I just found the program from my Grandpa Bob's Memorial Service, and this was in it.
The Lord is my Pilot - I shall not drift.
He leadeth me across dark waters.
He steereth me in the deep channels.
He keepeth my log; He guideth me by the star of His Holiness for His name's sake.
Yea, though I sail amid the thunders
and tempests of life, I shall fear no danger, for Thou art near me.
Thy love and Thy care, they shelter me.
Though prepareth a harbor before me in the the land of eternity.
Thou anointed the waves with oil.
My ship rideth calmly.
Surely sunlight and starlight shall favor me in the voyage I take.
Then I shall rest in the port of my God forever.
I just thought that I would share as I know many sailors, not just my Grandpa who retired from the Navy.