It doesn't depend on the time you take to get there.
When you reach the pier, start running towards the boat. At the end of the pier, jump (without stopping first). When prince reaches the back of the boat -that has started sailing away- press the up arrow and keep pressing it. This should cause prince to grab some ledge on the boat and pull himself up.
Can any of the other users confirm that it's the up arrow? I'm relatively sure, but it's been quite a while since I played Prince 2.
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A sickened, sensitive shadow writhing in hands that are not hands, and whirled blindly past ghastly midnights of rotting creation (Nyarlathotep, H.P. Lovecraft)
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