Posted September 9th, 2017, 10:26 AM
Last time I checked, the cost for cruise passengers (less than their regular rate, so you need to tell them it's for a cruise) is $18/day. There are a couple of lots that are a couple of blocks away, and they're both managed by impark. They're at 80 and 55 Francisco Street.
For a 10-day cruise, I found it was actually cheaper to rent one-way. The nearest rental agencies are in the Fisherman's Wharf area, so the walk is a bit longer (about a mile), but you could take the E/F streetcar if that's too much walking.