It has never happened to us, but when we were cruising in Hawaii, just pulling off the pier in Kona, when we spotted two people running down the pier shouting and waving their arms in the air. Yes, they missed the ship. We were not that far out, so the ship stopped and it was not a life boat but another small boat, I am not sure where it came from, that picked them up. The ship lowered a huge sling-like contraption and they got inside. Of course, you have passengers leaning over the rails to get a good look, myself included They were hauled up and assisted aboard the ship. To say the least they were very embarrassed.