The Antioch Marina has been designated as an official site on the San Francisco Bay Area Water Trail. Ever hear of the water trail? "The water trail is a regional program that encourages non-motorized small boaters to safely enjoy the San Francisco Bay. Whether you prefer a kayak or SUP, kiteboard or outrigger, there are so many ways and amazing destinations to explore." Check out there site where there is tons of information to help plan your trip including downloadable PDF maps of all the current designated sites. One of the features I love is the map where you can use tools to measure distance and the map includes geographical features you won't necessarily find on Google maps.
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Delta Kayak Adventures offers this tour and you can check the calendar or schedule it on a day that works best for you or your group.