Mapmaker: The Amazing Travels of Tessa Chart - The Mapmaker Series from the Gewellyn Chronicles, #1

Captain Alenia Yaleria called her, "the most adventurous woman we've ever known." Tessa Chart: Adventurer, Warrior, Cartographer, and incurable romantic. The Truthbearer and the Lord Librarian have sent her on a mission: Map the Nine Worlds and find the "Thin Places" where Lordabove is closest to His creation. No one has ever made maps of the entire Nine Worlds before, but if it can be done, Tessa will do it.
With her airship crew of Elves, Drow, Librarians, and a half-elf who just may be the love of her life, Tessa Chart will go to the places where legends were born, and what once was thought to be fiction may just be the next big adventure... or their doom.