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We've had our small dog aboard for over 6 years, including some offshore trips in the neighborhood of two weeks, and many trips that kept her onboard for over a week at a time. We trained her to use a doormat from Home Depot that looks a lot like astroturf. We put the mat on a tray so the urine doesn't soak through, and simply toss it over the side to rinse after she's done her thing. Oh yeah, we put a grommet in a corner and tie the thing to the boat.
We never let her out of the cockpit when we're underway, so we trained her to do her thing on the pad, in the cockpit. It works for us.
She's very friendly, but can be yappy if a stranger approaches. We found this useful in the Caribbean when the boat boys got too pushy. We'd tell them that she only bit people who came on the boat (she's never bitten anyone, nor would she). The came around less often after that.
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