I used to own a company called MarSalvor and we contracted most of the Salvage work for Progressive, Statefarm and several other ins. companies. Usually the terms of vessel salvage are detailed in your policy and can vary from state to state. 3000 to raise a 24' is close to appropriate. Our contract with Progressive paid 105 per foot, plus dry transport, which for a 24' boat, would have been another $ 230.
In Florida, the law dictates that a sinking is a LIABILITY issue and the insurance company is responsible to remove the vessel and mitigate all related environmental impact associated with the incident.
Be careful with many of the chain tow-boat firms. Sea Tow, for example, can be your best friend, or your worst enemy and a lot has to do with the individual operator/ franchisee. I've had the worst experiences in Tampa and the best in Destin/ Pensacola. The difference... the local operators.
PS.. I sold the company to Insurance Auto Auctions in June of last year... It was a good move as the insurance companies are getting harder to deal with as money grows tight.