I don't think it was a series. It has a sheepdog named Schaefer, who went into space and landed on a planet and met an alien girl (looked human w/ a nose like the thing on a snorkels head) she and...
The Movie is called Wild Hearts Can't be Broken. Gabrielle Anwar starred. It was a true story based on the Horse Diving Show at the old Steel pier in Atlantic City, NJ