Reddit mentions of On Rope: North American Vertical Rope Techniques for Caving ... Rappellers

Check out this book - it is pretty much the bible for single rope technique for caving.

The local climb shop (Summit Hut, Tucson, AZ) recommended On Rope when I asked this same question. I never bought it, but did page through it. Seems very detailed. Probably the best book about climbing rope. Lots of knots, too. Even if it is about caving.

Not sailing specific, but "On Rope" by Bruce Smith and Allen Padgett was my first real exposure to Knot Tying. I was a member of the National Speleological Society at the time, and also knew Allen from Hang Gliding at Lookout Mountain Flight Park.

Then, my wife bought me The Ultimate Encyclopedia of Knots and Ropework. I love this book. It's not too huge, and covers quite a range of knots and rope techniques.

I also have a PDF version of Ashleys.

No offense to climbers, but you need to be asking cavers instead, this is really their sort of thing.

You're looking at SRT, single rope technique, ascent. The cheapest way is a pair of long prussiks, one for each foot, plus a chest harness to keep you upright. Another similar option is one long prussik for both feet, and a prussik off the chest harness linked to the seat harness, this would be similar to a Frog System that cavers use. It will be hard going, dangerous, but possible.

If you want a book about it, check out On Rope, which has more info than you'll ever need.

EDIT: I also just realized something. If you have a good length of static line, use that instead of climbing rope. Ascending on bouncing climbing road is a pain in the ass.

On Rope looks like a pretty good book. I think I might have to add that one to my library! For anyone else looking:

http://www.amazon.com/Rope-American-Vertical-Techniques-Rappellers/dp/1879961059/ref=sr_1_1?s=books&ie=UTF8&qid=1343399155&sr=1-1&keywords=1879961059