My mother and I stayed on Paulo and Ana's sailboat during a 15-hour layover from late afternoon to morning, and it was raining, so we weren't really able to enjoy the full opportunities provided by the boat. It seems best suited to one person or a couple, since the quarters are naturally pretty cosy. My mother volunteered to sleep on the couch in the main cabin. She is shorter than I, and it worked out well that way. The surroundings were nice and quiet, but those who need quiet to sleep might want to bring ear plugs, since the lapping of the water on the hull got amplified in the forward (sleeping) cabin. Ana was very helpful and friendly during check-in, and check-out was a breeze.
We would highly recommend this to those looking for a different kind of place to stay!