Gabrielson Park at Humboldt Avenue & Anchor Street, Sausalito, California.

I'm not sure it's possible to find a better combination of fresh air, the sound of waves gently crashing on the rocks, the view of the SF skyline/Alcatraz/Tiburon peninsula, and an open grassy area to play with a pet/play catch with your children/spread out a blanket for a picnic, etc. Whether you're looking to relax with a cup of coffee, have lunch at one of the tables, or just enjoy the incredible surroundings and quiet your mind, Gabrielson Park is the place.

The Friday night jazz concert stage is also found here if that interests you. Pet friendly, but leash up and use the waste bags provided. There is paid public parking in the lot to the south, but there are a few free designated public shore spaces at the southeast corner of The Spinnaker Restaurant parking lot located directly west of the park. Empty your bladder before coming, as there are no public restrooms which kept me from giving this little piece of heaven 5 stars.