@DougM Now that is a system, what I am talking about....
I guess when you use the same dock all the time it is a natural to want a fixed length line to just slip over a fixed point and the boat will be in the perfect position.
When I sailed small Boats (light weight and less than 25 ft) it is nothing to grab the dock or push off from the dock. Now with a 16,000 lbs boat such tactics are dangerous. I use the idea stated by Doug with my boat. A line attached amidships to something strong, i.e a cleat, a strong backed padeye, or even the primary shroud base. Using nylon 5/8’s line (nylon because of the stretch) I run the line outside the lifelines back to the cockpit. Using one of the stern cleats or the winch as a control point in the cockpit. (I have seen this described as a “stern bridle” spring line) When I approach the dock I have slack in the line. I bring the boat up near the dock and I throw the length of line from between the midships and the cockpit out over a piling, or a dock cleat. I can even toss the line over to the dock from several feet away. I then return to the cockpit and draw in the line while putting the motor in forward at idle. The boat snugs up against the dock, stopping even with where the line from the cockpit stretches out to the dock. I can cause the bow to snub in or out using rudder and power. The line holds the boat in position. Once snug against the dock with boat engine at idle in gear I can leave the boat and tie up the bow with and stern lines. NO JUMPING ors SCRAMBLING required. This system works even in a breeze with or against tidal current.
If I miss the throw, I retrieve the line and try again. If my approach is too far away, no one is attempting to jump to the dock, I just pull back out and approach again. If you are at the helm under power you are in control of the boat. Reapproach is not a failure, but an assessment of current facts that require an alteration to your first plan. Like a touch and go landing.
I suspect this would have worked for Clays approach, once I saw the slip and the piling. I would have attempted this using the slip end piling. And one of the board fender ideas or a couple of really big fenders to keep the boat off the pilings.