I am old school, cheap and lazy. I pick up a few canned items almost every time I am at the store. Could be anything from Campbell's Chunky Soups, to canned meat, or Dinty Moore Beef Stew, but whatever it is,. it doesn't require added water, is easy to open, and has a few years shelf life.
I do rotate stock, too. Dinty Moore is really good with a little Worcestershire and coarse ground black pepper...which leads to another point. For the lightweight run away bag, consider WalMart's camping section, and the plastic camp spice deal they have. It's 6 different ones, IIRC, and one thing you will never remember to take with you in a hurry is salt and pepper...pork and beans by themselves get nasty after a while. Just sayin'.
Of course, with our age and infirmities, buggin IN is far more likely.