Thanks f-mattox and Dwayne. Walking alongside seems like a good idea, but am not sure how that works if I book an excursion, as opposed to just going there on my own. I would probably do an organized excursion if I did that, either through the cruise line or Shoretrips.
2007 - Majesty of the Seas (Bahamas)
2009 - Enchantment of the Seas (Western Caribbean)
2010 - Freedom of the Seas (Western Caribbean)
2013 - Golden Princess (Alaska, roundtrip from Seattle)