Hidden Valley Camp in the Griswold Scout Reservation in Gilmanton is a beautiful place with direct access to acres of wilderness in the Belknap Mountain Range. I've done a lot of hiking and dog walking over there. the scouts maintain many of the hiking trails. They offer APEX ....Advance Program Experiences...here is a listing of what they have to offer....
http://www.nhscouting.org/openroster...78&orgkey=1812
Many of these look like they would be very challenging and I'm sure they would be less expensive than Outward Bound!