Discoveries in Australia by John Lort Stokes is a fascinating read. Stokes became commander of HMS Beagle on her third voyage, after having shared a cabin with Charles Darwin on the second voyage. This is his account of the voyage of discovery from 1837 to 1843, exploring and charting a large part of the Australian coast. A very entertaining writer, even though much of the work is about observations of tides, soundings, and navigational hazards. Some of this technical information might be of interest for you people for modern day navigation, as it is just as relevant. His observations about aboriginal people and their treatment are very revealing. He was even speared (I think when he was in the Kimberley) yet seemed to hold no grudge, accepting it as an understandable reaction to his uninvited arrival.
The language takes some getting used to, but it's well worth the perseverance.
It is available online but I obtained a hardcopy.
en.wikisource.org/wiki/Discoveries_in_Australia/Volume_1 and
en.wikisource.org/wiki/Discoveries_in_Australia/Volume_2