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That said, never use more than exactly 3 light ships for exploring because you do not need more and they are slightly faster than the other ship types. Anything beyond that is just wasted. Giving them an amiral helps a bit because maneuver rating gives some movement speed.
As you might have noticed, ships outside supply range and on open sea spaces take quite a lot of damage. It is best to only explore 1-2 open sea spaces at a time and then return to heal up before venturing forth again. The further you get from your supply range, the more likely it is that you can only uncover about one fresh space per voyage - that probably means you should call it quits until you have a harbor (cored province of you or a subject) further down where you are exploring.
To explore further, you can get fleet basing rights to repair your ships closer to what you are exploring and you can use only light ships so that they travel faster. Also try to avoid open seas which don't border any land, because they give an additional attrition tick if you enter them
explore 1 tile at a time and go home if needed. Get fleet-basing rights from nations you discover so you can land and reset your time at sea modifiers, and just keep hopscotching along (I made it all the way to Japan with Portugol's starting explorer), though he tends to die around the Horn of Africa or India on average (or within a few days if very unlucky).
It takes a huge amount of bonus time to explore foggy regions, and additionally you take bonus attrition for non-coastal tiles, so try to stick to the coast-lines as much as possible.