Girlfriend time

My husband is very distrustful...we have been together for 21 years with a 9 year old son, and it's still going on to this day. He has a tracker on my car and tried to spy on my phone(he thinks I'm stupid about both). He makes such a scene if I "ask" to go out with my girlfriends that I usually just end up saying no to everything. I am not allowed to go anywhere that is a bar, pub or club...My best friends birthday is next week and 3 other girlfriends are taking the ferry to the Bahamas for the day. We have to leave Friday night to board the ferry by 6 am and will have to stay over Saturday because the ferry gets back at 10pm. The trip is next weekend and I am so nervous to say that I am going. If I don't go, I will look like the loser who is never allowed to go anywhere, but I'm so scared to start another weeklong fight. We have been to counseling twice and really it did nothing to change this situation. I'm embarrassed, depressed and lonely...should I go???