I would use XPath or CSS expressions, and look at HTML::TreeBuilder::XPath to run the expressions against the HTML. Or rather, I would use App::scrape, which puts that approach into a module, or Web::Scraper and Web::Magic.
With XPath expressions, you can specify the elements you want like paths to files in a directory. In your case, it looks like the following XPath expressions would work:
# Each voyage
# Itinerary within a voyage
# Departure date
Depending on whether your target page only lists one such itinerary, you can roll the XPath expressions into one expression, instead of using them relative to the voyage nodes:
You can test out these queries in Firebug (I think), or with scrape-ff tool in WWW::Mechanize::Firefox, or with the scrape tool in App::scrape. Likely, Mojolicious and the modules mentioned before also contain tools for easy command line testing of XPath expressions against URLs.
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