Usually charter boats do have a halyard ready to be used on deck. It is the spinnaker halyard often serving to fix the dinghy. Your name (Iraklis = Hercules) suggests that you were sailing in Greece and I assume that the boat carried no spinnaker (as most charter boats do, since in Greece you either have too much wind and hence you are unable to hoist a spinnaker or too little and your direction is somehow to windward) and your inflatable covered the front cabin hatch. Anyway, wouldn't it be easier to haul the victim out of the water from the stern? Shouldn't your skipper know how to quickly resuscitate the victim and not rely on the crew's first aid skills?
I understand that it is easier to pose questions while at rest in front of your PC screen than to react swiftly and appropriately during a real emergency, but your description of the tragic event gave me the impression of panic and aw among the crew, skipper included.