Yes, there will be both wet and dry landings over the course of the cruise. During wet landings, you'll need to get off the panga in a shallow area of water close to shore and your feet will get wet. (Pangas are inflatable, motorized Zodiacs or dinghies that are used to get from the yacht to shore). A dry landing means the yacht either docks alongside the pier or the pangas are able to pull alongside the pier or directly onto the beach, and your feet can stay dry.
nOn this itinerary, there are wet landings the afternoon of Day 3 (at Mosquera Islet), the afternoons of Day 4 and Day 5 (in one location each on Santiago and Genovesa islands), the morning of Day 7 (on Espanola Island), both the morning and afternoon on Day 8 (in two locations on Floreana Island), and the morning of Day 9 (on Santa Fe).
nAll other excursions usually involve a dry landing.