6:17a

a boat: In the context, the term boat refers to a fishing boat with wooden oars and a square sail. It was likely twenty (20) to thirty (30) feet long and made of oak and/or cedar wood.

started across the sea to Capernaum: Again, the word sea refers to Lake Galilee. The disciples intended to cross the lake and began to do so.

Here are other ways to translate this phrase:

set off by boat to cross to Capernaum (Revised English Bible)
-or-
began to cross the lake toward Capernaum

6:17b–c

It was already dark, and Jesus had not yet gone out to them: This comment by the author indicates that the disciples were alone in the boat. Some commentaries say that this implies that the disciples expected Jesus to join them in the boat before they left. Other commentaries say that this just means that Jesus had not yet walked on water to them. So we do not really know what the implication is. If possible, leave any implication of this clause ambiguous.

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