I run my own charter on the north shore, personally I don't expect a tip. I work hard to make my clients day everything they thought it would be when they decided to spend their hard earned money with me. Odds are they never received a tip for doing their job... However if someone feels that the services I have provided deserve a little extra, I will gladly take it lol!
As far as your trip you treated the mate extremely fair, and he should be very happy with what he received, the captain should also be grateful for the little extra.
I wouldn't complain if you have lumpy pillows or run out of toilet paper on the next trip though lol!!!
As stated previously, a tip should not be expected by a captain, if you want more money charge more. Having said that most mates do what they do for very little $ and do it because they love it! A little extra $$$ goes a long way in making their day.
" The Only Time A Bent Rod Feels Good! "