Complex sentence: He put wax in his men's ears so that they could not hear, and tie him to the mast so that he could not jump into the sea, and ordered them not to change course under any circumstances.
Split into simpler sentences: He put wax in his men's ears so that they could not hear, and had them tie him to the mast so that he could not jump into the sea. He ordered them not to change course under any circumstances.