Board your ship so as to be out at sea on the World
Map. It doesn't matter where. Click on the downward pointing arrow at the top and center of the game interface, so that you'll now be on the deck of your ship.
Use the Engoliero do
Espirs and speak the Darcozzi oath to summon the Floating Hangman, along with Rivan and her crew of undead.
A Bluff check of 16, a Diplomacy check of 17, or a Metaphysics check of 15 will convince her to exchange The Floating Hangman for the ship you're currently using, and she gets the Engoliero do Espirs.
Just giving her the Engoliero do
Espirs will fail this Quest, and rule out the Principi as allies.
You can fight them if you can't make any of those checks. The fight requires the party to be fairly high-level. Lucia Rivan is herself a high-level undead Darcozzi Paladini. Her horde includes Alguls, Risen undead of various sorts, a couple of Ancient Fampyrs (Rogues) and an Ancient Fampyr Sage.
If you win, you'll now also get Engoliero do Espirs as an Estoc that you can use as a weapon.
The Floating Hangman itself is functionally a Galleon, but one where you can't upgrade either the Hull or the Sails. It also has only two compartments for spare Crew Members.
Having the Ship doesn't mean you have to turn it in to the Principi. You can sail to Ukaizo on your own with it to complete The Coming Storm in that way. The mists of The Floating Hangman will keep the storms of Ondra's Mortar at bay, allowing you to safely reach Ukaizo.
If you want to ally with the Principi, then Dunnage will be at
#8 on the World Map.
You'll now be at #1 on the map of Balefire
Beacon. Speak to whomever you left in charge of the Principi at the conclusion of the Honor Among Thieves Quest, whether that is Captain Furrante or Captain Aeldys. Inform the Captain in charge that you have obtained the Floating Hangman to complete the Quest and earn a 54,000xp reward.
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"*I will JOIN you. Your WILL is an INCONSTANT thing, but I shall TEACH you of JUSTICE. I shall TEACH you of the SLAYING of MERCY.*" -Vhailor, Planescape: Torment