Dear Sir , as an ex-matelot, I have been priviliged to fall over, sorry, I mean partake in light refreshments at the Petty Officers Mess on several Shep Woolley nights, as a POGI, he was one of the most hated people on board..'Stand still that man!!'- during drill instruction... but as an ex-POGI entertaining , it was impossible to stand still due to the high merriment factor..
Anyway, the 'walk ashore' is generally taken to mean leaving the Navy for the last time... becoming a civilian
'going ashore' is leaving the boat or shore establishment for other dutiful or recreational reasons, but returning.
I 'walked ashore' at Portsmouth Dockyard way back in the mid-eighties, but continue my connection by singing songs by Cyril Tawney ex 'Tiff', like me)and Shep... pus odd sea shanties (not allowed in R.N.)
Last night at the 'Srag End' folk club in Leicestershire , Phil Lunn played/sang this very song, we all joined in the chorus with gusto.