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Anchor south of Itaqui, near all the pilot boats and tugs. Good holding in mud. It is possible to tie the dinghy near a sloping ramp and climb the slippery steps to get ashore.
If wanting to berth in Marina Aven, most boats will need to wait for high tide. Ilha Medo, 1 mile west of the Marina, has mooring buoys where you can wait.
Marina Aven dries out completely at low water, however the bottom is soft mud so most boats won't have a problem. They have dock space for four yachts and (rain?) water, showers and toilets are available. The marina bar/restaurant is very welcoming and serves good food.
An estimate of the coordinates is about 02 30.35 S 44 18.97 W. It's not possible to contact them in advance to check for availability so just turn up and hope for the best. That said, VHF was being installed in January 2018. Only Portuguese spoken.