Ten years ago we sailed to the Galapagos from the Panama Canal with another couple on their sailboat. We left the boat at anchor at the main island, as required, and boarded a sanctioned tour boat, the "Fragata", which held 16 passengers. There was an English-speaking naturalist guide, along with ample crew on board, including a chef who prepared delicious meals. The crew were very nice and a couple of them asked me to help them study English after dinner at night. It seemed that all the boats, including the most expensive ones, did the same tours, as the Park is highly regulated. We had a wonderful time on this local boat and also just hanging around Puerto Ayora with other yachties.
You can get information on Galapagos cruise boats at
GalapagosIslands.net.