When asked about Pride II's subsequent worldwide voyages, Mr. Gillmer told Good Old Boat Magazine that "she has been most successful."
Mr. Gillmer went on to design the Living Classroom Foundation's Lady Maryland, a replica of a Chesapeake Bay pungy schooner.
He was also hired by the Navy to evaluate the condition of the USS Constitution - "Old Ironsides" - which was restored in time for its 200th birthday in 1997.
One of Mr. Gillmer's last projects was the design and construction in 1998 of the replica tall ship Kalmar Nyckel, which sailed from Sweden to Delaware in 1638 with settlers who landed in present-day Wilmington.
The Chesapeake Bay Maritime Museum will become the repository of Mr. Gillmer's design drawings, Mr. Lesher said.
"I found Tom to be both gentle and soft-spoken in my interactions with him, but I recall that he could have a sharp pen when he saw work that did not measure up to his standards," Mr. Lesher said.
"Above all else, he was a very generous man who saw potential in our museum and helped it become a more professional organization," he said.
Mr. Gillmer was also the author of "Sailing with Pride" (1990); "Old Ironsides: The Rise, Decline and Resurrection of the USS Constitution" (1993); and "A History of Working Watercraft of the Western World" (1994).
His hobbies included walking around boatyards, making pottery and carving, said his son, Charles Gillmer of Reedville, Va.
Mr. Gillmer, who lived in an Annapolis house he designed and built in 1947, was married for 62 years to the former Anna Derge, who died in 1999.
A memorial service will be held at 10:30 a.m. Jan. 15 at St. Andrews Chapel at the Naval Academy in Annapolis.
Also surviving are his wife of 10 years, the former Ruth Newsome; a daughter, Christina G. Erdmann of Denver; two stepsons, Albert Williams of Cary, N.C., and Alvin Williams of Fort Myers, Fla.; four grandchildren; two step-grandsons; and five great-grandchildren.