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These access points and waypoints are the Des Moines River Water Trail from Estherville to Keokuk... Grants  are currently funding trail projects in Webster, Boone, Hamilton, Polk, and Van Buren County.  Emmet and Humboldt County are seeking grant funds.  Water trail grants have also been awarded to Plymouth, Lyon (Big Sioux) and  Hardin County (Iowa).
The Des Moines River Water Trail has been endorsed by the 17 counties through which the Des Moines River passes, including all counties along the East and West Forks . . . 
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The trail will be marked as such, with access points and portage trails clearly marked... 
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Grants from the DNR and DOT will fund;  camping and toilet  facilities, new access ramps, road identification signs on bridges upstream and downstream, trail signs on roads and at access points, informational maps and brochures and information kiosks by the river, and low-head dam conversions to make the river safer.
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Snags and downed trees should be removed where they block the river, (taking into consideration the need to preserve fish habitat)  by conservation boards, DNR, paddling clubs, and snowmobile clubs that use the trails in the winter.
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Barbed wire across the river should be clearly marked or removed, but only by the property owner if the fence is there legally. Paddlers should be careful to respect the rights of property owners. On a meandered river, a fence must be above the normal high water mark. On a non-meandered river, the fence may be across the river legally but must not block navigation. Such fences should be marked to warn paddlers and paddlers need to be warned about such dangers.

from the Skunk River Paddler pages, information on meandered and non-meandered rivers

MEANDERED RIVERS

In Iowa, on those rivers designated as meandered (see list below), the state owns the stream bed up to the normal high water mark. On those designated as non-meandered, the state owns the water only, and the adjacent land owners own the stream bed.

It's often said that if you step out of your boat on a non-meandered river, technically you are trespassing. This may not be so, as this could be considered a part of "navigating" (see below). But it's never been tested in court.

There are (portions of) 13 interior rivers classified as meandered:

Cedar, lower 157 miles beginning near Cedar Falls
Des Moines, 278 miles, mouth to confluence of east & west forks
East Fork DM, mouth to north edge of Algona, 39 miles
West Fork DM, mouth to Emmetsburg, 44 miles
Iowa, lower 123 miles beginning west of Marengo
Maqouketa, lower 26 miles beginning near Maquoketa
Little Maquoketa, lower 2 miles
Nishnabotna, lower 6 miles
Raccoon, mouth to Dallas-Polk County line, 13 miles
Skunk, lower 61 miles (none of the South Skunk)
Turkey River, lower 58 miles beginning near Clermont
Upper Iowa River, lower 6 miles
Wapsipinicon, lower 98 miles beginning near Central City

Border Rivers:

The boundary streams of the state, namely the Mississippi (315 miles), Des

Moines (31 miles), Missouri (178 miles), and Big Sioux (136 miles) rivers, are

meandered for their entire length along the boundary of the state.

 

"Meandered" is a surveyor's term going back to when the state was first surveyed.

The Iowa DNR has this to say about public waters: "Water occurring in any river, stream or creek having definite banks and bed with visible eveidence of the flow of water is declared to be public waters of the state of Iowa and subject to use by the public for navigation purposes in accordance with law".

Iowa further defines "navigable waters" as "all lakes, rivers and streams, which can support a vessel capable of carrying one or more persons during a total of six months period in one out of every ten years". The US Supreme Court has ruled that a stream may be navigable even if it contains some obstructions.

Where a public road crosses a stream, the road right-of-way extends across the stream and its banks. You may encounter and cross a fence in the right-of-way, but, as with those encountered in a stream, do not damage it.

See Meandered Rivers on the IA DNR Environmental Protection Division website.