Hard to believe that the state has given local LEO the authority to board a boat without requesting permission. I don't believe the USCG will do that, or I've certainly never seen such. What happened to "a man's home is his castle..." when you live on the boat? This is a very bad over-stepping of authority, I assume by an un-thinking state legislature.
Who's going to take the fall when some over-eager officer (like the people in the story) climbs on an anchored boat in the middle of the night, and comes face-to-face with an owner, fresh from cruising in the bandit prone areas of Central America, who has drawn his legal protection weapon. Can't you see it coming?
Certified...in several regards...