First, some clarification: we were on Safari Voyager, not Endeavour...I believe this is a replacement for the damaged Safari Spirit, no longer in service. And we were on the Sea of Cortez off Baja California, Mexico, not the Mexican Riviera. That was not listed as an option, though oddly, Cabo San Lucas as embarkation point was.
My wife and I have travelled with Adventure Life about six times in the past decade, and have been more than pleased with each trip. The latest was the Baja Whale Bounty, on the Un-Cruise Line, our first experience with that company, and it was as good as it gets.
The trip was a week on their luxury line, Safari Voyager. This was no floating casino like the huge cruises tend to be (hence the "Un-cruise" designation). The vessel was smaller, 65 passenger and about 25 crew. Cabins were clean and comfortable, maintained daily.