I would hazard a guess at no!
Too deep draft and too unmanoevable at slow speed.
However when I was on HMS Phoebe in May 1979 we spent a week in Monte Carlo and were berthed, stern in and port side to, in the corner just after the tunnel. There was a bar directly opposite the bottom of the gangway that was well frequented by the ship's company. So we'll that 'jolly jack ' knew exactly how long it took to get back onboard so as not to be adrift for sailing - 15 seconds!
While we were in port one of my Marines, while in Loew's casino, swapped his military issue green JWH, jumper with Oliver Reed, who by the way was an obnoxious twat, for one of OL's fancy jumpers!
My sole momento of that visit is a 5fr token from the casino up in the square, which cost me 50frs before gambling away 45 of them!