This is how a pilot boarding ship

Boarding a vessel at sea can be dangerous. By following simple rules, it can be done safely. This safety video shows you how to leave the launch boat and climb the ladder when boarding vessels at sea safely as well as boarding preparations, safety precautions and boarding under special conditions. The 3 types of boarding arrangements for pilot are also explained. Watch with sound on. Transfers are normally safe when everyone takes all the precautions. If you think it is unsafe, remember to...

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transfer of Marine Ship's Pilots by helicopter hoist is a demanding task.
Berthing means bringing a vessel to her berth until the ship is made fast. ... The berthing and unberthing manoeuvres require great knowledge and skill by the master, officers and the crew, as well as an excellent team-work with the rope-runners and the mooring party ashore

SF Pilot leaving the TSGB on Cruise 2021 - Enroute to Hawaii.

The IMO has adopted groundbreaking amendments to SOLAS Regulation V/23, introducing mandatory performance standards for pilot transfer arrangements.

Container ship MADRID TRADER ran aground in fairway while entering Mar del Plata Port, Argentina, at around 1830 UTC Jan 20, with pilot on board.

On 22nd February 2021, Colombo Dockyard PLC (CDPLC) delivered a Pilot Launch, the third Pilot Launch, as per an Agreement signed with Sri Lanka Ports Authority (SLPA) on 1st February 2019.