Call the harbormaster and see if there's room at the docks - they're not expensive and VERY convenient. They'll oftern put a 70' or so powerboat on one of the 100' docks, and have room to sneak in a small sailboat. Oh yeah, Hannafords will usually drive you back to the dock with your groceries if you ask nicely. Lots of folks bad mouth Bar Harbor, but I've always managed to have a good time there.
Enjoy your cruise, and try to stay off the granite. But, losing a pound or so off your keel is part of going to Maine. I figure there's a lot more lead where that came from!