Sentence:  And soo she receyued hym vpon suffysaunt seurte / so alle her hurtes were wel restored of al that she coude complayne / and thenne he <WSD>departed</WSD> vnto the Courte of kyne Arthur / and there openly the reed knyghte of the reed laundes putte hym in the mercy of syre Launcelot and syr Gawayne<!--Prior quoteAnd than he <WSD>departed</WSD> unto the courte of Kynge Arthure, and there opynly the Rede Knyght putt hymself in the mercy of Sir Launcelot and of Sir Gawaynenb....--> 
Meaning of the word marked with <WSD> tags:  To set out on a journey.