I guess they've increased the cost to $200. The dealer should have the form from Forest River as part of your paperwork. It needs to be filled out and sent in. You'll have to ask for it as the dealer will be wanting to sell you their extended warranty.
Sorry to hear about your delayed delivery.
BTW. I was disappointed to find out that pealing decals aren't covered in the 2nd year of warranty...they're supposed to fall off the 1st year for FR to cover.