Two quick boats, the Hattitude holds 6 while the Asante holds 14. Both will get you out to your sites, diving, and back with plenty of time to enjoy the rest of your day.
We board at 22nd Landing
Here is a good address to use:
141 W 22nd St ste a, ste a
San Pedro, CA 90731
It's recommended to bring the filled out waiver with you. You can find it here.