What early steps in exploration did the Portuguese take under Prince Henry's sponsorship?

The Portuguese were among the first Europeans to explore the seas beyond Europe. Henry the Navigator urged his father, King John I, to conquer the port of Ceuta in Northern Africa. He also sponsored the development of the Caravel, a sailing ship that is lighter and faster than most ships at that time. Use of caravels enabled sailors to travel further and with more provisions, and the light draft enabled Portuguese sailors to explore shallow rivers and waters. He also sponsored explorations to Madeira, Azores, and West Coast of Africa.