Can one ride the ferry back and forth?

I love the ferry ride to/from Bainbridge, and lament that it’s only about 40 minutes.

I’d love to be able to hang out on the ferry for most of an afternoon/evening. Is it possible to stay on the ferry and just hang out there for a few hours as it runs the route for the day?

If not, I suppose I could walk off the ferry and immediately get back in line to walk on, but it’s not really the same (especially for my plan of setting up my laptop with a Gamecube emulator and playing Double Dash while moving across the Sound)