To get to this place from Marin, take the Richmond Bridge exit in San Rafael off of 101. Continue across the bridge and get off at exit 7. Continue down Standard Avenue until you reach Castro Street, and take a right followed by a quick left onto Tewksbury Avenue. Continue until you reach Washington Street and take a right, then the next left turn at Western Drive. Once you hit Doman Drive, take a right and continue down until you reach the parking lot of the park.
This place is great for a number of different activities. The best way to experience it is on a sunny day. The park offers paths excellent for jogging, biking, and walking on. The whole park itself is 307 acres, so if running laps is your thing, it is a great place.
There are docks and piers all around the park extending out into the bay. These are ideal fishing and crabbing spots. The piers are usually not crowded, and I have witnessed fish being reeled in, so it is not a hopeless cause.
In the abandoned warehouse, famous graffiti artists from all around the Bay have left no wall space unpainted. Even if one is not interested in graffiti, the warehouse itself is a massive spectacle worth checking out.
And if you are into just relaxing on the beach and admiring some of the best sights the bay has to offer, this is the spot to for you. The various species of birds and squirrels, as well as the constant boat activity in and out of the nearby waters, can be entertaining to watch, too. So bring some friends, have a picnic, and go explore this magnificent place.