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Don't be afraid to get out in the tourist areas and to get in the water.
You can look at excursions with private vendors, just do a little homework before your go.
In Cabo the ship will drop anchor in the harbor and you will tender (take little boats) ashore. The ship does pull out at night to open the casino and shops so it's not quite like having an overnight stay in port.
All I ask is a tall ship and a star to steer her by; John Masefield
Carnival: Glory 2004, Destiny 2008, Splendor 2009, Freedom 2011, Valor 2012, Dream 2013
Celebrity: Summit 2011
Princess: Ruby 2010, 2014, Caribbean 2013, Coral 2014, Regal 2014, 2016
Star Clippers: Royal Clipper 2015