Adriana H
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The entrance is free, it is at fixed times, it is a navy museum and the tour is guided by a navy guide. I recommend that you make a reservation so that you don't have emotions, we didn't know and we didn't, but we were still allowed access, I think it's related to the number of visitors at that time. The guide's explanations are interesting and complete, in Italian anyway, but you can still take pictures of the castle, the interior models, the surroundings and enjoy the sunset if you are at the right time.