Steve's message is the same thing that I took from my experiences, and why my (non-Navy) colleagues always cite me as being "calm in the center of a storm". No matter how crazy or insane things get at work, I know there's no chance that if I screw up that 100+ people would die. It absolutely puts perspective on problems. :)
Training programs like the National Outdoor Leadership School can be a good jump start into the leadership aspects of those sports.
Ever since then when getting ready for a concert where I'm not the soloist, I can just tell myself "What can I possibly do wrong that would be worse than that?" and the tension goes away.
Its funny, failure in front of an audience is rarely fatal, but a huge fear for many.
That's the interesting thing about the human brain and our reactions to things. When compared rationally what happened to you seems trivial. But in your brain it was the worse thing in the world on the scale of a true disaster. Reminds me of situations where one has a health scare or a hypochondria before knowing the true details of their illness. The feeling you get is as if you are headed toward death and others sometimes laugh at how out of proportion a reaction is to the evidence at hand.