If it has literally no value to you, and you therefore don't care how it goes away, both of the suggestions above will work. IMO, there are ethical issues regarding the first option, but it does happen a lot.
Let's elaborate on each suggestion. Lots of marinas have derelict boats, and most every dockmaster has a salvager he calls when he takes possession of a boat for non-payment of slip fees. There are two ways these transactions occur. Both methods occur after the marina has taken legal possession of the boat, and can sign the title over to the salvager. The first is that the boat has some value to the salvager (lead in the keel, other scrap metal, sellable equipment, parts, etc), so he takes the boat off the hands of the marina for no cost. The second is that the totality of circumstances (the boat's condition, difficulty in moving the boat, lack of significant value to the salvager, etc.) dictate that the salvager be paid (by the marina) to take the boat away. This is called a compensated removal. This may seem odd, but the win for the marina is that the slip starts generating revenue again, and a derelict boat is not "ruining" the marina neighborhood. If you want to be proactive and have some control over the removal of your boat, you could ask your dockmaster (or other local dockmasters) who they call when they need a boat removed for non-payment of fees, and contact that salvager. If no one has any contact recommendations, check Craigslist for a "We buy ugly boats" kind of post.
Charitable donations are a good possibility. You've probably seen or heard advertisements from public/community radio and TV stations that accept vehicle donations. The "recipients" usually have a vendor that handles everything, whether you donate a car, boat, RV, off-road toy, airplane, or whatever. That vendor actually takes legal possession of the vehicle (you do have your title, don't you?), makes arrangements for its sale, and the proceeds go to the charity, minus any fees the vendors are paid for their work. (Remember, this is a business for said vendor). The process is usually pretty easy for the donor. Note however, that the market for boats is not the same as for cars (there is not a wholesale auction every week in every county), and the vendor may decide for a variety of reasons that they can't accept the boat because it won't sell. In that case, if that vendor doesn't also have a salvager on its team, they may decline the donation entirely, and you would be back to square one.
There are other options for charities. The one I like to consider first in my area is my club's Sea Scout program. A strong program will have both scouts and leaders in it that know boats, have (or are developing) the skills needed to repair boats, and the sale of a boat that they decide not to keep after refit helps fund the ongoing efforts of the chapter. It's worth considering. A 34 might be a welcome addition to a fleet, because at gatherings, it can sleep a lot of scouts.
I hope this helps. If you want more information or ideas, send me a PM with your phone number and I will call you.