San Francisco Bay Cruise - From $28. This is the most economic way to cruise San Francisco Bay. The San Francisco Bay Cruise operates daily, leaving from the Pier periodically starting at 10am every morning. San Francisco Bay Cruise Tour takes about an hour to go out and return. Some of the sights you will see are the Marin Headlands and the beautiful bayside town of Sausalito, once home to Bohemian communities of beatniks and hippies. You will also see Angel Island and the Island of Alcatraz, home of the infamous maximum security prison which once housed America’s most notorious criminals. Other landmarks are the Oakland Bay Bridge, the Ferry Building at Market Street, and Coit Tower on top of Telegraph Hill. The highlight of the San Francisco Bay Cruise Tour is passing under the most famous bridge in the world, the Golden Gate Bridge. After spending time at sea, you will no doubt want to check in with two National Historic Landmarks, the WWII submarine "USS Pampanito," and the merchant vessel "USS Jeremiah O'Brien" at Pier 45.