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A dinghy was a small boat. They were often part of the equipment of a larger craft. (TV: The Ark in Space [+]Loading...["The Ark in Space (TV story)"]) And was often inflatable, made out of a flexible material like rubber (PROSE: Cat's Cradle: Warhead [+]Loading...["Cat's Cradle: Warhead (novel)"])
The Fourth Doctor told Romana II and Adric that he kept a flare pistol in the TARDIS "in case [he] should get into trouble in [his] dinghy", which he kept in case he should get into trouble with the TARDIS. (AUDIO: The Planet of Witches [+]Loading...["The Planet of Witches (audio story)"])
The Fifth Doctor kept an inflatable dinghy in his TARDIS. (AUDIO: Eldrad Must Die! [+]Loading...["Eldrad Must Die! (audio story)"])