Rather than "i decided it was high time we camped and it would soon be dark so i turned the shore"
It should properly read: "I decided that it was high time that we were encamped as it would soon be dark, I turned from the shore"
An Alternative is"
"I decided that it was high time (that*) we set up camp as it would soon be dark, I turned from the shore"
(that*) is optional, depending on the level of formality required.
Your original structure has problems with ambiguity, also with tenses, decided = past tense, camped is past tense, high time is present tense, turned is past tense so you end up with a mix of tenses that lead to confusion.