ethic, Chase's trust is broken when Gary tells Alex about their conversation.

Glenn dresses up for the guests' theme night; he hopes his participation helps correct a jewelry theft hiccup and is on top of his crew to make sure the women have the best trip of their lives.

The crew has the day off, and even Capt. Glenn recharges by enjoying Parsifal III all to himself and riding the eFoil; Colin saves the day clearing the clogged toilets, but he gets jammed up when his honest opinion strikes a chord.

Caught in an uncomfortable situation, Daisy doesn't know where she stands with Colin after keeping a massive secret from him; determined to prove Colin wrong, chef Ileisha picks herself up just to be knocked back down.

Capt. Glenn notices the standards are slipping on Parsifal lll, as the crew is exhausted with the mid-season blues; distraught that Colin and Gary aren't speaking, Daisy takes initiative and forces them to hash out their problems.

Capt. Glenn notices the crew is slipping on service when a guest is injured and interior doesn't hear the walkie call; after Alex and Mads confess their feelings from the start, Mads is torn between Alex and Gary.

Capt. Glenn reprimands the crew as recent slip-ups are directly affecting communication and morale; Daisy breaks down when she's proven wrong about the walkies not working; chef Ileisha is determined to prove she can complete a 10-course dinner.

Capt. Glenn is proud of the crew for knocking out a pride charter, but has to deliver bad news; after Gary learns about Mads' three-way kiss, he starts flirting more with Daisy, leading Colin to voice his concerns; Colin throws a gossip grenade.

Capt. Glenn threatens to kick one of the throuple charter guests off during a drunken guest fight; Mads receives a wake-up call that prompts her to dismiss Gary's apology attempt.

Proud of his team's accomplishments during the final sail, Capt. Glenn believes his tough love made them all stronger; the crew celebrates its final night out, and Daisy and Colin try to soak up every moment of it.

The cast members of "Below Deck Sailing Yacht" Season 4 come together to talk about the events of the season.

Shocking secrets are revealed as part two of the season 4 reunion concludes.