The contract for Nanticoke was awarded 4 March 1969. She was laid down on 26 May 1969 at Sturgeon Bay, Wisconsin, by Peterson Builders and launched 14 December 1969.
Nanticoke was placed in service in the 12th Naval District at San Francisco in 1970.
Stricken from the Navy List 9 November 1999, Nanticoke was sold to a private concern and renamed Canal Protector. Ex-Nanticoke was subsequently resold and renamed Robert E. McAllister.