Photo: Jason Ganser/Getty

This all-Florida cruise begins on the Space Coast—home to Cape Canaveral—and makes its way north to the beautiful and historic city of St. Augustine, the oldest continuously occupied city in the country. Along the way, discover the laid-back surf town of New Smyrna Beach, hit the road for a break at Daytona, and enjoy the old-style fun of Flagler Beach.

All year, we're collaborating with Waterway Guide Media to bring you the best segments of the 1,243-mile-long Intracoastal Waterway on a journey from Key West, Florida, to Norfolk, Virginia, at the end of the (watery) trail. This issue: a treasure trove for both adventure and relaxation on your path from Stuart to Port Canaveral . See leg one, Key West to Key Largo, here, and leg two, Stuart to Port Canaveral, here.

 Photo: Danita Delimont/Getty

Mile 878: Blast Off: Titusville
Kennedy Space Center Visitor Complex is the only place on Earth where you can check out a spacecraft launch pad, have lunch with an astronaut, see giant rockets, and experience what a rocket launch feels like. TIE UP: Pick up a mooring at Titusville Municipal Marina for $20 per day.

 Photo: Courtesy of Atlantic Center for the Arts


Mile 846: Art and Eats: New Smyrna Beach
NSB, as it's called by locals, is home to the Atlantic Center for the Arts, an artists-in-residence community that offers a wealth of workshops. Pull up for oysters and hush puppies at JB's Fish Camp, an old-school seafood dive with live music, kayaks for rent, and fishing off the dock.

 Photo: Icon Sportswire/Getty


Mile 829: Driving Day: Daytona Beach
Take a few thrilling laps around the track on your own or with an instructor at Daytona International Speedway's Richard Petty Driving Experience. TIE UP: At Loggerhead Marina, rates start at $2.25 per foot per day and include access to a heated pool and private cabanas.

 Photo: Jason Ganser/Getty


Mile 810: Time to Play: Flagler Beach
Take the day off (the water)! Six miles of uncrowded beaches, great fishing spots (including the Flagler Beach Municipal Pier), fun shops, and oceanfront restaurants make Flagler Beach, which has been billed as "a retro town with salty style," well worth the shore leave.

 Photo: Courtesy of The Columbia


Mile 778: Cuban Feasting: St. Augustine
Have cocktails on the boat and then dinner at Columbia Restaurant, a gorgeous Spanish-Cuban restaurant in this historic port city. TIE UP: Grab a mooring operated by St. Augustine Municipal Marina in the shadow of Castillo de San Marcos, a landmark Spanish fortress built in 1695, for $20 per day.

READY TO SET SAIL? Order guidebooks and begin planning your boating adventures at waterwayguide.com.

NO BOAT (YET)? St. Augustine Sailing offers bareboat (for experienced sailors) and captained (for the rest of us) charters aboard sailboats of up to 42 feet.