There is no solid plan
We mean.. there is a route. We planned it, we tried it, we are responsible for it. But we don't have to stick to it! So, if one fine morning we wake up on an island and can't bare to leave it for the next stop - we can stay on longer. Or if we want to sail in the opposite direction - we can. Or dance naked by the moon... You get the picture. We are up for all of it :) That's how yachties are.