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There are a few ferry operators but be careful when selecting your trip. Firstly you are going to be hassled at the port by overeager locals wanting a commission for referring you to a specific ferry operator and secondly, the "cheaper" ferries are very slow, and some don't look seaworthy. Take your time to find the Azam Marine booking office, and don't let the local people show you which is best.
We recommend Azam Marine if you are wanting to undertake trips from Dar/Zanzibar or Pemba/Zanzibar as we found them to be more comfortable and reliable. They may be a bit more expensive, but it is worth it You do not necessarily have to take the luxury option, as the seats are basically the same in both classes. Movies are offered for your entertainment in both classes whilst in the luxury class, you will be offered tea or coffee.
Be sure to remember your passport when traveling to Zanzibar port from Dar, as the authorities will ask for it. The trip Dar/Zanzibar should take about 2 hours whilst the trip Pemba/Zanzibar will take about 70 minutes. The ferry between Dar and Zanzibar operates daily and goes from Zanzibar to Pemba on Tuesdays to Friday.