The rules and process I followed when I entered Australia.. no advance visa required. ^^^^^^
For those who have never heard of the B1/B2 visa.. Time you familiarised yourselves..
Noonsite.. Entering or Leaving the US by Private Yacht
All nationalities, whether entering and/or leaving the US by private yacht MUST obtain a visa in advance. Such visitors CANNOT enter the USA for the first time under the Visa Waiver Programme on board their yacht.
It is essential to plan ahead, as obtaining a visa for the United States is not a quick process. A personal interview at a US embassy (or some consulates) is required, together with the recording (in a US database) of the applicant's biometric data (i.e., fingerprints, photograph, etc..
Private yacht crew qualify for a Type D or Type C1/D visa, but only if remaining in the USA for less than 29 days. Most cruisers opt for the Type B1/B2 visa that allows foreigners access to the USA for 6 months at a time and allows re-entry for up to 10 years. The Type B1/B2 visa has special restrictions for receiving pay as a foreign national. See this Cruiser's report on their experience in obtaining such a visa.