My dog jumped up and nipped a jogger on the beach the other day. how do I prevent this from occurring again?

I was at a dog friendly beach with my wife and two kids. While my son was digging in the sand, my wife and I held or daughters hand while waves came up to her feet. A few moments later we looked over and or dog (90lbs german shep/amer bulldog mix) was jumping up and nipping the jogger's jacket only. Never got skin. I called him over firmly which he came immediately but knew he was in trouble. What are some ways I can work with him to avoid this from ever happening again? my dog is almost 4 and has been to this beach several times but never has been aggressive with people anywhere.