We stayed on Tufo (the boat) for 3 days and it was very comfortable. It is very central in Lisbon and right next to the station Alcantara for easy access to the rest of the city. The marina has it's own showers and toilets if you don't fancy using the onboard toilet, and is gated with security so very safe.
The boat itself was surprisingly comfortable and found that it was easy to get a good sleep each night, and also it was nice to sit out on the deck in the evening.
Pedro was very helpful in showing us the ropes and was at the ready if we needed him. 5/5