Emerson's Terminus

I came across this poem a couple of years ago. We had recently purchased Ariel and I was growing increasingly enamored with sailing and the sea. The poem's imagery grabbed me and hasn't let go. I'll excerpt the last stanza, my favorite:

As the bird trims her to the gale,
I trim myself to the storm of time,
I man the rudder, reef the sail,
obey the voice at eve obeyed at prime:
'Lowly faithful banish fear,
Right onward drive unharmed;
The port, well worth the cruise, is near,
And every wave is charmed.'