2 x Pi x Cat would levitate the rope by the height of the cat along the entire circumference of the Earth, allowing a billion cats to go under it simultaneously.
You could even make do with no additional rope if you're allowed to take advantage of terrain.
Assuming a 0.3 meter high cat, you only need ~0.12mm of extra rope (about the width of two sheets of paper) to be able to pull it up at a point and let the cat through.
https://upload.wikimedia.org/wikipedia/commons/2/21/Geometri...
R ≈ 6.4E6
h = 0.3
d = √(2Rh + h²) ≈ 2.0E3
γ ≈ sin γ = d/(R + h) ≈ 3.1E-4
extra rope length = 2 × (d − γR) = 2R × (tan γ − γ) ≈ 2R × γ³/3 ≈ 0.13E-3
If kovek's question was like the first image there, it'd be a simple radius/circumference calculation (2 * pi * 5km). But it sounds like the second image to me - which makes it into more of a horizon line problem.
(I'm assuming all cats are shorter than all dogs.)