For a mere $140 you can't beat the price
of cheap insurance
hassles from some semi-literate official on a small Caribbean
island. I documented my new boat a few weeks ago and the time to fill out the forms was minimal. If you can read a ruler, make simple measurements, perform simple mathematic functions like multiplication and division, you can complete the documentation
Aside from the time it takes to get to the boat, start to finish (including writing the check and addressing the envelope) will take less 1/2 hour assuming that you have the necessary documents proving your ownership
of the boat. You don't need an agency to do the paperwork. The Coast Guard has made the process doable by the average sailor.
All the information you need is at the following site: