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From my perspective, if you talking about spending five days on a exploratory drive to San Carlos for four or five days to the San Carlos and the Sea of Cortez, that's plenty of time for some great goofing off...but not near enough time to sea and do all there is to see and do, between Florida and San Carlos.
You may wish to contact the Automobile Club, AAA and get some ideas and/or Good Sam's (RV club), local Camber's of Commerce and/or offices of Tourism in locations along the various routes you could take; between Florida and the USA border to Mexico.
For your trip on the Sea of Cortez, Cunnningham's Sea of Cortez Cruising guidebooks are the best I've found as a starting point and for use while down there, boating and such.
Both areas, that is, the southern part of the USA, San Carlos and the Sea of Cortez may be somewhat akin to those who scuba.
There are those who use up their allotment of time, air, energy and other resources racing here and there, doing and seeing lots of stuff. Then there are those who use up their allotment of air, just poking around, here and there doing and seeing lots of other stuff. Both enjoy it but they have not, necessarily, done and seen the same things.
Gerro Negro and San Ignacio Bay was awesome whale watching in Mexico.
The Coronado Islands were awesome fishing as were many other places I've been in Mexico.
I've been poking around San Carlos and the Sea of Cortez, off and on, since about '72, scuba diving, boating and sailing.
For the Sea of Cortez and San Carlos and such, in some of those years I've been able to go down once a month for ten days, here and there and some years it's been quarterly, semi-annually and some just annually.
On some of those occasions, I've motel'd it in San Carlos and day-tripped here and there, by 4wd and I've used a blow-up boat and I've used a 24 cabin cruiser when boating, fishing, sight-seeing, scuba diving and/or snorkeling.
For the past ten years or so, I've mostly boat camped, sailed, dove and snorkeled here and there, using a 27 foot catamaran.
In total, at this point, I still haven't scratched the surface of the things to see and do.
With that proviso stated, here is what I've learned about the place.
I haven't run into a time or place I didn't get more than my time, money and effort's worth.
To be fair and for a bit of contrast, here, I'd also note, if you talked to my wife she'd probably bring up the flat tires, cooked trailer bearings, the squalls, the time the boat was completely swamped and such.
In Mexico, if the conditions were crummy, you could poke around San Carlos and Bahia San Carlos (San Carlos Bay and Martini Cove, covering a distance of about two miles to the most distant destination (Martini Cove) and see and do lots of cool things.
Depending on wind direction and conditions, you could easily spend your entire time poking around San Carlos, Bahia San Carlos, Martini Cove, Bahia San Pedro, Isla San Pedro (San Pedro Island, sometimes called Seal Island) covering a distance of about 20 or 30 miles to the furtherest destination...and see and do lots of other cool things.
Depending on equipment, boat, skill, interests, conditions and wind direction, etc., you could cross the 80 miles or so to Santa Rosalia, a town almost directly across the Sea of Cortez from San Carlos, but on the Baja side and do and see lots of still other cool things.
You could hit San Carlos, Santa Rosalia, Mulege, Bahia Concepcion, Loreto and
You could cruise up the coast to Hemilia Bay and on up to the Kino Bay area, covering a distance of about 60 or 80 miles.
Between Santa Rosalia and La Paz and a bit further south...there are no end of places to see and things to do.
Sorry, what was the question?
I guess I just enjoyed a few of the many memories while working towards answering your question, while also planning my next trip this October and taking a coffee break here at the office.
Tom
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