This question (Sci fi novel about a modern warship that goes back in time) reminded me of a story, that I think was by R.A. Lafferty. It was a novel or long story that I probably read in the 1960s
The plot was about a boat or ship, possibly a sailboat, that travels back in time to the Mediterranean in Roman times. I believe that it was the reign of Augustus, the first emperor, about 27 BC to AD 14, and that the Mediterranean was not as peaceful as one might suppose.
The list of R.A. Lafferty stories doesn't have any titles that sound like they could be about nautical time travel to ancient Rome though.