How do the doctor and his companions escape from the Hispaniola and where do they go?

The Doctor and his companions escape from the Hispaniola by taking a small boat after a series of conflicts with the mutinous crew. They manage to navigate away from the ship, heading towards the safety of the island where they hope to regroup and devise a plan. Their destination is the island of Treasure Island, where they aim to find a way to reclaim the treasure and confront the pirates.