The covers come off. Hand wash or wash on gentle in cold water and hang to dry. No Bleach of course. Can't wash the foam but Febreze the living daylights out of it and let it dry. Shoving the foam back into the covers is not easy but not too bad.
You could wash the foam with something like Ivory soap, it's like sponge, just need to make sure you wash it out very well and it dries out properly. Look for a few days of good sun.
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2018 Cherokee 39RL Land Yacht (Sorry...)
Regards,
Ian
The Third “B”
Secretary, Ravena Coeymans Yacht Club
https://www.rcyachtclub.com/