Sorry, but I'm not aware of any listings of commands for use aboard a navy (Kriegsmarine) vessel - neither official nor slang.
Wikipedia has a listing of expressions and nicknames used in German soldier speek:
http://de.wiktionary.org/wiki/Verzei...ache#Wehrmacht
Watch "Das Boot" or "Duell im Atlantik" and maybe some German propaganda movies at Youtube. You'll catch one or the other command.
An old-fashioned public library will certainly have some nice readings about naval warfare - including used language and commands.