Experimentally determined dispersion relations for acoustic waves guided along the mechanically free surface of an unconsolidated granular packed structure provide information on the elasticity of granular media at very low pressures that are naturally controlled by the gravitational acceleration and the depth beneath the surface. The experiments confirm recent theoretical predictions that relaxation of the disordered granular packing through nonaffine motion leads to a peculiar scaling of shear rigidity with pressure near the jamming transition corresponding to zero pressure.