Time to climb aboard below 2 minutes. Equipment: self-rescue tether (prototype), harness Plastimo. Boat: RM 1050, Fora Marine.  Basque Coast, front of Deba-Zumaia, 2011 08 16. Weather and sea: calm. Sea temperature ~22oC. 

Climbing aboard with portable ladder (abandoned prototype)

Our conclusion: climbing on a flexible ladder, starting below water, boat on course is nearly impossible. Even with a ladder already hanging from the deck.