Did Yoda have ship on Dagobah to leave the system?

In the original trilogy of Star Wars, I never saw Yoda's ship (and, an Astromech to handle the ship, but it may not necessary). Was his ship intact? Or, was his ship sunk down deep out from his force sense? Or, did he need to make a holographic call to Bail Organa when he needed to leave the system (it's also a possibility that it was Bail Organa who dropped Yoda on Dagobah, assuming he could land his ship safely on Dagobah)? Or, was he stuck there permanently?

Anything from the canon? You can use the Old canon.