Short answer: We don't know. Likely, but we have no mention of it.

Slightly longer answer: The sources which would provide reference to songs being sung while at sea are the sagas, and they are notoriously light on non-essential exposition. That said, work songs are almost universally present in human societies, and have been recorded extremely early in human history. You might want to check out Ted Gioia's Work Songs for a pretty solid anthropological analysis of work cadences.