Pilot jumping onboard the Carnival Luminosa at Cairns from the pilot boat .

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The pilot for the port of Cairns jumping off the pilot boat and getting onto the cruise ship. 
Carnival Luminosa December 2024 

SINGAPORE: A 29-year-old harbour pilot from PSA Marine died on Saturday (Feb 11) after falling into waters off Kusu Island.

Watch also (video of the accident)
Unofficial internal company timeline report

According to media reports from Taiwan, a collision between an OOCL vessel and a Gantry Crane occurred today (03.06.2021).

"Analysis of reports indicates that pilot ladders (Pilot Transfer Arrangements, or PTAs) and
intentional deviations from safety procedures remain the main causes of near misses..."

A pilot of Sandy Hook, Dennis Sherwood fell off a ladder while boarding a ship today at 4:30 a.m. and died of his serious injury in Staten Island hospital.

To monitor the vessel’s progress, the pilot had set up his portable pilotage unit (PPU). He had connected the rate-of-turn generator to the vessel’s pilot plug and had set a variable range marker on the radar with a radius of 0.5 nm.

This is one common method to board the pilot. And here it is a special boat which is very fast with new technology