The Art of Travel or Shifts and Contrivances Available in Wild Countries (1872)

is available here at http://www.gutenberg.org/files/14681/14681-h/14681-h.htm#ch13

A complete Guide into preparing a Victorian Expedition into the heart of 19th Century Africa.

Have found a more direct link at

http://snowy.arsc.alaska.edu/gutenberg/1/4/6/8/14681/14681-h/14681-h.htm

Lots of good survival tips and techniques such as navigation and medical care without any modern kit.