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Sailed in Sea Minor
Find the Forbidden Sea Shanties of Tiragarde Sound.
Sailed in Sea Minor requires you to find 6 Forbidden Sea Shanties hidden across Tiragarde Sound — 4 are looted from book objects and 2 drop from rare enemies.
Loot Shanty of Lively Men
In Boralus, find 
Forbidden Sea Shanty of the Lively Men sitting on a fireplace mantel at 72.61, 68.53.
Loot Shanty of Inebriation
In Boralus, find Forbidden Sea Shanty of Inebriation behind Jay the Tavern Bard at 53.14, 17.67.
Loot Shanty of Fruit Counting
In Tiragarde Sound, find Forbidden Sea Shanty of Fruit Counting inside a cave in Anglepoint Wharf at 43.38, 25.85.
Kill Black-Eyed Bart
Defeat the rare Black-Eyed Bart in Daelin's Gate at 56.67, 69.94 to loot Forbidden Sea Shanty of the Black Sphere.
Collect Remaining Shanties
The remaining shanties — Forbidden Sea Shanty of Josephus and Forbidden Sea Shanty of the Horse — can be found at 76.21, 83.05 and 73.21, 84.14 in Tiragarde Sound. You receive achievement credit the moment each shanty is looted, so you can sell them immediately after.
Tips
This achievement is currently listed in-game as Shanty Raid — it will be renamed to Sailed in Sea Minor, so search for Shanty Raid if you cannot locate it in your achievement panel.