Sailing to Baja, Mexico & Mexico's Govt.Customs

[Venture21]

I am planning to sail South from Santa Barbara, California to Baja, Mexico.
Once I pull into a ports of call in Mexico what are the procedures for Customs Inspections and the like. I do know that firearms and drugs of any kind are not allowed. I also know that I must have a valid U.S. Passport and another form of I.D. like a drivers license along with boat ownership papers/documents.

If other sailboat owners have any good advice or experiences to pass on to me I would greatly appreciate the feedback.