My dictionary says the word "spy" comes from Old French. Shakespeare uses the word, but that's still later than your period.
Unfortunately, to me, "explorator" sound more like someone who is an explorer rather than a spy. Intelligencer would work, but if it's 16th century, it's no older than "spy".
I think "The Informant" sounds fine, but I sympathise. I find titles really hard to come up with.