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That's interesting because in the world of aircraft you don't have to have a commercial license and the flight is not considered commercial if there is no compensation to the pilot. Meaning everyone can chip in on the gas or the rental and it is not a commerical flight. However you cannot charge someone as a passenger in the airplane.
I guess all the regulated activities are different. So I guess telling a group of friends, "Do you all want to chip in for gas and go diving this weekend?" would be considered a "charter". That's kinda screwed up.
I guess I've never gone on someone elses boat as a friend and not paid the lions share of the expenses, because it's what you do. If they are nice enough to invite you, I'd kind of like to be invited back, or at least not spoken of as "That Cheap Bastige". If someone said to me, however, "if you'd like to go diving on my boat, but everyone pitches in for gas" I'd likely tell them no thanks, as it creates an obligation. Like tipping in a restaurant, if the "service charge" is added, it's what they will get. If they let me make my own decision, they are likely to get wayyyy more in a tip.