Last week I launched (and later recovered) from a vertical stone bank about a metre or so high. The boat is a 3.1 metre SIB with a 9.9hp 4 stroke outboard. I have launched other boats here so I was familiar with the technique required. It was hard work and took some thinking about but I did it..
You can launch anywhere that it is not forbidden, where you are not inconveniencing others (e.g. fishermen) and where it is safe to get your particular boat into the water. A slipway is often preferable if you have a trailer, launching trolley or transom wheels. The smaller the boat, the more options you have for launching it.
Beach launching is perfectly possible. Whether launching from a slipway or the beach, you need to be confident that you can cope wth any waves that are coming in. If the boat gets caught sideways, it is a lot of force for you to control.
A big advantage of SIBs, particularly small ones, is that you can assemble and launch them in a wide range of places where you could not launch a conventional boat - or even a RIB. We pay for this versatility in other ways (hull performance compared to a RIB, time and effort compared to a dory) so make the most of it - it is the SIB's USP.
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