Bake NavMesh for an object

I baked the NavMesh for my world:


But I want agent to be able to walk on the galleon from the image? How I can bake the NavMesh for the galleon? Also(I don't know if that causes some errors with navmesh) the galleon has 3 LODs and the Galleon will navigate on see to it isn't static so the navmesh should be following the galleon.
PS: I want to do this without downloading the old navmesh components like NavMesh Surface


If someone from unity team see this thread I want to say that there is no tag for navigation. I searched there https://forum.unity.com/tags and I don't find any tag to use in this post. I used "mesh" from NavMesh and terrain