From Murudeshwar by boat you reach Netrani islands. If you sign up with adventure packages they cover all under it. Check with Thrillophia, besides the hotel you stay put. They will help you better.
Best way is take an overnight bus to Murudeshwar. in Murudeshwar you can contract Netrani Adventures - https://netraniadventures.com/. They will arrange for visit as well as Scuba diving if you are interested