Funny thing. I was in search and rescue as a teen, and I went though the courses with a friend. A decade or so later, we were hiking on a bright sunny day* and weren't properly prepared. We went off trail, and found ourselves in an unknown position. Our predominant emotion was shame, with the understanding that if we got S&R called on us we would be completely honest about our training (not that our spouses wouldn't be honest for us). We had a paper map but no compass, and were able to navigate to a marked trail with some educated guesswork. In the end, it was a fun adventure, but the shame stuck with us the whole way home.
* note: "bright and sunny day" is the condition that search and rescue teaches one to be the most mindful of. It's where you and everybody else get the most confident, and prepare the least.