This video will show you the route from Joko's Domain Waypoint to the mastery point and the POI in the Basaltic Fringe area of The Desolation in Guild Wars 2 - Path of Fire.
To complete this run, I used a lvl 3 Raptor and a lvl 3 Springer but all you really need is the Springer as you have to jump up to a cave entrance to get to these points.