Or if you'd prefer, a journey along the Hana Highway provides splendid views of the island's lush tropical rainforest and rugged northern coastline. Maui also offers whale watching, and we were not disappointed.
One of the many huge humpback whales we saw off Kahului on a beautiful Pacific day bellied its white underside right up to the bow of our tour boat and then swam past the stern of a nearby boat packed with excited tourists capturing digital images. Several other whales were spotted within a couple of hours at a more comfortable distance.
The port of Hilo is a good place to take an excursion to the active Kilauea volcano. You can also get a bird's-eye view of Kilauea by helicopter. Keep your fingers crossed that Hawaii's goddess of fire, Pele, just simmers.
The big island is also home to Mauna Kea, a dormant volcano and the world's tallest mountain at more than 33,000 feet (10,000 metres) as measured from the floor of the ocean to its peak. (Mauna Kea's altitude above sea level, however, is about 4200 metres much lower than Mount Everest's nearly 8,850 metres above sea level.)
You can book an excursion to visit Mauna Kea through the cruise line or rent a vehicle to get there. (Note that most rental car companies prohibit driving to Mauna Kea because of road conditions, but one rental company, Harper, rents four-wheel-drive vehicles specifically for Mauna Kea.)
Some of the world's most powerful telescopes are perched on its peak, though the public is not permitted to look through them. But public presentations are offered on research being done there, and stargazing programmes using portable telescopes are held when skies are clear.
Disembarking at Kona, many snorkellers headed for Pawai Bay, which offers clear water and spectacular views of tropical fish and coral colonies. Other cruise ship passengers chose scuba diving, catamaran sailing, ocean kayaking and parasailing.
On Kauai, we took a bus tour to Waimea Canyon. It is called the Grand Canyon of the Pacific, and the colorful reds and browns of its volcanic rock, along with the greens and blues of interspersed tropical vegetation do not disappoint. You can also ride a boat to view the unspoiled scenery along Hawaii's longest navigable waterway, the Wailua River.
Among other Kauai activities for the more adventurous are zip-lining, tubing through water tunnels and horseback riding.
Ending our cruise in beautiful and bustling Honolulu, we spent the next few days on or near the beach. We snorkelled at Hanauma Bay, took a rattling bus ride around the island to watch surfers on the monstrous waves of the North Shore and soaked up the pleasant winter sun on Waikiki Beach.
Waikiki's gentle waves make it an excellent place to learn the art of surfing and try your hand at paddleboarding. Or you can just relax on the island's No. 1 beach.
We spent the better part of a day at the Polynesian Cultural Center on Oahu's northeastern side, learning about other Pacific islands, including Samoa, Tahiti, Tonga, Aotearoa and Fiji. Historical information, cultural activities, live performances and a luau are featured at the theme park.
Before leaving Oahu, we went to the Pearl Harbor Visitor Center and took a skiff to the USS Arizona Memorial, the sombre resting place for many of the vessel's nearly 1200 crewmen who were killed when Japan bombed the US Navy's Pacific fleet on December 7, 1941.
We are cruise veterans, and this trip was among the most memorable of many. A giant cruise ship, with all its amenities, is a convenient base to see and experience the Aloha State. Unpack just once and start your adventure.
IF YOU GO
On the water: Discover Hawaii's islands aboard Norwegian Cruise Line's Pride of America. Cruise prices vary by date and stateroom.
Further information: See gohawaii.com and DiscoverAmerica.com.
