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If you were caught by authorities, you could wind up paying a hefty fine and possibly forfeit all of your fishing and camping gear, including any canoes

Certainly a far milder penalty than if you got lost and crossed a border into Iran.

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I think the real key thing about not getting lost is to pay close attention to your map all the time.

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In practicality that means having the map visible to you at all times and charting your progress inch by inch on the map

Some people disparage those that use a GPS, discrediting it as less of a wilderness experience.  There are many experiences that one can include as part of being in the wilderness.  Depending on personal preferences, it may include paying such close attention to a piece of paper secured to a thwart.  But the freedom a GPS gives to paddle or drift just enjoying the surroundings also has merits.