The fee is $3 per vehicle. Yes, dogs are allowed.
Dogs are allowed on a leash and you need to pick up after them if they use the potty, however I believe they have bags there for such. The fee is dependent on how many vehicles, essentially a parking fee. There is a box by the parking lot that has the cards for paying the fee with and how much on there. On off hours, this is done via an honor sys.
If you have a VA disability card, you can get a lifetime pass for FL. Free
Dogs are allowed outside. Mine loved it. The fee was $5 or less per car.
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