Your first meaningful voyage is easier when the objective is clear and you know what happens if the trip takes longer than expected.
Define the reason for the voyage
Scouting, transport and relocation all require different preparation.
Bring enough food for delay
A longer route than expected should not immediately become a survival problem.
Leave enough cargo space
Do not fill the boat before the trip has produced anything useful.
Know the return route
Use map markers and familiar coastlines so the journey home does not depend on memory alone.