Does Chef Cloyce Martin Regret Upsetting Captain Glenn Shephard by Swimming?

Chef Cloyce Martin from Below Deck Sailing Yacht says he doesn’t understand why Captain Glenn Shephard was so upset with him for swimming with the charter guests instead of making their lunch. He explains that while he was setting up the float with Emma Crouch, the guests asked him and Emma to show them how the seabobs worked. He also says he would do it again because the guests asked him to.