"Between the two prostrations, the Prophet would say: (Allahummaghfir li, warhamni, wajburni, wahdini, warzuqni). 'O Allah! Pardon me, have mercy on me, help me, guide me, and grant me sustenance.'"  

أَنَّ النَّبِيَّ ﷺ كَانَ يَقُولُ بَيْنَ السَّجْدَتَيْنِ اللَّهُمَّ اغْفِرْ لِي وَارْحَمْنِي وَاجْبُرْنِي وَاهْدِنِي وَارْزُقْنِي  

(Another chain) which is similar.