In 1592, Elizabeth I visited Sudeley Castle in the Cotswolds for a three-day party commemorating the nation's victory over the Spanish Armada. Here, Raksha Dave, Alex Langlands and assorted volunteers and archaeologists hunt for a lost garden planted as part of the celebrations, while there is also a visit to Kenilworth Castle to investigate an Elizabethan garden still in full bloom today. Plus, a look at how the garden's Tudor owner, Robert Dudley transformed his estate to win favour with his Queen