Check the tides carefully, otherwise it'll be a long day.
Facilities:
Yarmouth has walk ashore pontoons, which generally get very busy so if you are planning a trip there, especially overnight.
You can book in advance by ringing the Harbour Masters Office. You have to pay when you make the booking but the cost out weighs 2/3 trips ashore in a water taxi unless of course you want to inflate the zodiac. Travelling in a zodiac late at night is sometimes not a good idea if a pleasurable evening has been taken in either Salty's/ Kings Head/The Bugle or Royal Solent Yacht Club.
The Royal Solent Yacht Club welcomes visiting yacht crews (remember to sign the visitors book), food is good and it has nice quiet bar area with great views.