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If so, the only way to get out would be a transport pod. Don't worry, you'll be able to get back in normally.
(sorry about the edit, I noticed I left out a "y")
OK then, I guess I have to use pod, thank you, I was wondering if I could get back walking :)
Screenshot:
https://img00.deviantart.net/fd4b/i/2018/018/f/d/20180118112309_1_by_narcisse_shrapnel-dc0dgaz.jpg
Ah, that's the problem. Caravans need to exit off your colony map on the same side as the world map facing. Since your world map only allows leaving on the northwest, and in your colony map the northwest corner is blocked by deep water, they can't leave. If you use dev mode or a terraforming mod to fill in the northwest corner of your map with shallow water so your pawns can reach it, then you should be able to leave from that side and start forming caravans.