More on Greco-Roman maritime job-titles & infrastructure:

“The person who steered the ship and directed its course was called GUBERNATOR, the pilot, sometimes also MAGISTER, Virg. Æn. v. 176. Sil. iv. 719, or RECTOR, Lucan. Viii. 167. Virg. Æn. iii. 161. 176. He sat at the helm, Cic. Sen. 6.; on the top of the stern, dressed in a particular manner, Plaut. Mil. iv. 4.41. 45., and gave orders about spreading and contracting the sails (expandere vel contrahere vela), plying or checking the oars (incumbere remis vel eos inhibere), &c. Virg, v. 12. x. 218. Cic. Orat, i. 33. Att. xiii. 21.

It was his part to know the signs of the weather, to be acquainted with ports and places, and particularly to observe the winds and the stars, Ovid. Met. iii. 592. Lucan. viii. 172. Virg. Æn. iii. 201. 269, 513. For as the ancients knew not the use of the compass, they were directed in their voyages chiefly by the stars in the night-time, Horat. Od. ii. 16. 3., and in the day-time by coasts and islands which they knew. In the Mediterranean, to which navigation was then chiefly confined, they could not be long out of the sight of land. When overtaken by a storm, the usual method was to drive their ships on shore (in terram agere vel efficere), and when the danger was over, to set them afloat again by the strength of arms and levers. In the ocean they only cruised along the coast.

In some ships there were two pilots, Ælian. ix.40., who had an assistant called PRORETA, Plaut. Rud. iv. 3.75. i. e. Custos et tutela proræ, who watched at the prow, Ovid. Met. iii. 617.

He who had command over the rowers was called HORTATOR and PAUSARIUS (keleustes), Plaut. Merc. iv. 2. 4. Senec. Epist. 56. Ovid. Ibid., or Portisculus, Plaut. Asin. iii. 1. 15. Festus, which was also the name of the staff or mallet with which he excited or retarded them, (celeusmata vel hortamenta dabat), Plaut. Asin. iii. 1, 15. Isid. Orig. xix. 12. He did this also with his voice in a musical tone, that the rowers might keep time in their motions, Serv. ad Virg. Æn. iii. 128. Sil. v. 360. Valer. Flacc. i. 460. Martial. iii. 67. iv. 64. Quinctil. i. 10. 16. Stat. Theb. vi. 800. Ascon. in Cic. Divin. 17. Hence it is also applied to the commanders, Dio. l. 32. Those who hauled or pulled a rope, who raised a weight, or the like, called HELCIARII, used likewise to animate one another with a loud cry, Martial, ibid., hence Nauticus clamor, the cries or shouts of the mariners, Virg. Æn. iii. 128. v. 140. Lucan. ii. 688.
[Roman Antiquities, Adam, 1825]

Funerary Procession in the tomb of Qar (c.2350-2180BC)