Survivor Title transfer

I'm listed as a survivor on a boat/motor title with one of my relatives as the primary owner. I'd like to get the title transferred into my name before my relative passes. What do I need to do to transfer the title into my name so I can sell the boat myself. The lady at the tpwd office didn't make any sense over the phone when I called to ask about it.

Rights of Survivorship
Ownership Agreement for a Vessel and /or Outboard Motor (PWD 790)

That a gift to you- the owner is going to need to file a form on their taxes if it exceeds a certain amount- 15k , I think.