Here is the Bach motet sung by a dutch choir. The score is there, and one can sing along. Here is the Buxtehude of the same hymn, also with score. It's oh so neat to have the score, instead of watching the choir and musicians.
Still looking for a decent English version of the hymn. Maybe on the Wittenberg Trail.--No, can't find one. Maybe Concordia College can do one and upload it.