I agree A Voyage for Mad Men is a great read.
How about Joshua Slocum's Sailing Alone Around the World
David Vann's A Mile Down this will make you think!
Another good one that was given to me is Laurence Bergreen's Over the Edge of the World Story of Magellan, good book.
All true stories
A book I found helpful is Sailing Fundamentals by Gary Jobson with the ASA and USCG
Virginia Beach Inland waters