We had looked at doing the boat ride info yesterday and really did not think much about it, but after walking the town a little further than the previous day, we stopped off for a beer and down below us we could see the Marina, we walked down to it in hopes of getting on one of the tours. We could see one boat tour just leaving the port and another one loading up, but we were far away and thought we would never make it. Luckily they had to return to pick up a late passenger that had pre-paid. So we were able to pay cash and get on the tour. We ended up saving a few euros each by bypassing the sellers in town. It was a very simple tour with Grutas de Benagil e Costa down the Algarve beaches going past several small villages and very impressive cave formations which were only assessable by boat. There are many tour companies in this area as it seems it is the main thing to do outside visiting the city. They told us they normally stop so people can have a quick swim on the beach, but no one on our boat was dressed to go swimming.
Afterwards we had a snack at a more local restaurant then the tourist areas with prices to match. We also had our second beer for the day!