a rope suspended from the side of a vessel or a boom as an object to which other vessels can moor, or to afford a hold for persons in such vessels.
a line sent out from a vessel to a fixed object or a buoy or anchor to help the vessel in warping.
a line, in addition to the towrope, to steady a boat in tow.
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British Dictionary definitions for guest rope
nautical any line sent or trailed over the side of a vessel as a convenience for boats drawing alongside, as an aid in warping or towing, etc
Collins English Dictionary - Complete & Unabridged 2012 Digital Edition © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins Publishers 1998, 2000, 2003, 2005, 2006, 2007, 2009, 2012