Tim's Friend Towser by Edward Ardizzone
One night Captain was on the bridge with Tim. "Tim," he said, "there's a dog over there on the poop deck. Can you see it?" "No sir," said Tim, keeping a straight face, though he could really see Towser quite well. Tim and Ginger find a puppy in one of the lifeboats and decide to call him Towser. But as Towser grows bigger and bigger, they have to work very hard at keeping him a secret. Captain piper hates dogs!