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Won't work in all situations, but I've had great success using a MastMate ladder -- heavy nylon webbing with sail slugs that goes up the mainsail track. I wear a climbing harness and use a safety line with a prusik hitch on an external halyard as well as a lineman's belt to hold me to the mast. The lineman's belt has a tool pouch as well to hold supplies. Going up and down is relatively quick -- need to disengage the belt and safety line (1 at a time!) at the spreaders. This setup frees up both hands to do work, even at the masthead. I go up alone and slide the prusik hitch up as I go to take up any slack -- were I to fall, I'd be stopped within inches (safety line goes to a carabiner on the climbing harness). More comfortable would be to add a bosun chair on another halyard which someone could tail and cleat so I could work while seated (the MastMate does get tight on your feet after a bit).
 
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