To get to Rescue 5 by public transit, you can take the Staten Island Ferry (catch it from Whitehall Terminal in Lower Manhattan) - you can take the 1 or the R to the terminal I believe. I think it's the last stop on the 1 train to be honest. The ferry trip takes 25 mins to get to St. Geroge terminal in Staten Island. It is the northernmost tip of the island. ("The Hot Corner" E155/L078 is only a short while from there if you want to stop by there too.) Anyway when you get off the ferry, look for signs for the Staten Island Railway or SIR. (Or any train sign really.) Its an above ground subway car style train run by the MTA just like the subway. You will have to pay $2.50 when you get off the ferry to get on the train. Once your on the train, you're gonna take it until the "Grasmere" stop. Get off, and from there make a left on Clove Road and walk until you reach the firehouse of E160/Rescue 5/Divison 8. It should be a 10 minute walk from the train. You can't miss it. To get to E165/TL85, you would do the same as before except stay on the train until the "New Dorp" station. Get off there, and that too is a short walk from the train - around 15 mins.
Hope this helped, enjoy your trip in NYC!