Thank you very much for these enlightening information. Though not a native speaker myself, after hearing the song for the first time, I was sure it had a "naval", "maritime" character, and had no doubt about the meaning of "Haul", just by feeling. Now you made a very precise explanation that helps to understand the roots of this song, thanks again for that.
I still think it is about a burial at sea, at least in the first narrative layer. ("It was a windless night, when you left the ship, you never were steady born,
"I gave my hand, outward you did slip - I'm a living man, you're a bore ... (?), haul away, haul away for home" (BTW, the fact that I do not get this missing word here (acorn?), is nearly killing me....) (EDITED to remember: Bore also means "soul", doesn't it?
Also, as typcial in MK's lyrics, the meaning of the chorus lyric lines changes - in the first verse I am sure the dead body is hauling away (from the ship), hauling away for home, to the sea, because he/she was never steady born, and the sea is the best and only place to get rest for him/her - still not sure about man or woman here. "I'm a living man..." also is in the chorus, so I am still not sure about the perspective.
In the last verse, MK sings "the morning brings out a fresh young breeze/ to fill our sails and end the doldrums/ our lucky ship speeds across the sea.."
so this time "Haul Away" refers to the ship itself, exactly the way that twm has explained...
Great lyrics! Great song!
LE