3M 5200 Clean Up
I have a can of a citrus based cleaner that removes uncured 3M 4200 and 5200 (good for cleaning tools). Do not remember the name of the cleaner.
Be careful with any cleaner that removes these adhesives since there may be other parts of your boat that use similar compounds. I was wiping off excess 4200 on one application and noticed that the cleaner also removed the paint! Many older boats that have been awlgripped or repainted used Polyurethane based coatings. I believe that these coatings are a similar compound to 5200 (ie. polyurethane) ... Would be a shame to take the finish right off your hull!