Basically you are asking , on a public forum, for someone to make you or your friend feel better about doing something that is not only stupid from about 10 different levels , but, illegal. I'm sure you might find someone who would post " no problem" or "live and let live" , but, if the person on the next balconey complains, or you are caught boarding, neither of those responses on this board will make it better.
The facts would be. Is it done ? yes. Is it smart? No. Will you get caught? likely.
Are the penalties severe? Very.
Take whatever risk you are taking doing this on shore and multiply the risk by many fold and the consequence by many fold as well.
Now you know what you are facing . Proceed as you see fit.