Here are a few recommendations for sailing excursions - public and charter sailings.  Our guests have enjoyed their sailing experiences on these boats:

Black Dog Tall Ships - the Alabama and the Shenandoah - public sailings
https://theblackdogtallships.com/day-and-sunset-sails/

Witch of Endor Sailing - half day, full day, and sunset charters
http://sailwitchofendor.com/

Sail Magic Carpet - public sailings and private charters   2 hours to full day, and sunset sailings
http://sailmagiccarpet.com/sailmagiccarpet/Ahoy.html