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Our dog is small enough to be carried onto or off of the boat. This is also a lot safer in areas where there is a lot of current because a small dog can easily be swept under a floating dock and might not come out on the other side.
She is also kept on a leash (as most marinas require) so if she were to jump or fall into the water we have a much better chance of recovering her. She wears a DFD and her leash in the dinghy.
As for the humans, we have been at a few fixed docks where we had to climb onto the side decks and then sit on the docks to get off and reverse the process to get back on. It seems some docks are constructed without boaters in mind.
On most floating docks it's just stepping onto the swim platform and then through the transom door.
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