A statement released by Defence on behalf of his family described Lieutenant Commander Noakes as “a much loved husband, father, brother, uncle, son and proud Navy member”.
“He devoted 36 years of his life to serving his country and for that we couldn’t be more proud of him,” the statement said.
“When not home with his family, he was most happiest when at sea with his crew.
“We wish to extend our thanks to his shipmates and colleagues who provided such a rewarding and joyous career to Steven over the years.”
Lieutenant Commander Noakes was deployed on patrol boat Cape Inscription as part of Operation Resolute.
A Defence spokeswoman said the cause of death was not yet known.