ok so I messed up on this game a lot

Mainly I didnt get on the fog ship when I had the chance so now I need to find a way back on it...I saw it once when I left the Deserted island, but I wasnt on my main party so I switch as quick as possible but it was gone by the time I got back

does anyone know how to get back to it?

I really need to get (SPOILER)Ted and the hero armor off of it