Pilot boarding ship - ice bound harbour.

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...

In this video you can see the modern port service provided by the port. They have big LNG Powered Tug, modern pilot boat, nicely laid out berth, and experienced/competent pilot.

PTR Holland Group partners with RightShip to elevate pilot transfer safety through the Zero Harm Innovation Partners Program.

Embarque e desembarque de pilotos no Porto de Leixões

Who has ever boarded a helicopter? What was the feeling like?

Delaware River Pilot Boat Transfers Pilot to Moving Ship - Delaware River - Philadelphia - May, 8, 2022

Each pilot association and each country can get a good overview of how other colleagues approach safety.
Ship crews can see which rules apply in which country.
In any case, this list from IMPA is worth looking through and reading.