This law dated 1988 outlines the restrictions. The actual exhibit (the diagram depicting the area) is a poor scanned copy of a copy, but it outlines the area.
https://casetext.com/regulation/hawaii-administrative-rules/title-13-department-of-land-and-natural-resources/subtitle-11-ocean-recreation-and-coastal-areas/part-3-ocean-waters-navigable-streams-and-beaches/chapter-256-ocean-recreation-management-rules-and-areas/subchapter-2-north-shore-kauai-ocean-recreation-management-area/section-13-256-41-na-pali-coast-ocean-waters-general-restrictions
My little 19 foot boat doesn't make me a marine navigation expert, but short of some technical malfunction which is pretty obvious did not happen, negligence isn't an 'out'. You still bear responsibility.