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The Sheriff's Department said Onyx fell while hiking with his owner and another family dog late Tuesday night. The dog's family remained at the top of the cliff overnight to talk to Onyx and try to keep him calm until rescuers could arrive in the morning.
The rescue teams were able to reach Onyx and determined the dog was uninjured.
Mike Leum, a member of the Montrose Search and Rescue team, posted a video to Twitter that showed the moment Onyx was reunited with his family.