On or on to the sea or any stretch of water (or other liquid) of sufficient depth to support a body; so as to be floating, as opposed to sinking…

Floating on the waves.

Of a boat or other vehicle: supported by the water, afloat; esp. floating so as to be just clear of the bottom.

Of a ship, etc.: Carried or floating on the sea. See also quot. 1867.

? Afloat on the sea.