Doga's Village cannot be accessed from land, so you will have to dive near the village (see the map below), then ascend from the pond next to the village.

What special about this village is that there are 6 magic shops. You should have some money to spend on some magic, so I recommend these for your upcoming boss fight: Firaga, Blizzaga, and Thundaga. You probably don't need these if your party is built heavily on physical damage.