Reading 'Sir Francis Drake' by John Sugden page158:
"In 1581 she [Queen Elizabeth I] assigned him [Drake] a coat of arms consisting ' of sable [black ground] a fesse wavy between two stars argent [silver], the helm adorned with a globe terrestrial upon the height whereon is a ship under sail, trained about the same with golden haulsers by the direction of a hand appearing out of the clouds, all in proper colour with these words "Auxilio Divino".(1)"

(1) Statement of Robert Cooke 20 June 1581, Wallis, 'Sir Francis Drake' p. 102