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Er, aside from the fact that if you move your ship towards an area of the map (the first time) it opens it on the map, what part of these "exploratory missions" is exploratory?
It seems like what most people do is sit in an island and kill stuff, and get gear. I'm not here to comment on whether or not this is fun, but...
I just am not sure what any of that has to do with exploration.
As I see it, and ignoring the fact that you battle monsters to pop NM and loot etc, exploration for me is also to fly around spotting random treasure coffers in the field and gathering around to pop even more. Also, uncovering the map was a big exploration for me and it took me two runs to complete it (missed the landing areas, tiny pixel is tiny). I know most of the people go fight and report gatherers as trolls, at least in DF, but maybe your server does like mine and organizes gathering only runs? Imo the term exploration gets fulfilled when all the aspects of the duty get played. Battle, fishing, mining, logging, and exploring spotting random chests in the field. Which was Yoshi-P's original intention with the design.