another series on pbs...help me with the name

Thought that fans of this show might help me out with the name of another show that came on PBS back in the late '80s or early '90s

A group of people on a boat (wanna say sail boat)...don't remember much more than that but it was a series that aired on PBS back then. The only thing I remember is the boat, the people and an episode that had a caterpillar or worm in it. I think one of the women were black.

The patient's screaming disturbing me, performed removal of vocal chords. ~Zombie Holocaust