“Given ships or sails adapted to the breezes of heaven, there will be those who will not shrink from even that vast expanse.”

— Johannes Kepler , Dissertatio cum Nuncio Sidereo

Translated by Edward Rosen, Kepler's Conversation with Galileo's Sidereal Messenger (1965), p. 39
Unsourced variant translation: Provide ships or sails fit for the winds of heaven, and some will brave even that great void.
Dissertatio cum Nuncio Sidereo (1610)
Context: It is not improbable, I must point out, that there are inhabitants not only on the moon but on Jupiter too, or (as was delightfully remarked at a recent gathering of certain philosophers) that those areas are now being unveiled for the first time. But as soon as somebody demonstrates the art of flying, settlers from our species of man will not be lacking. Who would once have thought that the crossing of the wide ocean was calmer and safer than of the narrow Adriatic Sea, Baltic Sea, or English Channel? Given ships or sails adapted to the breezes of heaven, there will be those who will not shrink from even that vast expanse. Therefore, for the sake of those who, as it were, will presently be on hand to attempt this voyage, let us establish the astronomy, Galileo, you of Jupiter, and me of the moon.

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Johannes Kepler 51

German mathematician, astronomer and astrologer 1571–1630

Apollonius of Rhodes book Argonautica

Source: Argonautica (3rd century BC), Book I. Preparation and Departure, Lines 547–549 (tr. R. C. Seaton)

“Therefore we should not try to alter circumstances but to adapt ourselves to them as they really are, just as sailors do. They don't try to change the winds or the sea but ensure that they are always ready to adapt themselves to conditions. In a flat calm they use the oars; with a following breeze they hoist full sail; in a head wind they shorten sail or heave to. Adapt yourself to circumstances in the same way.”

Bion of Borysthenes (-325–-246 BC) ancient greek philosopher

As quoted by Teles of Megara, fr. 2, On Self-Sufficiency

“I hate a Barnacle as no man ever did before, not even a Sailor in a slow-sailing ship.”

Charles Darwin (1809–1882) British naturalist, author of "On the origin of species, by means of natural selection"

volume I, chapter IX: "Life at Down", page 385 http://darwin-online.org.uk/content/frameset?pageseq=405&itemID=F1452.1&viewtype=image; letter http://www.darwinproject.ac.uk/entry-1489 to William Darwin Fox (24 October 1852)
quoted in At Home: A Short History of Private Life (2011) by Bill Bryson
The Life and Letters of Charles Darwin (1887)

“Seeing that a Pilot steers the ship in which we sail, who will never allow us to perish even in the midst of shipwrecks, there is no reason why our minds should be overwhelmed with fear and overcome with weariness.”

John Calvin (1509–1564) French Protestant reformer

“A ship in port is safe; but that is not what ships are built for. Sail out to sea and do new things.”

Grace Hopper (1906–1992) American computer scientist and United States Navy officer

This saying appears to be due to John Augustus Shedd; it was quoted in "Grace Hopper : The Youthful Teacher of Us All" by Henry S. Tropp in Abacus Vol. 2, Issue 1 (Fall 1984) ISSN 0724-6722 . She did repeat this saying on multiple occasions, but she called it "a motto that has stuck with me" and did not claim coinage. Additional variations and citations may be found at Quote Investigator http://quoteinvestigator.com/2013/12/09/safe-harbor/
Misattributed