We are in often - we have found through trial and error that the following formula works well:
Main grocery items: Riteway. Order on line and deliver to boat (including water and soft drinks)
Produce and fruit: Good Moon Farm (organic). Order on line, delivered to boat
Alcohol: Caribbean Cellars. Order on line, deliver to boat
Steakation: their meat is $$ but excellent. Email or call to order. Deliver to boat.

Next month we are adding French Deli to the mix. They deliver with a $250 minimum order.

We only go into the store to pick up last minute items. We have also found it easy to pick up items at BEYC - lots of specialty items and fresh pastries in the morning.