Ladders with steps of stainless tubing or pipe are miserable on the feet, given the added weight of gear on one's back. How about nice flat steps on the ladder?
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Don't know about the US but I can't remember the last time I saw a boat with a prop guard. I jump off hardboats or backward roll off RIBs without a moments thought because the skipper or cox'n would have to be a drooling incompetent to have to the prop engaged when deploying or retrieving divers. The Loyal Watcher video linked to in post #33 shows how a hardboat comes alongside a diver. Good skippers don't need you to fin more than a handful of strokes to reach the ladder or lift.