To get a true feel for the forces that propel a 100-foot yacht around the buoys, there's no substitute for a seat on the teak, a rope in your hands and salt spray in the face.
Inner tubes can be hired in Palomino, and after an hour or two of floating, just before the cool river spits you into the warmer sea, there is a rope on the right side that you can use to do your best Tarzan flip into the water.