We were there back in September, so I'm not sure if what I'm about to say is still true... As you walk towards the lagoon away from Aulani, there is a walkway that leads off to the left. The path leads you to other Ko Olina resorts. After you walk about 15 minutes or so, you'll see the Black Pearl docked off in the distance.
I am sure the front desk at Aulani will be able to tell you for sure, once you're there.
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