Yacht Haven Grande is definitely the way to go.

Got this from them...

"Good afternoon Steve,

We would be happy to accommodate your vessel for pick up and drop off. We do not make reservations for this, but if you hail us on VHF Ch 10, we can slide you into a slip. The charge is $ .50 per foot for quick drop off and pick up. If you stay for a bit longer the fee is $ 1.00 per foot per hour for first hour and $ .50 for each additional hour, up to 3 hours."

That's $25.00 per trip