https://www.google.com/maps/place/B...2!3m1!1s0x88fe7a4a7388ed2d:0xdfaaedcdf57679ae
Anchor just north of marina and south of the River Dogs Stadium. There is a dock at both locations for a dinghy. You can call a cab to downtown.
That's the area I was referring to in my post. I don't know about the small dock at the marina but I wouldn't leave anything at the other one. It's very public.