Dalton

Once you reach West Desert Pass, enter it. Simply walk North to make it through the pass. Be sure to grab the chest for 300 S along your way. Be wary though, the creatures here can be really tough. Spend enough time here to get Ronfar to gain a level and then continue North to Dalton.
Upon entering Dalton, you spot Lucia on the deck of the Destiny. Lucia tries to explain her mission to Leo, but he doesn't listen.
Leo's guards try to apprehend her twice, with little luck. Leo then gets a bit cranky and decides to attack Lucia himself, knocking her out cold... time to go save her.
You'll notice the Goddess Statue has been smashed. Investigate the town, but don't bother using the Sanctuary Statue. You'll use the one on the Destiny soon enough...for free. heh. Make sure to stop at the Shop and upgrade your team's equipment, explore the town (which should yield you an Herb, Star Light and a Dagger) and then walk east out to the docks from the town's 2nd tier level.
Once you're aboard the Destiny, take the door on the North end of the Destiny and you'll find yourself in a room with a Goddess Statue. Use it, and then save your game before taking the door on the West side of the room.
As you make your way down to the Brig, you'll have to fight members of Althena's Guard along the way. This means you'll be making a few trips back to the Goddess Statue as you make your way down since you'll need to rely on Hiro's Poe Sword and Ronfar's Anger Dice to defeat the Guards.
When you finally get to the Brig, watch the sequence between Lucia and Leo. Once Leo leaves, press the switch next to her cell, and free her. Just then, Leo comes back! He goes into convulsions that Lucia is missing. Sneak up behind him and lock him in the cell. Before leaving, Ronfar imparts a few choice words to Leo.

Once Ronfar rejoins your party, exit the Destiny (use the Goddess Statue if need be) and then exit Dalton and walk Northeast to Starlight Forest.
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