Hi,
Don't take my word as fact, as my pirate/naval vocabulary is far from complete, but;
I believe that 'to free the mast' would mean to let one of the sails down. But, sincerely, I don't know enough about sailing to answer this one 100%.
The reason why it is 'man the cannons' and not 'men at the cannons', is that you 'man' a large weapon when you use it or prepare to use it. So, in the same way you would say 'fire the guns', we say 'man the cannons'.