It can be done in civ3, you know, if you are willing to take the time. Just boost ALL naval movement, across the board, but then give non-coastal tiles a movement cost of more than 1 (say 2 and 3 respectively). This will make ancient and early classical vessels excellent for rapid coastal exploration and transport, whilst making them useless for moving over sea or between continents. Then, if you have the next set of units ignore Sea movement costs, then you have vessels that can make small 'hops' between closely located land masses. Then, if you set Mid-late Medieval units to ignore ocean costs, then you have the vessels of the 'Age of Exploration', which are finally able to cross to wholly new continents. You can even extend the usefulness of sail by having ironclads pay the full movement cost of ocean squares!
Of course, industrial and modern units could be given the 'treat all terrain as roads' flag, to make them superfast in any conditions!
Yours,
Aussie_lurker.