Can someone recommend me a good nonfiction adventure novel?

I've already read the journal of Charles Darwin as he traveled the world on the Beagle, and I've read Jon Krakaur's Into the Wild and Into Thin Air.

I recall a while ago someone told me about a book written by a 30some year old man who traveled to China, and with nothing but a horse and a dog, traveled across Asia with some fantastic adventures like saving his dog from being eaten by Kazakh nomads. Anyone know of this book?
 
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