Hi Philippe -
Richmond Municpal Marina has the depth for a Class 40, though it's on the other side of the planet from Redwood City.
I would think long and hard about reasons for NOT keeping the boat in Pillar Point Harbor - lots of depth outside (you're in the Pacific Ocean), all kinds of directions you can sail to test equipment in the intended environment (offshore), berthing rates are 1/3 - 1/2 of what it costs in the bay, and it's a half hour drive from Redwood City.
If you would like something a bit warmer, I can attest that Channel Islands Harbor down south in Oxnard has 18' at low tide at the slips closest to the marina entry - don't run too far towards the middle of the marina Drive is a tad longer.
- rob/beetle