We planned to go to this museum from the cruise ship Balmoral when it visited Haugesund. Rather than walk round a rather non descript town, I would thoroughly recommend going to this museum. Take the number 9 bus from just outside the tourist office, leaving at 41 mins past the hour. It takes about 35 mins to get there, it is in a little town called Forresfjord. There is a road sign to the museum just before the bus stop.
If you go in September, then check in advance that it is open. We went on a Saturday, and it would have been closed, had it not been for a visit from our cruise ship. Costs are 72NOK for bus fares ant 75NOK for entry, so about £17 total, pensioners are 50NOK.
It is well laid out, with guide to all exhibits in English, which can be borrowed. Very interesting, and plan to spend 1.5-2 hours there. It is staffed by volunteers, with of course very good English spoken.
There are picnic tables outside, looking onto the fjord itself.
To get the bus back, take the small tunnel under the main road, and walk a few yards down the hill. This bus went at 43 mins past the hour, however check with bus driver on the outward journey. The bus company is Kolumbus, and timetables are on the web.
All in all well worth getting out to this, with plenty of time, and then an hour or so to wander round Haugesund itself. (More than enough in this town, and then get the shuttle bus back to the cruise ship.)
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