Well, the setting I'm specifically thinking of for the WIP is a large inland sea with a lot of trade, and therefore ships suited to the task. The story doesn't include warships or ship-to-ship combat; The main characters swim to a transport ship close to shore and attack the crew.
If you want viking style ships, then you probably want to research
knarrs and karves. Those were the large transport ships.
W. Hodding Carter sailed a knarr named the
Snorri from Greenland to L'Anse aux Meadows, Newfoundland and wrote a book about it called
A Viking Voyage.
There's also an
online journal.
There are two knarrs at the Roskilde Ship Museum in Denmark. They built a replica of one called the
Ottar and another called the
Roar Ege. I've sailed on the Roar Ege.
You might also want to think about
fishing vessels.
While a knarr certainly could be anchored away from shore, they also could be pulled up onto the beach to be unloaded and that wouldn't have been uncommon to get horses and cattle out of the ship. Just FYI if your story could use attacking a beached ship instead of one out in the water.
If you attack a ship anchored out in the water, your characters wouldn't need to do much swimming as Viking style ships have very shallow keels and a knarr could be anchored in less than six feet of water, no problem. They're not like later ships from
Master and Commander that need dozens of feet of water for their very deep keels.
Mind you, it's a bit of a haul to get yourself from the water up over the gunwhale. We practice man overboard drills in the
Longship Company and it's alot easier with the onboard crew helping out. You cannot do it without rocking the boat and alerting the crew.
If they live around an inland lake, there are probably smaller boats around that they could use to row out to the anchored ship. It's easier to get from a boat to a ship quickly than from the water to the ship. The culture will have small boats--from between two to ten oars--that will be used by families or as afterboats that would be lying around beached for your characters to "borrow" if you want.
If you decide to go with Viking style ships feel free to PM me with questions.
Regards!