Go to the port side out of the marina, closely hugging the sea wall where they dredge, and turn into the west-bound channel immediately after the sea wall ends. Stay near the channel as it is pretty shallow elsewhere. I do not recall waiting for any bridges, and I'm about 10+ft taller. It is about three miles to the bay. As you approach the bay, stay away from the ferry terminal - they're too busy earning a living to fuss with us.
Be careful, even with charts, I grounded about 100 yards straight out from Utesch's. My wife, on land, was panicked and wanted me to get a $150 tow into the marina. (She spoke to the marina and they told us about the seawall route; I originally had approached this way, but as the depth dropped, i retreated and chose the straight way in from where the bigger sailboats were anchored. ) I spent about 90 minutes waiting for the tide to come in and then simply floated away.