In Tortola, we took the ferry from the adjacent terminal to Virgin Gorda and spent the day at The Baths -- which are very impressive if you haven't experienced them before. The "Top of the Bath's" restaurant overlooks the bay and surrounding islands and has a free wifi connection if you want to reconnect while away. It was uncrowded and a very relaxing day. The ferry terminal is within walking distance of the dock, and the ferry ride cost about $25 US --- 'Speedy' provides a taxi service to the Baths park as part of the ferry price.
In Antigua, we booked an excursion with WCT Tours -- a 4-hr hour snorkel and sightseeing trip on our own 2-man, 12-ft motorboat. It was the highlight of the trip and one of the most breathtaking things (from a scenic as well as exhilaration standpoint) that we've ever done. You can reach the owner (Shari Potts) at and the tour costs $65 US per person.
We rented a car in Barbados -- which I would probably not do again. Driving on the left with the steering wheel on the right is a challenge, the many 'roundabouts' on the island are more of a challenge, and the virtually unmarked roads top it off. We did use a 'Garmin GPS-compatible' map that can be downloaded for free (BajanNav) www.BajanNav.com that was very helpful -- but our car did not have a functioning cigarette lighter and when the GPS battery died, we had to head back to port. We rented the car from Stoutes (www.stoutescar.com) - which had an office right at the port terminal. A full day car rental was $99 US
In St Lucia we booked a tour with Spencer Ambrose and spent that day at the Sugar Beach Resort (on Jalousie Beach) -- literally between the two 2000 ft tall pitons. It was spectacular. St Lucia is a very hilly island and travel by car can be brutal. What would have taken nearly 2 hours by car, Spencer got us there by boat in 20 mins -- we avoided the crowds and had roughly 5 -6 hours to enjoy the amazing scenery -- with lunch and refreshments provided. I would highly recommend Spencer's 'Jalousie Beach Break' tour to anyone. The tour cost $85 US per person.
St Barts was the only island we dropped anchor and tendered in. The port was busy, crowded and chaotic, but taxis were abundant and it was easy to get to a beach -- albeit expensive. St Barts is a very expensive island but we found St Jean's beach (Tom's Beach Resort) to be accommodating and the beach side restaurant was relatively affordable. A note of warning -- the beach is 'clothing optional' and as is the case at most of those beaches: "...some do that probably shouldn't......" Cab fare to the beach from the pier was about $30 US - but you could easily walk it in about 30 mins. Beach chair rental for the day was $20 US each.