I suggest if you take the ferry that you go over for lunch. We took one ferry around 3:00 PM, and the first one that came by never even tied up. There were several dozen people waiting the ferry was full, and people were jumping onto the boat before it stopped. It backed quickly away and took off leaving us. The next ferry was not full, but they didn't get all the people on board that were waiting. The noon ferry was not close to full, and we had a pleasant lunch at the Hotel Imperatrice. Many restaurants are closed, so expect something from a fast food place or a street vendor if you don't want to eat at the hotel.
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From Martinique Carnaval 2008