The speaker is lamenting in the passage above for:
b. a lack of true fulfillment in his life
Explanation:
In the above lines, the speaker says that a king or a figure of authority cannot gain anything if he sits with his wife and enjoys the warmth of the fire. In reality, he has to be present among the common people. It is because of the lack of the king's authority that his subjects become less dedicated to their work. They waste their life by eating and sleeping. This ultimately is a loss of the king and this means that the life of the King has been left unfulfilled.
The poem is a monologue spoken by him, where he not only expresses his discontent, but also describes his desire to keep sailing. He's getting older and doesn't have a lot of time left, so he wants to get busy living rather than busy dying.
This means that actaually knowing what you are going to do is needed to channel the will to do something, and both of those things are needed to complete a task. Hope this helps.
