Francisco de Cuellar survived in Sligo, and escaped inland to O'Rourke's Castle where he got refuge and found 70 or so other Spanish survivors. The path he took from the shore inland is marked to this day by signposts and you can follow it yourself. Granted he didn't leave us a Strava trail but roughly speaking we know the way they went.

We know what happened to him in amazing detail because he escaped north, to the Hebrides, through Flanders, Dunkirk and eventually back to Spain where he lived out his days.

O'Rourke was executed by the English for harboring survivors

https://en.wikipedia.org/wiki/Francisco_de_Cuellar