KAHULUI, Hawaii — Peaceful protests met Hawaii Superferry passengers at both ends of the giant catamaran's first regular voyage after four months of debate, court action and government wrangling.

The ferry set sail as the sun came up Thursday in Honolulu at about one-fourth its capacity of 866 passengers and 282 vehicles.

A few protesters paddled with their banners on surfboards and canoes to the edge of a security zone set up by the U.S. Coast Guard for the ferry's arrival at Maui. They were joined by about 150 noisy protesters onshore. A much smaller group staged some sign-waving near the pier in Honolulu before the ferry departed.

Choppy seas gave some of the passengers upset stomachs.

However, few passengers complained about the three-hour voyage, which gives Hawaii residents and tourists their first daily service ever to take cars and trucks with them from island to island.

Stormy weather earlier had damaged the docking area in Kahului Harbor and delayed start of the service for several extra days.

A start for service from Honolulu to Kauai, where protesters blocked the ferry in August, has no been announced. A second ferry is scheduled to serve two Big Island ports and Honolulu in 2009.

Some of the onshore protesters on Maui blame Republican Gov. Linda Lingle for signing a new law allowing the ferry to operate while an environmental assessment is undertaken. They waved signs saying "Impeach Lingle" and "Boycott the Superferry." A few also shouted to passengers from the main island to "Go home!" One disembarking passenger responded, "Get a job!"

Thursday's rally was organized by the Kahului Harbor Coalition and the Surfrider Foundation.

"We are concerned about the marine environment and the illegal implementation of new technology without proper study first," said Brooke Porter of the Pacific Whale Foundation, who joined about 10 protesters in the water.

One waterborne protester carried a sign reading "Save the Whales, Skip the Superferry."

Maui County officials said all of the demonstrators remained civil and no arrests were made.

"Today gave us an example of Maui's ability to deal with a contentious issue while remaining civil," Maui Mayor Charmaine Tavares said. "This has been quite a challenge to our island and I'm grateful for everyone's efforts to comply with the law and respect our law enforcement personnel who had to deal with a difficult situation."

The crowd meeting passengers also included a small group of ferry supporters who said the protesters do not represent a majority opinion on the island.

"We think it's a great thing for Maui," said Toni Carvalho.