I never even thought about sailing out at night, that would be soooo relaxing. I hear a lot about how hard working on a sailboat is, I wouldn't mind a good workout like that, I think.
As for lucid dreams, the first step is getting steady and good sleep. Then you need to start recording your dreams, just generally becoming more aware of them, creating a better link. They say to write it down or at least think about it before moving when you wake up, they fade quicker after you move.
The next step is to get used to asking yourself if you are dreaming during the day, that makes it more natural to ask when you are actually in a dream. There are other various checks and tricks to realize you are dreaming.
Once you are able to identify you are dreaming, you have to control your excitement, which will wake you up. Strangely, they say feeling the roof of your mouth with your tongue really helps to keep you in the dream.