I haven't been on this forum for a while and only noticed this post today. Telepathy with animals is perfectly possible. But if you are not on exactly the same "wavelength", but not far off, then you will experience what happened to you. If you practise regularly with your dog, there is no reason why you should not be able to "decode" a message package.
Pet-caretaker telepathy is actually quite common, with dogs actually better at reading our minds than the other way round. Have you read "Dogs that Know when their Owners are Coming Home" by Rupert Sheldrake? You can read a description and some reviews of the book here:
http://www.amazon.com/Dogs-That-Thei.../dp/0307885968
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