I have been climbing 160'+ after i do my rope swings. Im not sure what the name of the climbing type are...ive tried a few ways but the way i do it now: i have a rope access harness with built in rope grab at the chest. Then i have hand held one rope grab with two leg loops. I find it is easiest and fastest that way back up the rope. Obviously what ever way is most comfortable for you is provably best.
Keyword: BACKUP, it sounds like you all ready have a backup .
The one thing that never leave my climbing harness or my rope access harness is a Petzl tibloc ascender. It has saved my ass once and came handy a few other times.
http://www.petzl.c...ascenders-0/tibloc Or.... you could take skydiving lessons and just cut the rope after his jump ;)