See Boating SF Marinas
. Not all marinas allow pets, some allow live aboards, some don't, some have waiting lists, some don't, some have wifi, some don't, some require a minimum boat size of 30, others, 35, and yet others do not have a minimum boat size. So be sure to check. All require a minimum of $300K liability insurance.
Once you've narrowed options, be sure to not only visit the marina but to also talk with residents. Ask why they picked a particular marina. I have heard of everything from commuting accessibility, to weather protection, to bay access, to allowing pets, to other amenities. In addition to finding out this info, it will give you a feel for the community atmosphere, facilities, how well (or not
) the marina is maintained, etcetera.