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Adventure Trip Through Coastal Maine in Early September 2012

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My husband and his best friend are both avid adventure-men. We will be taking a couples trip at the beginning of September for nine days. We are planning to fly into Portland, travel pretty quickly through some of the small, coastal towns on the first day, and head straight for Acadia National Park/Bar Harbor area.
For the next five days, we would like to do as much adventuring as possible, but we would prefer less-touristy, and more self-guided adventures. We do not mind traveling to another area, if decently close, if necessary for less-touristy adventuring. We would love to do a three-day sea kayaking adventure, stopping at different islands, and camping. Does anyone have any advice as far as self-guided trips goes?
Also, is there anywhere you can learn to fish for lobster?
After spending some time adventuring, I would like to head back to Portland and spend some more time exploring the coastal towns on our way there. We would like to stay in a B&B for our last two nights. I have seen both The Bradley Inn & Five Gables Inn mentioned online. Any advice as far as B&Bs? Or any advice as far as one town to chose to explore heading back to Portland? If we could choose one, would Boothbay be a good choice?
Also, any highlights - camping spots, overlooks, restaurants, lobster spots, etc. - would be much appreciated! We just want to experience the best of Maine!

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