Take MUNI and check your trip here:
For the Bay Area Rapid Transit - BART train, please check your schedule here:
Take a cap to get around in San Francisco, there are several vendors. For example:
Taxi Companies in SF Bay Area
Shuttle between venues
San Francisco Boat Show will offer a free shuttle service with Cable Car Buses for Hop-on/Hop-off between Pier 48 and McCovey Cove during show hours.