The Edge of the World by Kevin J. Anderson

The Edge of the World by Kevin J. Anderson is book one in his Terra Incognita series. It's fantasy set in a seafaring civilization, so it's kind of Game of Thrones meets Jason and the Argonauts. Even being Kevin, it is full of tri-fail cycles and great little narrative twists and stuff. So it is read by Scott Brick and you can get a free copy of it at audible.com slash excuse.