Estelle White (1925-2011).
It was published in the 20th Century Folk Hymnal, volume 4, which was released in 1978.
The tune is unnamed, and has a cut-time signature. It was originally scored in the key of C, and the first few notes in this key are E cB A A d c B A.
The song has subsequently been covered by Canadian musician Steve Bell, who learned it at a Jesuit seminary in India (ref), and other artists, eg Mary-Kathryn.
However it is different from the contempoary workship song recorded by Matt Redman, the song by Lenny Smith, and from another song by an unknown writer which starts "From the depths of my soul" - all both have the same title.