There are many companies in Lagos who have grotto boat trips. We booked with Bom Dia because they seemed to be in business the longest. I cannot comment about the BBQ tour, as we only went on the two hour grotto tour. Since it was off-season, we were able to buy tickets for $15 each (normally $25), and took the first boat in the morning at 11am, as the water seemed to be calmer at that time. The staff was very friendly and professional. They initially take you on a bigger boat, then transfer in groups of 8-10 to a smaller motor boat to go through the grottos to get a better look. You have the option to swim in the ocean, if you choose, while waiting for the smaller boat to return. We had three groups on our tour. We chose to stay on the boat, as the water was freezing. The lifejackets provided are not what we are used to in North America (the looked more like a "noodle" with buckles), but luckily we did not have to rely on them.
Good value & something not to miss when in Lagos. It is a good idea to also explore the beaches/cliffs above the beaches if interested in taking breathtaking photographs from a different perspective afterwards.
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