Below are record of events for the companies of the 51st. Not sure of some of the spellings. Sorry.
You should be able to find corrected versions in Broadfoot's Supplement to the Official Records
Company A Muster Roll for July 16 to Nov. 1, 1861, station not stated. Record of Events
In the battle of Cauch Gauly near Carnifix 63 privates, 1st Lieut & Second Lieut French were engaged on the right wing of the Regt. Marched from Wytheville to Bonsacks Depot, thence by way of Jacksons River Coosngton [?] & Louisburg to Camp Gauly. Thence to Meadows Bluff, thence to Seivels [?] Mountain by way of Richmond Ferry on New River Raleigh C.H. & Fayettsville. Distance about 260 miles
Company B, July 31 to Nov. 1, 1861, dated Nov. 1, 1861
Co. H joined the 51st Regiment Va. on the 14 August at Camp Joe Johnsonton Va. Marched from Camp Joe Johnston to Gauley River were in the Gauley battle. Sustaining no loss. Marched then to Meadow Bluff to Sevall [?] Mountain and are at this time in service at Cotton Hill.
Company F stationed at Narrows New River October 31
Since last muster we marched from Camp Loring Marion Co Va. to Fayettville by way of Raleigh C. H. Was engaged with the enemy at that place on the 1oth day of Sept. 1862 drove them from there fortificdations & from thence to Charleston Va. Left Charleston on the 8th Oct. Marched to Green Meadow Mercer Co. va & from then back to Charleston again from thence we marched to this place
Company I, joined the regiment on the 14th of July, 1861, left Camp Jackson Wythe Co. Va Aug 13 1861 arrived at Camp Gauley Nicholes Co. Va Sept 1, 1861 via Bonracks and Lewisburg Sept. 10 got into a engagement got one man wounded in the left arm. We march and camp at Meadow Bluff on the 17th of Sept. We march Sept 30 to Camp Defences Arrived on Oct. 1, 1861. Oct 11 we march via Raleigh Court House and Fayette Court House We arrived at Camp Walker on the 24th of Oct
Company K Joined the regiment at Wytheville. Left Wytheville on 5 Aug for Bonsacks Depot Marched from Bonsacks on Aug 21 Joined the Floyd Brigade Sept. 1 was in the fight at Carnyfax Ferry Company suffered no loss. Marched from Carnyfax on the night of Sept 10 for Big Swuhell [?] Mountain and from Big Seivell to Meadow Bluff