If you've ever seen a starter before you can see there is a at the end of the starter that bolts into the bell housing a gear which will engage the flywheel when the starter is used. This gear is on a spring loaded shaft which allows it to push out (like a plunger) and mesh with the flywheel when the key is turned and disengage once the engine starts. It could very well be by the description you give that the ability for that shaft to move back and forth, possibly due to corrosion. This can also occur if there is not enough voltage getting to the starter solenoid. Since it sounds like you were able to get a charger on the boat and assuming you had enough voltage making it to the solenoid chances are it's the starter itself and if it's suffering from any kind of corrosion replacement is probably your best bet. The fact is was grinding at one point is not good, that can do permanent damage to the flywheel and if the teeth on the flywheel get damaged it could wreck a new starter. If you take it in to be fixed, it would be a good idea to mention that to the mechanics that are working on it so they can visibly check the flywheel as well.
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