Is the boat simply registered with state or is it a uscg documented vessel. I run a 62' performance sailboat and we transit with a few firearms in the safe everywhere we go in the world. For the US if the vessel is documented you mostly become your own little sovereign state. Uscg and customs still have blanket authority but local Leo is much more restricted. We have gone everywhere in the us (including new York city) and never had issues with weapons onboard because we are documented.
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