Chafe is going to be a huge problem with the boat on a rope going through a block. If you had photos or a diagram, it would be easier to make suggestions for your situation.
You will definitely want to get the 10' 2"x6" as sailaway suggests, to use as a gangplank.
(sailaway, it's technically a block, not a sheave.. a sheave is a pulley inside a mast or boom, when it is outside of a spar, it is a block.)
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You know what the first rule of sailing is? ...Love. You can learn all the math in the 'verse, but you take
a boat to the sea you don't love, she'll shake you off just as sure as the turning of the worlds. Love keeps
her going when she oughta fall down, tells you she's hurting 'fore she keens. Makes her a home.
—Cpt. Mal Reynolds, Serenity (edited)
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Still—DON'T READ THAT POST AGAIN.