I think anyone over the age of about 25 who dives off a RIB has thought about it. Don't know anyone who's actually done it.
One option would be to install something like the crab guys have (pic later) and use it to hoist your rig into the boat. Surface, remove and tether your rig to the boat, egress the water. You, less kit, should be able to reboard using the ladder without difficulty (or so one would think.) Hoist your rig on board at your leisure.
Note: Sorry, I lied. No pic. Here's a link, though:
Lift the rig, swing the arm inside, and the rig's in the boat.
Dunno. Though I'm thinking that if you can't maneuver yourself and your equipment, it may be time to think of another hobby...