A 6 ft leash with about 10 ft. of accessory cord tied on works well. A harness with a handle, instead of a collar, can help too if you expect off angled tight spots.
We generally keep ours leashed, it can be a hassle but ours is overly curious and likes to wander.
Lurker out of lurk mode. Great site BTW.
My wife and I should be in the area in mid May and would like to help. Our current schedule is slightly up in the air, so I'll PM when we know more.
The San Rafael Swell/Reef is an amazing place.