How I Found Livingstone; travels, adventures, and discoveries in Central Africa by Henry Morton Stanley--is that the kind of thing you're looking for?

As for it being readable...well, let's put it this way: Mr. Stanley was a detail-oriented guy. So he kept fastidious track of how many yards of fabric he gave to this or that "chief" to pass through a territory, and how many baskets of such and such he brought with him from Bakonongo, and...well, it can get a bit tedious. It also has not very subtle racism sprinkled throughout. Oh, and some self-aggrandizement, especially in relation to Mr. Stanley's own hunting and fighting prowess.

But it definitely reads like a detailed journal of exactly what it took to find Livingstone, and I think it's interesting.

I am not sure what else you might be especially interested in. Have you read the Stanley book?