I haven't been through Townsends in three years, so my info may be dated, but prior to that I used it every summer weekend for five years, so I have some experience with it. Great inlet, in almost any weather, besides the three big ones ( Cape May, Absecon, Manasquan) in my opinion Townsends is the best one on the Jersey Coast. But you have to be careful since it's not charted. Almost every weekend someone coming form the north would reach the offshore bouy, head straight for the inlet, and promptly run aground. Approach from the south and you'll be fine. When you pass the offshore buoy, head southwest, towards the pier at 30th street, or the water tower at 39th ( NOT the water tower at 13th street, 39th is second tower south of the inlet). When you are getting very close to the 30th street pier, you will see the jetty, and should see the green and red can markers that mark the channel. Turn towards the north - after you pass the jetty, you should see the channel that takes you right under the bridge. You'll need an opening, I believe it opens on demand.
If I remember right, from your trip to Stone Harbor last summer, your mast is to tall to get under the Ocean Drive bridge in Avalon, so is it safe to assume you'll be docking near the inlet. If so, you shouldn't have any problems with depth, even at low tide.