Geffrey Whitney, A choice of emblemes (Leiden, 1586)
The hand of God is holding the reins attached to a ship that is placed on a globe; sun, moon and stars

Auxilio divinoLatin
With divine aid
To Richard Drake Esquier, in praise of Sir Francis Drake Knight
11A23 God's perfections11C12 hand, 'Dextera Dei' ~ symbol of God the Father24A6 sun represented as face, wheel, etc.24B3 waning moon, i.e. facing this way (24D stars25A13 globe26A clouds31A2245(+933) hand (+ holding something)31A2747 drawing, pulling something31A2763(+0) floating in the air (+ variant)46A122(DRAKE, Francis)3 armorial bearing, heraldry (DRAKE, Francis) - device, motto46C131613(+0) reins (+ variant)46C24 sailing-ship, sailing-boat46C5430(+42)47D8(ROPE) tools, aids, implements ~ crafts and industries: rope49I1054A6(+4) Helpfulness (+ emblematical representation of concept)61A(1577.11.15-1578.09.26) historical events and situations (1577.11.15-1578.09.26)61B2(DRAKE, Francis) historical person (DRAKE, Francis)61B2(DRAKE, Richard)3 historical person (DRAKE, Richard) - other representations to which the NAME of a historical person may be attached (DRAKE, Richard)86(AUXILIO DIVINO) proverbs, sayings, etc. (AUXILIO DIVINO)95A(JASON) (story of) JasonRecord ID: embstma_1667_emblem217
This emblem on the Iconclass site: https://iconclass.org/view/embstma_1667_emblem217
Copy: University Library, Glasgow, Stirling Maxwell 1667