A vague question (for what length of trip? in what area of the world?), and mostly vague answers. ;)
I'll try to be specific and helpful:
- I ride with panniers and a top box. The topbox is mostly empty while I am riding: it is there to keep my helmet and gloves while I am off the bike. Anything that lives in the topbox must be small enough to either fit inside the helmet along with my gloves, or fit beside the helmet. So at a maximum, in my topbox I have a spare charging cable, my small electric air pump, and a folded canvas "emergency" backpack. Tested that all of these fit with my helmet in the topbox and it closes. Then, if I buy groceries for the evening etc., they can go in the topbox while my helmet is on my head, or in the emergency backpack
- If I intend to camp, all of my camping stuff goes in a separate drybag that gets strapped to the passenger seat. This includes:
[**] a) the tent;
[**] b) the thermarest, inflatable pillow, and sleeping bag, all of which go into the thermarest's inflation bag;
[**] c) a Primus Litrek kettle/pan combo, inside which is stored a gas canister, matches/a lighter, a tiny burner that screws on top of the canister, and a few teabags/instant coffee pouches. The kettle comes in a mesh bag, and a cutlery set (knife, fork and soup spoon, inside a small plastic sheath) fit into the bag as well. There is enough space left over for a few pouches of dry soup or oatmeal, or sundry useful items like a finger saw.
[**] All of these items are cheap to medium, and I can afford to lose them. The thermarest is the most expensive of these (more than the tent!), but it's been around and I consider its cost to have amortized over many adventures.
[**] On my old bike with Kappa K33/Givi V35 panniers, I could fit all of this into a single pannier instead of a drybag, which was convenient for a weekend camping trip.
- The other pannier is for everything else: tools, electronics, clothes.
[**] d) Tools include the factory toolset that used to live under the seat (now replaced by my dashcam's central unit), electric air pump and tire repair set, zipties, a tube of two-component epoxy putty rated for metal, zipties. Anything that needs more tools than that, is beyond my mechanical abilities anyway.
[**] Chain lube obviously - but I can get it on the road at any gas station.
[**] Electronics: power bank, chargers, an ipad and/or kindle. Used to travel with a full laptop, might still need to if I am on an extended trip and need to work in the meantime. Laptop would go inside a neoprene sleeve, and if I am unsure about the seals of my panniers - into a trashbag or cheap small drybag. I don't take my big camera along any more, phone and dashcam are enough.
- Clothes:
[**] One each of socks, underwear, and T-shirt for each night I am spending away from home, up to a max of maybe 5-6, which I can either stretch over several days each, do laundry on the road, or just buy cheap replacements. Synthetic T-shirts preferred especially for warm seasons, but one or two cotton ones are also nice to have.
[**] At least a few tube scarves/buffs, which I use as a helmet sock, or as a scarf off the bike.
[**] One universal pair of off-bike pants, these can be jeans or a nicer kind of hiking/cargo pant.
[**] One softshell jacket, warm and wind/waterproof, ideally with a hood, can be worn around town in most weather where I would ride on two wheels, can serve as an extra warm layer under my gear.
[**] One pair of off-bike shoes, can be simple canvas slip-ons, but my favourite model of many years is the Merrell Jungle Mocs. No laces or buckles. MAYBE also flipflops for beach/campsite wear.
[**] One hat - could be a cap or baseball hat, sometimes I bring my folding kangaroo-leather Barmah hat. This can also live in the topbox if there is space.
[**] One pair of merino wool thin gloves, that double as moto glove liners in cold weather. Alternatively I have a pair of very thin tech-fabric skiing gloves.
- Multiple sets of earplugs, both for riding time and sleeping at a campsite or cheap hotel/hostel.
- * Toiletries: toothbrush, toothpaste, shower gel and sponge, microfiber towel (folds really small). Shaving kit if you need it. Pro tip: hotel toiletry bottles are highly convenient and "free", and that conditioner bottle that guys never use, is a great makeshift shaving gel!
What else... A water bottle, maybe a couple protein bars? Leatherman and off-bike earphones are in my jacket/pant pockets.
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