As t varies, 5.5 + Asin[30(t - k)] varies from 5.5 - A to 5.5 + A (because sin(t) goes from -1 to 1.)
Since low tide is 3.5m it follows that 5.5 - A = 3.5. So A = 2.
Now we know D = 5.5 + 2 sin[30(t - k)]. We want D to be at its smallest when t = 3. Since sin(t) is minimized when t = -90, we can achieve this by having 30(3 - k) = -90, ie, k = 6.
So D = 5.5 + 2 sin(30(t - 6)). There are several ways of writing this solution, so don't necessarily worry if yours looks different.